+ python -m lidar_slam --no-model /working/cf3633bb-4319-48e6-a195-9cfd55a72198 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/cf3633bb-4319-48e6-a195-9cfd55a72198 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 0.027719421 Adjusted end_distance from 9.223372036854776e+18 to 174.917719421 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.027719421 meters Centerline goodness : 0.136272 Centerline is valid? [0, False] SLAMing on 0.057719421 meters Centerline goodness : 0.136842 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99986940e-01 5.10344365e-03 -2.73719042e-04 3.70010225e-03] [-5.10234722e-03 9.99979506e-01 3.86700466e-03 3.79304213e-03] [ 2.93448473e-04 -3.86555755e-03 9.99992486e-01 -2.38760162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08771942099999999 meters Centerline goodness : 0.175134 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99982521e-01 5.86022838e-03 -7.83899051e-04 6.62965116e-03] [-5.85707258e-03 9.99974970e-01 3.96924340e-03 4.49132188e-03] [ 8.07140102e-04 -3.96458267e-03 9.99991815e-01 -4.05559208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11771942099999999 meters Centerline goodness : 0.287200 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 0.99998051 0.00603012 -0.00161614 0.01399899] [-0.00602719 0.99998019 0.00181353 0.00758502] [ 0.00162704 -0.00180376 0.99999705 -0.00840456] [ 0. 0. 0. 1. ]] SLAMing on 0.147719421 meters Centerline goodness : 0.291753 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 0.99999215 0.00334452 -0.00212266 0.01671412] [-0.00334904 0.99999213 -0.00212843 0.01049127] [ 0.00211553 0.00213552 0.99999548 -0.00940867] [ 0. 0. 0. 1. ]] SLAMing on 0.177719421 meters Centerline goodness : 0.235514 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.01 [[ 0.99998076 -0.00103809 -0.00611586 0.03772635] [ 0.00101864 0.99999442 -0.00318295 0.01815086] [ 0.00611913 0.00317666 0.99997623 -0.00840316] [ 0. 0. 0. 1. ]] SLAMing on 0.207719421 meters Centerline goodness : 0.167371 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.01 [[ 0.99998007 -0.00145321 -0.00614338 0.038663 ] [ 0.00143136 0.99999264 -0.00356033 0.01970208] [ 0.00614851 0.00355146 0.99997479 -0.00930649] [ 0. 0. 0. 1. ]] SLAMing on 0.237719421 meters Centerline goodness : 0.277925 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.01 [[ 0.99995031 -0.00980231 -0.00181358 0.0495104 ] [ 0.00980464 0.99995111 0.00128026 0.02054119] [ 0.00180094 -0.00129798 0.99999754 -0.01336034] [ 0. 0. 0. 1. ]] SLAMing on 0.267719421 meters Centerline goodness : 0.173455 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.01 [[ 0.99989187 -0.01452578 -0.00229057 0.04950643] [ 0.01451804 0.99988896 -0.00336034 0.02227757] [ 0.00233912 0.00332672 0.99999173 -0.01172895] [ 0. 0. 0. 1. ]] SLAMing on 0.29771942100000004 meters Centerline goodness : 0.160550 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.01 [[ 0.99978161 -0.02073664 -0.00259427 0.04971709] [ 0.02071528 0.99975337 -0.00800519 0.02367181] [ 0.00275963 0.0079497 0.99996459 -0.01139127] [ 0. 0. 0. 1. ]] SLAMing on 0.327719421 meters Centerline goodness : 0.162004 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.01 [[ 0.99976638 -0.02143919 -0.00274831 0.05128831] [ 0.02141748 0.99974095 -0.00770215 0.02232999] [ 0.00291273 0.00764149 0.99996656 -0.01327546] [ 0. 0. 0. 1. ]] SLAMing on 0.357719421 meters Centerline goodness : 0.162770 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.02 [[ 0.99974856 -0.02220118 -0.00315104 0.05328143] [ 0.02217752 0.99972699 -0.00735554 0.02043349] [ 0.00331348 0.00728381 0.99996798 -0.01511811] [ 0. 0. 0. 1. ]] SLAMing on 0.387719421 meters Centerline goodness : 0.165807 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.02 [[ 0.99963058 -0.02692528 -0.00370459 0.05606226] [ 0.02688188 0.99957471 -0.01130346 0.02244001] [ 0.00400736 0.0111997 0.99992925 -0.01654965] [ 0. 0. 0. 1. ]] SLAMing on 0.41771942100000004 meters Centerline goodness : 0.172290 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.02 [[ 0.99960338 -0.0278991 -0.00383693 0.05715006] [ 0.02785271 0.99954408 -0.01165578 0.02469761] [ 0.00416037 0.01154429 0.99992471 -0.01696322] [ 0. 0. 0. 1. ]] SLAMing on 0.447719421 meters Centerline goodness : 0.176264 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.02 [[ 0.9996887 -0.02462917 -0.00398866 0.05864673] [ 0.02459823 0.99966831 -0.00762869 0.02362082] [ 0.00417522 0.0075282 0.99996295 -0.01878121] [ 0. 0. 0. 1. ]] SLAMing on 0.477719421 meters Centerline goodness : 0.182385 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.02 [[ 0.99975916 -0.02160456 -0.00385584 0.05933521] [ 0.02159011 0.99975988 -0.00374958 0.02549204] [ 0.00393593 0.00366543 0.99998554 -0.01974585] [ 0. 0. 0. 1. ]] SLAMing on 0.507719421 meters Centerline goodness : 0.183953 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.02 [[ 9.99821053e-01 -1.85380317e-02 -3.76869364e-03 6.02657574e-02] [ 1.85379056e-02 9.99828156e-01 -6.83800543e-05 2.51154315e-02] [ 3.76931365e-03 -1.49586912e-06 9.99992896e-01 -2.09560166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.537719421 meters Centerline goodness : 0.205339 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.02 [[ 0.99979293 -0.01988585 -0.00431838 0.06537393] [ 0.01988041 0.99980152 -0.00129755 0.02893964] [ 0.00434333 0.00121143 0.99998983 -0.02426589] [ 0. 0. 0. 1. ]] SLAMing on 0.5677194210000001 meters Centerline goodness : 0.855831 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.03 [[ 0.99978129 -0.02028098 -0.00510358 0.0761438 ] [ 0.02026485 0.99978955 -0.00319273 0.03082417] [ 0.00516725 0.00308861 0.99998188 -0.02973113] [ 0. 0. 0. 1. ]] SLAMing on 0.597719421 meters Centerline goodness : 0.258935 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.03 [[ 0.9997827 -0.02003741 -0.00574858 0.08095126] [ 0.02002168 0.99979568 -0.0027803 0.03179856] [ 0.00580312 0.0026646 0.99997961 -0.03278977] [ 0. 0. 0. 1. ]] SLAMing on 0.627719421 meters Centerline goodness : 0.270787 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:-0.03 [[ 0.99978098 -0.0198935 -0.00649854 0.08521732] [ 0.01987883 0.99979972 -0.00231426 0.03328942] [ 0.00654328 0.00218457 0.99997621 -0.03495533] [ 0. 0. 0. 1. ]] SLAMing on 0.657719421 meters Centerline goodness : 0.133121 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.04 [[ 0.99976978 -0.01968122 -0.00854629 0.096623 ] [ 0.01965747 0.9998027 -0.00285385 0.03950743] [ 0.00860077 0.00268519 0.99995941 -0.03824761] [ 0. 0. 0. 1. ]] SLAMing on 0.6877194209999999 meters Centerline goodness : 0.126935 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.04 [[ 0.99977814 -0.01888741 -0.0093238 0.10162207] [ 0.0188619 0.99981813 -0.00281582 0.04173003] [ 0.00937529 0.00263933 0.99995257 -0.04071337] [ 0. 0. 0. 1. ]] SLAMing on 0.717719421 meters Centerline goodness : 0.307533 Centerline is valid? [False, False] Translation: X:0.12, Y:0.04, Z:-0.05 [[ 0.99983676 -0.015161 -0.00982791 0.1200929 ] [ 0.01510443 0.99986907 -0.00580447 0.0433012 ] [ 0.00991462 0.00565507 0.99993486 -0.04553402] [ 0. 0. 0. 1. ]] SLAMing on 0.747719421 meters Centerline goodness : 0.317364 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.05 [[ 0.99985924 -0.01329915 -0.01022898 0.12558275] [ 0.01324111 0.99989597 -0.00572039 0.04671276] [ 0.01030399 0.00558414 0.99993132 -0.04863174] [ 0. 0. 0. 1. ]] SLAMing on 0.777719421 meters Centerline goodness : 0.323965 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:-0.05 [[ 0.99991719 -0.00563924 -0.01156734 0.14350389] [ 0.00559881 0.99997812 -0.00352429 0.05293453] [ 0.01158696 0.00345923 0.99992689 -0.05371957] [ 0. 0. 0. 1. ]] SLAMing on 0.807719421 meters Centerline goodness : 0.100921 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.06 [[ 0.99989793 -0.00483226 -0.01344573 0.15021885] [ 0.00480567 0.99998643 -0.00200943 0.05860502] [ 0.01345526 0.00194461 0.99990758 -0.0566052 ] [ 0. 0. 0. 1. ]] SLAMing on 0.837719421 meters Centerline goodness : 0.097974 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.06 [[ 0.99989333 -0.00516328 -0.013663 0.1509005 ] [ 0.00513465 0.99998455 -0.00212984 0.06147602] [ 0.01367379 0.00205946 0.99990439 -0.0568922 ] [ 0. 0. 0. 1. ]] SLAMing on 0.867719421 meters Centerline goodness : 0.095138 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:-0.06 [[ 0.9998845 -0.00597628 -0.01397405 0.15180005] [ 0.00594667 0.99997999 -0.00215943 0.06187506] [ 0.01398668 0.00207608 0.99990003 -0.05735692] [ 0. 0. 0. 1. ]] SLAMing on 0.897719421 meters Centerline goodness : 0.282298 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.06 [[ 0.99984351 -0.00877342 -0.01536198 0.16105963] [ 0.00867862 0.99994295 -0.00622678 0.06350281] [ 0.01541574 0.00609249 0.99986261 -0.06142536] [ 0. 0. 0. 1. ]] SLAMing on 0.9277194209999999 meters Centerline goodness : 0.286414 Centerline is valid? [False, False] Translation: X:0.17, Y:0.06, Z:-0.06 [[ 0.99979706 -0.01205557 -0.01613991 0.16556681] [ 0.0119 0.99988214 -0.00970059 0.06453153] [ 0.01625495 0.00950656 0.99982269 -0.06402596] [ 0. 0. 0. 1. ]] SLAMing on 0.957719421 meters Centerline goodness : 0.273850 Centerline is valid? [False, False] Translation: X:0.18, Y:0.07, Z:-0.07 [[ 0.99974312 -0.01350903 -0.01819888 0.17875854] [ 0.01330626 0.99984855 -0.01121716 0.06764927] [ 0.01834765 0.01097212 0.99977146 -0.07013999] [ 0. 0. 0. 1. ]] SLAMing on 0.987719421 meters Centerline goodness : 0.333678 Centerline is valid? [False, False] Translation: X:0.19, Y:0.07, Z:-0.07 [[ 0.99973976 -0.01239157 -0.01915349 0.19366811] [ 0.01214977 0.99984567 -0.01268937 0.07130683] [ 0.01930777 0.01245336 0.99973603 -0.07453367] [ 0. 0. 0. 1. ]] SLAMing on 1.017719421 meters Centerline goodness : 0.348368 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.08 [[ 0.99973228 -0.01286664 -0.01923063 0.19780152] [ 0.01259055 0.9998169 -0.01440974 0.07486112] [ 0.01941252 0.01416376 0.99971123 -0.07606747] [ 0. 0. 0. 1. ]] SLAMing on 1.047719421 meters Centerline goodness : 0.372123 Centerline is valid? [False, False] Translation: X:0.23, Y:0.08, Z:-0.08 [[ 0.99977433 -0.00747617 -0.0198846 0.22757862] [ 0.0070061 0.99969681 -0.02360519 0.07857078] [ 0.02005505 0.02346055 0.99952359 -0.07547888] [ 0. 0. 0. 1. ]] SLAMing on 1.077719421 meters Centerline goodness : 0.372699 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:-0.08 [[ 0.99976161 -0.00620345 -0.02093414 0.23634364] [ 0.00569919 0.99969422 -0.02406209 0.0815613 ] [ 0.02107701 0.02393705 0.99949126 -0.07988172] [ 0. 0. 0. 1. ]] SLAMing on 1.107719421 meters Centerline goodness : 0.380517 Centerline is valid? [False, False] Translation: X:0.27, Y:0.09, Z:-0.08 [[ 0.99962751 -0.00311917 -0.02711301 0.27020293] [ 0.00248052 0.99971941 -0.02355718 0.0886548 ] [ 0.02717888 0.02348115 0.99935476 -0.0780224 ] [ 0. 0. 0. 1. ]] SLAMing on 1.137719421 meters Centerline goodness : 0.380517 Centerline is valid? [False, False] Translation: X:0.27, Y:0.09, Z:-0.08 [[ 0.9996277 -0.00312592 -0.02710503 0.27018599] [ 0.00248764 0.99971956 -0.02355034 0.08863725] [ 0.02717104 0.02347414 0.99935514 -0.07802678] [ 0. 0. 0. 1. ]] SLAMing on 1.167719421 meters Centerline goodness : 0.467187 Centerline is valid? [False, False] Translation: X:0.27, Y:0.09, Z:-0.08 [[ 0.99961253 -0.0032511 -0.02764468 0.27305913] [ 0.00260641 0.99972454 -0.02332479 0.09092013] [ 0.0277129 0.0232437 0.99934565 -0.07957505] [ 0. 0. 0. 1. ]] SLAMing on 1.197719421 meters Centerline goodness : 0.469789 Centerline is valid? [False, False] Translation: X:0.28, Y:0.09, Z:-0.08 [[ 0.99959654 -0.00361509 -0.02817248 0.27533935] [ 0.00297656 0.99973848 -0.02267414 0.09125472] [ 0.02824708 0.02258114 0.99934588 -0.08110352] [ 0. 0. 0. 1. ]] SLAMing on 1.227719421 meters Centerline goodness : 0.506784 Centerline is valid? [False, False] Translation: X:0.28, Y:0.09, Z:-0.09 [[ 0.99955572 -0.00373834 -0.02956998 0.28279784] [ 0.00307602 0.99974408 -0.02241226 0.09470978] [ 0.0296462 0.02231135 0.99931142 -0.08556728] [ 0. 0. 0. 1. ]] SLAMing on 1.257719421 meters Centerline goodness : 0.523828 Centerline is valid? [False, False] Translation: X:0.29, Y:0.10, Z:-0.09 [[ 0.99949602 -0.00656129 -0.03105906 0.29387678] [ 0.00573566 0.99962977 -0.02659745 0.09711162] [ 0.03122207 0.0264059 0.99916361 -0.09178939] [ 0. 0. 0. 1. ]] SLAMing on 1.287719421 meters Centerline goodness : 0.532665 Centerline is valid? [False, False] Translation: X:0.30, Y:0.10, Z:-0.10 [[ 0.99947154 -0.00787446 -0.03153769 0.29980649] [ 0.00696115 0.99955618 -0.02896519 0.09919793] [ 0.03175177 0.02873034 0.99908278 -0.09582593] [ 0. 0. 0. 1. ]] SLAMing on 1.317719421 meters Centerline goodness : 0.556001 Centerline is valid? [False, False] Translation: X:0.31, Y:0.11, Z:-0.10 [[ 0.99948135 -0.00560205 -0.03171196 0.31112781] [ 0.00471105 0.99959396 -0.02810198 0.10503623] [ 0.03185651 0.027938 0.99910191 -0.10282981] [ 0. 0. 0. 1. ]] SLAMing on 1.3477194209999999 meters Centerline goodness : 0.563319 Centerline is valid? [False, False] Translation: X:0.31, Y:0.11, Z:-0.10 [[ 0.99946427 -0.00511303 -0.03232694 0.31492444] [ 0.00420916 0.99959999 -0.02796685 0.10991883] [ 0.032457 0.0278158 0.99908599 -0.10466062] [ 0. 0. 0. 1. ]] SLAMing on 1.3777194209999999 meters Centerline goodness : 0.574198 Centerline is valid? [False, False] Translation: X:0.31, Y:0.12, Z:-0.11 [[ 0.9997144 -0.01471884 -0.01882741 0.31199133] [ 0.01400848 0.99920513 -0.03732113 0.12302705] [ 0.01936177 0.03704673 0.99912595 -0.1061856 ] [ 0. 0. 0. 1. ]] SLAMing on 1.407719421 meters Centerline goodness : 0.589364 Centerline is valid? [False, False] Translation: X:0.33, Y:0.12, Z:-0.11 [[ 0.9996814 -0.01942817 -0.01611351 0.32555246] [ 0.01895242 0.99939476 -0.02917036 0.12231448] [ 0.01667049 0.02885568 0.99944457 -0.11283575] [ 0. 0. 0. 1. ]] SLAMing on 1.437719421 meters Centerline goodness : 0.609711 Centerline is valid? [False, False] Translation: X:0.33, Y:0.12, Z:-0.11 [[ 0.99950771 -0.02584059 -0.01779309 0.32973564] [ 0.02527646 0.99919253 -0.03123128 0.1239805 ] [ 0.01858575 0.03076616 0.9993538 -0.11376703] [ 0. 0. 0. 1. ]] SLAMing on 1.467719421 meters Centerline goodness : 0.620982 Centerline is valid? [False, False] Translation: X:0.33, Y:0.12, Z:-0.11 [[ 0.99934289 -0.03036603 -0.01979145 0.3344008 ] [ 0.02976239 0.99910332 -0.03011247 0.12449716] [ 0.0206881 0.02950364 0.99935056 -0.11428281] [ 0. 0. 0. 1. ]] SLAMing on 1.497719421 meters Centerline goodness : 0.671281 Centerline is valid? [False, False] Translation: X:0.34, Y:0.13, Z:-0.11 [[ 0.99891909 -0.04020905 -0.02332118 0.34003864] [ 0.03946746 0.99872635 -0.03143238 0.12644876] [ 0.02455534 0.03047797 0.99923377 -0.11188859] [ 0. 0. 0. 1. ]] SLAMing on 1.527719421 meters Centerline goodness : 0.603191 Centerline is valid? [False, False] Translation: X:0.34, Y:0.13, Z:-0.11 [[ 0.99874468 -0.04331159 -0.02516283 0.34384007] [ 0.04257632 0.99867061 -0.02905649 0.12711653] [ 0.02638787 0.02794868 0.999261 -0.11170772] [ 0. 0. 0. 1. ]] SLAMing on 1.557719421 meters Centerline goodness : 0.613564 Centerline is valid? [False, False] Translation: X:0.35, Y:0.13, Z:-0.11 [[ 0.99858637 -0.04615608 -0.02636066 0.34606909] [ 0.04547155 0.99862715 -0.02600283 0.12729991] [ 0.02752466 0.02476741 0.99931425 -0.11122994] [ 0. 0. 0. 1. ]] SLAMing on 1.587719421 meters Centerline goodness : 0.647761 Centerline is valid? [False, False] Translation: X:0.35, Y:0.13, Z:-0.11 [[ 0.99856947 -0.04693111 -0.02562187 0.34690359] [ 0.04625876 0.998585 -0.02623212 0.12834127] [ 0.02681671 0.02500936 0.99932747 -0.11226611] [ 0. 0. 0. 1. ]] SLAMing on 1.6177194209999999 meters Centerline goodness : 0.656613 Centerline is valid? [False, False] Translation: X:0.35, Y:0.13, Z:-0.12 [[ 0.99859283 -0.0467464 -0.02504267 0.35418929] [ 0.04607154 0.99857643 -0.02687994 0.13220492] [ 0.02626356 0.02568836 0.99932494 -0.1172364 ] [ 0. 0. 0. 1. ]] SLAMing on 1.647719421 meters Centerline goodness : 0.658406 Centerline is valid? [False, False] Translation: X:0.35, Y:0.14, Z:-0.12 [[ 0.99878894 -0.04257002 -0.02466686 0.35283766] [ 0.04194276 0.9987968 -0.02541185 0.13571995] [ 0.02571897 0.02434648 0.9993727 -0.11669365] [ 0. 0. 0. 1. ]] SLAMing on 1.677719421 meters Centerline goodness : 0.657727 Centerline is valid? [False, False] Translation: X:0.35, Y:0.14, Z:-0.11 [[ 0.99884899 -0.04093499 -0.02500036 0.35217348] [ 0.0403206 0.99888382 -0.02460406 0.13687022] [ 0.02597962 0.02356771 0.99938462 -0.11482546] [ 0. 0. 0. 1. ]] SLAMing on 1.707719421 meters Centerline goodness : 0.656818 Centerline is valid? [False, False] Translation: X:0.35, Y:0.14, Z:-0.11 [[ 0.99888069 -0.03949959 -0.02602214 0.35412938] [ 0.03897865 0.99903521 -0.02023128 0.13691253] [ 0.02679617 0.01919433 0.99945662 -0.11488188] [ 0. 0. 0. 1. ]] SLAMing on 1.737719421 meters Centerline goodness : 0.661342 Centerline is valid? [False, False] Translation: X:0.36, Y:0.14, Z:-0.11 [[ 0.99893169 -0.03701969 -0.02765912 0.35695765] [ 0.03666012 0.999238 -0.01339636 0.13724828] [ 0.02813398 0.01236806 0.99952764 -0.11455251] [ 0. 0. 0. 1. ]] SLAMing on 1.767719421 meters Centerline goodness : 0.664860 Centerline is valid? [False, False] Translation: X:0.36, Y:0.14, Z:-0.12 [[ 0.99891103 -0.03700195 -0.02841857 0.35956374] [ 0.03664955 0.99924591 -0.01282284 0.1388299 ] [ 0.02887161 0.01176735 0.99951386 -0.11612494] [ 0. 0. 0. 1. ]] SLAMing on 1.797719421 meters Centerline goodness : 0.612256 Centerline is valid? [False, False] Translation: X:0.36, Y:0.14, Z:-0.12 [[ 0.9988697 -0.03895923 -0.0272305 0.36033192] [ 0.03836472 0.99902105 -0.02202455 0.14486719] [ 0.0280619 0.02095497 0.99938652 -0.11969922] [ 0. 0. 0. 1. ]] SLAMing on 1.8277194209999998 meters Centerline goodness : 0.606343 Centerline is valid? [False, False] Translation: X:0.36, Y:0.15, Z:-0.12 [[ 0.99885721 -0.03950875 -0.02689487 0.36067452] [ 0.03879931 0.99889801 -0.02640812 0.14826973] [ 0.02790859 0.02533443 0.99928939 -0.12072401] [ 0. 0. 0. 1. ]] SLAMing on 1.8577194209999999 meters Centerline goodness : 0.588594 Centerline is valid? [False, False] Translation: X:0.36, Y:0.15, Z:-0.12 [[ 0.9989141 -0.0382001 -0.02667171 0.3621887 ] [ 0.03751221 0.99896223 -0.02583203 0.15294906] [ 0.02763082 0.02480347 0.99931043 -0.12348594] [ 0. 0. 0. 1. ]] SLAMing on 1.887719421 meters Centerline goodness : 0.567720 Centerline is valid? [False, False] Translation: X:0.37, Y:0.15, Z:-0.13 [[ 0.99892124 -0.03733546 -0.02761193 0.36594688] [ 0.03675088 0.99909564 -0.02138421 0.15262803] [ 0.02838535 0.02034637 0.99938996 -0.12643006] [ 0. 0. 0. 1. ]] SLAMing on 1.917719421 meters Centerline goodness : 0.520155 Centerline is valid? [False, False] Translation: X:0.37, Y:0.15, Z:-0.13 [[ 0.99888216 -0.03809387 -0.0279872 0.36680276] [ 0.0375179 0.99907894 -0.02082473 0.15115481] [ 0.02875472 0.01975143 0.99939134 -0.12593075] [ 0. 0. 0. 1. ]] SLAMing on 1.947719421 meters Centerline goodness : 0.515112 Centerline is valid? [False, False] Translation: X:0.37, Y:0.15, Z:-0.13 [[ 0.9988153 -0.03925977 -0.02875189 0.36882422] [ 0.03870609 0.99905904 -0.01956704 0.15077237] [ 0.02949303 0.01843099 0.99939505 -0.1264147 ] [ 0. 0. 0. 1. ]] SLAMing on 1.977719421 meters Centerline goodness : 0.474929 Centerline is valid? [False, False] Translation: X:0.38, Y:0.15, Z:-0.13 [[ 0.99859424 -0.04735952 -0.02380393 0.3824635 ] [ 0.04697705 0.99876169 -0.01637809 0.14909558] [ 0.02455012 0.01523682 0.99958248 -0.13061471] [ 0. 0. 0. 1. ]] SLAMing on 2.007719421 meters Centerline goodness : 0.470646 Centerline is valid? [False, False] Translation: X:0.39, Y:0.15, Z:-0.13 [[ 0.99811193 -0.05893528 -0.01729753 0.3906473 ] [ 0.05863794 0.99813076 -0.0172217 0.14970192] [ 0.01828016 0.0161749 0.99970206 -0.12901292] [ 0. 0. 0. 1. ]] SLAMing on 2.037719421 meters Centerline goodness : 0.441264 Centerline is valid? [False, False] Translation: X:0.40, Y:0.15, Z:-0.13 [[ 0.9977485 -0.06608931 -0.01140791 0.39894858] [ 0.0659487 0.99774732 -0.01229068 0.1485461 ] [ 0.0121945 0.01151067 0.99985939 -0.13028151] [ 0. 0. 0. 1. ]] SLAMing on 2.067719421 meters Centerline goodness : 0.424158 Centerline is valid? [False, False] Translation: X:0.41, Y:0.15, Z:-0.13 [[ 0.99679589 -0.07980401 -0.00540996 0.40941443] [ 0.07971283 0.99669929 -0.01537502 0.14732698] [ 0.0066191 0.01489452 0.99986716 -0.12904926] [ 0. 0. 0. 1. ]] SLAMing on 2.097719421 meters SLAMing on 2.127719421 meters SLAMing on 2.157719421 meters Centerline goodness : 0.476412 Centerline is valid? [False, False] Translation: X:0.44, Y:0.15, Z:-0.13 [[ 0.99660005 -0.08232971 0.00318869 0.4426522 ] [ 0.08237372 0.99644185 -0.01783859 0.14607359] [-0.00170869 0.0180406 0.99983579 -0.13118392] [ 0. 0. 0. 1. ]] SLAMing on 2.187719421 meters SLAMing on 2.217719421 meters SLAMing on 2.2477194209999998 meters SLAMing on 2.277719421 meters SLAMing on 2.307719421 meters Centerline goodness : 0.450699 Centerline is valid? [False, False] Translation: X:0.51, Y:0.14, Z:-0.12 [[ 0.99831904 -0.0569778 0.01061236 0.50567184] [ 0.05720348 0.99811259 -0.02233895 0.14025758] [-0.00931951 0.02290846 0.99969413 -0.1228124 ] [ 0. 0. 0. 1. ]] SLAMing on 2.337719421 meters Centerline goodness : 0.444953 Centerline is valid? [False, False] Translation: X:0.51, Y:0.14, Z:-0.12 [[ 0.99833947 -0.05689422 0.00901909 0.50918888] [ 0.05707919 0.99813196 -0.0217841 0.1371335 ] [-0.00776286 0.02226273 0.99972202 -0.12324467] [ 0. 0. 0. 1. ]] SLAMing on 2.367719421 meters SLAMing on 2.397719421 meters Centerline goodness : 0.166938 Centerline is valid? [False, False] Translation: X:0.53, Y:0.13, Z:-0.13 [[ 0.9975533 -0.06895525 0.0115148 0.52621577] [ 0.06919667 0.99735866 -0.02208013 0.12761082] [-0.00996184 0.02282289 0.99968989 -0.12581273] [ 0. 0. 0. 1. ]] SLAMing on 2.427719421 meters Centerline goodness : 0.163877 Centerline is valid? [False, False] Translation: X:0.53, Y:0.12, Z:-0.13 [[ 0.99712459 -0.07510754 0.01007016 0.53344728] [ 0.07536259 0.99676473 -0.0279385 0.11975465] [-0.00793919 0.02861708 0.99955892 -0.12753207] [ 0. 0. 0. 1. ]] SLAMing on 2.4577194209999997 meters Centerline goodness : 0.406846 Centerline is valid? [False, False] Translation: X:0.54, Y:0.12, Z:-0.13 [[ 0.99714697 -0.07500008 0.00853864 0.53699847] [ 0.07520549 0.99680193 -0.0270194 0.11537741] [-0.00648487 0.02758447 0.99959844 -0.12845585] [ 0. 0. 0. 1. ]] SLAMing on 2.487719421 meters Centerline goodness : 0.404204 Centerline is valid? [False, False] Translation: X:0.54, Y:0.11, Z:-0.13 [[ 0.99690954 -0.07807382 0.00870902 0.53893434] [ 0.07829642 0.99650513 -0.02910653 0.10982888] [-0.00640612 0.02969847 0.99953837 -0.12773831] [ 0. 0. 0. 1. ]] SLAMing on 2.517719421 meters Centerline goodness : 0.437181 Centerline is valid? [False, False] Translation: X:0.54, Y:0.10, Z:-0.13 [[ 0.99697474 -0.07739252 0.00719553 0.54302912] [ 0.07756432 0.99659818 -0.02785392 0.10443993] [-0.00501536 0.02832777 0.99958611 -0.1291684 ] [ 0. 0. 0. 1. ]] SLAMing on 2.547719421 meters Centerline goodness : 0.370969 Centerline is valid? [False, False] Translation: X:0.55, Y:0.10, Z:-0.13 [[ 0.99691989 -0.07825566 0.00517535 0.55019907] [ 0.07837383 0.99649803 -0.0291415 0.09580745] [-0.00287674 0.02945735 0.9995619 -0.1299809 ] [ 0. 0. 0. 1. ]] SLAMing on 2.577719421 meters Centerline goodness : 0.384441 Centerline is valid? [False, False] Translation: X:0.55, Y:0.09, Z:-0.13 [[ 0.99700331 -0.07725858 0.00393877 0.5529139 ] [ 0.07733839 0.99661878 -0.02774477 0.09144906] [-0.00178193 0.02796624 0.99960728 -0.12997187] [ 0. 0. 0. 1. ]] SLAMing on 2.607719421 meters Centerline goodness : 0.682981 Centerline is valid? [False, False] Translation: X:0.55, Y:0.08, Z:-0.13 [[ 0.99682112 -0.0795881 0.00365987 0.55461125] [ 0.07966002 0.99641992 -0.02831299 0.08226611] [-0.00139339 0.02851453 0.99959241 -0.1291371 ] [ 0. 0. 0. 1. ]] SLAMing on 2.637719421 meters Centerline goodness : 0.707283 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.13 [[ 9.96616056e-01 -8.21591216e-02 2.51290285e-03 5.58199165e-01] [ 8.21975422e-02 9.96149238e-01 -3.05001535e-02 7.71293087e-02] [ 2.63956237e-06 3.06034971e-02 9.99531603e-01 -1.29808434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6677194209999997 meters SLAMing on 2.697719421 meters Centerline goodness : 0.742565 Centerline is valid? [False, False] Translation: X:0.57, Y:0.06, Z:-0.13 [[ 0.9955949 -0.09374643 -0.00154886 0.572891 ] [ 0.09362739 0.99493509 -0.03657971 0.05665854] [ 0.00497023 0.03627356 0.99932954 -0.13452307] [ 0. 0. 0. 1. ]] SLAMing on 2.7277194209999998 meters SLAMing on 2.757719421 meters Centerline goodness : 0.744761 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:-0.13 [[ 0.99630125 -0.08572723 0.00588746 0.6057485 ] [ 0.085913 0.99510151 -0.04890745 0.05381699] [-0.00166592 0.04923236 0.99878596 -0.13293514] [ 0. 0. 0. 1. ]] SLAMing on 2.787719421 meters Centerline goodness : 0.826569 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:-0.14 [[ 9.96720333e-01 -8.08106215e-02 4.26868695e-03 6.09611256e-01] [ 8.09198269e-02 9.95777847e-01 -4.33412247e-02 5.06807654e-02] [-7.48232600e-04 4.35445013e-02 9.99051208e-01 -1.35029731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.817719421 meters Centerline goodness : 0.774356 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.12 [[ 0.99732341 -0.07245259 0.00983005 0.63939487] [ 0.07294289 0.9951803 -0.06554004 0.05420608] [-0.00503412 0.06608165 0.99780152 -0.12289147] [ 0. 0. 0. 1. ]] SLAMing on 2.847719421 meters Centerline goodness : 0.831406 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.12 [[ 0.99745008 -0.07084201 0.00864549 0.64391531] [ 0.07125233 0.99538744 -0.06424142 0.051767 ] [-0.00405463 0.06469362 0.99789694 -0.12491266] [ 0. 0. 0. 1. ]] SLAMing on 2.877719421 meters Centerline goodness : 0.825698 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.12 [[ 0.99815389 -0.06066918 0.00283806 0.63709678] [ 0.06071493 0.99550896 -0.07263332 0.04464125] [ 0.00158129 0.07267154 0.99735467 -0.12318894] [ 0. 0. 0. 1. ]] SLAMing on 2.907719421 meters Centerline goodness : 0.827766 Centerline is valid? [False, False] Translation: X:0.63, Y:0.04, Z:-0.12 [[ 0.99850151 -0.05450534 0.00488811 0.63352191] [ 0.05471459 0.9960016 -0.07061965 0.04090831] [-0.00101941 0.07078127 0.99749134 -0.12427342] [ 0. 0. 0. 1. ]] SLAMing on 2.9377194209999997 meters Centerline goodness : 0.840085 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.12 [[ 0.99905358 -0.04233311 -0.00999276 0.63671572] [ 0.04169328 0.99748472 -0.05732289 0.03216775] [ 0.01239429 0.05685201 0.99830568 -0.12078348] [ 0. 0. 0. 1. ]] SLAMing on 2.967719421 meters Centerline goodness : 0.833970 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.12 [[ 0.99912418 -0.04049751 -0.01052741 0.63698615] [ 0.03985711 0.99767855 -0.05521712 0.03046614] [ 0.01273913 0.05474916 0.99841887 -0.11976402] [ 0. 0. 0. 1. ]] SLAMing on 2.9977194209999998 meters Centerline goodness : 0.856833 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.12 [[ 0.99924293 -0.03363221 -0.01955618 0.63273741] [ 0.03264504 0.99827604 -0.04877765 0.01568916] [ 0.02116297 0.04810231 0.99861819 -0.11966545] [ 0. 0. 0. 1. ]] SLAMing on 3.027719421 meters Centerline goodness : 0.860977 Centerline is valid? [False, False] Translation: X:0.63, Y:0.01, Z:-0.12 [[ 0.99917879 -0.03552276 -0.01949035 0.63221963] [ 0.03453219 0.99820159 -0.04900107 0.0051417 ] [ 0.02119595 0.04828778 0.99860854 -0.11833946] [ 0. 0. 0. 1. ]] SLAMing on 3.057719421 meters Centerline goodness : 0.860977 Centerline is valid? [False, False] Translation: X:0.63, Y:0.01, Z:-0.12 [[ 0.99917879 -0.03552276 -0.01949035 0.63221963] [ 0.03453219 0.99820159 -0.04900107 0.0051417 ] [ 0.02119595 0.04828778 0.99860854 -0.11833946] [ 0. 0. 0. 1. ]] SLAMing on 3.087719421 meters Centerline goodness : 0.860674 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.00, Z:-0.12 [[ 9.99178068e-01 -3.50763398e-02 -2.03184523e-02 6.33413582e-01] [ 3.40840503e-02 9.98299956e-01 -4.72808171e-02 -1.81791980e-04] [ 2.19423481e-02 4.65494203e-02 9.98674965e-01 -1.18378127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.117719421 meters Centerline goodness : 0.863174 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:-0.12 [[ 0.99883351 -0.04021572 -0.02672683 0.64286439] [ 0.03918421 0.99850697 -0.03805826 -0.01085016] [ 0.02821747 0.0369666 0.99891804 -0.1169553 ] [ 0. 0. 0. 1. ]] SLAMing on 3.147719421 meters Centerline goodness : 0.861768 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:-0.12 [[ 0.99877702 -0.04404748 -0.02245632 0.65113371] [ 0.04342816 0.99868189 -0.02735834 -0.01680322] [ 0.02363178 0.02634964 0.99937342 -0.12120751] [ 0. 0. 0. 1. ]] SLAMing on 3.177719421 meters Centerline goodness : 0.872583 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:-0.12 [[ 0.99861306 -0.04762926 -0.02243697 0.64973846] [ 0.04697285 0.99847724 -0.0289267 -0.02486916] [ 0.02378056 0.02783265 0.99932969 -0.1191039 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2077194209999997 meters Centerline goodness : 0.871964 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.12 [[ 0.99859387 -0.04776133 -0.02300311 0.65036483] [ 0.04711348 0.99849908 -0.02792697 -0.02965793] [ 0.02430242 0.02680394 0.99934526 -0.1189113 ] [ 0. 0. 0. 1. ]] SLAMing on 3.237719421 meters Centerline goodness : 0.880361 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.04, Z:-0.12 [[ 0.9984593 -0.05039325 -0.02322827 0.650659 ] [ 0.04969614 0.99832357 -0.0296705 -0.03690637] [ 0.02468452 0.02847043 0.9992898 -0.11800454] [ 0. 0. 0. 1. ]] SLAMing on 3.267719421 meters Centerline goodness : 0.879951 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:-0.12 [[ 0.99847322 -0.05184456 -0.01906255 0.6595987 ] [ 0.05151533 0.99852106 -0.01737448 -0.04071422] [ 0.01993513 0.01636594 0.99966732 -0.12229228] [ 0. 0. 0. 1. ]] SLAMing on 3.297719421 meters Centerline goodness : 0.914029 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:-0.12 [[ 0.99847233 -0.05161385 -0.0197235 0.66047594] [ 0.05129449 0.99854942 -0.01636889 -0.0422499 ] [ 0.02053975 0.01533217 0.99967147 -0.12193594] [ 0. 0. 0. 1. ]] SLAMing on 3.327719421 meters Centerline goodness : 0.912087 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.05, Z:-0.12 [[ 0.99827292 -0.05485132 -0.02103597 0.66427451] [ 0.05446295 0.99834234 -0.01861095 -0.04567456] [ 0.02202194 0.01743313 0.99960548 -0.12368642] [ 0. 0. 0. 1. ]] SLAMing on 3.357719421 meters Centerline goodness : 0.912681 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.12 [[ 0.99806252 -0.05843553 -0.02136574 0.66605918] [ 0.05797077 0.99808107 -0.02176153 -0.04789802] [ 0.02259639 0.02048078 0.99953486 -0.12457625] [ 0. 0. 0. 1. ]] SLAMing on 3.387719421 meters Centerline goodness : 0.914671 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.12 [[ 0.99781507 -0.0625022 -0.02141411 0.66596711] [ 0.06195048 0.99775275 -0.02552638 -0.04965571] [ 0.02296144 0.02414399 0.99944477 -0.12363041] [ 0. 0. 0. 1. ]] SLAMing on 3.4177194209999997 meters Centerline goodness : 0.920533 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.12 [[ 0.99756117 -0.06810433 -0.01528127 0.66852434] [ 0.06783688 0.99754492 -0.0173866 -0.05253654] [ 0.01642786 0.01630757 0.99973206 -0.12220615] [ 0. 0. 0. 1. ]] SLAMing on 3.447719421 meters Centerline goodness : 0.920801 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.12 [[ 0.9975014 -0.06895705 -0.01535857 0.66660832] [ 0.06867795 0.99747623 -0.01801411 -0.05289453] [ 0.01656201 0.01691431 0.99971976 -0.11943127] [ 0. 0. 0. 1. ]] SLAMing on 3.4777194209999998 meters Centerline goodness : 0.925451 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.06, Z:-0.12 [[ 0.99746171 -0.06959962 -0.01503406 0.66450554] [ 0.06932519 0.99743057 -0.01806303 -0.05505732] [ 0.01625262 0.01697494 0.99972381 -0.11725612] [ 0. 0. 0. 1. ]] SLAMing on 3.507719421 meters Centerline goodness : 0.924843 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.12 [[ 0.99772913 -0.06560227 -0.01526193 0.66508096] [ 0.06540918 0.9977761 -0.01282518 -0.05878688] [ 0.01606935 0.01179779 0.99980127 -0.11860611] [ 0. 0. 0. 1. ]] SLAMing on 3.537719421 meters Centerline goodness : 0.925745 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.12 [[ 0.99779201 -0.06451594 -0.01577358 0.66768622] [ 0.06433987 0.99786262 -0.01142641 -0.06046216] [ 0.01647705 0.01038631 0.9998103 -0.12078727] [ 0. 0. 0. 1. ]] SLAMing on 3.567719421 meters Centerline goodness : 0.921876 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.12 [[ 0.99786867 -0.0632096 -0.01620718 0.67055093] [ 0.06306588 0.99796667 -0.009231 -0.0641813 ] [ 0.01675771 0.0081892 0.99982604 -0.12370344] [ 0. 0. 0. 1. ]] SLAMing on 3.597719421 meters Centerline goodness : 0.925950 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.13 [[ 0.99807027 -0.05976547 -0.01684687 0.67197031] [ 0.05969676 0.99820618 -0.00455294 -0.06692927] [ 0.01708875 0.00353845 0.99984772 -0.12512964] [ 0. 0. 0. 1. ]] SLAMing on 3.6277194209999997 meters Centerline goodness : 0.924482 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.13 [[ 0.99809979 -0.05911792 -0.01737493 0.67396942] [ 0.05906523 0.99824788 -0.00353066 -0.06776686] [ 0.01755321 0.00249769 0.99984281 -0.12649752] [ 0. 0. 0. 1. ]] SLAMing on 3.657719421 meters Centerline goodness : 0.918769 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.13 [[ 0.99806069 -0.05945512 -0.01843783 0.68040806] [ 0.05940536 0.9982287 -0.00323507 -0.06894432] [ 0.01859752 0.00213349 0.99982477 -0.1322925 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6877194209999997 meters Centerline goodness : 0.917087 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.13 [[ 0.99808932 -0.0588533 -0.01881489 0.68252881] [ 0.05882088 0.99826597 -0.0022721 -0.07002511] [ 0.01891599 0.00116105 0.9998204 -0.13417597] [ 0. 0. 0. 1. ]] SLAMing on 3.717719421 meters Centerline goodness : 0.917646 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.13 [[ 0.99831029 -0.05493646 -0.01893521 0.68188094] [ 0.05496875 0.99848737 0.00118853 -0.06749478] [ 0.01884127 -0.00222737 0.99982001 -0.13353195] [ 0. 0. 0. 1. ]] SLAMing on 3.7477194209999998 meters Centerline goodness : 0.916811 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.13 [[ 0.99853877 -0.05062276 -0.01891199 0.68106216] [ 0.05071119 0.99870442 0.00422606 -0.06395869] [ 0.01867355 -0.00517894 0.99981222 -0.13256315] [ 0. 0. 0. 1. ]] SLAMing on 3.777719421 meters Centerline goodness : 0.917356 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.13 [[ 0.99859703 -0.04935166 -0.01919356 0.68306679] [ 0.04945296 0.99876473 0.0048396 -0.06307685] [ 0.01893101 -0.00578199 0.99980407 -0.13411584] [ 0. 0. 0. 1. ]] SLAMing on 3.807719421 meters Centerline goodness : 0.915290 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.14 [[ 0.99873029 -0.04634168 -0.01975485 0.68796891] [ 0.04648637 0.99889489 0.00692877 -0.06099461] [ 0.01941193 -0.0078383 0.99978084 -0.13868164] [ 0. 0. 0. 1. ]] SLAMing on 3.837719421 meters Centerline goodness : 0.916460 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.14 [[ 0.99875273 -0.04578083 -0.01992757 0.68893769] [ 0.04592915 0.99891982 0.00705 -0.0601399 ] [ 0.01958329 -0.00795646 0.99977657 -0.13933393] [ 0. 0. 0. 1. ]] SLAMing on 3.867719421 meters Centerline goodness : 0.913631 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.14 [[ 0.99878495 -0.04493571 -0.02023386 0.69034508] [ 0.04509867 0.99895309 0.00767085 -0.05996375] [ 0.01986798 -0.00857405 0.99976585 -0.14022372] [ 0. 0. 0. 1. ]] SLAMing on 3.8977194209999997 meters Centerline goodness : 0.917249 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.14 [[ 0.99895821 -0.04092231 -0.02019528 0.68864507] [ 0.04115795 0.99908769 0.0113932 -0.060126 ] [ 0.01971062 -0.01221253 0.99973114 -0.13833765] [ 0. 0. 0. 1. ]] SLAMing on 3.927719421 meters Centerline goodness : 0.919024 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.13 [[ 0.99916508 -0.03562309 -0.02000352 0.68423201] [ 0.03595962 0.99921331 0.01672329 -0.06280614] [ 0.01939205 -0.01742865 0.99966004 -0.13350263] [ 0. 0. 0. 1. ]] SLAMing on 3.9577194209999997 meters Centerline goodness : 0.922170 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.13 [[ 0.99919845 -0.03458132 -0.02016398 0.68380018] [ 0.03493582 0.99923629 0.01750196 -0.06405245] [ 0.01954334 -0.01819238 0.99964348 -0.13222405] [ 0. 0. 0. 1. ]] SLAMing on 3.987719421 meters Centerline goodness : 0.923891 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.13 [[ 0.99927207 -0.03212957 -0.02056724 0.68401616] [ 0.03253967 0.99927181 0.01992539 -0.06991853] [ 0.01991207 -0.02058014 0.9995899 -0.13086352] [ 0. 0. 0. 1. ]] SLAMing on 4.017719421 meters Centerline goodness : 0.923102 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.13 [[ 0.9992722 -0.03228134 -0.02032205 0.68288083] [ 0.03269353 0.99925948 0.02028859 -0.07392541] [ 0.01965206 -0.02093822 0.99958761 -0.12984069] [ 0. 0. 0. 1. ]] SLAMing on 4.047719420999999 meters Centerline goodness : 0.921880 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.13 [[ 0.99915842 -0.03593289 -0.01978081 0.68167378] [ 0.03628898 0.99918017 0.0179473 -0.08325531] [ 0.01911969 -0.01865002 0.99964324 -0.12854255] [ 0. 0. 0. 1. ]] SLAMing on 4.077719420999999 meters Centerline goodness : 0.920965 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.09, Z:-0.13 [[ 0.99904237 -0.03886684 -0.02009283 0.68346772] [ 0.03919082 0.99910379 0.0159902 -0.0878095 ] [ 0.01945333 -0.01676234 0.99967024 -0.12957953] [ 0. 0. 0. 1. ]] SLAMing on 4.107719421 meters Centerline goodness : 0.918782 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.13 [[ 0.99880007 -0.04427416 -0.02093377 0.6878839 ] [ 0.04453704 0.99893247 0.01226244 -0.09651514] [ 0.02036851 -0.01318005 0.99970566 -0.13233266] [ 0. 0. 0. 1. ]] SLAMing on 4.137719420999999 meters Centerline goodness : 0.917259 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.13 [[ 0.9987663 -0.04510608 -0.02076807 0.68822214] [ 0.04536649 0.99889539 0.01224292 -0.10160519] [ 0.0201929 -0.01316999 0.99970936 -0.13270421] [ 0. 0. 0. 1. ]] SLAMing on 4.167719420999999 meters Centerline goodness : 0.912638 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.13 [[ 0.99866267 -0.04704619 -0.02143682 0.69110532] [ 0.0472982 0.99881571 0.01140437 -0.10826053] [ 0.0208749 -0.01240305 0.99970516 -0.13407937] [ 0. 0. 0. 1. ]] SLAMing on 4.1977194209999995 meters Centerline goodness : 0.911953 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.14 [[ 0.99868052 -0.04655992 -0.02166569 0.69244119] [ 0.04683755 0.99882446 0.01248784 -0.1118774 ] [ 0.02105878 -0.01348613 0.99968728 -0.13509063] [ 0. 0. 0. 1. ]] SLAMing on 4.227719421 meters Centerline goodness : 0.909063 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.14 [[ 0.99869711 -0.0463494 -0.02134977 0.69412285] [ 0.04662918 0.99883028 0.01279835 -0.11745425] [ 0.0207316 -0.0137772 0.99969015 -0.1369285 ] [ 0. 0. 0. 1. ]] SLAMing on 4.257719420999999 meters Centerline goodness : 0.909473 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.14 [[ 0.99871082 -0.04607238 -0.02130809 0.69417599] [ 0.04635811 0.99883878 0.0131155 -0.11832181] [ 0.02067908 -0.0140864 0.99968693 -0.13697639] [ 0. 0. 0. 1. ]] SLAMing on 4.287719420999999 meters Centerline goodness : 0.913157 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.13 [[ 0.99868236 -0.04689696 -0.02083796 0.69054375] [ 0.04715748 0.99881307 0.01219145 -0.11863579] [ 0.02024148 -0.01315805 0.99970853 -0.13326063] [ 0. 0. 0. 1. ]] SLAMing on 4.317719421 meters Centerline goodness : 0.914889 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.13 [[ 0.99865625 -0.04744846 -0.02084089 0.68905362] [ 0.04769277 0.99879715 0.01138633 -0.11743559] [ 0.02027556 -0.01236499 0.99971796 -0.13122227] [ 0. 0. 0. 1. ]] SLAMing on 4.347719421 meters Centerline goodness : 0.917031 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.13 [[ 0.99860467 -0.0485554 -0.02076285 0.68496037] [ 0.04877944 0.99875519 0.01042337 -0.11613505] [ 0.02023089 -0.01142163 0.99973009 -0.12651033] [ 0. 0. 0. 1. ]] SLAMing on 4.377719420999999 meters Centerline goodness : 0.916112 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.12 [[ 0.99853851 -0.04997573 -0.0205734 0.68317463] [ 0.05018124 0.99869402 0.0095968 -0.11744709] [ 0.02006693 -0.01061517 0.99974229 -0.12470602] [ 0. 0. 0. 1. ]] SLAMing on 4.4077194209999995 meters Centerline goodness : 0.916834 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.12 [[ 0.99828598 -0.05474653 -0.02068639 0.6832895 ] [ 0.0548879 0.99847247 0.00632855 -0.1217598 ] [ 0.02030833 -0.00745313 0.99976598 -0.12417352] [ 0. 0. 0. 1. ]] SLAMing on 4.437719421 meters Centerline goodness : 0.918155 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.12 [[ 0.99827002 -0.05502225 -0.02072464 0.68380941] [ 0.05517921 0.99845137 0.00707937 -0.12482096] [ 0.02030302 -0.0082107 0.99976016 -0.12483422] [ 0. 0. 0. 1. ]] SLAMing on 4.467719420999999 meters Centerline goodness : 0.916906 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.13, Z:-0.13 [[ 0.99824877 -0.05535285 -0.02086773 0.68420194] [ 0.05552772 0.99842593 0.0078954 -0.12758534] [ 0.02039785 -0.00904031 0.99975107 -0.12515305] [ 0. 0. 0. 1. ]] SLAMing on 4.497719420999999 meters Centerline goodness : 0.914999 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.13, Z:-0.13 [[ 0.99825844 -0.05508929 -0.02110133 0.68521759] [ 0.05529888 0.99842483 0.00948079 -0.13232256] [ 0.0205458 -0.01063116 0.99973239 -0.12596822] [ 0. 0. 0. 1. ]] SLAMing on 4.527719421 meters Centerline goodness : 0.914004 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.13 [[ 0.99827713 -0.05471657 -0.02118674 0.68549091] [ 0.05494788 0.99843408 0.01049342 -0.13534248] [ 0.0205794 -0.01163951 0.99972047 -0.12602949] [ 0. 0. 0. 1. ]] SLAMing on 4.557719421 meters Centerline goodness : 0.916012 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.13 [[ 0.99829789 -0.05437919 -0.02107686 0.68529322] [ 0.05462656 0.99844241 0.01134387 -0.13812774] [ 0.02042717 -0.01247591 0.9997135 -0.1259098 ] [ 0. 0. 0. 1. ]] SLAMing on 4.587719420999999 meters Centerline goodness : 0.914021 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.13 [[ 0.9983755 -0.05283953 -0.02131542 0.68719864] [ 0.05312481 0.99850265 0.01304684 -0.14068048] [ 0.02059411 -0.01415802 0.99968767 -0.12749067] [ 0. 0. 0. 1. ]] SLAMing on 4.617719420999999 meters Centerline goodness : 0.913284 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.13 [[ 0.99846448 -0.05081907 -0.02204763 0.69056768] [ 0.0511494 0.99858303 0.01468606 -0.14112822] [ 0.02127005 -0.01579123 0.99964905 -0.12977349] [ 0. 0. 0. 1. ]] SLAMing on 4.647719421 meters Centerline goodness : 0.912730 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.13 [[ 0.99893685 -0.04064347 -0.02175482 0.68616128] [ 0.040898 0.99909846 0.01138537 -0.1420284 ] [ 0.02127246 -0.01226299 0.99969851 -0.13379787] [ 0. 0. 0. 1. ]] SLAMing on 4.677719420999999 meters Centerline goodness : 0.910915 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.14 [[ 0.99916053 -0.03464009 -0.02186995 0.68814513] [ 0.03501395 0.99924308 0.01694955 -0.14452457] [ 0.02126627 -0.01770107 0.99961714 -0.13590852] [ 0. 0. 0. 1. ]] SLAMing on 4.707719420999999 meters Centerline goodness : 0.910152 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.14 [[ 0.99917714 -0.03413445 -0.02190599 0.6883891 ] [ 0.03452007 0.99925124 0.01747337 -0.14570509] [ 0.02129315 -0.01821519 0.99960733 -0.13596951] [ 0. 0. 0. 1. ]] SLAMing on 4.7377194209999995 meters Centerline goodness : 0.909714 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.14 [[ 0.99917713 -0.03404358 -0.02204783 0.68883793] [ 0.03444247 0.99924507 0.0179722 -0.14762815] [ 0.02141935 -0.01871679 0.99959536 -0.13607163] [ 0. 0. 0. 1. ]] SLAMing on 4.767719421 meters Centerline goodness : 0.911159 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.14 [[ 0.99904239 -0.03765547 -0.0222795 0.68926613] [ 0.03800389 0.99915849 0.01542771 -0.15171788] [ 0.02167982 -0.01625965 0.99963274 -0.13556686] [ 0. 0. 0. 1. ]] SLAMing on 4.797719420999999 meters Centerline goodness : 0.912444 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.14 [[ 0.99889833 -0.04122304 -0.02242302 0.68987704] [ 0.0415048 0.99906323 0.01224831 -0.15368346] [ 0.0218971 -0.01316548 0.99967354 -0.13539317] [ 0. 0. 0. 1. ]] SLAMing on 4.827719420999999 meters Centerline goodness : 0.914270 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.14 [[ 0.99864864 -0.04984238 -0.01471844 0.69665521] [ 0.05004921 0.99864813 0.01403537 -0.15838105] [ 0.01399899 -0.01475305 0.99979317 -0.13618898] [ 0. 0. 0. 1. ]] SLAMing on 4.857719421 meters Centerline goodness : 0.916399 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.13 [[ 0.99844919 -0.05371737 -0.01461729 0.69602254] [ 0.05387403 0.99849207 0.01054361 -0.16005687] [ 0.01402888 -0.01131475 0.99983757 -0.13495543] [ 0. 0. 0. 1. ]] SLAMing on 4.887719420999999 meters Centerline goodness : 0.917046 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.13 [[ 0.99819231 -0.0583484 -0.01440736 0.69567646] [ 0.05845986 0.99826203 0.00744042 -0.16421828] [ 0.01394819 -0.00826923 0.99986853 -0.13430918] [ 0. 0. 0. 1. ]] SLAMing on 4.917719420999999 meters Centerline goodness : 0.917480 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.13 [[ 0.99816813 -0.05871952 -0.01457383 0.69615471] [ 0.05884166 0.99823449 0.00809766 -0.16655635] [ 0.01407261 -0.00894037 0.99986101 -0.1345425 ] [ 0. 0. 0. 1. ]] SLAMing on 4.9477194209999995 meters Centerline goodness : 0.917480 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.13 [[ 0.99816813 -0.05871952 -0.01457383 0.69615471] [ 0.05884166 0.99823449 0.00809766 -0.16655635] [ 0.01407261 -0.00894037 0.99986101 -0.1345425 ] [ 0. 0. 0. 1. ]] SLAMing on 4.977719421 meters Centerline goodness : 0.917722 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.13 [[ 0.99782116 -0.06442929 -0.01420546 0.69462477] [ 0.06449236 0.99791008 0.00402691 -0.16956277] [ 0.01391632 -0.00493428 0.99989099 -0.13264231] [ 0. 0. 0. 1. ]] SLAMing on 5.007719420999999 meters Centerline goodness : 0.918730 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.13 [[ 9.97550589e-01 -6.85123577e-02 -1.41024791e-02 6.94935073e-01] [ 6.85256743e-02 9.97649246e-01 4.62663092e-04 -1.70935244e-01] [ 1.40376295e-02 -1.42791173e-03 9.99900448e-01 -1.32455250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.037719420999999 meters Centerline goodness : 0.917686 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.14 [[ 0.99696248 -0.07721045 -0.01021541 0.7060885 ] [ 0.07726003 0.99700059 0.00455106 -0.17474014] [ 0.00983338 -0.00532648 0.99993746 -0.13639247] [ 0. 0. 0. 1. ]] SLAMing on 5.067719421 meters Centerline goodness : 0.916791 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.14 [[ 0.99689334 -0.07808118 -0.01034406 0.70667942] [ 0.07813273 0.996932 0.00467563 -0.17658688] [ 0.00994724 -0.00546931 0.99993557 -0.13678229] [ 0. 0. 0. 1. ]] SLAMing on 5.097719420999999 meters Centerline goodness : 0.922600 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.14 [[ 0.9967713 -0.07968279 -0.00988067 0.70482793] [ 0.07972084 0.99681102 0.00351778 -0.17605316] [ 0.00956886 -0.00429412 0.999945 -0.13538898] [ 0. 0. 0. 1. ]] SLAMing on 5.127719420999999 meters Centerline goodness : 0.925030 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.13 [[ 0.99701562 -0.0765642 -0.00988839 0.70334775] [ 0.07662373 0.99704328 0.00578802 -0.17106924] [ 0.009416 -0.00652844 0.99993436 -0.13425737] [ 0. 0. 0. 1. ]] SLAMing on 5.1577194209999995 meters Centerline goodness : 0.924674 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.13 [[ 0.99729337 -0.07280749 -0.01024727 0.70390302] [ 0.07290283 0.99729606 0.00925962 -0.16867462] [ 0.00954539 -0.00998161 0.99990462 -0.13486669] [ 0. 0. 0. 1. ]] SLAMing on 5.187719421 meters Centerline goodness : 0.923498 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.14 [[ 0.99753175 -0.06942319 -0.01052794 0.7048299 ] [ 0.06955102 0.9975025 0.01230517 -0.16597371] [ 0.00964738 -0.01300702 0.99986886 -0.13602188] [ 0. 0. 0. 1. ]] SLAMing on 5.217719420999999 meters Centerline goodness : 0.917285 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.14 [[ 0.99795951 -0.06192588 -0.01555666 0.70265482] [ 0.06202685 0.99805588 0.00609385 -0.16016668] [ 0.01514904 -0.00704634 0.99986042 -0.13886673] [ 0. 0. 0. 1. ]] SLAMing on 5.247719420999999 meters Centerline goodness : 0.916260 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.14 [[ 0.99812636 -0.05910696 -0.01581588 0.70568105] [ 0.05924365 0.9982089 0.00831776 -0.15847729] [ 0.01529591 -0.00923917 0.99984032 -0.14204635] [ 0. 0. 0. 1. ]] SLAMing on 5.277719421 meters Centerline goodness : 0.918826 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.15 [[ 0.99867099 -0.04989908 -0.01289677 0.70074375] [ 0.04997042 0.9987368 0.00526949 -0.15349106] [ 0.01261754 -0.00590694 0.99990295 -0.14691276] [ 0. 0. 0. 1. ]] SLAMing on 5.307719420999999 meters Centerline goodness : 0.919861 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.15 [[ 0.9990811 -0.04068826 -0.01346907 0.70272344] [ 0.0408593 0.99908449 0.01267683 -0.14791375] [ 0.01294094 -0.01321552 0.99982893 -0.14867926] [ 0. 0. 0. 1. ]] SLAMing on 5.337719420999999 meters Centerline goodness : 0.917391 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.15 [[ 0.99923623 -0.03660247 -0.01368245 0.70288533] [ 0.03681889 0.99919521 0.01591517 -0.14482466] [ 0.01308891 -0.01640679 0.99977972 -0.14860195] [ 0. 0. 0. 1. ]] SLAMing on 5.367719420999999 meters Centerline goodness : 0.919462 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.15 [[ 0.9993681 -0.03280528 -0.01368281 0.70241148] [ 0.03306381 0.9992704 0.01911692 -0.14250517] [ 0.01304569 -0.01955724 0.99972362 -0.14823602] [ 0. 0. 0. 1. ]] SLAMing on 5.397719421 meters Centerline goodness : 0.920428 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.15 [[ 0.99942507 -0.0311601 -0.01336323 0.70202848] [ 0.03141511 0.99931973 0.01931761 -0.14023642] [ 0.0127522 -0.01972631 0.99972409 -0.14783639] [ 0. 0. 0. 1. ]] SLAMing on 5.427719420999999 meters Centerline goodness : 0.919034 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.15 [[ 0.99943372 -0.03084692 -0.0134424 0.70260451] [ 0.03110603 0.99932561 0.0195127 -0.14091321] [ 0.01283143 -0.01991979 0.99971924 -0.14823885] [ 0. 0. 0. 1. ]] SLAMing on 5.457719420999999 meters Centerline goodness : 0.922106 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.15 [[ 0.99944932 -0.03037219 -0.01336351 0.7032161 ] [ 0.03063597 0.99933054 0.01999782 -0.14199183] [ 0.01274719 -0.02039621 0.99971071 -0.14906483] [ 0. 0. 0. 1. ]] SLAMing on 5.4877194209999995 meters Centerline goodness : 0.919535 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.15 [[ 0.99936514 -0.03283993 -0.01381538 0.70484568] [ 0.03307644 0.99930388 0.01725396 -0.14207705] [ 0.01323915 -0.01769997 0.99975569 -0.14942118] [ 0. 0. 0. 1. ]] SLAMing on 5.517719421 meters Centerline goodness : 0.917967 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.15 [[ 0.99925518 -0.03592581 -0.01408636 0.70625176] [ 0.03612662 0.99924533 0.01427015 -0.14294401] [ 0.01356306 -0.01476842 0.99979895 -0.15002383] [ 0. 0. 0. 1. ]] SLAMing on 5.547719420999999 meters Centerline goodness : 0.921272 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.15 [[ 0.99904132 -0.0414439 -0.0141015 0.7052317 ] [ 0.04159143 0.99908125 0.01033469 -0.14737596] [ 0.01366024 -0.01091128 0.99984716 -0.14835098] [ 0. 0. 0. 1. ]] SLAMing on 5.577719420999999 meters Centerline goodness : 0.920272 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.15 [[ 0.998859 -0.04562706 -0.01410216 0.70531081] [ 0.04572871 0.99892957 0.00697167 -0.14961872] [ 0.01376897 -0.00760859 0.99987625 -0.14798304] [ 0. 0. 0. 1. ]] SLAMing on 5.607719421 meters Centerline goodness : 0.921487 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.15 [[ 0.99827054 -0.05813351 -0.00874206 0.7151968 ] [ 0.0581994 0.99827695 0.00748116 -0.1554697 ] [ 0.00829209 -0.007977 0.9999338 -0.15123282] [ 0. 0. 0. 1. ]] SLAMing on 5.637719420999999 meters Centerline goodness : 0.920398 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.15 [[ 0.99800492 -0.06253413 -0.0086979 0.71564904] [ 0.06257184 0.99803191 0.00413204 -0.15829588] [ 0.00842239 -0.00466804 0.99995364 -0.15127957] [ 0. 0. 0. 1. ]] SLAMing on 5.667719420999999 meters Centerline goodness : 0.923080 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.15 [[ 0.99743987 -0.07103514 -0.0082287 0.71541929] [ 0.07100813 0.99746949 -0.00352919 -0.16077385] [ 0.00845857 0.00293585 0.99995992 -0.15058083] [ 0. 0. 0. 1. ]] SLAMing on 5.6977194209999995 meters Centerline goodness : 0.921639 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.15 [[ 0.99737318 -0.07195384 -0.00832926 0.71603773] [ 0.07192972 0.9974047 -0.0031605 -0.16358298] [ 0.00853505 0.00255307 0.99996032 -0.15125773] [ 0. 0. 0. 1. ]] SLAMing on 5.727719421 meters Centerline goodness : 0.919368 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.15 [[ 0.9974072 -0.07144374 -0.00864097 0.71775231] [ 0.0714264 0.99744322 -0.00229956 -0.16470932] [ 0.00878317 0.00167641 0.99996002 -0.15269235] [ 0. 0. 0. 1. ]] SLAMing on 5.757719420999999 meters Centerline goodness : 0.919666 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.15 [[ 9.97440849e-01 -7.09444138e-02 -8.86809020e-03 7.19513352e-01] [ 7.09357498e-02 9.97480055e-01 -1.28813700e-03 -1.66205467e-01] [ 8.93712923e-03 6.55775836e-04 9.99959848e-01 -1.54464042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.787719420999999 meters Centerline goodness : 0.919217 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.15 [[ 0.99767753 -0.06750544 -0.00908603 0.71967146] [ 0.06753482 0.99771251 0.00296588 -0.16832317] [ 0.00886503 -0.00357261 0.99995432 -0.1548536 ] [ 0. 0. 0. 1. ]] SLAMing on 5.817719421 meters Centerline goodness : 0.922150 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.15 [[ 0.9979538 -0.0632316 -0.00948555 0.71999944] [ 0.06330401 0.99796582 0.0075377 -0.1697243 ] [ 0.00898964 -0.00812275 0.9999266 -0.15492273] [ 0. 0. 0. 1. ]] SLAMing on 5.847719420999999 meters Centerline goodness : 0.922318 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.15 [[ 0.99820546 -0.05908636 -0.00972935 0.71986325] [ 0.05919869 0.99817773 0.01169294 -0.17018541] [ 0.00902073 -0.01224793 0.9998843 -0.15465511] [ 0. 0. 0. 1. ]] SLAMing on 5.877719420999999 meters Centerline goodness : 0.924210 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.15 [[ 0.99867069 -0.05050185 -0.010316 0.72009201] [ 0.05069665 0.99852203 0.01958601 -0.16862302] [ 0.00931162 -0.02008296 0.99975495 -0.1545077 ] [ 0. 0. 0. 1. ]] SLAMing on 5.9077194209999995 meters Centerline goodness : 0.925218 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.15 [[ 0.99887612 -0.04617929 -0.01067599 0.72023907] [ 0.04641658 0.99865355 0.02316417 -0.16654072] [ 0.00959191 -0.02363368 0.99967467 -0.15424568] [ 0. 0. 0. 1. ]] SLAMing on 5.937719421 meters Centerline goodness : 0.926708 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.15 [[ 0.99924361 -0.0373978 -0.01065852 0.71918632] [ 0.03770476 0.9988318 0.03022243 -0.1623889 ] [ 0.00951581 -0.03060145 0.99948637 -0.1532451 ] [ 0. 0. 0. 1. ]] SLAMing on 5.967719420999999 meters Centerline goodness : 0.927786 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.15 [[ 0.99938467 -0.03336774 -0.01081079 0.7190873 ] [ 0.03371353 0.99886787 0.03356146 -0.16034125] [ 0.00967869 -0.03390527 0.99937818 -0.15301298] [ 0. 0. 0. 1. ]] SLAMing on 5.997719420999999 meters Centerline goodness : 0.925903 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.15 [[ 0.99969509 -0.02119299 -0.01267216 0.73426041] [ 0.02138199 0.99965929 0.0149704 -0.15683297] [ 0.01235058 -0.0152368 0.99980763 -0.14962364] [ 0. 0. 0. 1. ]] SLAMing on 6.027719421 meters Centerline goodness : 0.924567 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.16, Z:-0.15 [[ 0.9997208 -0.01989451 -0.012749 0.73618777] [ 0.02009456 0.99967387 0.01575978 -0.15694389] [ 0.0124313 -0.01601157 0.99979453 -0.15161422] [ 0. 0. 0. 1. ]] SLAMing on 6.057719420999999 meters Centerline goodness : 0.923924 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.16, Z:-0.15 [[ 0.9997551 -0.01797318 -0.01291144 0.73830076] [ 0.01818998 0.99969213 0.01687484 -0.15582393] [ 0.01260417 -0.01710557 0.99977424 -0.15354973] [ 0. 0. 0. 1. ]] SLAMing on 6.087719420999999 meters Centerline goodness : 0.925743 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.15, Z:-0.15 [[ 0.99975522 -0.01773848 -0.013223 0.73868981] [ 0.01795633 0.99970192 0.01654225 -0.15360002] [ 0.01292563 -0.01677564 0.99977573 -0.15314322] [ 0. 0. 0. 1. ]] SLAMing on 6.117719420999999 meters Centerline goodness : 0.923916 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.15, Z:-0.15 [[ 0.99970595 -0.02014702 -0.01349466 0.74029311] [ 0.02033295 0.99969822 0.01378516 -0.15266888] [ 0.01321286 -0.01405549 0.99981391 -0.15411814] [ 0. 0. 0. 1. ]] SLAMing on 6.147719421 meters Centerline goodness : 0.922052 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.16, Z:-0.16 [[ 0.9996214 -0.02379669 -0.01381208 0.74219253] [ 0.0239473 0.99965442 0.01084329 -0.15622635] [ 0.01354928 -0.01116995 0.99984581 -0.15555837] [ 0. 0. 0. 1. ]] SLAMing on 6.177719420999999 meters Centerline goodness : 0.922638 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.16, Z:-0.16 [[ 0.99951976 -0.02774064 -0.01380989 0.74217332] [ 0.02784033 0.99958731 0.00707964 -0.15725615] [ 0.0136078 -0.00746072 0.99987958 -0.15518136] [ 0. 0. 0. 1. ]] SLAMing on 6.207719420999999 meters Centerline goodness : 0.925107 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.16, Z:-0.16 [[ 0.99930149 -0.036658 -0.00726101 0.748653 ] [ 0.03673118 0.99927297 0.01021486 -0.15972318] [ 0.00688127 -0.01047443 0.99992146 -0.15615927] [ 0. 0. 0. 1. ]] SLAMing on 6.2377194209999995 meters Centerline goodness : 0.925948 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.16, Z:-0.15 [[ 0.99911502 -0.04145665 -0.00710833 0.74747936] [ 0.04149845 0.99912151 0.00583808 -0.15985905] [ 0.00686006 -0.0061279 0.99995769 -0.15449787] [ 0. 0. 0. 1. ]] SLAMing on 6.267719421 meters Centerline goodness : 0.927732 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.16, Z:-0.15 [[ 0.99891044 -0.04615208 -0.00692187 0.74659666] [ 0.04616465 0.99893245 0.00166651 -0.16051111] [ 0.00683757 -0.00198424 0.99997465 -0.15324096] [ 0. 0. 0. 1. ]] SLAMing on 6.297719420999999 meters Centerline goodness : 0.929545 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.16 [[ 0.99850329 -0.05465851 -0.00190613 0.75561883] [ 0.05466909 0.99848633 0.006029 -0.16407033] [ 0.00157371 -0.00612419 0.99998001 -0.15619802] [ 0. 0. 0. 1. ]] SLAMing on 6.327719420999999 meters Centerline goodness : 0.931272 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 0.99845046 -0.05561783 -0.00182505 0.75522989] [ 0.05562793 0.99843327 0.0060445 -0.16582258] [ 0.00148601 -0.00613666 0.99998007 -0.15598354] [ 0. 0. 0. 1. ]] SLAMing on 6.357719421 meters Centerline goodness : 0.929207 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 0.99847592 -0.05514849 -0.00211885 0.75644603] [ 0.05516138 0.9984556 0.00660649 -0.16627267] [ 0.00175124 -0.0067133 0.99997593 -0.15684603] [ 0. 0. 0. 1. ]] SLAMing on 6.387719420999999 meters Centerline goodness : 0.928653 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 0.99852098 -0.0543091 -0.0025258 0.75881742] [ 0.05432718 0.99849315 0.00774532 -0.16725393] [ 0.00210136 -0.00787108 0.99996681 -0.1590103 ] [ 0. 0. 0. 1. ]] SLAMing on 6.417719420999999 meters Centerline goodness : 0.929873 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 0.99853167 -0.05410077 -0.00275724 0.75980268] [ 0.05412161 0.9985011 0.00814899 -0.16731303] [ 0.00231224 -0.00828625 0.999963 -0.159739 ] [ 0. 0. 0. 1. ]] SLAMing on 6.4477194209999995 meters Centerline goodness : 0.931992 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 0.99848036 -0.05503487 -0.00285165 0.75968331] [ 0.05505526 0.99845403 0.00764596 -0.16641277] [ 0.00242645 -0.00779134 0.9999667 -0.15942126] [ 0. 0. 0. 1. ]] SLAMing on 6.477719421 meters Centerline goodness : 0.930747 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 0.99846993 -0.05522096 -0.00290471 0.75981568] [ 0.05524223 0.9984422 0.00783971 -0.16725038] [ 0.00246727 -0.00798818 0.99996505 -0.15948257] [ 0. 0. 0. 1. ]] SLAMing on 6.507719420999999 meters Centerline goodness : 0.931687 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 0.99841444 -0.05621102 -0.00298616 0.75978685] [ 0.05623241 0.99838848 0.00763983 -0.16923168] [ 0.00255191 -0.00779563 0.99996636 -0.15924848] [ 0. 0. 0. 1. ]] SLAMing on 6.537719420999999 meters Centerline goodness : 0.933449 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.16 [[ 0.99841253 -0.05623909 -0.00309639 0.76023648] [ 0.05626135 0.99838683 0.00764159 -0.16883736] [ 0.00266164 -0.00780366 0.99996601 -0.15951157] [ 0. 0. 0. 1. ]] SLAMing on 6.567719421 meters Centerline goodness : 0.933050 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.16 [[ 0.99863691 -0.05209182 -0.00328139 0.76090441] [ 0.05212514 0.9985794 0.01105204 -0.16477574] [ 0.00270101 -0.01120802 0.99993354 -0.16034333] [ 0. 0. 0. 1. ]] SLAMing on 6.597719420999999 meters Centerline goodness : 0.933250 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.16 [[ 0.99887607 -0.04725212 -0.00372014 0.7627229 ] [ 0.04730327 0.99876593 0.01513362 -0.16220053] [ 0.00300045 -0.01529259 0.99987856 -0.16200344] [ 0. 0. 0. 1. ]] SLAMing on 6.627719420999999 meters Centerline goodness : 0.933055 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.17 [[ 0.99945069 -0.03255473 -0.0062054 0.76012801] [ 0.03264053 0.99936533 0.01426624 -0.15580292] [ 0.00573702 -0.01446095 0.99987898 -0.16556387] [ 0. 0. 0. 1. ]] SLAMing on 6.6577194209999995 meters Centerline goodness : 0.930277 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.17 [[ 0.99961905 -0.02680879 -0.00656003 0.76287347] [ 0.02692765 0.99946139 0.01875716 -0.15328634] [ 0.00605364 -0.01892666 0.99980255 -0.168214 ] [ 0. 0. 0. 1. ]] SLAMing on 6.687719421 meters Centerline goodness : 0.929960 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.17 [[ 0.99985264 -0.01518104 -0.00801512 0.76005305] [ 0.01529934 0.99977178 0.01491062 -0.14869601] [ 0.00778693 -0.01503104 0.99985671 -0.17213866] [ 0. 0. 0. 1. ]] SLAMing on 6.717719420999999 meters Centerline goodness : 0.929362 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.17 [[ 0.99987026 -0.01387081 -0.00818985 0.76154501] [ 0.01399391 0.99978701 0.01516902 -0.14640987] [ 0.0079777 -0.01528166 0.9998514 -0.17330243] [ 0. 0. 0. 1. ]] SLAMing on 6.747719420999999 meters Centerline goodness : 0.931836 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:-0.17 [[ 0.99987097 -0.01374452 -0.00831428 0.76141846] [ 0.01386417 0.99979863 0.01450835 -0.14341447] [ 0.0081132 -0.01462175 0.99986018 -0.17260166] [ 0. 0. 0. 1. ]] SLAMing on 6.777719421 meters Centerline goodness : 0.931633 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:-0.17 [[ 0.9998637 -0.01417053 -0.0084722 0.76151226] [ 0.01429129 0.99979465 0.01436735 -0.14400716] [ 0.00826686 -0.01448648 0.99986089 -0.17234173] [ 0. 0. 0. 1. ]] SLAMing on 6.807719420999999 meters Centerline goodness : 0.930210 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.17 [[ 0.99979886 -0.01806149 -0.00871895 0.76204306] [ 0.01816234 0.99976742 0.01162939 -0.14831237] [ 0.00850688 -0.01178541 0.99989436 -0.17231023] [ 0. 0. 0. 1. ]] SLAMing on 6.837719420999999 meters Centerline goodness : 0.930032 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.17 [[ 0.99973349 -0.02123795 -0.00904974 0.76284833] [ 0.02131722 0.99973443 0.00875525 -0.15051051] [ 0.00886139 -0.00894583 0.99992072 -0.17210961] [ 0. 0. 0. 1. ]] SLAMing on 6.867719420999999 meters Centerline goodness : 0.930032 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.17 [[ 0.99973349 -0.02123795 -0.00904974 0.76284833] [ 0.02131722 0.99973443 0.00875525 -0.15051051] [ 0.00886139 -0.00894583 0.99992072 -0.17210961] [ 0. 0. 0. 1. ]] SLAMing on 6.897719421 meters Centerline goodness : 0.934730 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.17 [[ 0.99969953 -0.02283471 -0.0089119 0.75999272] [ 0.0229111 0.99970081 0.00856611 -0.15517438] [ 0.00871363 -0.00876772 0.9999236 -0.16847257] [ 0. 0. 0. 1. ]] SLAMing on 6.927719420999999 meters Centerline goodness : 0.936642 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.17 [[ 0.99970245 -0.02257361 -0.00924369 0.75971997] [ 0.02265767 0.99970193 0.00909279 -0.15650894] [ 0.00903568 -0.00929952 0.99991593 -0.16716222] [ 0. 0. 0. 1. ]] SLAMing on 6.957719420999999 meters Centerline goodness : 0.938103 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.17 [[ 0.9997245 -0.02143954 -0.00955313 0.75934903] [ 0.02153602 0.99971691 0.01011402 -0.15904303] [ 0.00933359 -0.01031697 0.99990322 -0.16545936] [ 0. 0. 0. 1. ]] SLAMing on 6.9877194209999995 meters Centerline goodness : 0.937649 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.17 [[ 0.99980243 -0.01772602 -0.0089936 0.75889842] [ 0.01784526 0.99975156 0.01335545 -0.16300678] [ 0.00875463 -0.0135133 0.99987037 -0.16556883] [ 0. 0. 0. 1. ]] SLAMing on 7.017719420999999 meters Centerline goodness : 0.940092 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.17 [[ 0.99982649 -0.01608452 -0.00939604 0.76058194] [ 0.0162158 0.99976956 0.01406652 -0.16280605] [ 0.00916762 -0.01421644 0.99985691 -0.16634524] [ 0. 0. 0. 1. ]] SLAMing on 7.047719420999999 meters Centerline goodness : 0.937193 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.17 [[ 0.99997166 -0.00595679 -0.00460378 0.75873843] [ 0.00599208 0.99995247 0.00769076 -0.16423127] [ 0.00455775 -0.00771812 0.99995983 -0.16828378] [ 0. 0. 0. 1. ]] SLAMing on 7.077719420999999 meters Centerline goodness : 0.937389 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.17 [[ 0.99997659 -0.00453819 -0.00512186 0.76121057] [ 0.00458385 0.99994954 0.00893913 -0.16542548] [ 0.00508103 -0.0089624 0.99994693 -0.17003127] [ 0. 0. 0. 1. ]] SLAMing on 7.107719421 meters Centerline goodness : 0.933984 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.17 [[ 0.99997786 -0.00347213 -0.00567628 0.76318047] [ 0.0035315 0.99993882 0.0104822 -0.16821904] [ 0.00563953 -0.01050201 0.99992895 -0.1710958 ] [ 0. 0. 0. 1. ]] SLAMing on 7.137719420999999 meters Centerline goodness : 0.936294 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:-0.17 [[ 0.99997496 -0.00416431 -0.00572221 0.76186212] [ 0.00422286 0.99993846 0.01025923 -0.17037206] [ 0.00567914 -0.01028314 0.999931 -0.16935255] [ 0. 0. 0. 1. ]] SLAMing on 7.167719420999999 meters Centerline goodness : 0.936502 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.18, Z:-0.17 [[ 0.99995361 -0.0074516 -0.00610342 0.76127846] [ 0.00750163 0.99993811 0.00821558 -0.17697174] [ 0.00604183 -0.00826098 0.99994762 -0.16750771] [ 0. 0. 0. 1. ]] SLAMing on 7.1977194209999995 meters Centerline goodness : 0.936257 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.18, Z:-0.17 [[ 0.99992297 -0.01055443 -0.0065316 0.76291929] [ 0.0105904 0.99992881 0.00549629 -0.17935894] [ 0.00647312 -0.00556504 0.99996356 -0.16832651] [ 0. 0. 0. 1. ]] SLAMing on 7.227719420999999 meters Centerline goodness : 0.937415 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.18, Z:-0.17 [[ 0.99987611 -0.01412573 -0.006945 0.76490264] [ 0.01415101 0.99989337 0.00360463 -0.18471598] [ 0.00689334 -0.00370247 0.99996939 -0.16997141] [ 0. 0. 0. 1. ]] SLAMing on 7.257719420999999 meters Centerline goodness : 0.936402 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.19, Z:-0.17 [[ 0.99987493 -0.01417592 -0.00701244 0.76501576] [ 0.0142079 0.99988879 0.0045315 -0.18762401] [ 0.00694743 -0.00463057 0.99996514 -0.1699806 ] [ 0. 0. 0. 1. ]] SLAMing on 7.287719420999999 meters Centerline goodness : 0.936902 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.17 [[ 0.9998133 -0.01802677 -0.00695704 0.76436151] [ 0.01803945 0.99983572 0.00176471 -0.19162849] [ 0.00692409 -0.00188988 0.99997424 -0.16905882] [ 0. 0. 0. 1. ]] SLAMing on 7.317719421 meters Centerline goodness : 0.936618 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.19, Z:-0.17 [[ 0.99980967 -0.01812077 -0.00722885 0.76551993] [ 0.0181406 0.99983183 0.00268705 -0.19472728] [ 0.00717895 -0.00281768 0.99997026 -0.17001795] [ 0. 0. 0. 1. ]] SLAMing on 7.347719420999999 meters Centerline goodness : 0.933583 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 9.99728405e-01 -2.19425225e-02 -7.85124211e-03 7.69072364e-01] [ 2.19458172e-02 9.99759106e-01 3.33733220e-04 -1.98693865e-01] [ 7.84202785e-03 -5.05944504e-04 9.99969123e-01 -1.73335050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.377719420999999 meters Centerline goodness : 0.933194 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 0.99971823 -0.02229298 -0.00815358 0.77054661] [ 0.02230235 0.99975071 0.00106058 -0.20114854] [ 0.00812791 -0.00124212 0.9999662 -0.17468323] [ 0. 0. 0. 1. ]] SLAMing on 7.4077194209999995 meters Centerline goodness : 0.933655 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.18 [[ 0.99960464 -0.02685466 -0.00832974 0.77141869] [ 0.02683336 0.99963639 -0.0026579 -0.20212444] [ 0.00839809 0.00243333 0.99996177 -0.17523992] [ 0. 0. 0. 1. ]] SLAMing on 7.437719421 meters Centerline goodness : 0.934318 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 0.99946568 -0.03166574 -0.00810168 0.77015999] [ 0.03160941 0.99947586 -0.00698923 -0.20237679] [ 0.00831875 0.00672941 0.99994276 -0.1737032 ] [ 0. 0. 0. 1. ]] SLAMing on 7.467719420999999 meters Centerline goodness : 0.935456 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 0.99945267 -0.03204301 -0.00822251 0.76977648] [ 0.03198549 0.99946358 -0.00703381 -0.2027686 ] [ 0.00844349 0.00676695 0.99994146 -0.17287125] [ 0. 0. 0. 1. ]] SLAMing on 7.497719420999999 meters Centerline goodness : 0.935900 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 0.99943115 -0.03271174 -0.00820427 0.76886987] [ 0.03264978 0.99943814 -0.00757559 -0.20217377] [ 0.00844747 0.00730341 0.99993765 -0.17165685] [ 0. 0. 0. 1. ]] SLAMing on 7.527719421 meters Centerline goodness : 0.936191 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 0.99943576 -0.0325484 -0.00829253 0.76884507] [ 0.03248791 0.99944527 -0.0073278 -0.20273903] [ 0.00852644 0.00705426 0.99993877 -0.17138338] [ 0. 0. 0. 1. ]] SLAMing on 7.557719420999999 meters Centerline goodness : 0.939467 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 0.999549 -0.02886977 -0.00826643 0.76793179] [ 0.02884235 0.99957813 -0.00341749 -0.20342695] [ 0.0083616 0.00317753 0.99995999 -0.17051258] [ 0. 0. 0. 1. ]] SLAMing on 7.587719420999999 meters Centerline goodness : 0.941685 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 9.99652937e-01 -2.50126411e-02 -8.26886515e-03 7.67567172e-01] [ 2.50181095e-02 9.99686842e-01 5.58528527e-04 -2.03321948e-01] [ 8.25230541e-03 -7.65206056e-04 9.99965656e-01 -1.70290367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.617719420999999 meters Centerline goodness : 0.939662 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 0.99976122 -0.02016425 -0.00842096 0.76765732] [ 0.02020122 0.99978656 0.00432942 -0.20106638] [ 0.00833186 -0.0044985 0.99995517 -0.16989366] [ 0. 0. 0. 1. ]] SLAMing on 7.647719421 meters Centerline goodness : 0.937639 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 0.99986398 -0.01404139 -0.00865251 0.77070279] [ 0.01412172 0.99985709 0.00929396 -0.1987595 ] [ 0.00852077 -0.00941488 0.99991937 -0.17301765] [ 0. 0. 0. 1. ]] SLAMing on 7.677719420999999 meters Centerline goodness : 0.937541 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 0.99988172 -0.01234577 -0.0091724 0.77321678] [ 0.01243912 0.9998707 0.01019053 -0.19703285] [ 0.00904541 -0.01030342 0.99990601 -0.17462293] [ 0. 0. 0. 1. ]] SLAMing on 7.707719420999999 meters Centerline goodness : 0.937917 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 0.99989912 -0.01091244 -0.00909239 0.77307569] [ 0.01100832 0.99988361 0.01056328 -0.1953048 ] [ 0.00897606 -0.0106623 0.99990287 -0.17416958] [ 0. 0. 0. 1. ]] SLAMing on 7.7377194209999995 meters Centerline goodness : 0.937264 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 0.99990038 -0.01064885 -0.00926462 0.77331897] [ 0.01074801 0.99988477 0.01072008 -0.19546355] [ 0.0091494 -0.01081859 0.99989962 -0.17402784] [ 0. 0. 0. 1. ]] SLAMing on 7.767719420999999 meters Centerline goodness : 0.938939 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.17 [[ 0.9999009 -0.01035458 -0.00953838 0.77391517] [ 0.01045735 0.99988711 0.010789 -0.19548343] [ 0.00942558 -0.01088768 0.9998963 -0.17407375] [ 0. 0. 0. 1. ]] SLAMing on 7.797719420999999 meters Centerline goodness : 0.941150 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.19, Z:-0.17 [[ 0.99990219 -0.00994383 -0.00983561 0.7744031 ] [ 0.01004955 0.99989163 0.01075766 -0.19485261] [ 0.00972758 -0.01085545 0.99989376 -0.17381404] [ 0. 0. 0. 1. ]] SLAMing on 7.827719420999999 meters Centerline goodness : 0.938924 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.20, Z:-0.18 [[ 0.99990369 -0.00960631 -0.01001636 0.77602537] [ 0.00972014 0.99988801 0.01137925 -0.19637486] [ 0.00990593 -0.01147551 0.99988509 -0.17539412] [ 0. 0. 0. 1. ]] SLAMing on 7.857719421 meters Centerline goodness : 0.936562 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.20, Z:-0.18 [[ 0.99988365 -0.01107331 -0.01049153 0.77951965] [ 0.01117734 0.99988843 0.00990916 -0.19740677] [ 0.01038063 -0.01002527 0.99989586 -0.17830469] [ 0. 0. 0. 1. ]] SLAMing on 7.887719420999999 meters Centerline goodness : 0.934231 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.20, Z:-0.18 [[ 0.99984737 -0.01355425 -0.01102345 0.78294382] [ 0.01363846 0.99987811 0.00760047 -0.19845137] [ 0.01091909 -0.00774965 0.99991035 -0.18101574] [ 0. 0. 0. 1. ]] SLAMing on 7.917719420999999 meters Centerline goodness : 0.933352 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.20, Z:-0.18 [[ 0.99984731 -0.01341045 -0.01120313 0.78340185] [ 0.01350195 0.99987578 0.00813156 -0.19976221] [ 0.01109269 -0.00828158 0.99990418 -0.18113848] [ 0. 0. 0. 1. ]] SLAMing on 7.9477194209999995 meters Centerline goodness : 0.935483 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.20, Z:-0.18 [[ 0.99984465 -0.01355313 -0.01126871 0.78307794] [ 0.01365213 0.99986847 0.00875579 -0.20224132] [ 0.01114856 -0.00890827 0.99989817 -0.1805537 ] [ 0. 0. 0. 1. ]] SLAMing on 7.977719420999999 meters Centerline goodness : 0.937501 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.20, Z:-0.18 [[ 0.99984249 -0.01348955 -0.01153374 0.78344303] [ 0.01359171 0.99986868 0.00882552 -0.20168676] [ 0.01141317 -0.00898089 0.99989454 -0.18025886] [ 0. 0. 0. 1. ]] SLAMing on 8.007719421 meters Centerline goodness : 0.936592 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.20, Z:-0.18 [[ 0.99984271 -0.01343417 -0.01157927 0.78308973] [ 0.0135346 0.99987108 0.00863971 -0.20006166] [ 0.01146171 -0.00879507 0.99989563 -0.17957277] [ 0. 0. 0. 1. ]] SLAMing on 8.037719421 meters Centerline goodness : 0.937745 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.20, Z:-0.18 [[ 0.99983806 -0.01346977 -0.01193363 0.78342333] [ 0.01357043 0.99987268 0.00839463 -0.19970334] [ 0.01181904 -0.00855522 0.99989355 -0.17900806] [ 0. 0. 0. 1. ]] SLAMing on 8.067719421 meters Centerline goodness : 0.938641 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.20, Z:-0.18 [[ 0.99983182 -0.01387357 -0.01199432 0.78371671] [ 0.01397068 0.99987 0.00805062 -0.20010348] [ 0.01188107 -0.00821683 0.99989566 -0.17923683] [ 0. 0. 0. 1. ]] SLAMing on 8.097719421 meters Centerline goodness : 0.938796 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.20, Z:-0.18 [[ 0.99982276 -0.01462098 -0.01186048 0.78335202] [ 0.01470844 0.99986503 0.0073203 -0.19904678] [ 0.01175185 -0.00749345 0.99990287 -0.17911306] [ 0. 0. 0. 1. ]] SLAMing on 8.127719421 meters Centerline goodness : 0.939312 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.20, Z:-0.18 [[ 0.9997321 -0.02002433 -0.01160855 0.78280364] [ 0.02004876 0.99979702 0.00199203 -0.19625706] [ 0.0115663 -0.00222424 0.99993063 -0.17890332] [ 0. 0. 0. 1. ]] SLAMing on 8.157719421 meters Centerline goodness : 0.938893 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.20, Z:-0.18 [[ 0.99970206 -0.02142053 -0.01170273 0.78279101] [ 0.02144093 0.9997688 0.00162066 -0.19739059] [ 0.01166531 -0.0018711 0.99993021 -0.17893558] [ 0. 0. 0. 1. ]] SLAMing on 8.187719421 meters Centerline goodness : 0.942651 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.20, Z:-0.18 [[ 0.9994348 -0.0331016 -0.00586135 0.78890333] [ 0.0331177 0.99944789 0.00267052 -0.19768411] [ 0.00576972 -0.00286313 0.99997926 -0.17986725] [ 0. 0. 0. 1. ]] SLAMing on 8.217719421 meters Centerline goodness : 0.943456 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.20, Z:-0.18 [[ 9.99337255e-01 -3.59454721e-02 -5.74236402e-03 7.87278897e-01] [ 3.59506334e-02 9.99353248e-01 7.98094103e-04 -1.97664535e-01] [ 5.70996226e-03 -1.00400679e-03 9.99983194e-01 -1.78147380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.247719421 meters Centerline goodness : 0.945392 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.20, Z:-0.18 [[ 0.99910505 -0.04190954 -0.00571819 0.7874851 ] [ 0.04188284 0.99911142 -0.00471255 -0.19502067] [ 0.00591061 0.00446883 0.99997255 -0.17819835] [ 0. 0. 0. 1. ]] SLAMing on 8.277719421 meters Centerline goodness : 0.943918 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.19, Z:-0.18 [[ 0.99908454 -0.04237238 -0.00588689 0.78872385] [ 0.04233966 0.99908772 -0.00557567 -0.19201066] [ 0.00611778 0.00532132 0.99996713 -0.17928282] [ 0. 0. 0. 1. ]] SLAMing on 8.307719421 meters Centerline goodness : 0.944345 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.19, Z:-0.18 [[ 0.99923513 -0.0386556 -0.00590752 0.78894761] [ 0.03864472 0.99925112 -0.00194403 -0.19066818] [ 0.00597825 0.00171425 0.99998066 -0.17989568] [ 0. 0. 0. 1. ]] SLAMing on 8.337719421000001 meters Centerline goodness : 0.945394 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.18, Z:-0.18 [[ 0.99949953 -0.03109701 -0.00580247 0.78912469] [ 0.03112173 0.99950669 0.00421994 -0.18394998] [ 0.00566838 -0.00439841 0.99997426 -0.18073413] [ 0. 0. 0. 1. ]] SLAMing on 8.367719421 meters Centerline goodness : 0.946815 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.18, Z:-0.18 [[ 0.99961717 -0.02705363 -0.00579772 0.78908102] [ 0.02709469 0.99960748 0.00712442 -0.17934757] [ 0.0056027 -0.00727878 0.99995781 -0.18074895] [ 0. 0. 0. 1. ]] SLAMing on 8.397719421 meters Centerline goodness : 0.944851 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.17, Z:-0.19 [[ 0.99987613 -0.01536526 -0.00341157 0.78579341] [ 0.01538584 0.99986308 0.00609061 -0.16965198] [ 0.00331752 -0.00614235 0.99997563 -0.18542339] [ 0. 0. 0. 1. ]] SLAMing on 8.427719421 meters Centerline goodness : 0.944501 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.17, Z:-0.19 [[ 0.99992917 -0.01130122 -0.00373249 0.78909559] [ 0.01133447 0.99989516 0.009011 -0.1660878 ] [ 0.00363026 -0.00905267 0.99995243 -0.18852971] [ 0. 0. 0. 1. ]] SLAMing on 8.457719421 meters Centerline goodness : 0.941907 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.16, Z:-0.19 [[ 0.99998539 -0.0020495 -0.00500195 0.7886633 ] [ 0.0020655 0.99999276 0.00319557 -0.15879128] [ 0.00499537 -0.00320586 0.99998238 -0.19439298] [ 0. 0. 0. 1. ]] SLAMing on 8.487719421 meters Centerline goodness : 0.941834 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.16, Z:-0.20 [[ 0.99998537 0.00141085 -0.00522271 0.79067907] [-0.00137994 0.99998154 0.00591751 -0.15578346] [ 0.00523096 -0.00591022 0.99996885 -0.19617531] [ 0. 0. 0. 1. ]] SLAMing on 8.517719421 meters Centerline goodness : 0.940580 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.15, Z:-0.20 [[ 0.99994926 0.00815229 -0.00591696 0.795453 ] [-0.00808331 0.99990016 0.01158981 -0.15048381] [ 0.00601085 -0.0115414 0.99991533 -0.20021978] [ 0. 0. 0. 1. ]] SLAMing on 8.547719421 meters Centerline goodness : 0.938126 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.15, Z:-0.20 [[ 0.99993831 0.00898181 -0.00653442 0.79930802] [-0.00890681 0.99989515 0.01141765 -0.14629941] [ 0.00663629 -0.01135875 0.99991347 -0.20328084] [ 0. 0. 0. 1. ]] SLAMing on 8.577719421 meters Centerline goodness : 0.937522 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:-0.20 [[ 0.99995587 0.00641749 -0.00686134 0.80146554] [-0.00636236 0.99994754 0.00802674 -0.14375211] [ 0.00691249 -0.00798273 0.99994425 -0.20487968] [ 0. 0. 0. 1. ]] SLAMing on 8.607719421 meters Centerline goodness : 0.937992 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:-0.21 [[ 0.99997273 0.0021859 -0.00705366 0.80223915] [-0.0021602 0.99999101 0.00364908 -0.14277885] [ 0.00706158 -0.00363374 0.99996846 -0.20535141] [ 0. 0. 0. 1. ]] SLAMing on 8.637719421 meters Centerline goodness : 0.935653 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:-0.21 [[ 9.99971909e-01 -1.67582547e-03 -7.30569031e-03 8.02845088e-01] [ 1.67447593e-03 9.99998580e-01 -1.90838407e-04 -1.42920802e-01] [ 7.30599975e-03 1.78599844e-04 9.99973295e-01 -2.05432536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.667719421000001 meters Centerline goodness : 0.938801 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:-0.20 [[ 0.99995009 -0.00701531 -0.00711392 0.80082567] [ 0.00698054 0.99996363 -0.0049 -0.14347612] [ 0.00714804 0.00485009 0.99996269 -0.20326104] [ 0. 0. 0. 1. ]] SLAMing on 8.697719421 meters Centerline goodness : 0.942834 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:-0.20 [[ 0.99994844 -0.00747635 -0.00687117 0.79628883] [ 0.00744482 0.99996169 -0.00460274 -0.14248347] [ 0.00690532 0.00455135 0.9999658 -0.19851142] [ 0. 0. 0. 1. ]] SLAMing on 8.727719421 meters Centerline goodness : 0.943093 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:-0.20 [[ 9.99965707e-01 -4.44141680e-03 -6.98982807e-03 7.95958043e-01] [ 4.43542183e-03 9.99989782e-01 -8.72938218e-04 -1.43088695e-01] [ 6.99363374e-03 8.41905447e-04 9.99975190e-01 -1.98168827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.757719421000001 meters Centerline goodness : 0.943320 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:-0.20 [[ 9.99965598e-01 -4.12345622e-03 -7.19720690e-03 7.97039795e-01] [ 4.11812498e-03 9.99991235e-01 -7.55400740e-04 -1.42275390e-01] [ 7.20025867e-03 7.25735755e-04 9.99973814e-01 -1.98925278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.787719421 meters Centerline goodness : 0.943320 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:-0.20 [[ 9.99965598e-01 -4.12345622e-03 -7.19720690e-03 7.97039795e-01] [ 4.11812498e-03 9.99991235e-01 -7.55400740e-04 -1.42275390e-01] [ 7.20025867e-03 7.25735755e-04 9.99973814e-01 -1.98925278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.817719421 meters Centerline goodness : 0.937218 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:-0.20 [[ 9.99966149e-01 -3.71830296e-03 -7.33992615e-03 7.99895815e-01] [ 3.71628340e-03 9.99993053e-01 -2.88767440e-04 -1.41987973e-01] [ 7.34094889e-03 2.61480419e-04 9.99973021e-01 -2.02276406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.847719421 meters Centerline goodness : 0.938145 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:-0.20 [[ 9.99966009e-01 -3.49499842e-03 -7.46769791e-03 8.01449471e-01] [ 3.49451261e-03 9.99993891e-01 -7.81033599e-05 -1.41304398e-01] [ 7.46792526e-03 5.20047406e-05 9.99972113e-01 -2.03904279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.877719421 meters Centerline goodness : 0.942383 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:-0.20 [[ 0.99995976 -0.00528036 -0.00725204 0.80020288] [ 0.00526501 0.99998387 -0.00213286 -0.13712565] [ 0.00726318 0.0020946 0.99997143 -0.2028487 ] [ 0. 0. 0. 1. ]] SLAMing on 8.907719421 meters Centerline goodness : 0.942387 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:-0.20 [[ 0.99995393 -0.00632475 -0.00722055 0.79933144] [ 0.00630154 0.99997492 -0.00323301 -0.13512235] [ 0.00724082 0.00318736 0.99996871 -0.20175467] [ 0. 0. 0. 1. ]] SLAMing on 8.937719421 meters Centerline goodness : 0.948489 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.13, Z:-0.20 [[ 0.99992189 -0.01070711 -0.00644685 0.79389939] [ 0.01065826 0.99991458 -0.00756475 -0.12803169] [ 0.0065273 0.00749545 0.99995061 -0.1970339 ] [ 0. 0. 0. 1. ]] SLAMing on 8.967719421 meters Centerline goodness : 0.950734 Centerline is valid? [False, True] Translation: X:0.79, Y:-0.12, Z:-0.20 [[ 0.9999077 -0.01199629 -0.0063774 0.7925794 ] [ 0.01193785 0.99988711 -0.0091243 -0.12480833] [ 0.00648614 0.00904733 0.99993804 -0.19543335] [ 0. 0. 0. 1. ]] SLAMing on 8.997719421 meters Centerline goodness : 0.954700 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.12, Z:-0.20 [[ 9.99824373e-01 -1.81071085e-02 -4.83278414e-03 8.24613570e-01] [ 1.81075780e-02 9.99836043e-01 5.33990264e-05 -1.20569361e-01] [ 4.83102487e-03 -1.40899664e-04 9.99988321e-01 -1.98631595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.027719421 meters Centerline goodness : 0.955828 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.12, Z:-0.20 [[ 9.99797591e-01 -1.97782580e-02 -3.68756403e-03 8.57245151e-01] [ 1.97785451e-02 9.99804385e-01 4.13791679e-05 -1.17064441e-01] [ 3.68602427e-03 -1.14305444e-04 9.99993200e-01 -1.99715336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.057719421 meters Centerline goodness : 0.955192 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.11, Z:-0.20 [[ 9.99825362e-01 -1.85690604e-02 -2.10629264e-03 8.88248713e-01] [ 1.85691552e-02 9.99827578e-01 2.54540007e-05 -1.06225908e-01] [ 2.10545682e-03 -6.45616305e-05 9.99997781e-01 -2.00049581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.087719421000001 meters Centerline goodness : 0.956446 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.10, Z:-0.20 [[ 9.99863226e-01 -1.62761604e-02 -2.93529302e-03 9.20964482e-01] [ 1.62763299e-02 9.99867531e-01 3.38553056e-05 -9.99576729e-02] [ 2.93435315e-03 -8.16264726e-05 9.99995691e-01 -1.99852904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.117719421 meters Centerline goodness : 0.955766 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.09, Z:-0.20 [[ 9.99943935e-01 -9.84880323e-03 -3.88954420e-03 9.52945612e-01] [ 9.84905194e-03 9.99951496e-01 4.47952530e-05 -8.67113308e-02] [ 3.88891437e-03 -8.31010644e-05 9.99992435e-01 -1.99708553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.147719421 meters Centerline goodness : 0.954220 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.08, Z:-0.20 [[ 9.99978993e-01 -5.42066341e-03 -3.55387931e-03 9.84481679e-01] [ 5.42084802e-03 9.99985306e-01 4.23133583e-05 -7.85708918e-02] [ 3.55359772e-03 -6.15775090e-05 9.99993684e-01 -2.02464634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.177719421 meters Centerline goodness : 0.953847 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.08, Z:-0.21 [[ 9.99979139e-01 -4.84078309e-03 -4.27639709e-03 1.01605841e+00] [ 4.84103749e-03 9.99988281e-01 4.91393575e-05 -7.63610269e-02] [ 4.27610910e-03 -6.98405311e-05 9.99990855e-01 -2.06178337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.207719421 meters Centerline goodness : 0.951919 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.07, Z:-0.21 [[ 9.99953174e-01 -7.93452842e-03 -5.54015397e-03 1.04656827e+00] [ 7.93500043e-03 9.99968515e-01 6.32228023e-05 -6.81746966e-02] [ 5.53947790e-03 -1.07180966e-04 9.99984651e-01 -2.07648367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.237719421 meters Centerline goodness : 0.951395 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.06, Z:-0.21 [[ 9.99933455e-01 -1.02577130e-02 -5.27864872e-03 1.07779757e+00] [ 1.02581769e-02 9.99947382e-01 6.08111667e-05 -6.33352120e-02] [ 5.27774718e-03 -1.14956432e-04 9.99986066e-01 -2.08652171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.267719421 meters Centerline goodness : 0.950289 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.06, Z:-0.21 [[ 9.99914366e-01 -1.15038329e-02 -6.23880848e-03 1.11008348e+00] [ 1.15045120e-02 9.99933818e-01 7.29731630e-05 -5.60854209e-02] [ 6.23755611e-03 -1.44741361e-04 9.99980536e-01 -2.09684973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.297719421 meters Centerline goodness : 0.947928 Centerline is valid? [True, False] Translation: X:1.11, Y:-0.05, Z:-0.21 [[ 0.99995113 -0.00759556 -0.0063282 1.11106507] [ 0.00762063 0.99996317 0.00394674 -0.05469062] [ 0.00629799 -0.00399477 0.99997219 -0.21087336] [ 0. 0. 0. 1. ]] SLAMing on 9.327719421 meters Centerline goodness : 0.947049 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.05, Z:-0.21 [[ 9.99977161e-01 -6.28853237e-04 -6.72912394e-03 1.11428678e+00] [ 6.91306833e-04 9.99956675e-01 9.28279129e-03 -4.87999618e-02] [ 6.72299489e-03 -9.28723118e-03 9.99934272e-01 -2.13278110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.357719421 meters Centerline goodness : 0.943688 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.04, Z:-0.22 [[ 0.99991197 0.01134158 -0.00688612 1.11801404] [-0.01121116 0.99976244 0.01869142 -0.04124086] [ 0.00709648 -0.01861257 0.99980159 -0.21640792] [ 0. 0. 0. 1. ]] SLAMing on 9.387719421 meters Centerline goodness : 0.942658 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.04, Z:-0.22 [[ 0.99984199 0.0162155 -0.00728433 1.12049122] [-0.01605163 0.99962873 0.02201684 -0.03690989] [ 0.00763864 -0.02189644 0.99973106 -0.21787323] [ 0. 0. 0. 1. ]] SLAMing on 9.417719421 meters Centerline goodness : 0.939414 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.03, Z:-0.22 [[ 0.99963677 0.02597079 -0.00720106 1.12351313] [-0.0257423 0.99921268 0.03018871 -0.0334218 ] [ 0.00797942 -0.02999237 0.99951828 -0.22068932] [ 0. 0. 0. 1. ]] SLAMing on 9.447719421 meters Centerline goodness : 0.940173 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.03, Z:-0.22 [[ 0.99961878 0.0265462 -0.00758943 1.12472362] [-0.02631284 0.99922277 0.02935116 -0.02964299] [ 0.0083627 -0.02914027 0.99954035 -0.22054674] [ 0. 0. 0. 1. ]] SLAMing on 9.477719421 meters Centerline goodness : 0.942269 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.02, Z:-0.22 [[ 0.99962138 0.02630318 -0.0080765 1.1245168 ] [-0.02607577 0.99929319 0.02707732 -0.02312382] [ 0.00878301 -0.02685647 0.99960071 -0.21789287] [ 0. 0. 0. 1. ]] SLAMing on 9.507719421000001 meters Centerline goodness : 0.941933 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.02, Z:-0.22 [[ 0.99973776 0.02280423 -0.00209275 1.13427216] [-0.02272386 0.99920904 0.03263298 -0.02187786] [ 0.00283527 -0.03257686 0.99946521 -0.21939053] [ 0. 0. 0. 1. ]] SLAMing on 9.537719421 meters Centerline goodness : 0.944323 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.02, Z:-0.22 [[ 0.99991022 0.01333904 -0.00127058 1.15105534] [-0.01327377 0.99902603 0.04208085 -0.02050888] [ 0.00183066 -0.04206021 0.9991134 -0.21692722] [ 0. 0. 0. 1. ]] SLAMing on 9.567719421 meters Centerline goodness : 0.942195 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.02, Z:-0.22 [[ 0.99991776 0.01272584 -0.00159134 1.15109174] [-0.01264746 0.99903102 0.04215525 -0.02050325] [ 0.00212626 -0.04213165 0.99910981 -0.21582285] [ 0. 0. 0. 1. ]] SLAMing on 9.597719421 meters Centerline goodness : 0.941287 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.02, Z:-0.22 [[ 0.99992161 0.01235412 -0.00203929 1.15276597] [-0.01226256 0.99912245 0.04004934 -0.01624076] [ 0.00253227 -0.0400212 0.99919562 -0.2175423 ] [ 0. 0. 0. 1. ]] SLAMing on 9.627719421 meters Centerline goodness : 0.937983 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.01, Z:-0.22 [[ 0.99991631 0.01279996 -0.00188124 1.1528959 ] [-0.01271911 0.99919438 0.03806334 -0.01309434] [ 0.00236693 -0.03803623 0.99927356 -0.21875751] [ 0. 0. 0. 1. ]] SLAMing on 9.657719421 meters Centerline goodness : 0.938708 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.01, Z:-0.22 [[ 0.99986688 0.01621233 -0.00183757 1.15378892] [-0.01613149 0.99915762 0.03773349 -0.00770281] [ 0.00244777 -0.03769883 0.99928615 -0.22100406] [ 0. 0. 0. 1. ]] SLAMing on 9.687719421 meters Centerline goodness : 0.937742 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.00, Z:-0.22 [[ 0.99984494 0.01753609 -0.0016089 1.152786 ] [-0.01746537 0.99917543 0.03665261 -0.00493864] [ 0.00225032 -0.03661883 0.99932677 -0.22076766] [ 0. 0. 0. 1. ]] SLAMing on 9.717719421 meters Centerline goodness : 0.936062 Centerline is valid? [False, False] Translation: X:1.15, Y:0.00, Z:-0.23 [[ 0.99984405 0.01320756 0.01172292 1.15212943] [-0.01354885 0.99947214 0.02952735 0.0047785 ] [-0.01132675 -0.02968158 0.99949523 -0.22621911] [ 0. 0. 0. 1. ]] SLAMing on 9.747719421 meters Centerline goodness : 0.929874 Centerline is valid? [False, False] Translation: X:1.15, Y:0.01, Z:-0.23 [[ 0.99982814 0.0141971 0.01192218 1.15197748] [-0.01453196 0.99948852 0.02848726 0.00610286] [-0.01151164 -0.02865561 0.99952306 -0.22692582] [ 0. 0. 0. 1. ]] SLAMing on 9.777719421 meters Centerline goodness : 0.936354 Centerline is valid? [False, False] Translation: X:1.15, Y:0.01, Z:-0.23 [[ 0.99977715 0.0174161 0.01193029 1.15205516] [-0.01778704 0.99933831 0.03172624 0.0060636 ] [-0.01136985 -0.03193137 0.99942539 -0.22683204] [ 0. 0. 0. 1. ]] SLAMing on 9.807719421 meters Centerline goodness : 0.937085 Centerline is valid? [False, False] Translation: X:1.15, Y:0.01, Z:-0.22 [[ 0.99978655 0.01724694 0.01137574 1.15185614] [-0.01760857 0.99931676 0.03249529 0.00562071] [-0.01080752 -0.03268867 0.99940715 -0.22475712] [ 0. 0. 0. 1. ]] SLAMing on 9.837719421000001 meters Centerline goodness : 0.935953 Centerline is valid? [False, False] Translation: X:1.15, Y:0.00, Z:-0.22 [[ 0.99987115 0.01307062 0.00931875 1.15475704] [-0.01337046 0.99937005 0.0328746 0.00418724] [-0.00888319 -0.03299496 0.99941604 -0.22252218] [ 0. 0. 0. 1. ]] SLAMing on 9.867719421 meters Centerline goodness : 0.935551 Centerline is valid? [False, False] Translation: X:1.15, Y:0.00, Z:-0.22 [[ 0.9999837 0.00398679 0.00408696 1.14756257] [-0.00402542 0.99994691 0.00948573 0.00432645] [-0.00404893 -0.00950203 0.99994666 -0.21655805] [ 0. 0. 0. 1. ]] SLAMing on 9.897719421 meters Centerline goodness : 0.934035 Centerline is valid? [False, False] Translation: X:1.15, Y:0.00, Z:-0.22 [[ 9.99992131e-01 -5.45196932e-04 3.92937388e-03 1.14756797e+00] [ 5.22691241e-04 9.99983468e-01 5.72630435e-03 2.08798974e-03] [-3.93243088e-03 -5.72420544e-03 9.99975884e-01 -2.16466351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.927719421 meters Centerline goodness : 0.937962 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.00, Z:-0.21 [[ 9.99925891e-01 -1.13572128e-02 4.38486140e-03 1.14335366e+00] [ 1.13715032e-02 9.99930067e-01 -3.24796613e-03 -5.34657751e-04] [-4.34766691e-03 3.29758789e-03 9.99985112e-01 -2.12681824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.957719421 meters Centerline goodness : 0.936633 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.00, Z:-0.21 [[ 0.99986274 -0.01606255 0.00406137 1.1429735 ] [ 0.01609021 0.99984693 -0.00687229 -0.00316586] [-0.00395036 0.0069367 0.99996814 -0.21167215] [ 0. 0. 0. 1. ]] SLAMing on 9.987719421 meters Centerline goodness : 0.934049 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.01, Z:-0.21 [[ 0.99968297 -0.02496173 0.00329571 1.14441156] [ 0.02500349 0.99959884 -0.01330375 -0.0091469 ] [-0.00296231 0.01338193 0.99990607 -0.21285042] [ 0. 0. 0. 1. ]] SLAMing on 10.017719421 meters Centerline goodness : 0.934022 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.02, Z:-0.21 [[ 0.99963334 -0.02488591 -0.01067132 1.14692884] [ 0.02473538 0.99959581 -0.01401316 -0.01829945] [ 0.01101574 0.01374407 0.99984487 -0.20783137] [ 0. 0. 0. 1. ]] SLAMing on 10.047719421 meters Centerline goodness : 0.933227 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.02, Z:-0.21 [[ 0.99961263 -0.02526143 -0.01168115 1.14905945] [ 0.02511451 0.9996057 -0.01255806 -0.01908179] [ 0.01199378 0.01225983 0.99985291 -0.2076231 ] [ 0. 0. 0. 1. ]] SLAMing on 10.077719421 meters Centerline goodness : 0.932843 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.02, Z:-0.21 [[ 0.99965157 -0.02292796 -0.01307848 1.15155022] [ 0.02283628 0.99971389 -0.00711674 -0.02036899] [ 0.01323791 0.0068156 0.99988915 -0.20694993] [ 0. 0. 0. 1. ]] SLAMing on 10.107719421 meters Centerline goodness : 0.931708 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.02, Z:-0.21 [[ 0.99972049 -0.02000136 -0.01260506 1.14966391] [ 0.01994935 0.99979201 -0.0042381 -0.01890223] [ 0.0126872 0.00398545 0.99991157 -0.20590745] [ 0. 0. 0. 1. ]] SLAMing on 10.137719421 meters Centerline goodness : 0.930160 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.02, Z:-0.21 [[ 0.9997661 -0.01707004 -0.01328036 1.15409878] [ 0.01703724 0.99985153 -0.00257909 -0.01653283] [ 0.01332241 0.00235223 0.99990849 -0.20881744] [ 0. 0. 0. 1. ]] SLAMing on 10.167719421 meters Centerline goodness : 0.930048 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.02, Z:-0.21 [[ 0.99977599 -0.01604763 -0.01379999 1.15661604] [ 0.01602192 0.9998697 -0.00197189 -0.01565803] [ 0.01382983 0.00175034 0.99990283 -0.21036684] [ 0. 0. 0. 1. ]] SLAMing on 10.197719421 meters Centerline goodness : 0.929919 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.01, Z:-0.21 [[ 0.99971833 -0.01935156 -0.01373928 1.15701361] [ 0.01925255 0.99978798 -0.00730252 -0.01223934] [ 0.01387768 0.00703595 0.99987895 -0.20880433] [ 0. 0. 0. 1. ]] SLAMing on 10.227719421 meters Centerline goodness : 0.932503 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.01, Z:-0.21 [[ 0.99971615 -0.01948458 -0.01371016 1.15673927] [ 0.01938551 0.99978527 -0.00732254 -0.01205952] [ 0.01384989 0.00705468 0.9998792 -0.2084771 ] [ 0. 0. 0. 1. ]] SLAMing on 10.257719421000001 meters Centerline goodness : 0.932817 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.01, Z:-0.21 [[ 0.99971207 -0.02266048 -0.00789133 1.16469616] [ 0.02268207 0.9997392 0.00265686 -0.01235804] [ 0.00782907 -0.00283508 0.99996533 -0.21280497] [ 0. 0. 0. 1. ]] SLAMing on 10.287719421 meters Centerline goodness : 0.930023 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.01, Z:-0.21 [[ 9.99609659e-01 -2.67492357e-02 -8.06280582e-03 1.16598956e+00] [ 2.67411637e-02 9.99641778e-01 -1.10731282e-03 -1.17144088e-02] [ 8.08953731e-03 8.91271776e-04 9.99966882e-01 -2.13827484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.317719421 meters Centerline goodness : 0.931089 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.01, Z:-0.22 [[ 0.99951268 -0.03003959 -0.00848661 1.16821429] [ 0.03000083 0.99953902 -0.00465843 -0.01126915] [ 0.00862264 0.00440156 0.99995314 -0.21507134] [ 0. 0. 0. 1. ]] SLAMing on 10.347719421 meters Centerline goodness : 0.927905 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.01, Z:-0.22 [[ 0.9994036 -0.03338965 -0.00880768 1.17160379] [ 0.03332117 0.99941417 -0.00781075 -0.0111096 ] [ 0.00906332 0.00751261 0.99993071 -0.21827774] [ 0. 0. 0. 1. ]] SLAMing on 10.377719421 meters Centerline goodness : 0.924178 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.01, Z:-0.22 [[ 0.99941749 -0.03289335 -0.00909461 1.17392538] [ 0.03283018 0.99943636 -0.00700967 -0.01104189] [ 0.00932005 0.00670701 0.99993407 -0.22065291] [ 0. 0. 0. 1. ]] SLAMing on 10.407719421 meters Centerline goodness : 0.923342 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.01, Z:-0.22 [[ 0.99943043 -0.03238432 -0.00949101 1.17623689] [ 0.03232323 0.9994562 -0.00652062 -0.0101277 ] [ 0.00969701 0.00621013 0.9999337 -0.22260958] [ 0. 0. 0. 1. ]] SLAMing on 10.437719421 meters Centerline goodness : 0.922212 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.01, Z:-0.23 [[ 0.99952952 -0.02899084 -0.01001309 1.18139509] [ 0.02895392 0.99957347 -0.00381356 -0.00629205] [ 0.01011938 0.00352185 0.9999426 -0.22754548] [ 0. 0. 0. 1. ]] SLAMing on 10.467719421 meters Centerline goodness : 0.921339 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.01, Z:-0.23 [[ 9.99646218e-01 -2.45904274e-02 -1.01365355e-02 1.18306338e+00] [ 2.45978069e-02 9.99697246e-01 6.03962573e-04 -6.13200776e-03] [ 1.01186149e-02 -8.53085444e-04 9.99948442e-01 -2.29657225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.497719421 meters Centerline goodness : 0.922423 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.00, Z:-0.23 [[ 9.99760838e-01 -1.92545114e-02 -1.03696949e-02 1.18462249e+00] [ 1.92918330e-02 9.99807730e-01 3.51117403e-03 -5.97666300e-04] [ 1.03000951e-02 -3.71038471e-03 9.99940069e-01 -2.29549788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.527719421 meters Centerline goodness : 0.927651 Centerline is valid? [False, False] Translation: X:1.18, Y:0.01, Z:-0.22 [[ 0.99983942 -0.01486588 -0.01000745 1.18370394] [ 0.01488027 0.99988835 0.00136562 0.00869827] [ 0.00998603 -0.00151432 0.99994899 -0.2216428 ] [ 0. 0. 0. 1. ]] SLAMing on 10.557719421 meters Centerline goodness : 0.926779 Centerline is valid? [False, False] Translation: X:1.18, Y:0.01, Z:-0.22 [[ 9.99842235e-01 -1.41939236e-02 -1.06788007e-02 1.18458077e+00] [ 1.41954002e-02 9.99899238e-01 6.24862378e-05 1.29213065e-02] [ 1.06768377e-02 -2.14066229e-04 9.99942978e-01 -2.19587559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.587719421 meters Centerline goodness : 0.920796 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.22 [[ 9.99846740e-01 -1.34410348e-02 -1.12176282e-02 1.18572564e+00] [ 1.34366234e-02 9.99909615e-01 -4.68540514e-04 1.62074317e-02] [ 1.12229120e-02 3.17741660e-04 9.99936971e-01 -2.18813202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.617719421 meters Centerline goodness : 0.927126 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.22 [[ 0.99985077 -0.01298343 -0.01139627 1.18564669] [ 0.01295574 0.99991294 -0.00250051 0.01997656] [ 0.01142775 0.00235249 0.99993193 -0.2157019 ] [ 0. 0. 0. 1. ]] SLAMing on 10.647719421 meters Centerline goodness : 0.931584 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.22 [[ 0.99986241 -0.01172104 -0.01173763 1.18731356] [ 0.01168886 0.99992774 -0.00280632 0.02175813] [ 0.01176967 0.00266873 0.99992717 -0.2154802 ] [ 0. 0. 0. 1. ]] SLAMing on 10.677719421 meters Centerline goodness : 0.933293 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.22 [[ 0.99986843 -0.01033051 -0.01250634 1.18988626] [ 0.01029847 0.99994353 -0.00262307 0.02331601] [ 0.01253273 0.00249392 0.99991835 -0.21580473] [ 0. 0. 0. 1. ]] SLAMing on 10.707719421 meters Centerline goodness : 0.933293 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.22 [[ 0.99986843 -0.01033051 -0.01250634 1.18988626] [ 0.01029847 0.99994353 -0.00262307 0.02331601] [ 0.01253273 0.00249392 0.99991835 -0.21580473] [ 0. 0. 0. 1. ]] SLAMing on 10.737719421 meters Centerline goodness : 0.922122 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.22 [[ 0.99990063 -0.00422751 -0.01344858 1.19354591] [ 0.00425499 0.99998892 0.0020152 0.02413935] [ 0.01343991 -0.00207223 0.99990753 -0.21685478] [ 0. 0. 0. 1. ]] SLAMing on 10.767719421 meters Centerline goodness : 0.928958 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:-0.22 [[ 0.99989424 -0.00203165 -0.01440044 1.19720784] [ 0.00206979 0.99999439 0.00263426 0.0253045 ] [ 0.01439501 -0.00266379 0.99989284 -0.21767024] [ 0. 0. 0. 1. ]] SLAMing on 10.797719421 meters Centerline goodness : 0.922929 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:-0.22 [[ 0.99985717 0.00576506 -0.01588737 1.20308501] [-0.00563605 0.99995088 0.00815315 0.02596113] [ 0.0159336 -0.00806244 0.99984055 -0.21912807] [ 0. 0. 0. 1. ]] SLAMing on 10.827719421 meters Centerline goodness : 0.930602 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:-0.22 [[ 0.99983224 0.00724827 -0.0168212 1.206365 ] [-0.00710165 0.99993642 0.00875944 0.02663807] [ 0.01688362 -0.00863851 0.99982014 -0.22018834] [ 0. 0. 0. 1. ]] SLAMing on 10.857719421 meters Centerline goodness : 0.927129 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:-0.22 [[ 0.99980883 0.00721968 -0.01817083 1.21266289] [-0.00708597 0.99994742 0.00741227 0.02520082] [ 0.01822339 -0.00728209 0.99980742 -0.22298344] [ 0. 0. 0. 1. ]] SLAMing on 10.887719421 meters Centerline goodness : 0.930217 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:-0.22 [[ 9.99812978e-01 9.85550579e-04 -1.93142034e-02 1.21584671e+00] [-9.85557036e-04 9.99999514e-01 9.18421014e-06 2.41088458e-02] [ 1.93142031e-02 9.85275657e-06 9.99813463e-01 -2.22504972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.917719421 meters Centerline goodness : 0.932030 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:-0.22 [[ 0.99979419 -0.00209104 -0.02017944 1.21800544] [ 0.00201526 0.99999084 -0.00377516 0.02386462] [ 0.02018715 0.00373371 0.99978925 -0.22223841] [ 0. 0. 0. 1. ]] SLAMing on 10.947719421 meters Centerline goodness : 0.927445 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:-0.22 [[ 0.99975952 -0.00331962 -0.02167666 1.2238703 ] [ 0.00319233 0.99997747 -0.00590417 0.02030296] [ 0.02169577 0.00583355 0.9997476 -0.22442232] [ 0. 0. 0. 1. ]] SLAMing on 10.977719421 meters Centerline goodness : 0.926093 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:-0.23 [[ 0.99972903 -0.00524609 -0.02267921 1.22748792] [ 0.00503899 0.99994517 -0.00917913 0.02020732] [ 0.02272612 0.00906237 0.99970065 -0.22500482] [ 0. 0. 0. 1. ]] SLAMing on 11.007719421000001 meters Centerline goodness : 0.926366 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:-0.22 [[ 0.99970449 -0.00646614 -0.02343344 1.23047236] [ 0.00617775 0.99990455 -0.01235855 0.01975854] [ 0.02351111 0.01221014 0.99964901 -0.22437398] [ 0. 0. 0. 1. ]] SLAMing on 11.037719421 meters Centerline goodness : 0.927353 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:-0.22 [[ 0.99966544 -0.00962372 -0.02400809 1.23146235] [ 0.00922462 0.99981834 -0.01667942 0.02082937] [ 0.02416424 0.01645237 0.99957261 -0.22268339] [ 0. 0. 0. 1. ]] SLAMing on 11.067719421 meters Centerline goodness : 0.926716 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:-0.22 [[ 0.99960793 -0.01340473 -0.0245826 1.23177636] [ 0.01288368 0.99969154 -0.02123289 0.02089956] [ 0.02485963 0.02090785 0.99947229 -0.22037628] [ 0. 0. 0. 1. ]] SLAMing on 11.097719421 meters Centerline goodness : 0.930394 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:-0.22 [[ 0.99953648 -0.01757549 -0.02485829 1.23111319] [ 0.01697465 0.99956353 -0.02417876 0.0152136 ] [ 0.0252724 0.02374559 0.99939855 -0.21900893] [ 0. 0. 0. 1. ]] SLAMing on 11.127719421 meters Centerline goodness : 0.931317 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.22 [[ 0.99955977 -0.02267511 -0.01913412 1.2407869 ] [ 0.0223437 0.99959961 -0.01736026 0.01163291] [ 0.01952011 0.01692509 0.9996662 -0.2231077 ] [ 0. 0. 0. 1. ]] SLAMing on 11.157719421 meters Centerline goodness : 0.931151 Centerline is valid? [False, False] Translation: X:1.25, Y:0.00, Z:-0.23 [[ 0.99943892 -0.03077509 -0.01321919 1.24916717] [ 0.03061704 0.9994592 -0.01199638 0.00484333] [ 0.01358123 0.01158492 0.99984066 -0.2268278 ] [ 0. 0. 0. 1. ]] SLAMing on 11.187719421 meters Centerline goodness : 0.930750 Centerline is valid? [False, False] Translation: X:1.25, Y:0.00, Z:-0.23 [[ 0.99932646 -0.03413989 -0.01345706 1.25031801] [ 0.03393777 0.99931179 -0.01497237 0.00199979] [ 0.01395895 0.01450559 0.99979735 -0.2270967 ] [ 0. 0. 0. 1. ]] SLAMing on 11.217719421 meters Centerline goodness : 0.929796 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.00, Z:-0.23 [[ 0.99922754 -0.03663263 -0.01422586 1.25390858] [ 0.0363973 0.99920178 -0.01646321 -0.00338964] [ 0.01481759 0.01593271 0.99976327 -0.22962251] [ 0. 0. 0. 1. ]] SLAMing on 11.247719421 meters Centerline goodness : 0.929705 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.00, Z:-0.23 [[ 0.99924262 -0.03598745 -0.01480196 1.25591909] [ 0.0357606 0.99924302 -0.01531539 -0.00473684] [ 0.01534191 0.01477447 0.99977314 -0.23090628] [ 0. 0. 0. 1. ]] SLAMing on 11.277719421 meters Centerline goodness : 0.928388 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.00, Z:-0.23 [[ 0.99924879 -0.03526771 -0.01606378 1.25932447] [ 0.0350331 0.99927863 -0.01465941 -0.00465127] [ 0.0165692 0.01408563 0.9997635 -0.23178758] [ 0. 0. 0. 1. ]] SLAMing on 11.307719421 meters Centerline goodness : 0.926544 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.01, Z:-0.23 [[ 0.99930123 -0.03316187 -0.01724354 1.26417327] [ 0.03293797 0.9993714 -0.01311088 -0.00562847] [ 0.01766749 0.01253375 0.99976536 -0.23439063] [ 0. 0. 0. 1. ]] SLAMing on 11.337719421 meters Centerline goodness : 0.926207 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.00, Z:-0.24 [[ 0.99932173 -0.03208215 -0.0180779 1.26758728] [ 0.03185094 0.99940892 -0.01293538 -0.00424096] [ 0.01848221 0.01235081 0.9997529 -0.23595689] [ 0. 0. 0. 1. ]] SLAMing on 11.367719421 meters Centerline goodness : 0.925879 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:-0.24 [[ 9.99631842e-01 -2.21265598e-02 -1.57033796e-02 1.27775751e+00] [ 2.16877408e-02 9.99384166e-01 -2.75849653e-02 7.50091182e-04] [ 1.63040693e-02 2.72342388e-02 9.99496110e-01 -2.36188278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.397719421 meters Centerline goodness : 0.925355 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:-0.24 [[ 0.99964725 -0.02140159 -0.01572721 1.2786681 ] [ 0.02094093 0.99936311 -0.02889388 0.00360453] [ 0.01633557 0.02855435 0.99945875 -0.2352488 ] [ 0. 0. 0. 1. ]] SLAMing on 11.427719421 meters Centerline goodness : 0.930966 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:-0.23 [[ 0.99973863 -0.01715712 -0.01510946 1.27661833] [ 0.01672557 0.99946125 -0.02823931 0.0098965 ] [ 0.01558583 0.02797921 0.99948699 -0.23061984] [ 0. 0. 0. 1. ]] SLAMing on 11.457719421 meters Centerline goodness : 0.933401 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:-0.23 [[ 0.99979713 -0.01408897 -0.01439459 1.27365288] [ 0.01371629 0.9995764 -0.02566856 0.01049137] [ 0.01475013 0.02546591 0.99956687 -0.22766863] [ 0. 0. 0. 1. ]] SLAMing on 11.487719421 meters Centerline goodness : 0.933534 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:-0.23 [[ 0.99979526 -0.01442128 -0.01419405 1.27265966] [ 0.01405525 0.99957452 -0.0255585 0.00863746] [ 0.01455659 0.02535377 0.99957255 -0.22686246] [ 0. 0. 0. 1. ]] SLAMing on 11.517719421 meters Centerline goodness : 0.936465 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:-0.23 [[ 0.99979542 -0.01492931 -0.01364708 1.27097501] [ 0.01458143 0.99957494 -0.02524538 0.00639414] [ 0.01401818 0.02504122 0.99958813 -0.2261305 ] [ 0. 0. 0. 1. ]] SLAMing on 11.547719421 meters Centerline goodness : 0.934644 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:-0.22 [[ 0.9997832 -0.01589357 -0.01345198 1.26959244] [ 0.01554524 0.99955103 -0.02561413 0.00428114] [ 0.01385304 0.02539946 0.99958139 -0.2247841 ] [ 0. 0. 0. 1. ]] SLAMing on 11.577719421 meters Centerline goodness : 0.937481 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:-0.22 [[ 0.99971085 -0.01998911 -0.01336585 1.26878656] [ 0.01956946 0.99933324 -0.03082388 0.00442887] [ 0.01397308 0.03055341 0.99943546 -0.22179229] [ 0. 0. 0. 1. ]] SLAMing on 11.607719421 meters Centerline goodness : 0.941678 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:-0.22 [[ 0.99977023 -0.01699167 -0.01306764 1.26669296] [ 0.01662084 0.99947027 -0.02798099 0.00434218] [ 0.01353616 0.02775737 0.99952304 -0.21927546] [ 0. 0. 0. 1. ]] SLAMing on 11.637719421 meters Centerline goodness : 0.940721 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:-0.22 [[ 0.99977409 -0.01666502 -0.01319283 1.26642412] [ 0.01627787 0.99944894 -0.02892848 0.00565448] [ 0.01366766 0.02870719 0.99949442 -0.2172565 ] [ 0. 0. 0. 1. ]] SLAMing on 11.667719421 meters Centerline goodness : 0.940722 Centerline is valid? [False, False] Translation: X:1.26, Y:0.01, Z:-0.22 [[ 0.99990691 -0.00707241 -0.01166818 1.26214924] [ 0.00665651 0.9993544 -0.03530534 0.00650598] [ 0.01191034 0.03522439 0.99930845 -0.21781664] [ 0. 0. 0. 1. ]] SLAMing on 11.697719421 meters Centerline goodness : 0.939162 Centerline is valid? [False, False] Translation: X:1.26, Y:0.01, Z:-0.22 [[ 9.99826664e-01 -7.55104202e-04 -1.86030299e-02 1.25610068e+00] [-1.04973062e-07 9.99176998e-01 -4.05626238e-02 5.73923372e-03] [ 1.86183486e-02 4.05555948e-02 9.99003804e-01 -2.16248528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.727719421 meters Centerline goodness : 0.934896 Centerline is valid? [False, False] Translation: X:1.25, Y:0.00, Z:-0.22 [[ 0.99961489 0.00817186 -0.02651966 1.25227618] [-0.00921633 0.9991769 -0.0395042 0.00221739] [ 0.02617501 0.0397334 0.99886742 -0.22061639] [ 0. 0. 0. 1. ]] SLAMing on 11.757719421000001 meters Centerline goodness : 0.939126 Centerline is valid? [False, False] Translation: X:1.26, Y:0.00, Z:-0.22 [[ 0.99952049 0.01096984 -0.02895588 1.25767332] [-0.01191977 0.99938954 -0.03284003 0.00290807] [ 0.02857796 0.03316943 0.99904108 -0.22071679] [ 0. 0. 0. 1. ]] SLAMing on 11.787719421 meters Centerline goodness : 0.935960 Centerline is valid? [False, False] Translation: X:1.26, Y:0.01, Z:-0.23 [[ 0.99987074 0.00296469 -0.0158022 1.25861634] [-0.00353021 0.99934986 -0.03588026 0.0085792 ] [ 0.01568555 0.03593141 0.99923115 -0.22670684] [ 0. 0. 0. 1. ]] SLAMing on 11.817719421 meters Centerline goodness : 0.934744 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:-0.23 [[ 0.9998471 0.00195076 -0.01737736 1.26529895] [-0.00259103 0.99931563 -0.03689938 0.00557242] [ 0.01729348 0.03693877 0.99916789 -0.23100146] [ 0. 0. 0. 1. ]] SLAMing on 11.847719421 meters Centerline goodness : 0.934159 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:-0.24 [[ 9.99876620e-01 1.03254018e-04 -1.57077656e-02 1.27608476e+00] [-4.70642843e-04 9.99726374e-01 -2.33870952e-02 1.88012163e-03] [ 1.57010527e-02 2.33916025e-02 9.99603076e-01 -2.37769880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.877719421 meters Centerline goodness : 0.933383 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:-0.24 [[ 0.99992802 -0.00157156 -0.011895 1.28534187] [ 0.00144718 0.99994426 -0.01045814 -0.00175086] [ 0.01191077 0.01044017 0.99987456 -0.24369274] [ 0. 0. 0. 1. ]] SLAMing on 11.907719421 meters Centerline goodness : 0.939233 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.01, Z:-0.25 [[ 0.99996199 -0.00655859 -0.0057448 1.29323731] [ 0.0065412 0.99997398 -0.00304089 -0.00603295] [ 0.00576459 0.00300319 0.99997887 -0.24659127] [ 0. 0. 0. 1. ]] SLAMing on 11.937719421 meters Centerline goodness : 0.939754 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.01, Z:-0.24 [[ 0.99993228 -0.00964991 -0.00650551 1.2929096 ] [ 0.0096193 0.9999426 -0.00471961 -0.00744805] [ 0.00655068 0.00465671 0.9999677 -0.24360732] [ 0. 0. 0. 1. ]] SLAMing on 11.967719421 meters Centerline goodness : 0.938964 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.01, Z:-0.24 [[ 0.99987471 -0.01382148 -0.00771573 1.29557464] [ 0.01378077 0.99989097 -0.00530425 -0.01229789] [ 0.0077882 0.00519726 0.99995617 -0.24300229] [ 0. 0. 0. 1. ]] SLAMing on 11.997719421 meters Centerline goodness : 0.939971 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.02, Z:-0.24 [[ 0.99978205 -0.01881201 -0.00905311 1.29887753] [ 0.01876144 0.99980809 -0.00563867 -0.01822144] [ 0.00915745 0.00546759 0.99994312 -0.24309529] [ 0. 0. 0. 1. ]] SLAMing on 12.027719421 meters Centerline goodness : 0.945423 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.02, Z:-0.24 [[ 0.99974193 -0.02035495 -0.01008757 1.30004757] [ 0.02032337 0.99978826 -0.00322377 -0.02250592] [ 0.01015105 0.00301792 0.99994392 -0.24100282] [ 0. 0. 0. 1. ]] SLAMing on 12.057719421 meters Centerline goodness : 0.944670 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.03, Z:-0.24 [[ 9.99684686e-01 -2.23663824e-02 -1.14137312e-02 1.30140061e+00] [ 2.23546866e-02 9.99749440e-01 -1.15127985e-03 -2.57634763e-02] [ 1.14366213e-02 8.95766456e-04 9.99934198e-01 -2.38413699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.087719421 meters Centerline goodness : 0.944273 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.03, Z:-0.24 [[ 0.99942717 -0.03126809 -0.01294779 1.30304781] [ 0.03118967 0.99949416 -0.00621481 -0.02837149] [ 0.01313556 0.00580741 0.99989686 -0.23501292] [ 0. 0. 0. 1. ]] SLAMing on 12.117719421 meters Centerline goodness : 0.943278 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.03, Z:-0.23 [[ 0.99912935 -0.03937701 -0.01378387 1.30450061] [ 0.03920517 0.99915271 -0.012523 -0.03044678] [ 0.01426531 0.0119717 0.99982657 -0.23336738] [ 0. 0. 0. 1. ]] SLAMing on 12.147719421 meters Centerline goodness : 0.943532 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.03, Z:-0.23 [[ 0.9990979 -0.03987049 -0.01461949 1.30657385] [ 0.03969861 0.99914125 -0.01186508 -0.03178731] [ 0.01508 0.011274 0.99982273 -0.23356531] [ 0. 0. 0. 1. ]] SLAMing on 12.177719421 meters Centerline goodness : 0.941137 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.03, Z:-0.24 [[ 0.999132 -0.038869 -0.01498137 1.30892618] [ 0.03870651 0.99919021 -0.01098767 -0.03235146] [ 0.01539632 0.01039826 0.9998274 -0.23568155] [ 0. 0. 0. 1. ]] SLAMing on 12.207719421 meters Centerline goodness : 0.940745 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.03, Z:-0.24 [[ 0.99926714 -0.0361879 -0.01247449 1.30721759] [ 0.03599407 0.99923292 -0.01542726 -0.03328768] [ 0.0130232 0.01496695 0.99980317 -0.24048913] [ 0. 0. 0. 1. ]] SLAMing on 12.237719421 meters Centerline goodness : 0.941631 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.04, Z:-0.24 [[ 0.99944386 -0.03066764 -0.01309441 1.30975776] [ 0.03054167 0.99948629 -0.00971403 -0.0355557 ] [ 0.01338559 0.0093087 0.99986708 -0.24256356] [ 0. 0. 0. 1. ]] SLAMing on 12.267719421 meters Centerline goodness : 0.944221 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.04, Z:-0.24 [[ 9.99678230e-01 -2.13376638e-02 -1.37164594e-02 1.31108659e+00] [ 2.13379259e-02 9.99772312e-01 -1.27256081e-04 -3.83833904e-02] [ 1.37160517e-02 -1.65465660e-04 9.99905917e-01 -2.43300730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.297719421 meters Centerline goodness : 0.946161 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.04, Z:-0.24 [[ 0.9996929 -0.02037705 -0.01410228 1.30949078] [ 0.02040001 0.99979079 0.00148612 -0.04356315] [ 0.01406905 -0.00177335 0.99989945 -0.24043057] [ 0. 0. 0. 1. ]] SLAMing on 12.327719421 meters Centerline goodness : 0.948613 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.05, Z:-0.24 [[ 9.99619369e-01 -2.35664000e-02 -1.43436972e-02 1.30901200e+00] [ 2.35528550e-02 9.99721974e-01 -1.11254201e-03 -4.84155918e-02] [ 1.43659279e-02 7.74283527e-04 9.99896505e-01 -2.38938498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.357719421 meters Centerline goodness : 0.948125 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.06, Z:-0.24 [[ 0.99942843 -0.03064613 -0.01426947 1.30832607] [ 0.0305575 0.99951259 -0.00638895 -0.06088175] [ 0.01445832 0.00594926 0.99987777 -0.23762896] [ 0. 0. 0. 1. ]] SLAMing on 12.387719421 meters Centerline goodness : 0.947196 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.07, Z:-0.24 [[ 0.99943861 -0.03019046 -0.01452557 1.3095855 ] [ 0.03012846 0.99953605 -0.00446854 -0.06772628] [ 0.01465374 0.0040284 0.99988451 -0.23888966] [ 0. 0. 0. 1. ]] SLAMing on 12.417719421 meters Centerline goodness : 0.950033 Centerline is valid? [False, True] Translation: X:1.31, Y:-0.08, Z:-0.24 [[ 9.99473396e-01 -2.87634304e-02 -1.50198542e-02 1.31059005e+00] [ 2.87528573e-02 9.99586128e-01 -9.19455786e-04 -7.74037049e-02] [ 1.50400846e-02 4.87107872e-04 9.99886773e-01 -2.39517929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.447719421 meters Centerline goodness : 0.952381 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.08, Z:-0.24 [[ 9.99517531e-01 -2.70179374e-02 -1.53210898e-02 1.34265567e+00] [ 2.70093146e-02 9.99634886e-01 -7.69486564e-04 -7.86542997e-02] [ 1.53362858e-02 3.55303178e-04 9.99882329e-01 -2.36909994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.477719421 meters Centerline goodness : 0.950188 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.08, Z:-0.23 [[ 9.99635121e-01 -2.14384878e-02 -1.64321854e-02 1.37529747e+00] [ 2.14278380e-02 9.99770058e-01 -8.23919586e-04 -8.34162889e-02] [ 1.64460705e-02 4.71512749e-04 9.99864643e-01 -2.33688822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.507719421000001 meters Centerline goodness : 0.947232 Centerline is valid? [True, False] Translation: X:1.38, Y:-0.09, Z:-0.24 [[ 0.99966003 -0.01984501 -0.01691132 1.37739568] [ 0.01987372 0.99980133 0.00153128 -0.08900766] [ 0.01687757 -0.00186685 0.99985582 -0.23513517] [ 0. 0. 0. 1. ]] SLAMing on 12.537719421 meters Centerline goodness : 0.945018 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.10, Z:-0.24 [[ 0.99965201 -0.01951523 -0.01774861 1.3836188 ] [ 0.01955126 0.99980713 0.00185885 -0.10069307] [ 0.01770891 -0.00220521 0.99984075 -0.23920002] [ 0. 0. 0. 1. ]] SLAMing on 12.567719421 meters Centerline goodness : 0.945018 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.10, Z:-0.24 [[ 0.99965201 -0.01951523 -0.01774861 1.3836188 ] [ 0.01955126 0.99980713 0.00185885 -0.10069307] [ 0.01770891 -0.00220521 0.99984075 -0.23920002] [ 0. 0. 0. 1. ]] SLAMing on 12.597719421 meters Centerline goodness : 0.945810 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.10, Z:-0.24 [[ 0.99966628 -0.01852507 -0.01800393 1.38525513] [ 0.01859548 0.99982005 0.00375156 -0.10488731] [ 0.0179312 -0.0040851 0.99983088 -0.2407069 ] [ 0. 0. 0. 1. ]] SLAMing on 12.627719421 meters Centerline goodness : 0.946579 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.11, Z:-0.24 [[ 0.99967349 -0.0176005 -0.01852406 1.38735089] [ 0.01770826 0.99982712 0.00566943 -0.10660075] [ 0.01842107 -0.00599561 0.99981234 -0.24230513] [ 0. 0. 0. 1. ]] SLAMing on 12.657719421 meters Centerline goodness : 0.946998 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.11, Z:-0.24 [[ 0.99966892 -0.01747823 -0.01888303 1.38829785] [ 0.01759933 0.99982548 0.00626616 -0.10735774] [ 0.01877021 -0.00659642 0.99980206 -0.24263654] [ 0. 0. 0. 1. ]] SLAMing on 12.687719421 meters Centerline goodness : 0.946292 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.11, Z:-0.24 [[ 0.99966153 -0.01773109 -0.0190376 1.38842868] [ 0.01786447 0.99981689 0.00685934 -0.10988212] [ 0.01891249 -0.00719712 0.99979524 -0.24251284] [ 0. 0. 0. 1. ]] SLAMing on 12.717719421 meters Centerline goodness : 0.942113 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.12, Z:-0.24 [[ 0.99940995 -0.028484 -0.01919388 1.38996464] [ 0.02842958 0.99959098 -0.00310226 -0.11640925] [ 0.0192744 0.00255475 0.99981097 -0.24299093] [ 0. 0. 0. 1. ]] SLAMing on 12.747719421 meters Centerline goodness : 0.942703 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.13, Z:-0.25 [[ 9.99063992e-01 -4.03486419e-02 -1.55925198e-02 1.40296234e+00] [ 4.03289884e-02 9.99185217e-01 -1.57295917e-03 -1.25094418e-01] [ 1.56432821e-02 9.42656320e-04 9.99877192e-01 -2.48396071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.777719421 meters Centerline goodness : 0.943860 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.13, Z:-0.25 [[ 0.99885745 -0.04518624 -0.0155564 1.40245777] [ 0.04510757 0.99896769 -0.00537162 -0.12684907] [ 0.01578307 0.00466377 0.99986456 -0.24740374] [ 0. 0. 0. 1. ]] SLAMing on 12.807719421 meters Centerline goodness : 0.945748 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.13, Z:-0.25 [[ 9.98296881e-01 -5.68567647e-02 -1.30631339e-02 1.41032406e+00] [ 5.68482827e-02 9.98382308e-01 -1.02002004e-03 -1.29992844e-01] [ 1.30999968e-02 2.75666099e-04 9.99914153e-01 -2.48501319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.837719421 meters Centerline goodness : 0.945092 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.13, Z:-0.25 [[ 0.99804568 -0.06106438 -0.01326471 1.41135078] [ 0.06101238 0.99812779 -0.00429078 -0.13197401] [ 0.01350189 0.00347308 0.99990281 -0.24876653] [ 0. 0. 0. 1. ]] SLAMing on 12.867719421 meters Centerline goodness : 0.943540 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.13, Z:-0.25 [[ 0.997806 -0.06484522 -0.01335193 1.41284945] [ 0.06475255 0.99787494 -0.00726034 -0.13443702] [ 0.01379436 0.00637984 0.9998845 -0.24977821] [ 0. 0. 0. 1. ]] SLAMing on 12.897719421 meters Centerline goodness : 0.940438 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.14, Z:-0.25 [[ 0.99754016 -0.06883733 -0.01323043 1.41380574] [ 0.06870709 0.99758616 -0.01005912 -0.14070811] [ 0.01389094 0.00912535 0.99986188 -0.25039082] [ 0. 0. 0. 1. ]] SLAMing on 12.927719421 meters Centerline goodness : 0.943478 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.15, Z:-0.25 [[ 0.99761132 -0.06860596 -0.0080545 1.42343926] [ 0.06862287 0.99764097 0.00184211 -0.14625317] [ 0.00790912 -0.00239043 0.99996587 -0.25383423] [ 0. 0. 0. 1. ]] SLAMing on 12.957719421 meters Centerline goodness : 0.945964 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.15, Z:-0.25 [[ 0.99786789 -0.06475987 -0.00811399 1.42239366] [ 0.06480701 0.9978816 0.00568841 -0.14565484] [ 0.00772843 -0.00620212 0.9999509 -0.2528732 ] [ 0. 0. 0. 1. ]] SLAMing on 12.987719421 meters Centerline goodness : 0.951947 Centerline is valid? [False, True] Translation: X:1.42, Y:-0.14, Z:-0.25 [[ 0.99850457 -0.05407385 -0.00804065 1.41820477] [ 0.0541868 0.9984246 0.0145641 -0.13867125] [ 0.00724044 -0.01497802 0.99986161 -0.24842682] [ 0. 0. 0. 1. ]] SLAMing on 13.017719421 meters Centerline goodness : 0.951921 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.13, Z:-0.24 [[ 9.98942607e-01 -4.54603925e-02 -6.85710663e-03 1.45089356e+00] [ 4.54598645e-02 9.98966139e-01 -2.32925350e-04 -1.29582454e-01] [ 6.86060622e-03 -7.90440820e-05 9.99976463e-01 -2.43775064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.047719421 meters Centerline goodness : 0.950268 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.13, Z:-0.25 [[ 9.99573836e-01 -2.79638182e-02 -8.37684814e-03 1.48237215e+00] [ 2.79624364e-02 9.99608935e-01 -2.82063867e-04 -1.25078684e-01] [ 8.38145983e-03 4.77065784e-05 9.99964874e-01 -2.45432956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.077719421 meters Centerline goodness : 0.948285 Centerline is valid? [True, False] Translation: X:1.49, Y:-0.12, Z:-0.25 [[ 0.9997228 -0.02193336 -0.00855816 1.48539076] [ 0.02197402 0.99974756 0.00468564 -0.12288677] [ 0.00845323 -0.0048724 0.9999524 -0.24862169] [ 0. 0. 0. 1. ]] SLAMing on 13.107719421 meters Centerline goodness : 0.949875 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.12, Z:-0.26 [[ 0.99993346 -0.00884139 -0.00741044 1.4839901 ] [ 0.00886848 0.99995408 0.0036313 -0.11703888] [ 0.007378 -0.00369678 0.99996595 -0.25511854] [ 0. 0. 0. 1. ]] SLAMing on 13.137719421 meters Centerline goodness : 0.951716 Centerline is valid? [False, True] Translation: X:1.48, Y:-0.11, Z:-0.25 [[ 0.99995982 -0.00509115 -0.0073789 1.48365526] [ 0.00514104 0.99996395 0.00675722 -0.11472088] [ 0.00734423 -0.00679488 0.99994994 -0.2546552 ] [ 0. 0. 0. 1. ]] SLAMing on 13.167719421 meters Centerline goodness : 0.953599 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.11, Z:-0.25 [[ 9.99986206e-01 -1.77594815e-03 -4.94303788e-03 1.51345768e+00] [ 1.77500422e-03 9.99998406e-01 -1.95341744e-04 -1.06599750e-01] [ 4.94337692e-03 1.86565136e-04 9.99987764e-01 -2.52486263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.197719421 meters Centerline goodness : 0.954111 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.11, Z:-0.25 [[ 9.99988744e-01 -2.34874379e-03 -4.12264215e-03 1.54232690e+00] [ 2.34808882e-03 9.99997230e-01 -1.63704129e-04 -1.05132847e-01] [ 4.12301523e-03 1.54021956e-04 9.99991488e-01 -2.53428234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.227719421 meters Centerline goodness : 0.951804 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.11, Z:-0.25 [[ 9.99978627e-01 -3.36865921e-03 -5.60337956e-03 1.57237919e+00] [ 3.36746857e-03 9.99994305e-01 -2.21906486e-04 -1.05416429e-01] [ 5.60409518e-03 2.03032539e-04 9.99984276e-01 -2.52954040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.257719421 meters Centerline goodness : 0.948867 Centerline is valid? [True, False] Translation: X:1.58, Y:-0.11, Z:-0.26 [[ 9.99966867e-01 -4.91910832e-03 -6.48590580e-03 1.57742220e+00] [ 4.91012582e-03 9.99986965e-01 -1.40012320e-03 -1.08409047e-01] [ 6.49270862e-03 1.36823019e-03 9.99977986e-01 -2.56951371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.287719421 meters Centerline goodness : 0.945015 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.11, Z:-0.26 [[ 9.99967759e-01 -3.97465229e-03 -6.97734406e-03 1.58089824e+00] [ 3.97920119e-03 9.99991879e-01 6.38190868e-04 -1.11303224e-01] [ 6.97475081e-03 -6.65934547e-04 9.99975454e-01 -2.60592385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.317719421 meters Centerline goodness : 0.944935 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.11, Z:-0.26 [[ 9.99968559e-01 -3.39278874e-03 -7.16724636e-03 1.58224016e+00] [ 3.40384983e-03 9.99993034e-01 1.53164822e-03 -1.12396631e-01] [ 7.16199988e-03 -1.55599629e-03 9.99973142e-01 -2.61741329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.347719421 meters Centerline goodness : 0.943737 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.12, Z:-0.26 [[ 0.9999675 -0.00261444 -0.00762671 1.58365855] [ 0.00263724 0.99999208 0.0029808 -0.11636193] [ 0.00761885 -0.00300081 0.99996647 -0.26229274] [ 0. 0. 0. 1. ]] SLAMing on 13.377719421 meters Centerline goodness : 0.944474 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.12, Z:-0.26 [[ 0.99996848 -0.00230128 -0.00759907 1.58379102] [ 0.0023301 0.99999012 0.0037855 -0.11935888] [ 0.00759028 -0.00380308 0.99996396 -0.26238421] [ 0. 0. 0. 1. ]] SLAMing on 13.407719421 meters Centerline goodness : 0.943013 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.12, Z:-0.26 [[ 9.99967783e-01 -1.39665654e-03 -7.90456957e-03 1.58456002e+00] [ 1.43786508e-03 9.99985394e-01 5.20997572e-03 -1.24315528e-01] [ 7.89717758e-03 -5.22117358e-03 9.99955186e-01 -2.62310943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.437719421 meters Centerline goodness : 0.942755 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.13, Z:-0.26 [[ 9.99966490e-01 -7.71943170e-04 -8.14997528e-03 1.58579595e+00] [ 8.20633158e-04 9.99981827e-01 5.97259689e-03 -1.26464758e-01] [ 8.14521667e-03 -5.97908489e-03 9.99948952e-01 -2.63124407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.467719421 meters Centerline goodness : 0.941099 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.13, Z:-0.26 [[ 9.99964483e-01 9.43509152e-05 -8.42761301e-03 1.58733522e+00] [-3.61798762e-05 9.99976178e-01 6.90231935e-03 -1.28687765e-01] [ 8.42806348e-03 -6.90176929e-03 9.99940665e-01 -2.64218799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.497719421 meters Centerline goodness : 0.943526 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.13, Z:-0.26 [[ 0.99995468 0.00304354 -0.00902116 1.58969085] [-0.00295966 0.99995241 0.00929661 -0.13198053] [ 0.00904903 -0.00926949 0.99991609 -0.26486794] [ 0. 0. 0. 1. ]] SLAMing on 13.527719421 meters Centerline goodness : 0.944209 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.13, Z:-0.26 [[ 0.99993394 0.00715967 -0.0089924 1.58765135] [-0.00703871 0.99988528 0.01341176 -0.13344999] [ 0.0090874 -0.01334758 0.99986962 -0.26186893] [ 0. 0. 0. 1. ]] SLAMing on 13.557719421 meters Centerline goodness : 0.941782 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.13, Z:-0.26 [[ 0.99992689 0.00773574 -0.00929339 1.58814518] [-0.00760644 0.99987489 0.01386885 -0.13467545] [ 0.00939952 -0.01379714 0.99986063 -0.26145294] [ 0. 0. 0. 1. ]] SLAMing on 13.587719421 meters Centerline goodness : 0.941443 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.14, Z:-0.26 [[ 0.99993604 0.00574295 -0.00974327 1.58999251] [-0.00562598 0.99991229 0.01199014 -0.1407651 ] [ 0.00981128 -0.01193455 0.99988065 -0.26207131] [ 0. 0. 0. 1. ]] SLAMing on 13.617719421 meters Centerline goodness : 0.940154 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.14, Z:-0.26 [[ 0.99994564 0.00256262 -0.01010646 1.59152993] [-0.00246942 0.99995441 0.00922385 -0.14418722] [ 0.01012963 -0.00919839 0.99990639 -0.26293454] [ 0. 0. 0. 1. ]] SLAMing on 13.647719421 meters Centerline goodness : 0.939954 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.15, Z:-0.27 [[ 0.99997097 -0.00579412 -0.00494935 1.60348531] [ 0.00585346 0.99991014 0.0120601 -0.15225731] [ 0.00487903 -0.01208872 0.99991503 -0.26699384] [ 0. 0. 0. 1. ]] SLAMing on 13.677719421 meters Centerline goodness : 0.938362 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.16, Z:-0.27 [[ 0.99994336 -0.00930631 -0.00516434 1.60431199] [ 0.00935353 0.99991397 0.00919639 -0.15509046] [ 0.00507831 -0.00924417 0.99994438 -0.26720654] [ 0. 0. 0. 1. ]] SLAMing on 13.707719421 meters Centerline goodness : 0.937024 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.16, Z:-0.27 [[ 0.99985122 -0.01624465 -0.0058012 1.60734484] [ 0.01626304 0.99986283 0.00313753 -0.15873292] [ 0.00574944 -0.00323141 0.99997825 -0.26901028] [ 0. 0. 0. 1. ]] SLAMing on 13.737719421 meters Centerline goodness : 0.934550 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.16, Z:-0.27 [[ 0.99984627 -0.01634747 -0.00634055 1.6097398 ] [ 0.01637417 0.99985719 0.00418245 -0.16226253] [ 0.00627127 -0.00428563 0.99997115 -0.27093909] [ 0. 0. 0. 1. ]] SLAMing on 13.767719421 meters Centerline goodness : 0.934831 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.16, Z:-0.27 [[ 9.99795239e-01 -1.90320213e-02 -6.87477200e-03 1.61214457e+00] [ 1.90428138e-02 9.99817532e-01 1.50782599e-03 -1.63581533e-01] [ 6.84482060e-03 -1.63843224e-03 9.99975232e-01 -2.72191936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.797719421 meters Centerline goodness : 0.936759 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.17, Z:-0.27 [[ 9.99737629e-01 -2.17891542e-02 -7.06437119e-03 1.61113983e+00] [ 2.17830864e-02 9.99762283e-01 -9.34744427e-04 -1.66547108e-01] [ 7.08305916e-03 7.80615369e-04 9.99974610e-01 -2.70030593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.827719421 meters Centerline goodness : 0.942096 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.17, Z:-0.27 [[ 9.99724939e-01 -2.22427990e-02 -7.43670037e-03 1.61123906e+00] [ 2.22371639e-02 9.99752371e-01 -8.39581577e-04 -1.67731580e-01] [ 7.45353348e-03 6.73979515e-04 9.99971995e-01 -2.69068720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.857719421 meters Centerline goodness : 0.940383 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.17, Z:-0.27 [[ 9.99722247e-01 -2.22836585e-02 -7.67251390e-03 1.61168170e+00] [ 2.22809375e-02 9.99751652e-01 -4.39946429e-04 -1.69107945e-01] [ 7.68041207e-03 2.68873430e-04 9.99970469e-01 -2.68883316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.887719421 meters Centerline goodness : 0.940741 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.17, Z:-0.27 [[ 9.99698687e-01 -2.32321571e-02 -7.92478813e-03 1.61206968e+00] [ 2.32310810e-02 9.99730096e-01 -2.27817129e-04 -1.72100035e-01] [ 7.92794189e-03 4.36470892e-05 9.99968572e-01 -2.68691071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.917719421 meters Centerline goodness : 0.941992 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.17, Z:-0.27 [[ 9.99700083e-01 -2.30691897e-02 -8.21927406e-03 1.61311707e+00] [ 2.30717674e-02 9.99733787e-01 2.18913059e-04 -1.72654062e-01] [ 8.21203584e-03 -4.08480582e-04 9.99966197e-01 -2.69149221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.947719421 meters Centerline goodness : 0.942184 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.17, Z:-0.27 [[ 9.99696786e-01 -2.32378111e-02 -8.14496487e-03 1.61282892e+00] [ 2.32408196e-02 9.99729858e-01 2.74900754e-04 -1.72468510e-01] [ 8.13637648e-03 -4.64113059e-04 9.99966791e-01 -2.68668771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.977719421 meters Centerline goodness : 0.941558 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.17, Z:-0.27 [[ 9.99703238e-01 -2.28897814e-02 -8.33626082e-03 1.61396543e+00] [ 2.28966011e-02 9.99737577e-01 7.23540336e-04 -1.73199786e-01] [ 8.31751151e-03 -9.14197655e-04 9.99964991e-01 -2.69437610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.007719421 meters Centerline goodness : 0.941117 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.17, Z:-0.27 [[ 0.999764 -0.02010888 -0.00822058 1.61404024] [ 0.02014237 0.99978907 0.00401163 -0.17466237] [ 0.00813818 -0.00417627 0.99995816 -0.26991445] [ 0. 0. 0. 1. ]] SLAMing on 14.037719421 meters Centerline goodness : 0.942095 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.17, Z:-0.27 [[ 0.99981063 -0.01741217 -0.00868969 1.61773201] [ 0.01746857 0.99982657 0.00645644 -0.17191626] [ 0.00857576 -0.00660702 0.9999414 -0.27301251] [ 0. 0. 0. 1. ]] SLAMing on 14.067719421 meters Centerline goodness : 0.940785 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.17, Z:-0.27 [[ 0.9998287 -0.01615534 -0.00903232 1.62011386] [ 0.01622378 0.99983984 0.0075554 -0.17335947] [ 0.00890882 -0.00770064 0.99993066 -0.27471656] [ 0. 0. 0. 1. ]] SLAMing on 14.097719421 meters Centerline goodness : 0.939924 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.18, Z:-0.28 [[ 0.999838 -0.01538993 -0.00933376 1.62172944] [ 0.01547133 0.99984235 0.00871249 -0.17671492] [ 0.00919821 -0.00885548 0.99991848 -0.27574504] [ 0. 0. 0. 1. ]] SLAMing on 14.127719421 meters Centerline goodness : 0.938826 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.18, Z:-0.28 [[ 0.99980993 -0.0167428 -0.0099892 1.62522652] [ 0.01681488 0.99983287 0.00717625 -0.17985808] [ 0.00986738 -0.00734285 0.99992436 -0.27766011] [ 0. 0. 0. 1. ]] SLAMing on 14.157719421 meters Centerline goodness : 0.939660 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.18, Z:-0.28 [[ 0.99982589 -0.01537846 -0.01056833 1.62780672] [ 0.01546743 0.99984518 0.00838899 -0.17890448] [ 0.01043769 -0.00855099 0.99990896 -0.27924194] [ 0. 0. 0. 1. ]] SLAMing on 14.187719421 meters Centerline goodness : 0.939210 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.17, Z:-0.28 [[ 0.99991137 -0.00724077 -0.01117281 1.62963364] [ 0.00741624 0.99984855 0.01574436 -0.17392295] [ 0.01105712 -0.01582582 0.99981362 -0.27994595] [ 0. 0. 0. 1. ]] SLAMing on 14.217719421 meters Centerline goodness : 0.937773 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.17, Z:-0.28 [[ 0.99992864 -0.0028918 -0.01159117 1.63045175] [ 0.00311408 0.99981072 0.01920475 -0.17137528] [ 0.01153344 -0.01923948 0.99974838 -0.27974107] [ 0. 0. 0. 1. ]] SLAMing on 14.247719421 meters Centerline goodness : 0.936870 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.17, Z:-0.28 [[ 0.99992839 0.00764611 -0.00920637 1.63367993] [-0.00757358 0.99994021 0.00788775 -0.16815574] [ 0.00926613 -0.00781746 0.99992651 -0.2802824 ] [ 0. 0. 0. 1. ]] SLAMing on 14.277719421 meters Centerline goodness : 0.937926 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.17, Z:-0.28 [[ 0.99991219 0.00924005 -0.00949886 1.63591702] [-0.00916115 0.99992345 0.00831653 -0.16775411] [ 0.00957498 -0.00822878 0.9999203 -0.28182309] [ 0. 0. 0. 1. ]] SLAMing on 14.307719421 meters Centerline goodness : 0.937864 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.16, Z:-0.28 [[ 0.99984435 0.01471948 -0.00972665 1.63893981] [-0.01459681 0.99981451 0.0125651 -0.16469628] [ 0.0099098 -0.01242116 0.99987375 -0.28435798] [ 0. 0. 0. 1. ]] SLAMing on 14.337719421 meters Centerline goodness : 0.937662 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.16, Z:-0.28 [[ 0.9998362 0.01502945 -0.01008374 1.63941827] [-0.01490881 0.99981763 0.01193491 -0.16058514] [ 0.01026128 -0.01178262 0.99987793 -0.28372679] [ 0. 0. 0. 1. ]] SLAMing on 14.367719421 meters Centerline goodness : 0.938906 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.16, Z:-0.28 [[ 0.99983643 0.01477536 -0.01043105 1.63859871] [-0.01466482 0.99983633 0.01059541 -0.1561917 ] [ 0.01058589 -0.01044071 0.99988946 -0.28103978] [ 0. 0. 0. 1. ]] SLAMing on 14.397719421 meters Centerline goodness : 0.937767 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.16, Z:-0.28 [[ 0.99987301 0.01138349 -0.01115297 1.64060575] [-0.01130757 0.99991262 0.00684713 -0.15645404] [ 0.01122994 -0.00672015 0.99991436 -0.28164275] [ 0. 0. 0. 1. ]] SLAMing on 14.427719420999999 meters Centerline goodness : 0.929938 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.16, Z:-0.29 [[ 9.99903332e-01 3.93006363e-03 -1.33371884e-02 1.64961073e+00] [-3.93402917e-03 9.99992225e-01 -2.71106690e-04 -1.64478479e-01] [ 1.33360192e-02 3.23549371e-04 9.99911019e-01 -2.87318597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.457719421 meters Centerline goodness : 0.931415 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.17, Z:-0.29 [[ 0.99995008 -0.00251095 -0.00967137 1.66193933] [ 0.00255706 0.99998541 0.00475819 -0.16857572] [ 0.00965928 -0.00478268 0.99994191 -0.2921684 ] [ 0. 0. 0. 1. ]] SLAMing on 14.487719421 meters Centerline goodness : 0.931415 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.17, Z:-0.29 [[ 0.99995008 -0.00251095 -0.00967137 1.66193933] [ 0.00255706 0.99998541 0.00475819 -0.16857572] [ 0.00965928 -0.00478268 0.99994191 -0.2921684 ] [ 0. 0. 0. 1. ]] SLAMing on 14.517719421 meters Centerline goodness : 0.933408 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.17, Z:-0.29 [[ 0.99986501 -0.01207976 -0.01113709 1.66589166] [ 0.01218376 0.99988236 0.00931808 -0.17085547] [ 0.01102322 -0.00945252 0.99989456 -0.28636323] [ 0. 0. 0. 1. ]] SLAMing on 14.547719421 meters Centerline goodness : 0.934156 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.17, Z:-0.29 [[ 0.99982177 -0.01827561 -0.00473673 1.67394563] [ 0.0183408 0.9997323 0.01410452 -0.17138087] [ 0.00447769 -0.01418889 0.99988931 -0.28765639] [ 0. 0. 0. 1. ]] SLAMing on 14.577719421 meters Centerline goodness : 0.933159 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.17, Z:-0.29 [[ 0.99972756 -0.0227264 -0.00532114 1.67465203] [ 0.02278242 0.99968302 0.0107151 -0.1738847 ] [ 0.00507594 -0.01083341 0.99992843 -0.286685 ] [ 0. 0. 0. 1. ]] SLAMing on 14.607719421 meters Centerline goodness : 0.929424 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.19, Z:-0.29 [[ 0.99929393 -0.03748497 -0.00255246 1.69250152] [ 0.03749964 0.99927885 0.00596244 -0.18658909] [ 0.00232712 -0.00605394 0.99997897 -0.29218757] [ 0. 0. 0. 1. ]] SLAMing on 14.637719421 meters Centerline goodness : 0.929192 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.19, Z:-0.29 [[ 0.99886567 -0.04751184 -0.00316086 1.69664582] [ 0.04750081 0.99886514 -0.00347836 -0.19413362] [ 0.00332253 0.00332427 0.99998895 -0.2937657 ] [ 0. 0. 0. 1. ]] SLAMing on 14.667719421 meters Centerline goodness : 0.930593 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.20, Z:-0.29 [[ 0.99884655 -0.0478891 -0.00349465 1.69747899] [ 0.04787899 0.99884887 -0.00292212 -0.19635766] [ 0.00363056 0.00275143 0.99998962 -0.29389643] [ 0. 0. 0. 1. ]] SLAMing on 14.697719421 meters Centerline goodness : 0.929930 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.20, Z:-0.29 [[ 9.98808292e-01 -4.85972882e-02 -4.50558001e-03 1.69978183e+00] [ 4.85892204e-02 9.98817071e-01 -1.88318975e-03 -1.98637106e-01] [ 4.59176814e-03 1.66202292e-03 9.99988077e-01 -2.94539408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.727719421 meters Centerline goodness : 0.930497 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.20, Z:-0.30 [[ 9.98836262e-01 -4.79532559e-02 -5.15815670e-03 1.70224618e+00] [ 4.79499330e-02 9.98849447e-01 -7.66027779e-04 -1.99504057e-01] [ 5.18895549e-03 5.17803055e-04 9.99986403e-01 -2.95988168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.757719421 meters Centerline goodness : 0.928786 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.20, Z:-0.30 [[ 0.99902634 -0.04371402 -0.00595431 1.70390169] [ 0.04374019 0.99903352 0.00433751 -0.2025528 ] [ 0.00575895 -0.00459373 0.99997287 -0.29647788] [ 0. 0. 0. 1. ]] SLAMing on 14.787719421 meters Centerline goodness : 0.929889 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.20, Z:-0.30 [[ 0.99906292 -0.04279279 -0.006485 1.70535802] [ 0.04282549 0.9990701 0.00499117 -0.20357733] [ 0.00626538 -0.00526421 0.99996652 -0.29677187] [ 0. 0. 0. 1. ]] SLAMing on 14.817719421 meters Centerline goodness : 0.931361 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.21, Z:-0.30 [[ 0.99922786 -0.03872778 -0.00662142 1.70543222] [ 0.03878551 0.99920859 0.00882495 -0.20510094] [ 0.00627441 -0.00907495 0.99993914 -0.29635241] [ 0. 0. 0. 1. ]] SLAMing on 14.847719421 meters Centerline goodness : 0.933142 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.20, Z:-0.30 [[ 0.99927994 -0.03725387 -0.00719309 1.70750135] [ 0.03732282 0.99925617 0.00970162 -0.20381821] [ 0.00682631 -0.0099631 0.99992707 -0.29732353] [ 0. 0. 0. 1. ]] SLAMing on 14.877719421 meters Centerline goodness : 0.932409 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.20, Z:-0.30 [[ 0.99942181 -0.03314815 -0.00756557 1.7089859 ] [ 0.03324732 0.99935756 0.01338214 -0.20187018] [ 0.00711711 -0.01362594 0.99988183 -0.29829358] [ 0. 0. 0. 1. ]] SLAMing on 14.907719421 meters Centerline goodness : 0.932863 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.20, Z:-0.30 [[ 0.99945121 -0.03214854 -0.00798417 1.71096431] [ 0.03226028 0.99937741 0.01428538 -0.20089578] [ 0.00751994 -0.01453511 0.99986608 -0.29959124] [ 0. 0. 0. 1. ]] SLAMing on 14.937719421 meters Centerline goodness : 0.929046 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.20, Z:-0.30 [[ 0.9994572 -0.0318617 -0.00837442 1.71233982] [ 0.03198114 0.99938273 0.01453835 -0.20046032] [ 0.00790603 -0.01479828 0.99985924 -0.300202 ] [ 0. 0. 0. 1. ]] SLAMing on 14.967719421 meters Centerline goodness : 0.926390 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.20, Z:-0.30 [[ 0.99945734 -0.03152636 -0.00954567 1.71805551] [ 0.03166127 0.99939595 0.01432829 -0.20303284] [ 0.00908818 -0.01462274 0.99985178 -0.30354641] [ 0. 0. 0. 1. ]] SLAMing on 14.997719421 meters Centerline goodness : 0.923154 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.21, Z:-0.31 [[ 0.99945139 -0.03147665 -0.01030234 1.72347614] [ 0.03161547 0.99940757 0.01360077 -0.20566378] [ 0.00986813 -0.01391902 0.99985443 -0.30735431] [ 0. 0. 0. 1. ]] SLAMing on 15.027719421 meters Centerline goodness : 0.925666 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.20, Z:-0.31 [[ 0.99945747 -0.03111076 -0.01081161 1.72463047] [ 0.03125783 0.99941731 0.01371104 -0.2048801 ] [ 0.01037875 -0.01404155 0.99984755 -0.30737043] [ 0. 0. 0. 1. ]] SLAMing on 15.057719421 meters Centerline goodness : 0.925672 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.20, Z:-0.31 [[ 0.99956881 -0.0269621 -0.01162912 1.72632594] [ 0.02716422 0.99947625 0.01758779 -0.2040855 ] [ 0.01114882 -0.0178961 0.99977769 -0.30739849] [ 0. 0. 0. 1. ]] SLAMing on 15.087719421 meters Centerline goodness : 0.925992 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.20, Z:-0.31 [[ 0.99960043 -0.0254069 -0.01238824 1.72963962] [ 0.02563328 0.99950076 0.0184707 -0.20304312] [ 0.01191278 -0.01878088 0.99975265 -0.30952862] [ 0. 0. 0. 1. ]] SLAMing on 15.117719421 meters Centerline goodness : 0.923904 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.20, Z:-0.31 [[ 0.99964458 -0.02324695 -0.01304975 1.7332517 ] [ 0.02350219 0.9995285 0.01975901 -0.20164848] [ 0.01258426 -0.02005868 0.9997196 -0.31212436] [ 0. 0. 0. 1. ]] SLAMing on 15.147719421 meters Centerline goodness : 0.922417 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.20, Z:-0.31 [[ 0.99980662 -0.01336635 -0.01442459 1.73206905] [ 0.01356228 0.99981591 0.01357207 -0.19873877] [ 0.01424052 -0.01376508 0.99980385 -0.31445602] [ 0. 0. 0. 1. ]] SLAMing on 15.177719420999999 meters Centerline goodness : 0.922119 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.20, Z:-0.31 [[ 0.99986267 -0.00620031 -0.01536841 1.73506287] [ 0.00648993 0.99980093 0.01886761 -0.19848102] [ 0.01524836 -0.01896476 0.99970387 -0.31487972] [ 0. 0. 0. 1. ]] SLAMing on 15.207719421 meters Centerline goodness : 0.924060 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.20, Z:-0.32 [[ 0.99986166 -0.00460169 -0.01598408 1.73742772] [ 0.00491538 0.999795 0.01964154 -0.19710851] [ 0.01589042 -0.01971739 0.99967931 -0.31596726] [ 0. 0. 0. 1. ]] SLAMing on 15.237719421 meters Centerline goodness : 0.922245 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.20, Z:-0.32 [[ 9.99858980e-01 -9.09405064e-04 -1.67688115e-02 1.74145693e+00] [ 1.29339397e-03 9.99736869e-01 2.29023864e-02 -1.95876294e-01] [ 1.67435716e-02 -2.29208454e-02 9.99597063e-01 -3.18685033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.267719421 meters Centerline goodness : 0.920160 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.20, Z:-0.32 [[ 9.99852527e-01 -5.94203284e-04 -1.71630812e-02 1.74267541e+00] [ 9.92103953e-04 9.99730715e-01 2.31843202e-02 -1.96405804e-01] [ 1.71446833e-02 -2.31979287e-02 9.99583871e-01 -3.19078775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.297719421 meters Centerline goodness : 0.920752 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.20, Z:-0.32 [[ 0.99996093 -0.00325104 -0.00821989 1.74634023] [ 0.00335772 0.99990988 0.0129983 -0.1983709 ] [ 0.00817689 -0.01302539 0.99988173 -0.31908519] [ 0. 0. 0. 1. ]] SLAMing on 15.327719421 meters Centerline goodness : 0.925847 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.20, Z:-0.32 [[ 0.99994402 -0.00651091 -0.00834011 1.74555098] [ 0.00659469 0.99992767 0.01005776 -0.20163392] [ 0.00827402 -0.0101122 0.99991464 -0.31747974] [ 0. 0. 0. 1. ]] SLAMing on 15.357719421 meters Centerline goodness : 0.925310 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.21, Z:-0.32 [[ 0.99991661 -0.00955251 -0.00869043 1.74659602] [ 0.0096196 0.999924 0.00771087 -0.20601417] [ 0.00861611 -0.00779382 0.99993251 -0.31770003] [ 0. 0. 0. 1. ]] SLAMing on 15.387719421 meters Centerline goodness : 0.924819 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.21, Z:-0.32 [[ 0.99982743 -0.01594272 -0.00953631 1.74997643] [ 0.01597336 0.99986747 0.00314536 -0.21429972] [ 0.0094849 -0.00329715 0.99994958 -0.31982714] [ 0. 0. 0. 1. ]] SLAMing on 15.417719421 meters Centerline goodness : 0.924273 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.22, Z:-0.32 [[ 0.99978126 -0.01769299 -0.01115344 1.75446015] [ 0.01773825 0.99983478 0.00397174 -0.21738926] [ 0.01108133 -0.00416872 0.99992991 -0.32249002] [ 0. 0. 0. 1. ]] SLAMing on 15.447719421 meters Centerline goodness : 0.924799 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.22, Z:-0.32 [[ 0.9997753 -0.01764955 -0.01174089 1.75585434] [ 0.01770624 0.99983199 0.00474238 -0.21822941] [ 0.01165522 -0.0049492 0.99991983 -0.32290111] [ 0. 0. 0. 1. ]] SLAMing on 15.477719421 meters Centerline goodness : 0.919411 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.22, Z:-0.32 [[ 0.99971026 -0.02058036 -0.01248383 1.75899189] [ 0.02061734 0.9997834 0.00284069 -0.22224475] [ 0.01242266 -0.00309725 0.99991804 -0.32481947] [ 0. 0. 0. 1. ]] SLAMing on 15.507719421 meters Centerline goodness : 0.918078 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.23, Z:-0.33 [[ 9.99641582e-01 -2.34180140e-02 -1.29732330e-02 1.76192572e+00] [ 2.34272100e-02 9.99725390e-01 5.57303538e-04 -2.26041718e-01] [ 1.29566195e-02 -8.61030444e-04 9.99915689e-01 -3.27050759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.537719421 meters Centerline goodness : 0.919200 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.23, Z:-0.33 [[ 9.99558433e-01 -2.65178935e-02 -1.34066931e-02 1.76421255e+00] [ 2.64943764e-02 9.99647102e-01 -1.92873320e-03 -2.30226721e-01] [ 1.34531078e-02 1.57267957e-03 9.99908266e-01 -3.28545825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.567719421 meters Centerline goodness : 0.921317 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.24, Z:-0.33 [[ 0.99941992 -0.03283862 -0.00902536 1.7768158 ] [ 0.03286483 0.99945596 0.00277126 -0.2351651 ] [ 0.00892945 -0.00306627 0.99995543 -0.33259959] [ 0. 0. 0. 1. ]] SLAMing on 15.597719421 meters Centerline goodness : 0.920999 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.23, Z:-0.33 [[ 0.99935393 -0.03461852 -0.00965861 1.77771183] [ 0.03463881 0.99939801 0.00194108 -0.23283075] [ 0.0095856 -0.00227439 0.99995147 -0.33228757] [ 0. 0. 0. 1. ]] SLAMing on 15.627719421 meters Centerline goodness : 0.922357 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.23, Z:-0.33 [[ 9.99335493e-01 -3.50517683e-02 -9.99731244e-03 1.77833975e+00] [ 3.50693808e-02 9.99383612e-01 1.59183747e-03 -2.31275651e-01] [ 9.93535350e-03 -1.94137924e-03 9.99948759e-01 -3.32162680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.657719421 meters Centerline goodness : 0.921285 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.23, Z:-0.33 [[ 9.99293516e-01 -3.60906352e-02 -1.04849593e-02 1.77918266e+00] [ 3.61016520e-02 9.99347750e-01 8.63297293e-04 -2.30508349e-01] [ 1.04469635e-02 -1.24121174e-03 9.99944659e-01 -3.31761527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.687719421 meters Centerline goodness : 0.923657 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.23, Z:-0.33 [[ 9.99287631e-01 -3.61079579e-02 -1.09747750e-02 1.78083698e+00] [ 3.61220086e-02 9.99346799e-01 1.08469440e-03 -2.31251784e-01] [ 1.09284402e-02 -1.48035262e-03 9.99939187e-01 -3.32638357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.717719421 meters Centerline goodness : 0.923251 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.23, Z:-0.33 [[ 9.99274913e-01 -3.61838836e-02 -1.18480027e-02 1.78437846e+00] [ 3.61964057e-02 9.99344339e-01 8.44103006e-04 -2.30209351e-01] [ 1.18096915e-02 -1.27234607e-03 9.99929454e-01 -3.34912351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.747719421 meters Centerline goodness : 0.922241 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.23, Z:-0.34 [[ 9.99271236e-01 -3.61741789e-02 -1.21830483e-02 1.78551852e+00] [ 3.61830152e-02 9.99345052e-01 5.05587874e-04 -2.28236121e-01] [ 1.21567799e-02 -9.46038842e-04 9.99925656e-01 -3.35408120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.777719421 meters Centerline goodness : 0.923427 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.22, Z:-0.34 [[ 0.9992778 -0.03766567 -0.00501785 1.79470261] [ 0.03770026 0.99926467 0.00698571 -0.22317397] [ 0.00475104 -0.00716984 0.99996301 -0.33709003] [ 0. 0. 0. 1. ]] SLAMing on 15.807719421 meters Centerline goodness : 0.925405 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.22, Z:-0.34 [[ 0.9992309 -0.03884575 -0.00534859 1.79508213] [ 0.03887643 0.99922744 0.00575681 -0.22010957] [ 0.00512083 -0.00596031 0.99996913 -0.33642306] [ 0. 0. 0. 1. ]] SLAMing on 15.837719421 meters Centerline goodness : 0.924431 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.22, Z:-0.34 [[ 0.99910267 -0.04195211 -0.0058199 1.79774676] [ 0.04196693 0.999116 0.00244844 -0.22036399] [ 0.00571204 -0.00269049 0.99998007 -0.33810676] [ 0. 0. 0. 1. ]] SLAMing on 15.867719421 meters Centerline goodness : 0.923928 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.22, Z:-0.34 [[ 9.98954591e-01 -4.52984708e-02 -6.14600791e-03 1.80029551e+00] [ 4.52962411e-02 9.98973473e-01 -5.01559986e-04 -2.22314598e-01] [ 6.16241877e-03 2.22644594e-04 9.99980987e-01 -3.40070649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.897719421 meters Centerline goodness : 0.924171 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.23, Z:-0.34 [[ 0.99847266 -0.05495603 -0.0056724 1.81890723] [ 0.05504318 0.9983466 0.01656239 -0.22663303] [ 0.00475281 -0.01684932 0.99984674 -0.34395729] [ 0. 0. 0. 1. ]] SLAMing on 15.927719420999999 meters Centerline goodness : 0.923704 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.23, Z:-0.35 [[ 9.98397597e-01 -5.65083992e-02 -3.00651121e-03 1.82738495e+00] [ 5.65718927e-02 9.97978218e-01 2.89671844e-02 -2.27010105e-01] [ 1.36354348e-03 -2.90908513e-02 9.99575842e-01 -3.45333672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.957719421 meters Centerline goodness : 0.923597 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.22, Z:-0.34 [[ 0.99817167 -0.06008511 -0.00656489 1.83295253] [ 0.0602509 0.9977636 0.02894188 -0.22201479] [ 0.00481123 -0.02928451 0.99955954 -0.34325926] [ 0. 0. 0. 1. ]] SLAMing on 15.987719421 meters Centerline goodness : 0.923840 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.22, Z:-0.34 [[ 0.99803689 -0.06200444 -0.00882177 1.83634974] [ 0.0622301 0.99766497 0.02814299 -0.21778218] [ 0.00705618 -0.02863672 0.99956498 -0.34189111] [ 0. 0. 0. 1. ]] SLAMing on 16.017719421 meters Centerline goodness : 0.922739 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.22, Z:-0.34 [[ 0.99801892 -0.06224372 -0.00916265 1.83625883] [ 0.06247304 0.99767233 0.0273319 -0.21575052] [ 0.00744008 -0.02785017 0.99958442 -0.34097258] [ 0. 0. 0. 1. ]] SLAMing on 16.047719421 meters Centerline goodness : 0.927177 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.21, Z:-0.34 [[ 0.99835047 -0.05681687 -0.00825756 1.83397574] [ 0.05703064 0.99796582 0.028491 -0.21104599] [ 0.006622 -0.02891494 0.99955994 -0.34110213] [ 0. 0. 0. 1. ]] SLAMing on 16.077719421 meters Centerline goodness : 0.929870 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.21, Z:-0.34 [[ 0.99855708 -0.05298733 -0.00872388 1.83521927] [ 0.05323289 0.99810544 0.03085103 -0.20607959] [ 0.00707264 -0.03127091 0.99948592 -0.34195339] [ 0. 0. 0. 1. ]] SLAMing on 16.107719421 meters Centerline goodness : 0.931628 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.19, Z:-0.35 [[ 0.99913046 -0.040429 -0.01018877 1.83922059] [ 0.04079351 0.99842368 0.03854924 -0.19161098] [ 0.0086142 -0.03893136 0.99920476 -0.3455353 ] [ 0. 0. 0. 1. ]] SLAMing on 16.137719421 meters Centerline goodness : 0.929174 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.18, Z:-0.35 [[ 0.99939113 -0.03323753 -0.01061309 1.8404484 ] [ 0.03367653 0.99845134 0.04428112 -0.18486262] [ 0.00912486 -0.04461157 0.99896273 -0.3467074 ] [ 0. 0. 0. 1. ]] SLAMing on 16.167719421 meters Centerline goodness : 0.928143 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.17, Z:-0.34 [[ 0.99958439 -0.02343736 -0.01678497 1.85499982] [ 0.02405703 0.99899871 0.03772055 -0.17051035] [ 0.0158841 -0.03810867 0.99914735 -0.34438457] [ 0. 0. 0. 1. ]] SLAMing on 16.197719421 meters Centerline goodness : 0.926835 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.17, Z:-0.35 [[ 0.99959118 -0.0227021 -0.01738079 1.85805126] [ 0.02333672 0.99903437 0.03722519 -0.16711836] [ 0.01651891 -0.03761558 0.99915574 -0.34657579] [ 0. 0. 0. 1. ]] SLAMing on 16.227719421 meters Centerline goodness : 0.927823 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.16, Z:-0.35 [[ 0.99956122 -0.02340862 -0.01814926 1.86210817] [ 0.02403596 0.99909281 0.03515443 -0.16255888] [ 0.01730987 -0.03557524 0.99921708 -0.34937142] [ 0. 0. 0. 1. ]] SLAMing on 16.257719421 meters Centerline goodness : 0.927193 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.16, Z:-0.35 [[ 0.99954654 -0.02382261 -0.01841715 1.8624709 ] [ 0.02444403 0.99911305 0.03428713 -0.16035199] [ 0.01758401 -0.03472177 0.99924231 -0.3490284 ] [ 0. 0. 0. 1. ]] SLAMing on 16.287719421 meters Centerline goodness : 0.932760 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.15, Z:-0.35 [[ 0.99958415 -0.02243493 -0.01811619 1.85905662] [ 0.02306302 0.99911275 0.03523923 -0.15415828] [ 0.01730952 -0.03564239 0.99921469 -0.34541907] [ 0. 0. 0. 1. ]] SLAMing on 16.317719421 meters Centerline goodness : 0.932828 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.15, Z:-0.34 [[ 0.99955963 -0.02328338 -0.01839663 1.85824923] [ 0.02389329 0.99914769 0.03366002 -0.15013533] [ 0.01759724 -0.03408475 0.99926401 -0.34342484] [ 0. 0. 0. 1. ]] SLAMing on 16.347719421 meters Centerline goodness : 0.931278 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.15, Z:-0.34 [[ 0.99954263 -0.0236076 -0.0189001 1.85922627] [ 0.02421939 0.99916767 0.03282345 -0.14792933] [ 0.01810948 -0.03326619 0.99928245 -0.34300645] [ 0. 0. 0. 1. ]] SLAMing on 16.377719421 meters Centerline goodness : 0.931278 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.15, Z:-0.34 [[ 0.99954263 -0.0236076 -0.0189001 1.85922627] [ 0.02421939 0.99916767 0.03282345 -0.14792933] [ 0.01810948 -0.03326619 0.99928245 -0.34300645] [ 0. 0. 0. 1. ]] SLAMing on 16.407719421 meters Centerline goodness : 0.929433 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.15, Z:-0.35 [[ 0.99946328 -0.02630736 -0.01952135 1.86260035] [ 0.0268761 0.99920435 0.02946753 -0.14740172] [ 0.01873061 -0.02997637 0.9993751 -0.34513731] [ 0. 0. 0. 1. ]] SLAMing on 16.437719421 meters Centerline goodness : 0.930285 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.15, Z:-0.35 [[ 0.99936945 -0.02936834 -0.01995491 1.8658687 ] [ 0.02987191 0.99923034 0.02542447 -0.14636137] [ 0.01919288 -0.02600453 0.99947756 -0.34726126] [ 0. 0. 0. 1. ]] SLAMing on 16.467719420999998 meters Centerline goodness : 0.932146 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.14, Z:-0.35 [[ 0.99924649 -0.03310738 -0.02025709 1.86663655] [ 0.0335264 0.99922329 0.02070724 -0.14377934] [ 0.01955579 -0.02137079 0.99958034 -0.3468048 ] [ 0. 0. 0. 1. ]] SLAMing on 16.497719421 meters Centerline goodness : 0.932925 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.14, Z:-0.35 [[ 0.99911865 -0.03636284 -0.02096839 1.86893648] [ 0.0367185 0.99918385 0.01683384 -0.14245492] [ 0.02033915 -0.01758893 0.99963841 -0.34728289] [ 0. 0. 0. 1. ]] SLAMing on 16.527719421 meters Centerline goodness : 0.930047 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.14, Z:-0.35 [[ 0.99896835 -0.03966714 -0.02210797 1.87268427] [ 0.03998143 0.9991029 0.01396007 -0.14400293] [ 0.02153438 -0.01482957 0.99965812 -0.34872633] [ 0. 0. 0. 1. ]] SLAMing on 16.557719421 meters Centerline goodness : 0.929821 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.15, Z:-0.35 [[ 0.99895571 -0.03970288 -0.02260915 1.87450941] [ 0.04003763 0.99909222 0.01455079 -0.14510788] [ 0.02201091 -0.01544081 0.99963849 -0.34976524] [ 0. 0. 0. 1. ]] SLAMing on 16.587719421 meters Centerline goodness : 0.926237 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.14, Z:-0.35 [[ 0.99880178 -0.04295144 -0.0234557 1.87779196] [ 0.04322985 0.99899903 0.01149416 -0.14457104] [ 0.02293853 -0.01249437 0.9996588 -0.3512859 ] [ 0. 0. 0. 1. ]] SLAMing on 16.617719421 meters Centerline goodness : 0.929417 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.15, Z:-0.35 [[ 0.99864989 -0.04888476 -0.01756951 1.88971579] [ 0.04914903 0.99867973 0.01493853 -0.14723457] [ 0.01681604 -0.01578189 0.99973404 -0.35446929] [ 0. 0. 0. 1. ]] SLAMing on 16.647719421 meters Centerline goodness : 0.931263 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.15, Z:-0.35 [[ 0.99845983 -0.0525286 -0.01785252 1.89044173] [ 0.05273084 0.99854759 0.01105271 -0.1468981 ] [ 0.01724601 -0.01197706 0.99977954 -0.35388429] [ 0. 0. 0. 1. ]] SLAMing on 16.677719421 meters Centerline goodness : 0.933502 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.15, Z:-0.35 [[ 0.99840044 -0.05350222 -0.01827793 1.89070584] [ 0.05370833 0.99849632 0.01097788 -0.14791257] [ 0.0176631 -0.01194199 0.99977268 -0.35312652] [ 0. 0. 0. 1. ]] SLAMing on 16.707719421 meters Centerline goodness : 0.932964 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.15, Z:-0.36 [[ 0.99842147 -0.05296226 -0.01869665 1.89308186] [ 0.05318869 0.99851443 0.01182811 -0.14852803] [ 0.01804243 -0.01280389 0.99975524 -0.35504524] [ 0. 0. 0. 1. ]] SLAMing on 16.737719421 meters Centerline goodness : 0.928677 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.15, Z:-0.36 [[ 0.99851135 -0.05100584 -0.01932605 1.8978655 ] [ 0.05126871 0.99859554 0.01335891 -0.14794764] [ 0.01861753 -0.01432985 0.99972398 -0.35921355] [ 0. 0. 0. 1. ]] SLAMing on 16.767719421 meters Centerline goodness : 0.928328 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.15, Z:-0.36 [[ 0.998586 -0.04920458 -0.02012255 1.90038545] [ 0.04949021 0.99867716 0.01395158 -0.14651284] [ 0.01940945 -0.01492772 0.99970017 -0.35993935] [ 0. 0. 0. 1. ]] SLAMing on 16.797719421 meters Centerline goodness : 0.928301 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.14, Z:-0.36 [[ 0.99926144 -0.0339533 -0.01799296 1.89955568] [ 0.03414084 0.99936477 0.01022012 -0.14374775] [ 0.01763453 -0.01082687 0.99978588 -0.36042044] [ 0. 0. 0. 1. ]] SLAMing on 16.827719421 meters Centerline goodness : 0.928500 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.14, Z:-0.36 [[ 0.99943018 -0.02835974 -0.01830392 1.90069373] [ 0.02862162 0.99948934 0.01420754 -0.14113478] [ 0.01789165 -0.01472333 0.99973152 -0.3606909 ] [ 0. 0. 0. 1. ]] SLAMing on 16.857719421 meters Centerline goodness : 0.935515 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.13, Z:-0.35 [[ 0.99980089 -0.01131119 -0.01643881 1.90981755] [ 0.0115732 0.99980611 0.01593142 -0.13195872] [ 0.01625542 -0.0161185 0.99973794 -0.35405773] [ 0. 0. 0. 1. ]] SLAMing on 16.887719421 meters Centerline goodness : 0.936464 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.13, Z:-0.35 [[ 0.99983166 -0.00688751 -0.01700609 1.91066783] [ 0.00721114 0.99979266 0.01904279 -0.12902154] [ 0.01687141 -0.01916222 0.99967403 -0.35330611] [ 0. 0. 0. 1. ]] SLAMing on 16.917719421 meters Centerline goodness : 0.935107 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.13, Z:-0.36 [[ 9.99913511e-01 -4.96773322e-04 -1.31424755e-02 1.91420164e+00] [ 6.09820418e-04 9.99962842e-01 8.59905062e-03 -1.27639351e-01] [ 1.31377154e-02 -8.60632144e-03 9.99876658e-01 -3.55617081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.947719421 meters Centerline goodness : 0.934695 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.13, Z:-0.36 [[ 0.999904 -0.00289854 -0.01354936 1.91701327] [ 0.00297203 0.99998097 0.00540687 -0.12619225] [ 0.01353343 -0.00544662 0.99989358 -0.35755815] [ 0. 0. 0. 1. ]] SLAMing on 16.977719421 meters Centerline goodness : 0.935182 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.12, Z:-0.36 [[ 0.99989302 -0.00371327 -0.01414779 1.9194703 ] [ 0.00377183 0.99998442 0.00411449 -0.12051522] [ 0.0141323 -0.00416741 0.99989145 -0.35874132] [ 0. 0. 0. 1. ]] SLAMing on 17.007719421 meters Centerline goodness : 0.936561 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.12, Z:-0.36 [[ 0.9998874 -0.00381767 -0.01451273 1.92037473] [ 0.0038657 0.99998714 0.00328277 -0.11661273] [ 0.01450001 -0.00333851 0.9998893 -0.35867927] [ 0. 0. 0. 1. ]] SLAMing on 17.037719421 meters Centerline goodness : 0.937348 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.11, Z:-0.36 [[ 9.99879684e-01 -5.03728677e-04 -1.55036833e-02 1.92463131e+00] [ 5.84305513e-04 9.99986345e-01 5.19317969e-03 -1.12630617e-01] [ 1.55008556e-02 -5.20161375e-03 9.99866324e-01 -3.60825495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.067719421 meters Centerline goodness : 0.937682 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.11, Z:-0.36 [[ 9.99869981e-01 6.29695960e-05 -1.61250318e-02 1.92691107e+00] [ 1.88247041e-05 9.99987136e-01 5.07230272e-03 -1.11749535e-01] [ 1.61251437e-02 -5.07194677e-03 9.99857117e-01 -3.61884006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.097719421 meters Centerline goodness : 0.939526 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.11, Z:-0.36 [[ 9.99866473e-01 8.04160546e-04 -1.63214407e-02 1.92736503e+00] [-7.35660372e-04 9.99990899e-01 4.20251416e-03 -1.09840661e-01] [ 1.63246717e-02 -4.18994597e-03 9.99857965e-01 -3.60827011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.127719421 meters Centerline goodness : 0.941012 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.11, Z:-0.36 [[ 9.99861942e-01 9.37458784e-04 -1.65896711e-02 1.92748365e+00] [-8.75333189e-04 9.99992579e-01 3.75170095e-03 -1.08703629e-01] [ 1.65930651e-02 -3.73666151e-03 9.99855343e-01 -3.59877633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.157719421 meters Centerline goodness : 0.940079 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.11, Z:-0.36 [[ 9.99848452e-01 1.77725608e-03 -1.73180518e-02 1.93035343e+00] [-1.70101505e-03 9.99988802e-01 4.41613860e-03 -1.09615132e-01] [ 1.73257065e-02 -4.38601107e-03 9.99840279e-01 -3.61323840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.187719421 meters Centerline goodness : 0.936495 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.11, Z:-0.37 [[ 9.99823586e-01 3.42431191e-04 -1.87797502e-02 1.93710942e+00] [-2.83250651e-04 9.99994986e-01 3.15386474e-03 -1.11504194e-01] [ 1.87807360e-02 -3.14798898e-03 9.99818671e-01 -3.66135124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.217719420999998 meters Centerline goodness : 0.936430 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.11, Z:-0.37 [[ 9.99806225e-01 1.54085695e-05 -1.96853072e-02 1.94135850e+00] [ 4.12199871e-05 9.99995863e-01 2.87628255e-03 -1.11692722e-01] [ 1.96852701e-02 -2.87653662e-03 9.99802088e-01 -3.68791519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.247719421 meters Centerline goodness : 0.936516 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.11, Z:-0.37 [[ 0.99989615 -0.00300794 -0.01409421 1.95314341] [ 0.00311879 0.99996433 0.00784974 -0.11277572] [ 0.0140701 -0.00789288 0.99986986 -0.36985795] [ 0. 0. 0. 1. ]] SLAMing on 17.277719421 meters Centerline goodness : 0.937177 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.11, Z:-0.37 [[ 0.9998931 -0.00363004 -0.01416356 1.95227054] [ 0.00373373 0.99996637 0.00730179 -0.11374677] [ 0.01413657 -0.0073539 0.99987303 -0.3683706 ] [ 0. 0. 0. 1. ]] SLAMing on 17.307719421 meters Centerline goodness : 0.939918 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.12, Z:-0.37 [[ 0.99997708 -0.00645112 -0.00205407 1.95729543] [ 0.0064628 0.99996267 0.00573505 -0.11632056] [ 0.00201699 -0.0057482 0.99998144 -0.37187031] [ 0. 0. 0. 1. ]] SLAMing on 17.337719421 meters Centerline goodness : 0.937602 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.12, Z:-0.37 [[ 0.99997318 -0.00692269 -0.00238926 1.95798708] [ 0.00693712 0.99995742 0.00608508 -0.11851139] [ 0.00234703 -0.00610149 0.99997863 -0.37211315] [ 0. 0. 0. 1. ]] SLAMing on 17.367719421 meters Centerline goodness : 0.937626 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.12, Z:-0.37 [[ 0.99994218 -0.01034733 -0.00292779 1.9599824 ] [ 0.0103557 0.9999423 0.00285732 -0.11941134] [ 0.00289805 -0.00288748 0.99999163 -0.37305717] [ 0. 0. 0. 1. ]] SLAMing on 17.397719421 meters Centerline goodness : 0.937835 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.12, Z:-0.38 [[ 9.99880537e-01 -1.49000102e-02 -4.11112979e-03 1.96394111e+00] [ 1.49011835e-02 9.99888939e-01 2.54908938e-04 -1.21523628e-01] [ 4.10687506e-03 -3.16139186e-04 9.99991517e-01 -3.76284084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.427719421 meters Centerline goodness : 0.932042 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.12, Z:-0.38 [[ 0.99982429 -0.01806261 -0.00501245 1.96827393] [ 0.01805162 0.99983457 -0.00222948 -0.12255411] [ 0.00505189 0.00213861 0.99998495 -0.37957557] [ 0. 0. 0. 1. ]] SLAMing on 17.457719421 meters Centerline goodness : 0.931169 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.13, Z:-0.38 [[ 9.99841880e-01 -1.68192131e-02 -5.77317097e-03 1.97163173e+00] [ 1.68170694e-02 9.99858495e-01 -4.19673210e-04 -1.25899682e-01] [ 5.77941261e-03 3.22519034e-04 9.99983247e-01 -3.82059379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.487719421 meters Centerline goodness : 0.930165 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.13, Z:-0.39 [[ 0.9998902 -0.01286179 -0.00735974 1.97807858] [ 0.01288312 0.99991293 0.00285776 -0.13257327] [ 0.00732235 -0.00295226 0.99996883 -0.38519258] [ 0. 0. 0. 1. ]] SLAMing on 17.517719421 meters Centerline goodness : 0.932573 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.13, Z:-0.39 [[ 0.99991344 -0.01032991 -0.00814897 1.98076546] [ 0.01036499 0.99993715 0.00427418 -0.13207995] [ 0.00810431 -0.00435828 0.99995766 -0.38583716] [ 0. 0. 0. 1. ]] SLAMing on 17.547719421 meters Centerline goodness : 0.937907 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.13, Z:-0.38 [[ 9.99983743e-01 3.62164860e-04 -5.69053031e-03 1.98032215e+00] [-3.25277304e-04 9.99978940e-01 6.48185928e-03 -1.28513136e-01] [ 5.69275797e-03 -6.47990290e-03 9.99962801e-01 -3.77537542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.577719421 meters Centerline goodness : 0.938087 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.13, Z:-0.38 [[ 0.99998079 0.00206296 -0.00584562 1.98049733] [-0.00202302 0.99997463 0.00682942 -0.12680743] [ 0.00585956 -0.00681746 0.99995959 -0.37630761] [ 0. 0. 0. 1. ]] SLAMing on 17.607719421 meters Centerline goodness : 0.936910 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.13, Z:-0.38 [[ 0.99995438 0.00714714 -0.00633732 1.98482322] [-0.00707829 0.99991641 0.01081986 -0.12864231] [ 0.00641412 -0.01077451 0.99992138 -0.3793775 ] [ 0. 0. 0. 1. ]] SLAMing on 17.637719421 meters Centerline goodness : 0.936219 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.13, Z:-0.38 [[ 0.99993955 0.00850888 -0.00696392 1.98812287] [-0.00842375 0.99989053 0.01216389 -0.13050843] [ 0.00706666 -0.01210449 0.99990177 -0.38193288] [ 0. 0. 0. 1. ]] SLAMing on 17.667719421 meters Centerline goodness : 0.929679 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.13, Z:-0.39 [[ 0.99993534 0.00764245 -0.0084207 1.99771194] [-0.00755647 0.99991948 0.01019472 -0.13336823] [ 0.00849794 -0.01013043 0.99991258 -0.38924789] [ 0. 0. 0. 1. ]] SLAMing on 17.697719421 meters Centerline goodness : 0.928269 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.14, Z:-0.39 [[ 0.99994333 0.00526758 -0.00925152 2.00178109] [-0.00519432 0.9999551 0.0079255 -0.13524267] [ 0.00929285 -0.007877 0.9999258 -0.39226269] [ 0. 0. 0. 1. ]] SLAMing on 17.727719421 meters Centerline goodness : 0.928997 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.14, Z:-0.39 [[ 9.99949684e-01 1.32742171e-03 -9.94322367e-03 2.00317071e+00] [-1.27270982e-03 9.99984028e-01 5.50673863e-03 -1.39326572e-01] [ 9.95037462e-03 -5.49380672e-03 9.99935402e-01 -3.92585411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.757719421 meters Centerline goodness : 0.927372 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.14, Z:-0.39 [[ 0.99994142 -0.00225202 -0.01058736 2.00360862] [ 0.00227786 0.99999445 0.00242974 -0.14162275] [ 0.01058183 -0.00245371 0.999941 -0.39129399] [ 0. 0. 0. 1. ]] SLAMing on 17.787719421 meters Centerline goodness : 0.929782 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.15, Z:-0.39 [[ 0.99991025 -0.01237616 -0.00513134 2.01295994] [ 0.01239226 0.99991835 0.00311912 -0.15122208] [ 0.00509232 -0.00318243 0.99998197 -0.39061489] [ 0. 0. 0. 1. ]] SLAMing on 17.817719421 meters Centerline goodness : 0.933090 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.16, Z:-0.39 [[ 9.99847822e-01 -1.66028695e-02 -5.35514143e-03 2.01266893e+00] [ 1.66037034e-02 9.99862143e-01 1.11308308e-04 -1.55799904e-01] [ 5.35255514e-03 -2.00206549e-04 9.99985655e-01 -3.89499087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.847719421 meters Centerline goodness : 0.937819 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.16, Z:-0.39 [[ 0.9997401 -0.02219468 -0.00520938 2.01078633] [ 0.0221763 0.99974773 -0.00356147 -0.16018023] [ 0.00528711 0.00344502 0.99998009 -0.38702575] [ 0. 0. 0. 1. ]] SLAMing on 17.877719421 meters Centerline goodness : 0.938078 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.16, Z:-0.39 [[ 0.9997329 -0.02240984 -0.0056502 2.01198029] [ 0.02239405 0.99974518 -0.00284268 -0.16233321] [ 0.00571247 0.00271539 0.99998 -0.38771275] [ 0. 0. 0. 1. ]] SLAMing on 17.907719421 meters Centerline goodness : 0.936681 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.17, Z:-0.39 [[ 0.99966278 -0.02519763 -0.00627729 2.01597576] [ 0.02516716 0.99967132 -0.00488536 -0.16552667] [ 0.00639833 0.00472573 0.99996836 -0.39125027] [ 0. 0. 0. 1. ]] SLAMing on 17.937719421 meters Centerline goodness : 0.938985 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.17, Z:-0.39 [[ 9.99745728e-01 -2.16319266e-02 -6.36709153e-03 2.01701232e+00] [ 2.16298170e-02 9.99765968e-01 -4.00021538e-04 -1.67995941e-01] [ 6.37425466e-03 2.62200800e-04 9.99979650e-01 -3.92830933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.967719420999998 meters Centerline goodness : 0.938292 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.17, Z:-0.40 [[ 0.99980001 -0.01864101 -0.00724303 2.020773 ] [ 0.01866026 0.9998225 0.00259971 -0.16663491] [ 0.00719328 -0.00273435 0.99997039 -0.39550088] [ 0. 0. 0. 1. ]] SLAMing on 17.997719421 meters Centerline goodness : 0.937738 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.17, Z:-0.40 [[ 0.99981142 -0.01771384 -0.00795895 2.02312949] [ 0.01774159 0.99983672 0.00342987 -0.16679171] [ 0.00789689 -0.00357043 0.99996244 -0.39665053] [ 0. 0. 0. 1. ]] SLAMing on 18.027719421 meters Centerline goodness : 0.936998 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.17, Z:-0.40 [[ 0.99983223 -0.01591797 -0.00906293 2.02698105] [ 0.01596708 0.99985808 0.00537257 -0.17022676] [ 0.00897612 -0.00551637 0.9999445 -0.39867532] [ 0. 0. 0. 1. ]] SLAMing on 18.057719420999998 meters Centerline goodness : 0.942407 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.17, Z:-0.40 [[ 0.99987869 -0.01243851 -0.00937454 2.02638634] [ 0.01252629 0.9998777 0.00936398 -0.17267256] [ 0.00925692 -0.00948027 0.99991221 -0.39730219] [ 0. 0. 0. 1. ]] SLAMing on 18.087719421 meters Centerline goodness : 0.945146 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.17, Z:-0.40 [[ 0.99988083 -0.01177584 -0.00998244 2.02729941] [ 0.0118717 0.99988346 0.00959849 -0.17158942] [ 0.00986825 -0.00971586 0.99990411 -0.39672177] [ 0. 0. 0. 1. ]] SLAMing on 18.117719421 meters Centerline goodness : 0.944444 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.17, Z:-0.40 [[ 0.99988203 -0.01125608 -0.01045074 2.02819722] [ 0.01135631 0.99988962 0.00958079 -0.16983508] [ 0.01034174 -0.00969835 0.99989949 -0.39642739] [ 0. 0. 0. 1. ]] SLAMing on 18.147719421 meters Centerline goodness : 0.941978 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.17, Z:-0.40 [[ 0.99990534 -0.00787446 -0.01128286 2.03200912] [ 0.00801631 0.9998887 0.01258287 -0.16858345] [ 0.01118252 -0.01267213 0.99985717 -0.39880094] [ 0. 0. 0. 1. ]] SLAMing on 18.177719421 meters Centerline goodness : 0.940467 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.17, Z:-0.40 [[ 9.99979346e-01 -1.24609194e-03 -6.30518198e-03 2.03279616e+00] [ 1.27478416e-03 9.99988842e-01 4.54860674e-03 -1.68744954e-01] [ 6.29944365e-03 -4.55655053e-03 9.99969777e-01 -4.00464957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.207719421 meters Centerline goodness : 0.939054 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.17, Z:-0.40 [[ 9.99977806e-01 -6.35992180e-04 -6.63203391e-03 2.03407818e+00] [ 6.69819570e-04 9.99986772e-01 5.09963267e-03 -1.70777914e-01] [ 6.62870286e-03 -5.10396175e-03 9.99965004e-01 -4.01170594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.237719421 meters Centerline goodness : 0.943141 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.17, Z:-0.40 [[ 9.99977295e-01 -4.12103069e-04 -6.72599356e-03 2.03404360e+00] [ 4.47148605e-04 9.99986329e-01 5.20979061e-03 -1.72408394e-01] [ 6.72375464e-03 -5.21267984e-03 9.99963809e-01 -4.00575210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.267719421 meters Centerline goodness : 0.941823 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.17, Z:-0.40 [[ 9.99974626e-01 -9.43757024e-05 -7.12311377e-03 2.03513688e+00] [ 1.33214063e-04 9.99985128e-01 5.45216388e-03 -1.71872461e-01] [ 7.12249328e-03 -5.45297444e-03 9.99959767e-01 -4.00832772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.297719421 meters Centerline goodness : 0.941823 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.17, Z:-0.40 [[ 9.99974626e-01 -9.43757024e-05 -7.12311377e-03 2.03513688e+00] [ 1.33214063e-04 9.99985128e-01 5.45216388e-03 -1.71872461e-01] [ 7.12249328e-03 -5.45297444e-03 9.99959767e-01 -4.00832772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.327719421 meters Centerline goodness : 0.940641 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.17, Z:-0.40 [[ 9.99971793e-01 -2.99603844e-05 -7.51077159e-03 2.03596620e+00] [ 7.12608247e-05 9.99984880e-01 5.49862058e-03 -1.71563731e-01] [ 7.51049329e-03 -5.49900071e-03 9.99956676e-01 -4.00874238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.357719421 meters Centerline goodness : 0.937987 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.17, Z:-0.41 [[ 9.99964377e-01 -1.09688862e-03 -8.36913530e-03 2.04122631e+00] [ 1.13700242e-03 9.99987882e-01 4.78981228e-03 -1.73818870e-01] [ 8.36378000e-03 -4.79915737e-03 9.99953507e-01 -4.05094130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.387719421 meters Centerline goodness : 0.936743 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.18, Z:-0.41 [[ 0.99995584 -0.00228269 -0.00911661 2.04531254] [ 0.00231938 0.99998925 0.00401545 -0.17854323] [ 0.00910735 -0.00403641 0.99995038 -0.40808234] [ 0. 0. 0. 1. ]] SLAMing on 18.417719421 meters Centerline goodness : 0.938266 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.18, Z:-0.41 [[ 0.99995315 -0.00209619 -0.00945023 2.04618217] [ 0.0021398 0.9999871 0.00460682 -0.18055678] [ 0.00944045 -0.00462682 0.99994473 -0.40829457] [ 0. 0. 0. 1. ]] SLAMing on 18.447719421 meters Centerline goodness : 0.941843 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.18, Z:-0.41 [[ 0.9999417 -0.00458117 -0.00977847 2.04460914] [ 0.00461062 0.9999849 0.00299122 -0.18436435] [ 0.00976462 -0.00303613 0.99994772 -0.40531838] [ 0. 0. 0. 1. ]] SLAMing on 18.477719421 meters Centerline goodness : 0.945097 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.19, Z:-0.40 [[ 0.99993157 -0.00620125 -0.00991929 2.04265917] [ 0.00622605 0.99997756 0.00247119 -0.18763602] [ 0.00990374 -0.00253278 0.99994775 -0.40266305] [ 0. 0. 0. 1. ]] SLAMing on 18.507719421 meters Centerline goodness : 0.943854 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.19, Z:-0.40 [[ 9.99896449e-01 -1.03192516e-02 -1.00302073e-02 2.04162802e+00] [ 1.03129127e-02 9.99946587e-01 -6.83500523e-04 -1.91139028e-01] [ 1.00367247e-02 5.79989094e-04 9.99949463e-01 -4.00877133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.537719421 meters Centerline goodness : 0.945478 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.20, Z:-0.41 [[ 9.99755258e-01 -2.14741770e-02 -5.31825431e-03 2.05351011e+00] [ 2.14799703e-02 9.99768743e-01 1.03460702e-03 -2.01117140e-01] [ 5.29480710e-03 -1.14858975e-03 9.99985323e-01 -4.05198579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.567719421 meters Centerline goodness : 0.945901 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.21, Z:-0.41 [[ 9.99669089e-01 -2.51042170e-02 -5.61164544e-03 2.05542785e+00] [ 2.50973299e-02 9.99684174e-01 -1.29435336e-03 -2.05546259e-01] [ 5.64236687e-03 1.15308773e-03 9.99983417e-01 -4.06746987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.597719421 meters Centerline goodness : 0.943887 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.21, Z:-0.41 [[ 0.99947945 -0.03156335 -0.00667698 2.06065964] [ 0.03152502 0.99948631 -0.00577029 -0.21060235] [ 0.00685568 0.0055568 0.99996106 -0.41112399] [ 0. 0. 0. 1. ]] SLAMing on 18.627719421 meters Centerline goodness : 0.941173 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.21, Z:-0.42 [[ 0.99952174 -0.02977444 -0.00835271 2.06678959] [ 0.02975557 0.99955439 -0.00237402 -0.21393923] [ 0.00841968 0.00212435 0.9999623 -0.41589137] [ 0. 0. 0. 1. ]] SLAMing on 18.657719421 meters Centerline goodness : 0.942263 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.22, Z:-0.42 [[ 0.99963822 -0.02540613 -0.00882963 2.0683139 ] [ 0.0254316 0.99967269 0.00278411 -0.21659511] [ 0.00875601 -0.00300765 0.99995714 -0.41694765] [ 0. 0. 0. 1. ]] SLAMing on 18.687719421 meters Centerline goodness : 0.942875 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.22, Z:-0.42 [[ 0.99974231 -0.020686 -0.0093486 2.06827568] [ 0.02075901 0.99975423 0.00778149 -0.22070855] [ 0.00918533 -0.00797355 0.99992602 -0.41551392] [ 0. 0. 0. 1. ]] SLAMing on 18.717719420999998 meters Centerline goodness : 0.947298 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.22, Z:-0.42 [[ 0.99981895 -0.01647759 -0.00951648 2.06826387] [ 0.01659346 0.99978754 0.01222824 -0.22306183] [ 0.00931297 -0.01238394 0.99987995 -0.41501691] [ 0. 0. 0. 1. ]] SLAMing on 18.747719421 meters Centerline goodness : 0.945096 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.22, Z:-0.42 [[ 0.99990228 -0.00952302 -0.01023456 2.07130969] [ 0.0097086 0.99978652 0.01823866 -0.22372953] [ 0.01005869 -0.01833624 0.99978128 -0.41650231] [ 0. 0. 0. 1. ]] SLAMing on 18.777719421 meters Centerline goodness : 0.946823 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.22, Z:-0.42 [[ 0.99993687 -0.00412995 -0.01044987 2.07180398] [ 0.0043675 0.99973022 0.02281265 -0.22334958] [ 0.01035284 -0.02285685 0.99968514 -0.41600777] [ 0. 0. 0. 1. ]] SLAMing on 18.807719420999998 meters Centerline goodness : 0.948922 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.22, Z:-0.42 [[ 0.99993704 -0.00317413 -0.01076282 2.07223992] [ 0.00342077 0.99973018 0.02297549 -0.22221796] [ 0.01068699 -0.02301086 0.99967809 -0.41531274] [ 0. 0. 0. 1. ]] SLAMing on 18.837719421 meters Centerline goodness : 0.947353 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.22, Z:-0.42 [[ 0.99993584 -0.00232669 -0.01108638 2.07344627] [ 0.00258386 0.99972659 0.02323949 -0.22172246] [ 0.01102928 -0.02326665 0.99966845 -0.41573238] [ 0. 0. 0. 1. ]] SLAMing on 18.867719421 meters Centerline goodness : 0.947803 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.22, Z:-0.42 [[ 9.99937291e-01 3.98423191e-04 -1.11917886e-02 2.07743400e+00] [-1.12529257e-04 9.99673948e-01 2.55339958e-02 -2.24026612e-01] [ 1.11983128e-02 -2.55311352e-02 9.99611304e-01 -4.19611599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.897719421 meters Centerline goodness : 0.945586 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.22, Z:-0.42 [[ 9.99934064e-01 8.74139946e-04 -1.14500202e-02 2.07875794e+00] [-5.79980594e-04 9.99670331e-01 2.56688994e-02 -2.23751342e-01] [ 1.14686837e-02 -2.56605661e-02 9.99604924e-01 -4.20477713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.927719421 meters Centerline goodness : 0.946345 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.22, Z:-0.42 [[ 9.99928862e-01 1.54922332e-03 -1.18266983e-02 2.07953512e+00] [-1.24695341e-03 9.99673458e-01 2.55229923e-02 -2.21536355e-01] [ 1.18623772e-02 -2.55064293e-02 9.99604275e-01 -4.20015700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.957719421 meters Centerline goodness : 0.945755 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.22, Z:-0.42 [[ 9.99921701e-01 -1.21517792e-03 -1.24545599e-02 2.08120156e+00] [ 1.49111194e-03 9.99753104e-01 2.21699759e-02 -2.20627212e-01] [ 1.24245444e-02 -2.21868112e-02 9.99676636e-01 -4.20124153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.987719421 meters Centerline goodness : 0.942401 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.23, Z:-0.42 [[ 0.99988492 -0.00817789 -0.01277748 2.08265436] [ 0.00838053 0.99983868 0.01588663 -0.22528356] [ 0.0126455 -0.01599188 0.99979215 -0.42051179] [ 0. 0. 0. 1. ]] SLAMing on 19.017719421 meters Centerline goodness : 0.944498 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.23, Z:-0.42 [[ 0.9997874 -0.01564721 -0.01342841 2.08570355] [ 0.01578944 0.99981966 0.01055151 -0.23136076] [ 0.01326089 -0.0107613 0.99985416 -0.42283432] [ 0. 0. 0. 1. ]] SLAMing on 19.047719421 meters Centerline goodness : 0.942588 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.23, Z:-0.42 [[ 0.99972433 -0.01896532 -0.01384161 2.08791541] [ 0.01907674 0.99978632 0.00796228 -0.23358643] [ 0.01368764 -0.00822414 0.9998725 -0.42427183] [ 0. 0. 0. 1. ]] SLAMing on 19.077719421 meters Centerline goodness : 0.941875 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.24, Z:-0.43 [[ 0.99957688 -0.02541403 -0.01414863 2.09027277] [ 0.0254491 0.99967346 0.00230412 -0.23712538] [ 0.01408545 -0.00266322 0.99989725 -0.42550578] [ 0. 0. 0. 1. ]] SLAMing on 19.107719421 meters Centerline goodness : 0.944442 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.24, Z:-0.43 [[ 0.99957936 -0.02519292 -0.01436747 2.09071602] [ 0.02524074 0.99967642 0.00315687 -0.23934022] [ 0.01428329 -0.00351819 0.9998918 -0.42533203] [ 0. 0. 0. 1. ]] SLAMing on 19.137719421 meters Centerline goodness : 0.943103 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.24, Z:-0.42 [[ 0.99957104 -0.0253899 -0.01459788 2.0901298 ] [ 0.02544431 0.99966992 0.00355386 -0.24135384] [ 0.01450283 -0.00392377 0.99988713 -0.42366532] [ 0. 0. 0. 1. ]] SLAMing on 19.167719421 meters Centerline goodness : 0.942908 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.24, Z:-0.42 [[ 0.99957473 -0.02513035 -0.01479278 2.090804 ] [ 0.02519657 0.99967324 0.00430726 -0.24381869] [ 0.01467971 -0.00467816 0.9998813 -0.42389642] [ 0. 0. 0. 1. ]] SLAMing on 19.197719421 meters Centerline goodness : 0.943262 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.25, Z:-0.43 [[ 9.99484929e-01 -2.84999769e-02 -1.47522014e-02 2.09237245e+00] [ 2.85245910e-02 9.99592024e-01 1.46074891e-03 -2.46539820e-01] [ 1.47045515e-02 -1.88079703e-03 9.99890113e-01 -4.25360216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.227719421 meters Centerline goodness : 0.944419 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.25, Z:-0.43 [[ 9.99478319e-01 -2.86085450e-02 -1.49880460e-02 2.09324910e+00] [ 2.86424318e-02 9.99587617e-01 2.05111648e-03 -2.48548485e-01] [ 1.49231857e-02 -2.47934054e-03 9.99885569e-01 -4.25806900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.257719421 meters Centerline goodness : 0.944038 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.25, Z:-0.43 [[ 0.99946643 -0.02871928 -0.01555848 2.09539901] [ 0.02877239 0.99958087 0.00320026 -0.25253299] [ 0.01546005 -0.00364621 0.99987384 -0.42703813] [ 0. 0. 0. 1. ]] SLAMing on 19.287719421 meters Centerline goodness : 0.944062 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.25, Z:-0.43 [[ 0.9994743 -0.02827815 -0.01585793 2.09705007] [ 0.0283461 0.99958985 0.00407716 -0.25403339] [ 0.01573613 -0.00452453 0.99986594 -0.42821053] [ 0. 0. 0. 1. ]] SLAMing on 19.317719421 meters Centerline goodness : 0.947681 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.25, Z:-0.43 [[ 0.99955611 -0.02521758 -0.01586349 2.09651127] [ 0.02533672 0.99965192 0.00735463 -0.25169173] [ 0.0156725 -0.00775329 0.99984712 -0.42740365] [ 0. 0. 0. 1. ]] SLAMing on 19.347719421 meters Centerline goodness : 0.946431 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.25, Z:-0.43 [[ 0.99963582 -0.02163589 -0.01612789 2.09669899] [ 0.021811 0.99970419 0.01076187 -0.25061321] [ 0.01589028 -0.01110972 0.99981202 -0.42703495] [ 0. 0. 0. 1. ]] SLAMing on 19.377719421 meters Centerline goodness : 0.942237 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.25, Z:-0.43 [[ 0.99984344 -0.01306591 -0.01193219 2.09865882] [ 0.01310602 0.9999087 0.00328947 -0.25069655] [ 0.01188812 -0.00344534 0.9999234 -0.43030589] [ 0. 0. 0. 1. ]] SLAMing on 19.407719421 meters Centerline goodness : 0.943037 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.25, Z:-0.43 [[ 0.99990264 -0.00709404 -0.01201585 2.10318803] [ 0.00718949 0.9999428 0.00791893 -0.25070334] [ 0.01195898 -0.00800455 0.99989645 -0.43463505] [ 0. 0. 0. 1. ]] SLAMing on 19.437719421 meters Centerline goodness : 0.942259 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.25, Z:-0.43 [[ 0.99992137 -0.00300368 -0.01217471 2.10334226] [ 0.00314302 0.9999296 0.01144198 -0.24868806] [ 0.01213948 -0.01147935 0.99986042 -0.43428267] [ 0. 0. 0. 1. ]] SLAMing on 19.467719420999998 meters Centerline goodness : 0.948086 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.24, Z:-0.43 [[ 0.99994036 0.00462294 -0.00989425 2.10484486] [-0.00452495 0.99994073 0.00990299 -0.24191579] [ 0.00993944 -0.00985763 0.99990201 -0.42885954] [ 0. 0. 0. 1. ]] SLAMing on 19.497719421 meters Centerline goodness : 0.945607 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.24, Z:-0.43 [[ 0.99993718 0.00500065 -0.01003188 2.10496245] [-0.00490379 0.99994134 0.00965733 -0.24035192] [ 0.01007959 -0.00960753 0.99990304 -0.42823619] [ 0. 0. 0. 1. ]] SLAMing on 19.527719421 meters Centerline goodness : 0.941943 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.24, Z:-0.43 [[ 0.9999394 0.00375198 -0.01035001 2.10880446] [-0.0036677 0.99996006 0.00814975 -0.2443444 ] [ 0.01038017 -0.0081113 0.99991323 -0.4314324 ] [ 0. 0. 0. 1. ]] SLAMing on 19.557719420999998 meters Centerline goodness : 0.941433 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.25, Z:-0.43 [[ 9.99940830e-01 1.45189785e-03 -1.07809209e-02 2.11220938e+00] [-1.39143323e-03 9.99983274e-01 5.61386750e-03 -2.45862456e-01] [ 1.07888914e-02 -5.59853440e-03 9.99926125e-01 -4.34313193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.587719421 meters Centerline goodness : 0.936703 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.25, Z:-0.44 [[ 9.99936732e-01 2.28903929e-04 -1.12462801e-02 2.11723768e+00] [-1.77076510e-04 9.99989362e-01 4.60918516e-03 -2.49024296e-01] [ 1.12472156e-02 -4.60690210e-03 9.99926136e-01 -4.38867505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.617719421 meters Centerline goodness : 0.936127 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.25, Z:-0.44 [[ 9.99935013e-01 -3.66884255e-04 -1.13945146e-02 2.11963198e+00] [ 4.15089144e-04 9.99990974e-01 4.22845786e-03 -2.50530796e-01] [ 1.13928604e-02 -4.23291280e-03 9.99926140e-01 -4.41105058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.647719421 meters Centerline goodness : 0.937165 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.26, Z:-0.44 [[ 9.99936424e-01 -7.77391788e-04 -1.12491759e-02 2.11918073e+00] [ 8.32589213e-04 9.99987634e-01 4.90294628e-03 -2.56824533e-01] [ 1.12452253e-02 -4.91200052e-03 9.99924706e-01 -4.40375103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.677719421 meters Centerline goodness : 0.937959 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.26, Z:-0.44 [[ 0.99998333 -0.00342575 -0.00464834 2.12814585] [ 0.00348249 0.99991887 0.01225297 -0.26135805] [ 0.00460599 -0.01226895 0.99991413 -0.44276986] [ 0. 0. 0. 1. ]] SLAMing on 19.707719421 meters Centerline goodness : 0.940609 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.27, Z:-0.44 [[ 0.99997016 -0.00620726 -0.0045986 2.12683766] [ 0.00625547 0.99992483 0.01054545 -0.26800914] [ 0.00453279 -0.0105739 0.99993382 -0.44046411] [ 0. 0. 0. 1. ]] SLAMing on 19.737719421 meters Centerline goodness : 0.944276 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.27, Z:-0.44 [[ 0.99996723 -0.00673017 -0.00449906 2.12546765] [ 0.00677643 0.9999235 0.0103474 -0.27070273] [ 0.00442908 -0.01037755 0.99993634 -0.4388513 ] [ 0. 0. 0. 1. ]] SLAMing on 19.767719421 meters Centerline goodness : 0.942085 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.28, Z:-0.44 [[ 0.99995775 -0.0079405 -0.00463109 2.12663647] [ 0.00798289 0.99992574 0.00920759 -0.27651455] [ 0.00455764 -0.00924417 0.99994689 -0.43922539] [ 0. 0. 0. 1. ]] SLAMing on 19.797719421 meters Centerline goodness : 0.941240 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.28, Z:-0.44 [[ 0.99996291 -0.00715197 -0.00479932 2.12827678] [ 0.00720033 0.99992271 0.01013557 -0.2782425 ] [ 0.00472645 -0.01016975 0.99993712 -0.44070218] [ 0. 0. 0. 1. ]] SLAMing on 19.827719421 meters Centerline goodness : 0.941451 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.28, Z:-0.44 [[ 0.99997308 -0.00534357 -0.00502765 2.13207061] [ 0.00540117 0.99991912 0.01151442 -0.27691526] [ 0.00496572 -0.01154126 0.99992107 -0.44446832] [ 0. 0. 0. 1. ]] SLAMing on 19.857719421 meters Centerline goodness : 0.941139 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.28, Z:-0.45 [[ 0.99997056 -0.00555092 -0.00529827 2.13341413] [ 0.00561088 0.99991961 0.01137071 -0.27634899] [ 0.00523473 -0.01140011 0.99992131 -0.44543837] [ 0. 0. 0. 1. ]] SLAMing on 19.887719421 meters Centerline goodness : 0.941106 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.28, Z:-0.45 [[ 0.99993638 -0.0099564 -0.00530205 2.13348151] [ 0.00999592 0.99992205 0.007481 -0.27696613] [ 0.00522715 -0.00753353 0.99995796 -0.44510711] [ 0. 0. 0. 1. ]] SLAMing on 19.917719421 meters Centerline goodness : 0.941081 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.28, Z:-0.45 [[ 0.99988406 -0.01420628 -0.00548185 2.1340326 ] [ 0.01422697 0.99989174 0.00375503 -0.27828574] [ 0.00542791 -0.00383259 0.99997792 -0.44509949] [ 0. 0. 0. 1. ]] SLAMing on 19.947719421 meters Centerline goodness : 0.942695 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.28, Z:-0.45 [[ 9.99671972e-01 -2.55865761e-02 -1.12899115e-03 2.14429821e+00] [ 2.55914748e-02 9.99662076e-01 4.56181878e-03 -2.79519551e-01] [ 1.01188831e-03 -4.58921493e-03 9.99988958e-01 -4.48206964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.977719421 meters Centerline goodness : 0.942351 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.28, Z:-0.45 [[ 0.99950256 -0.03124638 0.00427717 2.15465284] [ 0.03120377 0.99946606 0.00969121 -0.28049559] [-0.0045777 -0.00955292 0.99994389 -0.45190442] [ 0. 0. 0. 1. ]] SLAMing on 20.007719421 meters Centerline goodness : 0.942743 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.28, Z:-0.45 [[ 0.99930608 -0.03697634 0.00448362 2.15452378] [ 0.0369544 0.99930503 0.00488186 -0.281936 ] [-0.00466101 -0.00471279 0.99997803 -0.45138944] [ 0. 0. 0. 1. ]] SLAMing on 20.037719421 meters Centerline goodness : 0.944629 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.28, Z:-0.45 [[ 0.99929651 -0.0372369 0.00446117 2.15527188] [ 0.03721463 0.99929491 0.00497435 -0.28248596] [-0.00464326 -0.00480482 0.99997768 -0.45210107] [ 0. 0. 0. 1. ]] SLAMing on 20.067719421 meters Centerline goodness : 0.944546 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.28, Z:-0.46 [[ 0.99941665 -0.03391065 0.00405309 2.15862674] [ 0.03387752 0.99939412 0.00798198 -0.27942957] [-0.00432131 -0.00784002 0.99995993 -0.4551879 ] [ 0. 0. 0. 1. ]] SLAMing on 20.097719421 meters Centerline goodness : 0.946595 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.27, Z:-0.46 [[ 0.99964181 -0.02650666 0.0036942 2.15929329] [ 0.02645076 0.99954584 0.01443854 -0.27490165] [-0.00407524 -0.01433565 0.99988893 -0.45549055] [ 0. 0. 0. 1. ]] SLAMing on 20.127719421 meters Centerline goodness : 0.945099 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.27, Z:-0.46 [[ 0.99974466 -0.02234358 0.00337266 2.16000228] [ 0.0222793 0.99958925 0.01802678 -0.27325644] [-0.00377405 -0.01794703 0.99983182 -0.45566198] [ 0. 0. 0. 1. ]] SLAMing on 20.157719421 meters Centerline goodness : 0.944502 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.27, Z:-0.46 [[ 0.99992055 -0.01071408 0.00664129 2.1594628 ] [ 0.0106549 0.99990378 0.00888257 -0.26751598] [-0.00673582 -0.00881111 0.99993849 -0.45674999] [ 0. 0. 0. 1. ]] SLAMing on 20.187719421 meters Centerline goodness : 0.944502 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.27, Z:-0.46 [[ 0.99992055 -0.01071408 0.00664129 2.1594628 ] [ 0.0106549 0.99990378 0.00888257 -0.26751598] [-0.00673582 -0.00881111 0.99993849 -0.45674999] [ 0. 0. 0. 1. ]] SLAMing on 20.217719420999998 meters Centerline goodness : 0.947285 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.27, Z:-0.46 [[ 0.99996073 -0.00611385 0.00641532 2.16050646] [ 0.0060326 0.99990231 0.01260869 -0.26531284] [-0.00649178 -0.01256949 0.99989993 -0.4574113 ] [ 0. 0. 0. 1. ]] SLAMing on 20.247719421 meters Centerline goodness : 0.946591 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.26, Z:-0.46 [[ 0.99999126 0.00332862 0.00253093 2.1568357 ] [-0.00334822 0.99996415 0.00777709 -0.25949938] [-0.00250495 -0.00778549 0.99996656 -0.45866129] [ 0. 0. 0. 1. ]] SLAMing on 20.277719421 meters Centerline goodness : 0.944531 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.26, Z:-0.46 [[ 9.99990390e-01 3.83631961e-03 2.12190032e-03 2.15846830e+00] [-3.85245809e-03 9.99963282e-01 7.65460973e-03 -2.58296165e-01] [-2.09245688e-03 -7.66271070e-03 9.99968452e-01 -4.59659248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.307719420999998 meters Centerline goodness : 0.942762 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.26, Z:-0.46 [[ 9.99995301e-01 2.38622489e-03 1.92475291e-03 2.16107831e+00] [-2.39726092e-03 9.99980584e-01 5.75195631e-03 -2.60039194e-01] [-1.91099007e-03 -5.75654341e-03 9.99981605e-01 -4.62114173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.337719421 meters Centerline goodness : 0.946690 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.26, Z:-0.46 [[ 9.99996013e-01 2.20095652e-03 1.76900983e-03 2.16116904e+00] [-2.21091849e-03 9.99981598e-01 5.64929286e-03 -2.59475414e-01] [-1.75654343e-03 -5.65318148e-03 9.99982478e-01 -4.61608854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.367719421 meters Centerline goodness : 0.946135 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.26, Z:-0.46 [[ 9.99996847e-01 2.06363883e-03 1.43107149e-03 2.16152034e+00] [-2.07140926e-03 9.99983005e-01 5.44974630e-03 -2.58566459e-01] [-1.41980086e-03 -5.45269345e-03 9.99984126e-01 -4.61100444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.397719421 meters Centerline goodness : 0.943567 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.26, Z:-0.46 [[ 9.99999590e-01 4.78939934e-07 9.05872607e-04 2.16397467e+00] [-3.86543726e-06 9.99993012e-01 3.73838336e-03 -2.62944683e-01] [-9.05864487e-04 -3.73838533e-03 9.99992602e-01 -4.62763536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.427719421 meters Centerline goodness : 0.941897 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.27, Z:-0.46 [[ 9.99997359e-01 -2.27219131e-03 3.44238880e-04 2.16681671e+00] [ 2.27157432e-03 9.99995832e-01 1.78223476e-03 -2.67029932e-01] [-3.48287023e-04 -1.78144809e-03 9.99998353e-01 -4.64909927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.457719421 meters Centerline goodness : 0.945566 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.27, Z:-0.47 [[ 0.99997728 -0.0055578 0.00381446 2.18217811] [ 0.00553275 0.99996327 0.00654607 -0.27384531] [-0.0038507 -0.00652482 0.9999713 -0.46761639] [ 0. 0. 0. 1. ]] SLAMing on 20.487719421 meters Centerline goodness : 0.947561 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:-0.47 [[ 0.99997431 -0.00627834 0.00345938 2.18176525] [ 0.00625407 0.99995607 0.00698154 -0.27705911] [-0.00350306 -0.00695972 0.99996964 -0.46613608] [ 0. 0. 0. 1. ]] SLAMing on 20.517719421 meters Centerline goodness : 0.948912 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.28, Z:-0.46 [[ 9.99905321e-01 -1.32164876e-02 3.83070673e-03 2.18084499e+00] [ 1.32085425e-02 9.99910575e-01 2.09199241e-03 -2.84495206e-01] [-3.85801296e-03 -2.04119629e-03 9.99990475e-01 -4.64987042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.547719421 meters Centerline goodness : 0.949158 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.29, Z:-0.47 [[ 0.99971654 -0.02252973 0.00769771 2.19346632] [ 0.02248391 0.99972927 0.00598853 -0.29353178] [-0.00783054 -0.00581376 0.99995244 -0.47012917] [ 0. 0. 0. 1. ]] SLAMing on 20.577719421 meters Centerline goodness : 0.951114 Centerline is valid? [False, True] Translation: X:2.19, Y:-0.30, Z:-0.47 [[ 0.99961046 -0.02688581 0.00748887 2.19443876] [ 0.02686291 0.99963419 0.00314185 -0.29788149] [-0.0075706 -0.00293945 0.99996702 -0.47037094] [ 0. 0. 0. 1. ]] SLAMing on 20.607719421 meters Centerline goodness : 0.949352 Centerline is valid? [True, False] Translation: X:2.21, Y:-0.31, Z:-0.47 [[ 0.99919545 -0.03846838 0.01134208 2.21379645] [ 0.03831203 0.99917199 0.01369395 -0.30940525] [-0.01185947 -0.0132484 0.9998419 -0.47116609] [ 0. 0. 0. 1. ]] SLAMing on 20.637719421 meters Centerline goodness : 0.949885 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.31, Z:-0.47 [[ 0.9991754 -0.03920336 0.0105646 2.21557919] [ 0.03903633 0.99911636 0.01557791 -0.31445315] [-0.01116597 -0.01515267 0.99982284 -0.47065685] [ 0. 0. 0. 1. ]] SLAMing on 20.667719421 meters Centerline goodness : 0.952176 Centerline is valid? [False, True] Translation: X:2.22, Y:-0.31, Z:-0.47 [[ 0.99901636 -0.04320098 0.00999946 2.2180208 ] [ 0.04308116 0.99900067 0.01190272 -0.3137818 ] [-0.01050368 -0.01146022 0.99987916 -0.47184371] [ 0. 0. 0. 1. ]] SLAMing on 20.697719421 meters Centerline goodness : 0.953076 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.31, Z:-0.47 [[ 9.98980038e-01 -4.39154869e-02 1.05030054e-02 2.24889280e+00] [ 4.39145349e-02 9.99035240e-01 3.21364686e-04 -3.07502676e-01] [-1.05069854e-02 1.40197688e-04 9.99944790e-01 -4.71210969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.727719421 meters Centerline goodness : 0.953559 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.31, Z:-0.47 [[ 9.98861895e-01 -4.58635123e-02 1.30939828e-02 2.28103930e+00] [ 4.58622115e-02 9.98947695e-01 3.99754996e-04 -3.05693022e-01] [-1.30985382e-02 2.01218978e-04 9.99914190e-01 -4.72510770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.757719421 meters Centerline goodness : 0.951055 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.31, Z:-0.47 [[ 9.98801583e-01 -4.68125985e-02 1.42820839e-02 2.31292337e+00] [ 4.68111697e-02 9.98903662e-01 4.34504808e-04 -3.05759204e-01] [-1.42867662e-02 2.34576962e-04 9.99897911e-01 -4.73579910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.787719421 meters Centerline goodness : 0.952612 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.31, Z:-0.48 [[ 9.98660302e-01 -4.98679535e-02 1.38126080e-02 2.34481419e+00] [ 4.98669172e-02 9.98755783e-01 4.19646698e-04 -3.05428512e-01] [-1.38163490e-02 2.69707681e-04 9.99904513e-01 -4.75338289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.817719421 meters Centerline goodness : 0.951323 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.30, Z:-0.48 [[ 9.98498759e-01 -5.33213662e-02 1.25323737e-02 2.37722287e+00] [ 5.33208041e-02 9.98577362e-01 3.79213133e-04 -3.00459880e-01] [-1.25347648e-02 2.89592398e-04 9.99921395e-01 -4.78297534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.847719421 meters Centerline goodness : 0.948290 Centerline is valid? [True, False] Translation: X:2.37, Y:-0.30, Z:-0.48 [[ 0.99863288 -0.05058558 0.01317055 2.37237586] [ 0.05068885 0.99868536 -0.00762879 -0.29607336] [-0.01276733 0.00828596 0.99988416 -0.4816357 ] [ 0. 0. 0. 1. ]] SLAMing on 20.877719421 meters Centerline goodness : 0.943178 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.29, Z:-0.48 [[ 9.98999367e-01 -4.46391865e-02 2.75814523e-03 2.37065166e+00] [ 4.46639413e-02 9.98955152e-01 -9.68179130e-03 -2.92256917e-01] [-2.32307610e-03 9.79529302e-03 9.99949326e-01 -4.80781704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.907719421 meters Centerline goodness : 0.946271 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.29, Z:-0.48 [[ 9.99120327e-01 -4.19009362e-02 1.69787601e-03 2.37279134e+00] [ 4.19109891e-02 9.99100878e-01 -6.39566449e-03 -2.91952715e-01] [-1.42836508e-03 6.46119806e-03 9.99978106e-01 -4.81217946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.937719421 meters Centerline goodness : 0.946107 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.29, Z:-0.48 [[ 9.99229628e-01 -3.92302687e-02 1.06578946e-03 2.37276803e+00] [ 3.92337356e-02 9.99224090e-01 -3.45433290e-03 -2.88823390e-01] [-9.29448091e-04 3.49348668e-03 9.99993466e-01 -4.79756097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.967719420999998 meters Centerline goodness : 0.944712 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.29, Z:-0.48 [[ 9.99207930e-01 -3.97868477e-02 7.20117104e-04 2.37301545e+00] [ 3.97894873e-02 9.99199573e-01 -4.12443292e-03 -2.86872746e-01] [-5.55442518e-04 4.14981917e-03 9.99991235e-01 -4.79134397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.997719421 meters Centerline goodness : 0.941899 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.29, Z:-0.48 [[ 9.99109680e-01 -4.21874672e-02 -2.53346546e-04 2.37506891e+00] [ 4.21855024e-02 9.99095380e-01 -5.36711211e-03 -2.85504121e-01] [ 4.79542230e-04 5.35164612e-03 9.99985565e-01 -4.79049050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.027719421 meters Centerline goodness : 0.942242 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.29, Z:-0.48 [[ 9.99055064e-01 -4.34437664e-02 -1.27241005e-03 2.37817158e+00] [ 4.34360492e-02 9.99040690e-01 -5.56855376e-03 -2.85655631e-01] [ 1.51310836e-03 5.50802336e-03 9.99983686e-01 -4.80449065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.057719420999998 meters Centerline goodness : 0.940937 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.28, Z:-0.48 [[ 0.99878296 -0.04924051 -0.00282163 2.38338969] [ 0.04920718 0.99872951 -0.01086324 -0.28147796] [ 0.00335296 0.01071118 0.99993701 -0.48305752] [ 0. 0. 0. 1. ]] SLAMing on 21.087719421 meters Centerline goodness : 0.942040 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.28, Z:-0.48 [[ 0.99866211 -0.05156892 -0.00382497 2.3846472 ] [ 0.05151599 0.9985896 -0.01284208 -0.2760636 ] [ 0.00448183 0.01262785 0.99991022 -0.48192717] [ 0. 0. 0. 1. ]] SLAMing on 21.117719421 meters Centerline goodness : 0.940392 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.28, Z:-0.48 [[ 0.9988071 -0.04862608 -0.00445932 2.38482751] [ 0.04858426 0.99877809 -0.00904949 -0.27529737] [ 0.00489391 0.00882204 0.99994911 -0.48064541] [ 0. 0. 0. 1. ]] SLAMing on 21.147719420999998 meters Centerline goodness : 0.944487 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.27, Z:-0.48 [[ 0.99895251 -0.04548308 -0.00501651 2.38446467] [ 0.04545479 0.99895062 -0.00561477 -0.27354008] [ 0.00526662 0.00538087 0.99997165 -0.47898123] [ 0. 0. 0. 1. ]] SLAMing on 21.177719421 meters Centerline goodness : 0.941157 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.26, Z:-0.48 [[ 0.99914696 -0.04086847 -0.00592656 2.38524083] [ 0.04085334 0.99916163 -0.00265189 -0.26490803] [ 0.00602997 0.00240751 0.99997892 -0.47903009] [ 0. 0. 0. 1. ]] SLAMing on 21.207719421 meters Centerline goodness : 0.938692 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.26, Z:-0.48 [[ 9.99381811e-01 -3.45844515e-02 -6.31760839e-03 2.38899141e+00] [ 3.45972930e-02 9.99399462e-01 1.93476848e-03 -2.56636038e-01] [ 6.24690151e-03 -2.15214458e-03 9.99978172e-01 -4.83102915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.237719421 meters Centerline goodness : 0.936909 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.25, Z:-0.48 [[ 0.9995055 -0.03072239 -0.00670012 2.39029545] [ 0.03075523 0.99951516 0.00485494 -0.25259631] [ 0.00654771 -0.0050586 0.99996577 -0.48407277] [ 0. 0. 0. 1. ]] SLAMing on 21.267719421 meters Centerline goodness : 0.938273 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.24, Z:-0.48 [[ 0.99963558 -0.02610372 -0.00687793 2.39091564] [ 0.02615713 0.99962746 0.00779399 -0.24211622] [ 0.00667191 -0.00797106 0.99994597 -0.48467332] [ 0. 0. 0. 1. ]] SLAMing on 21.297719421 meters Centerline goodness : 0.940795 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.24, Z:-0.49 [[ 0.99968965 -0.02387355 -0.00711791 2.39193668] [ 0.02393896 0.99967062 0.00925042 -0.23627622] [ 0.00689472 -0.00941794 0.99993188 -0.48545107] [ 0. 0. 0. 1. ]] SLAMing on 21.327719421 meters Centerline goodness : 0.938951 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.22, Z:-0.49 [[ 0.99974757 -0.02121596 -0.00739472 2.39333151] [ 0.02129151 0.99972034 0.01029173 -0.22353194] [ 0.0071743 -0.01044658 0.9999197 -0.48674779] [ 0. 0. 0. 1. ]] SLAMing on 21.357719421 meters Centerline goodness : 0.938668 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.22, Z:-0.49 [[ 0.99976697 -0.02013967 -0.00777124 2.39588079] [ 0.02022187 0.9997388 0.01064912 -0.21933308] [ 0.00755474 -0.01080379 0.9999131 -0.48897248] [ 0. 0. 0. 1. ]] SLAMing on 21.387719421 meters Centerline goodness : 0.935821 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.21, Z:-0.49 [[ 0.9998092 -0.01782195 -0.00799653 2.39807704] [ 0.01790794 0.99978116 0.01081417 -0.21110126] [ 0.00780205 -0.01095531 0.99990955 -0.49080226] [ 0. 0. 0. 1. ]] SLAMing on 21.417719421 meters Centerline goodness : 0.936972 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.21, Z:-0.49 [[ 0.99986101 -0.01456838 -0.00810692 2.39783021] [ 0.0146728 0.99980818 0.01297365 -0.20674742] [ 0.00791636 -0.01309079 0.99988297 -0.49016527] [ 0. 0. 0. 1. ]] SLAMing on 21.447719421 meters Centerline goodness : 0.938141 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.20, Z:-0.49 [[ 0.9999398 -0.00758676 -0.00792704 2.39755691] [ 0.00772248 0.99982169 0.01723235 -0.19636185] [ 0.00779489 -0.01729253 0.99982009 -0.4895763 ] [ 0. 0. 0. 1. ]] SLAMing on 21.477719421 meters Centerline goodness : 0.938324 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.18, Z:-0.49 [[ 9.99971020e-01 1.80504573e-03 -7.39604706e-03 2.39540682e+00] [-1.62400711e-03 9.99700686e-01 2.44110686e-02 -1.83605685e-01] [ 7.43789642e-03 -2.43983500e-02 9.99674646e-01 -4.87672817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.507719421 meters Centerline goodness : 0.941816 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.18, Z:-0.49 [[ 0.99995971 0.00487701 -0.00753583 2.39487297] [-0.0046774 0.99964359 0.02628347 -0.17827053] [ 0.00766133 -0.02624717 0.99962613 -0.4864058 ] [ 0. 0. 0. 1. ]] SLAMing on 21.537719421 meters Centerline goodness : 0.942214 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.17, Z:-0.48 [[ 0.99996479 0.00431894 -0.00719466 2.39361208] [-0.00415349 0.99973015 0.02285532 -0.17154746] [ 0.00729143 -0.02282464 0.99971289 -0.48408375] [ 0. 0. 0. 1. ]] SLAMing on 21.567719421 meters Centerline goodness : 0.943620 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.17, Z:-0.48 [[ 0.99996661 0.00373597 -0.00726818 2.39363739] [-0.00358052 0.99976707 0.02128325 -0.16780536] [ 0.007346 -0.02125652 0.99974707 -0.48373217] [ 0. 0. 0. 1. ]] SLAMing on 21.597719421 meters Centerline goodness : 0.943487 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.16, Z:-0.48 [[ 0.99995669 0.00582678 -0.00725703 2.39483138] [-0.00566781 0.99974766 0.02173692 -0.15958077] [ 0.00738185 -0.02169484 0.99973739 -0.4847648 ] [ 0. 0. 0. 1. ]] SLAMing on 21.627719421 meters Centerline goodness : 0.944682 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.16, Z:-0.49 [[ 0.99994999 0.00638866 -0.00769463 2.39688689] [-0.00622409 0.99975534 0.0212256 -0.1555913 ] [ 0.00782835 -0.02117665 0.9997451 -0.48599351] [ 0. 0. 0. 1. ]] SLAMing on 21.657719421 meters Centerline goodness : 0.944113 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.15, Z:-0.49 [[ 0.99986488 0.01434096 -0.00803492 2.39945404] [-0.01411397 0.99951862 0.02762849 -0.14995627] [ 0.00842727 -0.02751135 0.99958597 -0.48764529] [ 0. 0. 0. 1. ]] SLAMing on 21.687719421 meters Centerline goodness : 0.944123 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.15, Z:-0.49 [[ 0.99979716 0.01843188 -0.00811767 2.39981026] [-0.01817554 0.99936663 0.03059396 -0.14607351] [ 0.00867643 -0.03044022 0.99949893 -0.48743198] [ 0. 0. 0. 1. ]] SLAMing on 21.717719420999998 meters Centerline goodness : 0.944756 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.14, Z:-0.49 [[ 0.99952741 0.02808599 -0.01249543 2.39625328] [-0.027782 0.99932896 0.02387046 -0.13911912] [ 0.01315747 -0.02351203 0.99963697 -0.48621135] [ 0. 0. 0. 1. ]] SLAMing on 21.747719421 meters Centerline goodness : 0.943388 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.14, Z:-0.49 [[ 0.99948913 0.02919344 -0.01300824 2.39910737] [-0.02887384 0.99929215 0.02411412 -0.13774464] [ 0.013703 -0.0237262 0.99962458 -0.48819117] [ 0. 0. 0. 1. ]] SLAMing on 21.777719421 meters Centerline goodness : 0.944289 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.14, Z:-0.49 [[ 0.9994692 0.02982199 -0.01311357 2.39958165] [-0.02950866 0.99928892 0.02347105 -0.13551277] [ 0.0138042 -0.02307163 0.99963851 -0.48786013] [ 0. 0. 0. 1. ]] SLAMing on 21.807719420999998 meters Centerline goodness : 0.945725 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.13, Z:-0.49 [[ 0.99948611 0.02926504 -0.0130795 2.39828424] [-0.0289664 0.99932786 0.02246702 -0.13401554] [ 0.01372821 -0.02207661 0.99966202 -0.48603497] [ 0. 0. 0. 1. ]] SLAMing on 21.837719421 meters Centerline goodness : 0.945496 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.13, Z:-0.49 [[ 0.99958455 0.02566288 -0.01312028 2.39811115] [-0.02542705 0.99951756 0.01783593 -0.1309462 ] [ 0.01357167 -0.01749491 0.99975484 -0.48504418] [ 0. 0. 0. 1. ]] SLAMing on 21.867719421 meters Centerline goodness : 0.942927 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.13, Z:-0.49 [[ 0.9996621 0.02216761 -0.0135751 2.39939735] [-0.02197876 0.99966172 0.01390632 -0.13001375] [ 0.01387877 -0.01360326 0.99981115 -0.48544854] [ 0. 0. 0. 1. ]] SLAMing on 21.897719420999998 meters Centerline goodness : 0.942085 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.13, Z:-0.49 [[ 0.99977007 0.01596189 -0.01431898 2.40273035] [-0.01585715 0.99984689 0.00739893 -0.13119516] [ 0.01443489 -0.00717017 0.9998701 -0.48756677] [ 0. 0. 0. 1. ]] SLAMing on 21.927719421 meters Centerline goodness : 0.941117 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.13, Z:-0.49 [[ 0.9998222 0.01188215 -0.01464175 2.40333996] [-0.01182882 0.99992311 0.00372316 -0.13322098] [ 0.01468487 -0.00354931 0.99988587 -0.48754379] [ 0. 0. 0. 1. ]] SLAMing on 21.957719421 meters Centerline goodness : 0.942700 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.14, Z:-0.49 [[ 0.99993302 0.00776643 -0.00858142 2.41289665] [-0.00768021 0.99992015 0.01003509 -0.1354272 ] [ 0.00865868 -0.00996851 0.99991282 -0.49055382] [ 0. 0. 0. 1. ]] SLAMing on 21.987719421 meters Centerline goodness : 0.943299 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.14, Z:-0.49 [[ 0.99995486 0.00373732 -0.00873561 2.41239951] [-0.00368627 0.99997608 0.00585324 -0.13565599] [ 0.00875728 -0.00582078 0.99994471 -0.48929003] [ 0. 0. 0. 1. ]] SLAMing on 22.017719421 meters Centerline goodness : 0.944341 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.14, Z:-0.49 [[ 9.99959302e-01 -3.01262812e-04 -9.01684867e-03 2.41227112e+00] [ 3.23637958e-04 9.99996872e-01 2.48012555e-03 -1.38174991e-01] [ 9.01607330e-03 -2.48294281e-03 9.99956272e-01 -4.88299370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.047719421 meters Centerline goodness : 0.944950 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.14, Z:-0.49 [[ 9.99956265e-01 -7.14721957e-04 -9.32508096e-03 2.41327661e+00] [ 7.40474750e-04 9.99995921e-01 2.75850940e-03 -1.39726787e-01] [ 9.32307135e-03 -2.76529375e-03 9.99952716e-01 -4.89025761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.077719421 meters Centerline goodness : 0.944626 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.14, Z:-0.49 [[ 9.99943374e-01 -4.48425934e-03 -9.65087015e-03 2.41530997e+00] [ 4.48015275e-03 9.99989864e-01 -4.47092384e-04 -1.40748401e-01] [ 9.65277721e-03 4.03829695e-04 9.99953329e-01 -4.90751349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.107719421 meters Centerline goodness : 0.944626 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.14, Z:-0.49 [[ 9.99943374e-01 -4.48425934e-03 -9.65087015e-03 2.41530997e+00] [ 4.48015275e-03 9.99989864e-01 -4.47092384e-04 -1.40748401e-01] [ 9.65277721e-03 4.03829695e-04 9.99953329e-01 -4.90751349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.137719421 meters Centerline goodness : 0.945713 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.14, Z:-0.49 [[ 9.99941353e-01 -4.89480206e-03 -9.66077520e-03 2.41517299e+00] [ 4.89511443e-03 9.99988019e-01 8.68888367e-06 -1.43112201e-01] [ 9.66061692e-03 -5.59789742e-05 9.99953334e-01 -4.90713725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.167719421 meters Centerline goodness : 0.945437 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.14, Z:-0.49 [[ 9.99942843e-01 -3.98931252e-03 -9.91951989e-03 2.41699176e+00] [ 3.99937633e-03 9.99991508e-01 9.94917498e-04 -1.44207301e-01] [ 9.91546661e-03 -1.03453252e-03 9.99950305e-01 -4.92218151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.197719421 meters Centerline goodness : 0.941859 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.14, Z:-0.50 [[ 9.99948427e-01 -2.16799589e-04 -1.01536783e-02 2.42096463e+00] [ 2.57969098e-04 9.99991751e-01 4.05350567e-03 -1.43956336e-01] [ 1.01527157e-02 -4.05591595e-03 9.99940234e-01 -4.95901822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.227719421 meters Centerline goodness : 0.941146 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.14, Z:-0.50 [[ 9.99946185e-01 9.69618918e-04 -1.03289840e-02 2.42204545e+00] [-9.25524496e-04 9.99990443e-01 4.27292396e-03 -1.42244705e-01] [ 1.03330284e-02 -4.26313428e-03 9.99937525e-01 -4.96290879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.257719421 meters Centerline goodness : 0.943376 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.14, Z:-0.50 [[ 0.99992566 0.00663158 -0.01023234 2.42232623] [-0.00654332 0.9999413 0.00863563 -0.14173513] [ 0.01028901 -0.00856804 0.99991036 -0.49573124] [ 0. 0. 0. 1. ]] SLAMing on 22.287719421 meters Centerline goodness : 0.944141 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.14, Z:-0.50 [[ 0.99991674 0.0076626 -0.01038225 2.42287766] [-0.00757031 0.99993174 0.00890019 -0.14144426] [ 0.01044974 -0.00882085 0.99990649 -0.49557261] [ 0. 0. 0. 1. ]] SLAMing on 22.317719421 meters Centerline goodness : 0.942821 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.14, Z:-0.50 [[ 0.99989212 0.01016736 -0.01060064 2.42491873] [-0.0100536 0.9998919 0.01072953 -0.14367113] [ 0.01070858 -0.0106218 0.99988625 -0.49681165] [ 0. 0. 0. 1. ]] SLAMing on 22.347719421 meters Centerline goodness : 0.943935 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.14, Z:-0.50 [[ 0.9999074 0.00813053 -0.01091285 2.42650618] [-0.00804327 0.99993552 0.00801627 -0.14411586] [ 0.01097733 -0.00792776 0.99990832 -0.49752319] [ 0. 0. 0. 1. ]] SLAMing on 22.377719421 meters Centerline goodness : 0.944135 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.15, Z:-0.50 [[ 0.99992334 0.00539451 -0.01114551 2.42659245] [-0.00533652 0.9999721 0.00522617 -0.14686088] [ 0.01117339 -0.00516629 0.99992423 -0.49656986] [ 0. 0. 0. 1. ]] SLAMing on 22.407719421 meters Centerline goodness : 0.945526 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.15, Z:-0.50 [[ 9.99929846e-01 2.84693132e-03 -1.14977692e-02 2.42814106e+00] [-2.81939431e-03 9.99993120e-01 2.41048671e-03 -1.47183707e-01] [ 1.15045526e-02 -2.37790085e-03 9.99930993e-01 -4.97195780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.437719421 meters Centerline goodness : 0.945672 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.15, Z:-0.50 [[ 9.99932131e-01 -1.64609169e-05 -1.16504927e-02 2.42858236e+00] [ 1.65591201e-05 1.00000000e+00 8.33263426e-06 -1.50569459e-01] [ 1.16504926e-02 -8.52499063e-06 9.99932131e-01 -4.97007042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.467719420999998 meters Centerline goodness : 0.945754 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.15, Z:-0.50 [[ 9.99930142e-01 2.99975021e-04 -1.18161436e-02 2.42923639e+00] [-2.85044688e-04 9.99999159e-01 1.26521762e-03 -1.54863803e-01] [ 1.18165132e-02 -1.26176111e-03 9.99929386e-01 -4.97553760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.497719421 meters Centerline goodness : 0.944058 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.16, Z:-0.50 [[ 0.99995626 -0.00545959 -0.00759356 2.44102075] [ 0.00551359 0.99995953 0.00710863 -0.16439449] [ 0.00755444 -0.00715019 0.9999459 -0.50203438] [ 0. 0. 0. 1. ]] SLAMing on 22.527719421 meters Centerline goodness : 0.944481 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.17, Z:-0.50 [[ 0.99992934 -0.00871697 -0.00808326 2.44263532] [ 0.00876201 0.99994619 0.00555295 -0.1709656 ] [ 0.00803442 -0.00562338 0.99995191 -0.50297473] [ 0. 0. 0. 1. ]] SLAMing on 22.557719420999998 meters Centerline goodness : 0.944352 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.17, Z:-0.50 [[ 0.99992401 -0.00880244 -0.00863026 2.44402308] [ 0.00885909 0.99993932 0.00654753 -0.1735071 ] [ 0.0085721 -0.00662349 0.99994132 -0.50363262] [ 0. 0. 0. 1. ]] SLAMing on 22.587719421 meters Centerline goodness : 0.944718 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.18, Z:-0.50 [[ 0.99991927 -0.00874369 -0.00921963 2.44547665] [ 0.00881405 0.99993213 0.00761871 -0.17598062] [ 0.00915239 -0.00769936 0.99992847 -0.50422518] [ 0. 0. 0. 1. ]] SLAMing on 22.617719421 meters Centerline goodness : 0.944475 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.18, Z:-0.50 [[ 0.99987974 -0.01213991 -0.00965006 2.44540048] [ 0.0121926 0.99991098 0.00541982 -0.18160519] [ 0.0095834 -0.00553682 0.99993875 -0.50298542] [ 0. 0. 0. 1. ]] SLAMing on 22.647719420999998 meters Centerline goodness : 0.945911 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.19, Z:-0.50 [[ 0.99983338 -0.01529331 -0.00996598 2.44616813] [ 0.01532157 0.99987879 0.00276606 -0.18547839] [ 0.00992247 -0.00291829 0.99994651 -0.50292674] [ 0. 0. 0. 1. ]] SLAMing on 22.677719421 meters Centerline goodness : 0.943464 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.19, Z:-0.51 [[ 0.99975822 -0.02142104 -0.00496328 2.45764089] [ 0.02145976 0.99973862 0.00788541 -0.19278081] [ 0.00479307 -0.00799002 0.99995659 -0.50744361] [ 0. 0. 0. 1. ]] SLAMing on 22.707719421 meters Centerline goodness : 0.945505 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.19, Z:-0.51 [[ 0.99975656 -0.02141893 -0.00529702 2.45881948] [ 0.02146452 0.9997317 0.00870673 -0.19483777] [ 0.00510911 -0.00881831 0.99994807 -0.50823537] [ 0. 0. 0. 1. ]] SLAMing on 22.737719421 meters Centerline goodness : 0.945947 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.20, Z:-0.51 [[ 0.9997504 -0.02161733 -0.00564244 2.46039673] [ 0.02167013 0.99972032 0.00947019 -0.19542773] [ 0.00543614 -0.0095901 0.99993924 -0.50949583] [ 0. 0. 0. 1. ]] SLAMing on 22.767719421 meters Centerline goodness : 0.941484 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.20, Z:-0.51 [[ 0.99969041 -0.02411252 -0.00613752 2.46401642] [ 0.02415881 0.99967937 0.00758327 -0.19771941] [ 0.0059527 -0.00772919 0.99995241 -0.51264336] [ 0. 0. 0. 1. ]] SLAMing on 22.797719421 meters Centerline goodness : 0.941036 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.20, Z:-0.52 [[ 0.99969505 -0.02383898 -0.00644259 2.46658381] [ 0.02389464 0.99967658 0.00870514 -0.20150145] [ 0.00623298 -0.00885643 0.99994136 -0.51507323] [ 0. 0. 0. 1. ]] SLAMing on 22.827719421 meters Centerline goodness : 0.939238 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.20, Z:-0.52 [[ 0.99963213 -0.02619477 -0.00703169 2.47001529] [ 0.02624032 0.99963476 0.00646494 -0.20311066] [ 0.00685977 -0.00664708 0.99995438 -0.51767265] [ 0. 0. 0. 1. ]] SLAMing on 22.857719421 meters Centerline goodness : 0.937109 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.21, Z:-0.52 [[ 0.99964151 -0.02570385 -0.00749462 2.47245678] [ 0.02576141 0.99963855 0.00768874 -0.20564069] [ 0.00729428 -0.00787906 0.99994236 -0.51965375] [ 0. 0. 0. 1. ]] SLAMing on 22.887719421 meters Centerline goodness : 0.940784 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.21, Z:-0.52 [[ 0.99969472 -0.02355285 -0.00746467 2.47002115] [ 0.02362584 0.99967239 0.00984518 -0.20526729] [ 0.00723034 -0.01001853 0.99992367 -0.51664445] [ 0. 0. 0. 1. ]] SLAMing on 22.917719421 meters Centerline goodness : 0.941559 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.20, Z:-0.52 [[ 0.99969821 -0.02333635 -0.00767492 2.46989699] [ 0.02341073 0.99967839 0.0097491 -0.2045912 ] [ 0.00744494 -0.00992583 0.99992302 -0.51575635] [ 0. 0. 0. 1. ]] SLAMing on 22.947719421 meters Centerline goodness : 0.946039 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.20, Z:-0.51 [[ 0.99970705 -0.02307492 -0.00730563 2.46853259] [ 0.02314364 0.99968734 0.00946537 -0.20356794] [ 0.00708493 -0.00963167 0.99992851 -0.51431628] [ 0. 0. 0. 1. ]] SLAMing on 22.977719421 meters Centerline goodness : 0.943683 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.20, Z:-0.51 [[ 0.99971695 -0.02262247 -0.00736497 2.46913232] [ 0.02269556 0.99969244 0.00999659 -0.20442228] [ 0.00713656 -0.01016091 0.99992291 -0.51481853] [ 0. 0. 0. 1. ]] SLAMing on 23.007719421 meters Centerline goodness : 0.942022 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.21, Z:-0.52 [[ 0.99967024 -0.02449756 -0.00769985 2.47221572] [ 0.02455911 0.99966634 0.00800365 -0.20705899] [ 0.00750121 -0.00819011 0.99993833 -0.51734097] [ 0. 0. 0. 1. ]] SLAMing on 23.037719421 meters Centerline goodness : 0.941576 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.21, Z:-0.52 [[ 0.99968713 -0.02370749 -0.00797483 2.47402587] [ 0.02378122 0.99967411 0.00928089 -0.20925356] [ 0.0077522 -0.00946764 0.99992513 -0.51891312] [ 0. 0. 0. 1. ]] SLAMing on 23.067719421 meters Centerline goodness : 0.943424 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.21, Z:-0.52 [[ 0.9996927 -0.02336502 -0.00828169 2.47524956] [ 0.0234482 0.99967411 0.01009276 -0.21072714] [ 0.00804318 -0.01028385 0.99991477 -0.51970183] [ 0. 0. 0. 1. ]] SLAMing on 23.097719421 meters Centerline goodness : 0.942579 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.21, Z:-0.52 [[ 0.9996824 -0.02366922 -0.00865249 2.47567153] [ 0.02376344 0.99965759 0.01095444 -0.21377361] [ 0.00839025 -0.01115658 0.99990256 -0.51933616] [ 0. 0. 0. 1. ]] SLAMing on 23.127719421 meters Centerline goodness : 0.943846 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.22, Z:-0.52 [[ 0.99959812 -0.02687142 -0.00902874 2.47620491] [ 0.02694319 0.99960556 0.00792371 -0.21564109] [ 0.00881225 -0.00816379 0.99992785 -0.51851902] [ 0. 0. 0. 1. ]] SLAMing on 23.157719421 meters Centerline goodness : 0.943506 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.22, Z:-0.52 [[ 0.99960321 -0.02660732 -0.00924503 2.47625616] [ 0.02668861 0.99960521 0.00878309 -0.21835821] [ 0.00900769 -0.00902634 0.99991869 -0.51790515] [ 0. 0. 0. 1. ]] SLAMing on 23.187719421 meters Centerline goodness : 0.949575 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.22, Z:-0.52 [[ 9.99549553e-01 -2.99701204e-02 -1.57594405e-03 2.48449104e+00] [ 2.99874607e-02 9.99472589e-01 1.24617731e-02 -2.22677217e-01] [ 1.20163204e-03 -1.25034183e-02 9.99921107e-01 -5.17456772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.217719420999998 meters Centerline goodness : 0.949249 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.22, Z:-0.52 [[ 9.99555379e-01 -2.97651591e-02 -1.75486857e-03 2.48507121e+00] [ 2.97855885e-02 9.99470857e-01 1.30699794e-02 -2.23992589e-01] [ 1.36490998e-03 -1.31164380e-02 9.99913044e-01 -5.17673218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.247719421 meters Centerline goodness : 0.950410 Centerline is valid? [False, True] Translation: X:2.49, Y:-0.22, Z:-0.52 [[ 9.99543719e-01 -3.01410103e-02 -1.96803320e-03 2.48642985e+00] [ 3.01648394e-02 9.99454104e-01 1.34750514e-02 -2.24725150e-01] [ 1.56080720e-03 -1.35282684e-02 9.99907271e-01 -5.19005980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.277719421 meters Centerline goodness : 0.949898 Centerline is valid? [True, False] Translation: X:2.49, Y:-0.22, Z:-0.52 [[ 9.99483128e-01 -3.20586631e-02 -2.39155700e-03 2.48889831e+00] [ 3.20848495e-02 9.99414779e-01 1.18600678e-02 -2.23064100e-01] [ 2.00993949e-03 -1.19306704e-02 9.99926807e-01 -5.21023697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.307719420999998 meters Centerline goodness : 0.950255 Centerline is valid? [False, True] Translation: X:2.49, Y:-0.22, Z:-0.52 [[ 9.99465278e-01 -3.25894089e-02 -2.66229346e-03 2.48969054e+00] [ 3.26174276e-02 9.99404443e-01 1.12633252e-02 -2.22035261e-01] [ 2.29364280e-03 -1.13441397e-02 9.99933023e-01 -5.21319390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.337719421 meters Centerline goodness : 0.948422 Centerline is valid? [True, False] Translation: X:2.49, Y:-0.22, Z:-0.52 [[ 9.99457316e-01 -3.28228009e-02 -2.78142817e-03 2.49034456e+00] [ 3.28511707e-02 9.99401304e-01 1.08551782e-02 -2.21090449e-01] [ 2.42346558e-03 -1.09406605e-02 9.99937212e-01 -5.21829648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.367719421 meters Centerline goodness : 0.950028 Centerline is valid? [False, True] Translation: X:2.49, Y:-0.22, Z:-0.52 [[ 0.99942374 -0.0338272 -0.00281237 2.49064452] [ 0.03385108 0.99938704 0.008925 -0.21763352] [ 0.00250873 -0.00901506 0.99995622 -0.52193668] [ 0. 0. 0. 1. ]] SLAMing on 23.397719420999998 meters Centerline goodness : 0.948065 Centerline is valid? [True, False] Translation: X:2.49, Y:-0.21, Z:-0.52 [[ 0.99942196 -0.03385291 -0.00311912 2.49244548] [ 0.03387762 0.99939201 0.00824145 -0.21320144] [ 0.00283822 -0.00834236 0.99996117 -0.5234071 ] [ 0. 0. 0. 1. ]] SLAMing on 23.427719421 meters Centerline goodness : 0.949102 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.21, Z:-0.52 [[ 0.99941512 -0.03402994 -0.00337256 2.49363105] [ 0.03405548 0.99938928 0.00782896 -0.21115064] [ 0.00310408 -0.00793923 0.99996367 -0.52424884] [ 0. 0. 0. 1. ]] SLAMing on 23.457719421 meters Centerline goodness : 0.951749 Centerline is valid? [False, True] Translation: X:2.49, Y:-0.21, Z:-0.52 [[ 0.99947649 -0.03213533 -0.00375035 2.49481912] [ 0.03216981 0.999437 0.00952826 -0.20688489] [ 0.00344204 -0.00964392 0.99994757 -0.52499603] [ 0. 0. 0. 1. ]] SLAMing on 23.487719421 meters Centerline goodness : 0.950622 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.20, Z:-0.52 [[ 9.99539168e-01 -3.02178870e-02 -2.88635165e-03 2.52738984e+00] [ 3.02179196e-02 9.99543334e-01 -3.23429302e-05 -2.00003350e-01] [ 2.88601089e-03 -5.48915165e-05 9.99995834e-01 -5.23429392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.517719421 meters Centerline goodness : 0.950173 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.19, Z:-0.52 [[ 9.99767024e-01 -2.14866326e-02 -2.05473151e-03 2.55975698e+00] [ 2.14866322e-02 9.99769135e-01 -2.22725096e-05 -1.91563439e-01] [ 2.05473571e-03 -2.18819397e-05 9.99997889e-01 -5.23499337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.547719421 meters Centerline goodness : 0.947196 Centerline is valid? [True, False] Translation: X:2.56, Y:-0.19, Z:-0.53 [[ 9.99952742e-01 -9.72125543e-03 1.03393767e-04 2.55717846e+00] [ 9.72130076e-03 9.99952647e-01 -4.47333905e-04 -1.86888391e-01] [-9.90402234e-05 4.48317887e-04 9.99999895e-01 -5.29863025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.577719421 meters Centerline goodness : 0.946612 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.19, Z:-0.53 [[ 9.99979860e-01 -6.34608216e-03 -8.05678609e-05 2.56039144e+00] [ 6.34625516e-03 9.99977059e-01 2.36793534e-03 -1.86524907e-01] [ 6.55389003e-05 -2.36839895e-03 9.99997193e-01 -5.33157279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.607719421 meters Centerline goodness : 0.944997 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.18, Z:-0.54 [[ 9.99999577e-01 -8.19361205e-04 -4.17292005e-04 2.56315986e+00] [ 8.22097228e-04 9.99977887e-01 6.59920177e-03 -1.82590883e-01] [ 4.11875647e-04 -6.59954204e-03 9.99978138e-01 -5.35426908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.637719421 meters Centerline goodness : 0.949909 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.18, Z:-0.53 [[ 9.99999664e-01 -5.86040300e-04 -5.73017883e-04 2.56317803e+00] [ 5.89350758e-04 9.99983040e-01 5.79423301e-03 -1.77934475e-01] [ 5.69612510e-04 -5.79456877e-03 9.99983049e-01 -5.34767095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.667719421 meters Centerline goodness : 0.950640 Centerline is valid? [False, True] Translation: X:2.56, Y:-0.17, Z:-0.53 [[ 9.99996627e-01 2.51420558e-03 -6.52093002e-04 2.56212094e+00] [-2.50880043e-03 9.99963548e-01 8.16136240e-03 -1.73164991e-01] [ 6.72588575e-04 -8.15969890e-03 9.99966483e-01 -5.32969378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.697719421 meters Centerline goodness : 0.947746 Centerline is valid? [True, False] Translation: X:2.56, Y:-0.17, Z:-0.53 [[ 9.99996090e-01 2.60549360e-03 -1.01545717e-03 2.56329626e+00] [-2.59724940e-03 9.99964328e-01 8.03717912e-03 -1.72898658e-01] [ 1.03636176e-03 -8.03451030e-03 9.99967186e-01 -5.33512139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.727719421 meters Centerline goodness : 0.948681 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.17, Z:-0.54 [[ 9.99998997e-01 -2.70242469e-04 -1.39001190e-03 2.56548724e+00] [ 2.76630023e-04 9.99989395e-01 4.59718556e-03 -1.72533563e-01] [ 1.38875480e-03 -4.59756547e-03 9.99988467e-01 -5.35078441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.757719421 meters Centerline goodness : 0.945605 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.18, Z:-0.54 [[ 9.99991749e-01 -3.64136121e-03 -1.80051506e-03 2.56847233e+00] [ 3.64489577e-03 9.99991429e-01 1.96371619e-03 -1.75986174e-01] [ 1.79334903e-03 -1.97026268e-03 9.99996451e-01 -5.37898233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.787719421 meters Centerline goodness : 0.948612 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.17, Z:-0.54 [[ 9.99954375e-01 -9.42460629e-03 -1.55714054e-03 2.56638569e+00] [ 9.41943617e-03 9.99950208e-01 -3.29489588e-03 -1.74727386e-01] [ 1.58811611e-03 3.28007817e-03 9.99993359e-01 -5.35629699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.817719421 meters Centerline goodness : 0.949280 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.17, Z:-0.53 [[ 9.99939502e-01 -1.09302406e-02 -1.23367378e-03 2.56401762e+00] [ 1.09249359e-02 9.99931384e-01 -4.22771068e-03 -1.74611248e-01] [ 1.27979903e-03 4.21397710e-03 9.99990302e-01 -5.33141088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.847719421 meters Centerline goodness : 0.950898 Centerline is valid? [False, True] Translation: X:2.57, Y:-0.18, Z:-0.53 [[ 9.99800009e-01 -1.93477220e-02 5.06038851e-03 2.56799300e+00] [ 1.93463620e-02 9.99812791e-01 3.17565425e-04 -1.79067074e-01] [-5.06558533e-03 -2.19601807e-04 9.99987146e-01 -5.32404630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.877719421 meters Centerline goodness : 0.949937 Centerline is valid? [True, False] Translation: X:2.57, Y:-0.18, Z:-0.53 [[ 0.99971671 -0.02325199 0.00508298 2.56835807] [ 0.02326656 0.9997253 -0.00282592 -0.18245462] [-0.00501587 0.00294338 0.99998309 -0.53268637] [ 0. 0. 0. 1. ]] SLAMing on 23.907719421 meters Centerline goodness : 0.949900 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.19, Z:-0.53 [[ 0.99951201 -0.03084487 0.00493379 2.57026202] [ 0.03088839 0.9994823 -0.00900242 -0.18756417] [-0.00465356 0.00915042 0.99994731 -0.5342631 ] [ 0. 0. 0. 1. ]] SLAMing on 23.937719421 meters Centerline goodness : 0.949416 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.19, Z:-0.54 [[ 0.99952104 -0.03058568 0.00471276 2.57168367] [ 0.03062262 0.99949918 -0.00797831 -0.18950912] [-0.00446638 0.00811881 0.99995707 -0.53558156] [ 0. 0. 0. 1. ]] SLAMing on 23.967719420999998 meters Centerline goodness : 0.947006 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.19, Z:-0.54 [[ 9.99654673e-01 -2.59737936e-02 3.98702482e-03 2.57461914e+00] [ 2.59835601e-02 9.99659447e-01 -2.41763466e-03 -1.91129548e-01] [-3.92287188e-03 2.52039688e-03 9.99989129e-01 -5.38170598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.997719421 meters Centerline goodness : 0.947006 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.19, Z:-0.54 [[ 9.99654673e-01 -2.59737936e-02 3.98702482e-03 2.57461914e+00] [ 2.59835601e-02 9.99659447e-01 -2.41763466e-03 -1.91129548e-01] [-3.92287188e-03 2.52039688e-03 9.99989129e-01 -5.38170598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.027719421 meters Centerline goodness : 0.945718 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.19, Z:-0.54 [[ 9.99766796e-01 -2.12850015e-02 3.64711637e-03 2.57596633e+00] [ 2.12756193e-02 9.99770288e-01 2.59227621e-03 -1.92443619e-01] [-3.70145519e-03 -2.51407702e-03 9.99989989e-01 -5.39254950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.057719420999998 meters Centerline goodness : 0.947568 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.19, Z:-0.54 [[ 0.99992076 -0.01212903 0.00336907 2.57601017] [ 0.01209044 0.99986367 0.01124554 -0.19362946] [-0.00350501 -0.01120392 0.99993109 -0.53855285] [ 0. 0. 0. 1. ]] SLAMing on 24.087719421 meters Centerline goodness : 0.949169 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.19, Z:-0.54 [[ 0.99996398 -0.00779897 0.00334864 2.57526093] [ 0.0077475 0.99985567 0.01511974 -0.1937152 ] [-0.00346607 -0.01509325 0.99988008 -0.53731034] [ 0. 0. 0. 1. ]] SLAMing on 24.117719421 meters Centerline goodness : 0.951931 Centerline is valid? [False, True] Translation: X:2.57, Y:-0.19, Z:-0.54 [[ 9.99943201e-01 1.34015663e-03 1.05735174e-02 2.57112848e+00] [-1.45163321e-03 9.99943374e-01 1.05423783e-02 -1.91294686e-01] [-1.05587902e-02 -1.05571283e-02 9.99888523e-01 -5.35652807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.147719420999998 meters Centerline goodness : 0.953226 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.19, Z:-0.53 [[ 9.99921273e-01 6.07087587e-03 1.09814199e-02 2.60362523e+00] [-6.07264761e-03 9.99981553e-01 1.28002000e-04 -1.86542078e-01] [-1.09804403e-02 -1.94678217e-04 9.99939694e-01 -5.33945734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.177719421 meters Centerline goodness : 0.950280 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.19, Z:-0.53 [[ 9.99895748e-01 1.28414337e-02 6.60230182e-03 2.63591093e+00] [-1.28422251e-02 9.99917532e-01 7.74976145e-05 -1.85269888e-01] [-6.60076216e-03 -1.62277782e-04 9.99978202e-01 -5.34397448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.207719421 meters Centerline goodness : 0.944562 Centerline is valid? [True, False] Translation: X:2.64, Y:-0.19, Z:-0.54 [[ 9.99888031e-01 1.36327622e-02 6.17043151e-03 2.64182974e+00] [-1.36350892e-02 9.99906982e-01 3.35213364e-04 -1.85890097e-01] [-6.16528766e-03 -4.19310215e-04 9.99980907e-01 -5.40273658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.237719421 meters Centerline goodness : 0.942822 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.19, Z:-0.54 [[ 9.99877141e-01 1.45582713e-02 5.81036656e-03 2.64420272e+00] [-1.45654463e-02 9.99893205e-01 1.19445603e-03 -1.86642232e-01] [-5.79235683e-03 -1.27893986e-03 9.99982406e-01 -5.42307741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.267719421 meters Centerline goodness : 0.942466 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.19, Z:-0.54 [[ 9.99864520e-01 1.55530293e-02 5.38928105e-03 2.64624263e+00] [-1.55635301e-02 9.99877053e-01 1.91201883e-03 -1.86860574e-01] [-5.35888077e-03 -1.99563603e-03 9.99983650e-01 -5.43596419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.297719421 meters Centerline goodness : 0.942680 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.19, Z:-0.54 [[ 9.99867110e-01 1.54794357e-02 5.11372204e-03 2.64633905e+00] [-1.54903513e-02 9.99877808e-01 2.10190019e-03 -1.88079717e-01] [-5.08056096e-03 -2.18083422e-03 9.99984716e-01 -5.43025367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.327719421 meters Centerline goodness : 0.945275 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.19, Z:-0.54 [[ 9.99905935e-01 1.28090005e-02 4.90404979e-03 2.64419565e+00] [-1.28099074e-02 9.99917938e-01 1.53573320e-04 -1.92519732e-01] [-4.90168023e-03 -2.16379298e-04 9.99987963e-01 -5.39842692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.357719421 meters Centerline goodness : 0.946312 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.19, Z:-0.54 [[ 9.99926514e-01 1.10548371e-02 4.97560766e-03 2.64179191e+00] [-1.10488731e-02 9.99938210e-01 -1.22454444e-03 -1.94665637e-01] [-4.98883735e-03 1.16947960e-03 9.99986872e-01 -5.36984953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.387719421 meters Centerline goodness : 0.952443 Centerline is valid? [False, True] Translation: X:2.64, Y:-0.20, Z:-0.53 [[ 0.99992531 0.00451144 0.01135913 2.64342924] [-0.00456713 0.99997765 0.00488175 -0.19781772] [-0.01133685 -0.00493326 0.99992357 -0.5337348 ] [ 0. 0. 0. 1. ]] SLAMing on 24.417719421 meters Centerline goodness : 0.952656 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.20, Z:-0.53 [[ 9.99923520e-01 5.02019436e-04 1.23572852e-02 2.67610092e+00] [-5.04994770e-04 9.99999844e-01 2.37656541e-04 -1.96460190e-01] [-1.23571640e-02 -2.43878729e-04 9.99923618e-01 -5.33473442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.447719421 meters Centerline goodness : 0.947843 Centerline is valid? [True, False] Translation: X:2.68, Y:-0.20, Z:-0.54 [[ 0.99988714 -0.009522 0.01162054 2.68076888] [ 0.00962401 0.99991536 -0.00875472 -0.20044085] [-0.0115362 0.00886557 0.99989415 -0.53771014] [ 0. 0. 0. 1. ]] SLAMing on 24.477719421 meters Centerline goodness : 0.944087 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.21, Z:-0.54 [[ 0.99975121 -0.02194354 0.00399968 2.69598204] [ 0.02197945 0.99971639 -0.00916779 -0.20692374] [-0.00379737 0.00925342 0.99994998 -0.54316015] [ 0. 0. 0. 1. ]] SLAMing on 24.507719421 meters Centerline goodness : 0.940944 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.21, Z:-0.54 [[ 0.99967173 -0.02533487 0.00381914 2.69796923] [ 0.02537874 0.99960693 -0.01191208 -0.20897616] [-0.00351585 0.0120051 0.99992176 -0.54499288] [ 0. 0. 0. 1. ]] SLAMing on 24.537719421 meters Centerline goodness : 0.940977 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.21, Z:-0.55 [[ 0.99960045 -0.02806083 0.00339708 2.70125263] [ 0.02810562 0.99950765 -0.01394759 -0.2103578 ] [-0.00300402 0.0140375 0.99989696 -0.54776355] [ 0. 0. 0. 1. ]] SLAMing on 24.567719421 meters Centerline goodness : 0.940722 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.21, Z:-0.55 [[ 0.99969955 -0.02432259 0.00303679 2.70232536] [ 0.02435009 0.99965955 -0.00937314 -0.21233224] [-0.00280778 0.00944427 0.99995146 -0.54863663] [ 0. 0. 0. 1. ]] SLAMing on 24.597719421 meters Centerline goodness : 0.938021 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.21, Z:-0.55 [[ 9.99867952e-01 -1.60260100e-02 2.69183190e-03 2.70339242e+00] [ 1.60273975e-02 9.99871431e-01 -4.94663699e-04 -2.14986447e-01] [-2.68355833e-03 5.37741440e-04 9.99996255e-01 -5.49446103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.627719421 meters Centerline goodness : 0.938052 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.22, Z:-0.55 [[ 9.99928452e-01 -1.16566071e-02 2.68588187e-03 2.70335774e+00] [ 1.16462037e-02 9.99924742e-01 3.85701800e-03 -2.15478448e-01] [-2.73063948e-03 -3.82546171e-03 9.99988955e-01 -5.49363402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.657719421 meters Centerline goodness : 0.942280 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.21, Z:-0.55 [[ 0.99997589 -0.00626121 0.00300325 2.70237141] [ 0.00623827 0.99995176 0.00758736 -0.21259357] [-0.00305061 -0.00756844 0.99996671 -0.54786141] [ 0. 0. 0. 1. ]] SLAMing on 24.687719421 meters Centerline goodness : 0.943592 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.21, Z:-0.55 [[ 9.99993218e-01 -2.21472011e-03 2.94267882e-03 2.70250670e+00] [ 2.18191993e-03 9.99935977e-01 1.11032136e-02 -2.10880743e-01] [-2.96708093e-03 -1.10967176e-02 9.99934027e-01 -5.47638453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.717719420999998 meters Centerline goodness : 0.944640 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.21, Z:-0.55 [[ 9.99992018e-01 2.92164341e-03 2.72527394e-03 2.70296042e+00] [-2.96097836e-03 9.99889864e-01 1.45427956e-02 -2.07079736e-01] [-2.68248492e-03 -1.45507490e-02 9.99890534e-01 -5.46930062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.747719421 meters Centerline goodness : 0.944064 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.21, Z:-0.55 [[ 9.99985360e-01 4.69131167e-03 2.69638091e-03 2.70476586e+00] [-4.73169373e-03 9.99873727e-01 1.51703983e-02 -2.05600505e-01] [-2.62487137e-03 -1.51829347e-02 9.99881287e-01 -5.48558932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.777719421 meters Centerline goodness : 0.943720 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.21, Z:-0.55 [[ 9.99984472e-01 4.98323018e-03 2.49472828e-03 2.70582918e+00] [-5.02065116e-03 9.99871480e-01 1.52254900e-02 -2.05612933e-01] [-2.41853554e-03 -1.52377787e-02 9.99880973e-01 -5.49267082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.807719420999998 meters Centerline goodness : 0.945076 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.21, Z:-0.55 [[ 9.99984442e-01 4.99556589e-03 2.48204860e-03 2.70604920e+00] [-5.03263055e-03 9.99872441e-01 1.51582795e-02 -2.05961099e-01] [-2.40600781e-03 -1.51705349e-02 9.99882026e-01 -5.49250385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.837719421 meters Centerline goodness : 0.945371 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.20, Z:-0.55 [[ 9.99995524e-01 1.94225732e-03 2.27597028e-03 2.70630446e+00] [-1.96761018e-03 9.99935448e-01 1.11905806e-02 -2.03807728e-01] [-2.25408837e-03 -1.11950087e-02 9.99934793e-01 -5.48666269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.867719421 meters Centerline goodness : 0.948684 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.20, Z:-0.55 [[ 9.99995671e-01 1.93933246e-03 2.21305857e-03 2.70608773e+00] [-1.96371564e-03 9.99936804e-01 1.10694014e-02 -2.03691740e-01] [-2.19145146e-03 -1.10736993e-02 9.99936283e-01 -5.47757531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.897719420999998 meters Centerline goodness : 0.947343 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.20, Z:-0.55 [[ 9.99995959e-01 1.92152165e-03 2.09535783e-03 2.70608460e+00] [-1.94493481e-03 9.99935054e-01 1.12296287e-02 -2.04943423e-01] [-2.07364377e-03 -1.12336586e-02 9.99934750e-01 -5.47364703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.927719421 meters Centerline goodness : 0.948878 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.21, Z:-0.55 [[ 9.99997381e-01 -1.67637095e-03 1.55805960e-03 2.71087955e+00] [ 1.66432601e-03 9.99968968e-01 7.70014154e-03 -2.07712757e-01] [-1.57091955e-03 -7.69752825e-03 9.99969140e-01 -5.51433090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.957719421 meters Centerline goodness : 0.945359 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.21, Z:-0.55 [[ 9.99982958e-01 -5.68078632e-03 1.34656375e-03 2.71370955e+00] [ 5.67354887e-03 9.99969759e-01 5.31898183e-03 -2.12953718e-01] [-1.37673903e-03 -5.31125138e-03 9.99984947e-01 -5.54580086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.987719421 meters Centerline goodness : 0.943843 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.22, Z:-0.55 [[ 9.99957137e-01 -9.17672822e-03 1.22960829e-03 2.71448483e+00] [ 9.17383315e-03 9.99955182e-01 2.33977665e-03 -2.15322119e-01] [-1.25102468e-03 -2.32839614e-03 9.99996507e-01 -5.54996227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.017719421 meters Centerline goodness : 0.946660 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.22, Z:-0.56 [[ 9.99919178e-01 -1.26619062e-02 1.14636697e-03 2.71526833e+00] [ 1.26614115e-02 9.99919745e-01 4.37746022e-04 -2.21620678e-01] [-1.15181766e-03 -4.23196019e-04 9.99999247e-01 -5.55458447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.047719421 meters Centerline goodness : 0.946262 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.23, Z:-0.56 [[ 9.99925160e-01 -1.22067095e-02 8.18407614e-04 2.71710030e+00] [ 1.22050886e-02 9.99923600e-01 1.95719095e-03 -2.25338530e-01] [-8.42235949e-04 -1.94705574e-03 9.99997750e-01 -5.56936045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.077719421 meters Centerline goodness : 0.946428 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.23, Z:-0.56 [[ 9.99897366e-01 -1.43124508e-02 6.41850259e-04 2.72008996e+00] [ 1.43118612e-02 9.99897162e-01 9.13990817e-04 -2.31155809e-01] [-6.54865701e-04 -9.04710938e-04 9.99999376e-01 -5.59812198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.107719421 meters Centerline goodness : 0.948176 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.24, Z:-0.56 [[ 9.99905809e-01 -1.37128448e-02 5.74978979e-04 2.72055701e+00] [ 1.37114378e-02 9.99903153e-01 2.38341521e-03 -2.35500862e-01] [-6.07606696e-04 -2.37530692e-03 9.99996994e-01 -5.60042123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.137719421 meters Centerline goodness : 0.951365 Centerline is valid? [False, True] Translation: X:2.72, Y:-0.24, Z:-0.56 [[ 9.99902505e-01 -1.39201326e-02 1.09999891e-03 2.71825694e+00] [ 1.39162878e-02 9.99897285e-01 3.42884120e-03 -2.41947512e-01] [-1.14761584e-03 -3.41319901e-03 9.99993517e-01 -5.57594949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.167719421 meters Centerline goodness : 0.953476 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.24, Z:-0.56 [[ 9.99884808e-01 -1.49845223e-02 2.41550329e-03 2.75060349e+00] [ 1.49844150e-02 9.99887725e-01 6.25083345e-05 -2.40671348e-01] [-2.41616875e-03 -2.63062304e-05 9.99997081e-01 -5.57497359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.197719421 meters Centerline goodness : 0.956637 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.24, Z:-0.56 [[ 9.99799448e-01 -2.00123327e-02 7.55287676e-04 2.78144851e+00] [ 2.00123228e-02 9.99799733e-01 2.06470180e-05 -2.39936475e-01] [-7.55549612e-04 -5.52781640e-06 9.99999715e-01 -5.56182299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.227719421 meters Centerline goodness : 0.952502 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.25, Z:-0.56 [[ 9.99607356e-01 -2.80041752e-02 -9.48663174e-04 2.81327306e+00] [ 2.80041680e-02 9.99607806e-01 -2.09289836e-05 -2.45175019e-01] [ 9.48877213e-04 -5.64575686e-06 9.99999550e-01 -5.57354703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.257719421 meters Centerline goodness : 0.954387 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.25, Z:-0.56 [[ 9.99463803e-01 -3.27426663e-02 1.58131772e-04 2.84596354e+00] [ 3.27426657e-02 9.99463815e-01 6.29727729e-06 -2.47892278e-01] [-1.58253174e-04 -1.11624497e-06 9.99999987e-01 -5.59690837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.287719421 meters Centerline goodness : 0.955303 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.25, Z:-0.56 [[ 9.99274700e-01 -3.80761404e-02 5.31183137e-04 2.87739922e+00] [ 3.80761379e-02 9.99274841e-01 1.48012989e-05 -2.49090105e-01] [-5.31361521e-04 5.43483893e-06 9.99999859e-01 -5.60870315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.317719421 meters Centerline goodness : 0.959581 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.25, Z:-0.56 [[ 9.98920699e-01 -4.63726720e-02 2.64801077e-03 2.90859242e+00] [ 4.63726537e-02 9.98924207e-01 6.83367759e-05 -2.46332243e-01] [-2.64833101e-03 5.45322663e-05 9.99996492e-01 -5.60466590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.347719421 meters Centerline goodness : 0.962584 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.24, Z:-0.56 [[ 9.98807074e-01 -4.83447319e-02 6.87138455e-03 2.94060009e+00] [ 4.83447112e-02 9.98830696e-01 1.69205782e-04 -2.44127028e-01] [-6.87153003e-03 1.63191170e-04 9.99976377e-01 -5.61145010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.377719421 meters Centerline goodness : 0.961170 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.24, Z:-0.56 [[ 9.98842796e-01 -4.72654411e-02 8.89081141e-03 2.97399434e+00] [ 4.72653663e-02 9.98882344e-01 2.18648197e-04 -2.44046876e-01] [-8.89120904e-03 2.01832281e-04 9.99960452e-01 -5.61232065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.407719421 meters Centerline goodness : 0.962377 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.24, Z:-0.56 [[ 9.98952758e-01 -4.46376376e-02 1.00433613e-02 3.00617559e+00] [ 4.46374321e-02 9.99003223e-01 2.44728811e-04 -2.43826967e-01] [-1.00442744e-02 2.03837338e-04 9.99949534e-01 -5.62293391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.437719421 meters Centerline goodness : 0.960958 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.24, Z:-0.56 [[ 9.99068235e-01 -4.24978841e-02 7.52277317e-03 3.03963096e+00] [ 4.24977045e-02 9.99096548e-01 1.83787386e-04 -2.41675871e-01] [-7.52378728e-03 1.36084453e-04 9.99971687e-01 -5.62647929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.467719420999998 meters Centerline goodness : 0.959015 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.24, Z:-0.56 [[ 9.99389982e-01 -3.46223976e-02 4.57760031e-03 3.07076987e+00] [ 3.46222427e-02 9.99400464e-01 1.13099305e-04 -2.35161254e-01] [-4.57877165e-03 4.54564764e-05 9.99989516e-01 -5.64621001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.497719421 meters Centerline goodness : 0.958231 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.23, Z:-0.57 [[ 9.99571425e-01 -2.91620473e-02 2.55772505e-03 3.10259728e+00] [ 2.91619812e-02 9.99574697e-01 6.31455086e-05 -2.31346851e-01] [-2.55847870e-03 1.14698840e-05 9.99996727e-01 -5.65293929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.527719421 meters Centerline goodness : 0.957945 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.23, Z:-0.57 [[ 9.99826636e-01 -1.85936447e-02 9.86951957e-04 3.13429694e+00] [ 1.85936281e-02 9.99827123e-01 2.59038078e-05 -2.27147987e-01] [-9.87262982e-04 -7.54829938e-06 9.99999513e-01 -5.67215888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.557719420999998 meters Centerline goodness : 0.956354 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.23, Z:-0.57 [[ 9.99898913e-01 -1.42067662e-02 5.74963371e-04 3.16604935e+00] [ 1.42067593e-02 9.99899079e-01 1.61600915e-05 -2.26544836e-01] [-5.75134927e-04 -7.99009179e-06 9.99999835e-01 -5.69337060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.587719421 meters Centerline goodness : 0.955272 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.22, Z:-0.57 [[ 9.99971615e-01 -7.50602690e-03 6.54423444e-04 3.19724399e+00] [ 7.50601718e-03 9.99971829e-01 1.73067862e-05 -2.24950931e-01] [-6.54534913e-04 -1.23941813e-05 9.99999786e-01 -5.71802830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.617719421 meters Centerline goodness : 0.954618 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.22, Z:-0.57 [[ 9.99996818e-01 -2.20921690e-03 -1.21779970e-03 3.22867199e+00] [ 2.20918537e-03 9.99997559e-01 -2.72425768e-05 -2.20471175e-01] [ 1.21785691e-03 2.45521449e-05 9.99999258e-01 -5.70715300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.647719420999998 meters Centerline goodness : 0.954829 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.22, Z:-0.57 [[ 9.99995699e-01 2.99062360e-04 -2.91763584e-03 3.25914867e+00] [-2.99262936e-04 9.99999953e-01 -6.83096926e-05 -2.18217122e-01] [ 2.91761527e-03 6.91825391e-05 9.99995741e-01 -5.70829214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.677719421 meters Centerline goodness : 0.955145 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.22, Z:-0.57 [[ 9.99971779e-01 6.14513048e-03 -4.32191104e-03 3.28868994e+00] [-6.14562445e-03 9.99981110e-01 -1.01021801e-04 -2.18932425e-01] [ 4.32120861e-03 1.27579793e-04 9.99990655e-01 -5.72121815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.707719421 meters Centerline goodness : 0.955325 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.22, Z:-0.57 [[ 9.99962419e-01 7.91540293e-03 -3.53649062e-03 3.31711167e+00] [-7.91575527e-03 9.99968666e-01 -8.56429856e-05 -2.19199985e-01] [ 3.53570191e-03 1.13633761e-04 9.99993743e-01 -5.73538455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.737719420999998 meters Centerline goodness : 0.957719 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.22, Z:-0.57 [[ 9.99976185e-01 6.87395462e-03 6.15109057e-04 3.34475487e+00] [-6.87396290e-03 9.99976374e-01 1.13509810e-05 -2.19728950e-01] [-6.15016498e-04 -1.55789475e-05 9.99999811e-01 -5.72709935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.767719421 meters Centerline goodness : 0.958554 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.22, Z:-0.57 [[ 9.99983609e-01 4.69219094e-03 3.28098302e-03 3.37461815e+00] [-4.69246652e-03 9.99988987e-01 7.62997484e-05 -2.18925913e-01] [-3.28058888e-03 -9.16944007e-05 9.99994615e-01 -5.74356617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.797719421 meters Centerline goodness : 0.956086 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.22, Z:-0.58 [[ 9.99987874e-01 1.36742983e-03 4.73095004e-03 3.40464392e+00] [-1.36797419e-03 9.99999058e-01 1.11829007e-04 -2.20625892e-01] [-4.73079266e-03 -1.18299468e-04 9.99988803e-01 -5.76194004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.827719421 meters Centerline goodness : 0.954550 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.22, Z:-0.58 [[ 9.99988021e-01 -7.15835487e-04 4.84200906e-03 3.43570551e+00] [ 7.15284321e-04 9.99999738e-01 1.15560820e-04 -2.22906073e-01] [-4.84209051e-03 -1.12096023e-04 9.99988271e-01 -5.78722864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.857719421 meters Centerline goodness : 0.956516 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.22, Z:-0.58 [[ 9.99958586e-01 -8.73818590e-03 2.54371712e-03 3.46651518e+00] [ 8.73804175e-03 9.99961820e-01 6.77738696e-05 -2.24530635e-01] [-2.54421222e-03 -4.55439564e-05 9.99996762e-01 -5.78686418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.887719421 meters Centerline goodness : 0.955807 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.23, Z:-0.58 [[ 9.99800059e-01 -1.98471970e-02 2.43519249e-03 3.49914658e+00] [ 1.98470968e-02 9.99803025e-01 6.53265030e-05 -2.25103763e-01] [-2.43600936e-03 -1.69819406e-05 9.99997033e-01 -5.79036036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.917719421 meters Centerline goodness : 0.955807 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.22, Z:-0.58 [[ 9.99802223e-01 -1.97378944e-02 2.43533620e-03 3.53181506e+00] [ 1.97378090e-02 9.99805189e-01 5.90880492e-05 -2.24464737e-01] [-2.43602804e-03 -1.10081621e-05 9.99997033e-01 -5.80028189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.947719421 meters Centerline goodness : 0.956286 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.23, Z:-0.58 [[ 9.99667165e-01 -2.57017192e-02 2.23171853e-03 3.56450454e+00] [ 2.57016637e-02 9.99669656e-01 5.35500904e-05 -2.26444261e-01] [-2.23235763e-03 3.82661200e-06 9.99997508e-01 -5.82144582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.977719421 meters Centerline goodness : 0.953404 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.23, Z:-0.58 [[ 9.99510776e-01 -3.12750792e-02 -2.79606867e-04 3.59690729e+00] [ 3.12750794e-02 9.99510815e-01 -3.72900534e-06 -2.29324621e-01] [ 2.79586713e-04 -5.01754596e-06 9.99999961e-01 -5.84328364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.007719421 meters Centerline goodness : 0.949245 Centerline is valid? [True, False] Translation: X:3.62, Y:-0.24, Z:-0.59 [[ 9.99132231e-01 -4.13615778e-02 -4.89937380e-03 3.61773290e+00] [ 4.13684503e-02 9.99143101e-01 1.30974715e-03 -2.35295044e-01] [ 4.84100232e-03 -1.51129009e-03 9.99987140e-01 -5.92952579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.037719421 meters Centerline goodness : 0.949250 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.24, Z:-0.60 [[ 9.98871298e-01 -4.74983108e-02 2.01940360e-04 3.63027165e+00] [ 4.74959061e-02 9.98849116e-01 6.67704677e-03 -2.40284076e-01] [-5.18856393e-04 -6.65991903e-03 9.99977688e-01 -5.98344430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.067719421 meters Centerline goodness : 0.948808 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.24, Z:-0.60 [[ 0.99872868 -0.05001266 0.00630553 3.64003091] [ 0.04992096 0.9986558 0.01394599 -0.24198218] [-0.00699453 -0.01361348 0.99988287 -0.60090224] [ 0. 0. 0. 1. ]] SLAMing on 26.097719421 meters Centerline goodness : 0.950542 Centerline is valid? [False, True] Translation: X:3.64, Y:-0.24, Z:-0.60 [[ 0.99877413 -0.04916914 0.00571205 3.6393116 ] [ 0.04906838 0.99865725 0.01661281 -0.24191092] [-0.00652122 -0.01631217 0.99984568 -0.59782403] [ 0. 0. 0. 1. ]] SLAMing on 26.127719421 meters Centerline goodness : 0.954137 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.23, Z:-0.59 [[ 9.98778522e-01 -4.77814885e-02 1.25854078e-02 3.67154101e+00] [ 4.77822731e-02 9.98857746e-01 2.38512186e-04 -2.30513364e-01] [-1.25824286e-02 3.63138547e-04 9.99920772e-01 -5.94447358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.157719421 meters Centerline goodness : 0.951819 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.23, Z:-0.60 [[ 9.98891351e-01 -4.45342735e-02 1.52566958e-02 3.70362037e+00] [ 4.45350373e-02 9.99007781e-01 2.89850092e-04 -2.25777002e-01] [-1.52544661e-02 3.89928767e-04 9.99883568e-01 -5.97295481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.187719421 meters Centerline goodness : 0.950214 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.22, Z:-0.60 [[ 9.99035827e-01 -4.16572481e-02 1.38596400e-02 3.73661093e+00] [ 4.16576556e-02 9.99131909e-01 2.59413754e-04 -2.24037617e-01] [-1.38584150e-02 3.18196474e-04 9.99903917e-01 -6.00192754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.217719420999998 meters Centerline goodness : 0.946872 Centerline is valid? [True, False] Translation: X:3.74, Y:-0.22, Z:-0.61 [[ 9.99242810e-01 -3.55673183e-02 1.57725358e-02 3.73661327e+00] [ 3.56246238e-02 9.99359569e-01 -3.36720283e-03 -2.19107197e-01] [-1.56426722e-02 3.92654387e-03 9.99869936e-01 -6.09117700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.247719421 meters Centerline goodness : 0.947713 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.22, Z:-0.61 [[ 9.99372294e-01 -3.17979558e-02 1.56175389e-02 3.73777109e+00] [ 3.18001268e-02 9.99494242e-01 1.09369711e-04 -2.16728579e-01] [-1.56131180e-02 3.87338659e-04 9.99878033e-01 -6.10425295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.277719421 meters Centerline goodness : 0.948617 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.21, Z:-0.61 [[ 0.99955871 -0.02535833 0.01547093 3.73716746] [ 0.02527723 0.99966581 0.00541551 -0.20925213] [-0.01560309 -0.00502206 0.99986565 -0.60942924] [ 0. 0. 0. 1. ]] SLAMing on 26.307719420999998 meters Centerline goodness : 0.950367 Centerline is valid? [False, True] Translation: X:3.74, Y:-0.21, Z:-0.61 [[ 0.99963516 -0.02219399 0.01539372 3.73666218] [ 0.02206813 0.99972203 0.00829788 -0.20652785] [-0.0155736 -0.00795514 0.99984708 -0.60861933] [ 0. 0. 0. 1. ]] SLAMing on 26.337719421 meters Centerline goodness : 0.954462 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.20, Z:-0.61 [[ 9.99556487e-01 -2.08171513e-02 2.12949598e-02 3.76835840e+00] [ 2.08164078e-02 9.99783282e-01 2.56604365e-04 -1.97680916e-01] [-2.12956866e-02 1.86794009e-04 9.99773204e-01 -6.08362330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.367719421 meters Centerline goodness : 0.953025 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.20, Z:-0.61 [[ 9.99505852e-01 -2.14451410e-02 2.29816903e-02 3.80099343e+00] [ 2.14444957e-02 9.99770003e-01 2.74556400e-04 -1.95134620e-01] [-2.29822925e-02 2.18410030e-04 9.99735848e-01 -6.10325641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.397719420999998 meters Centerline goodness : 0.951138 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.19, Z:-0.61 [[ 9.99440375e-01 -2.49950135e-02 2.22302925e-02 3.83423213e+00] [ 2.49953478e-02 9.99687533e-01 2.62868987e-04 -1.91471197e-01] [-2.22299167e-02 2.92932015e-04 9.99752842e-01 -6.13879198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.427719421 meters Centerline goodness : 0.951080 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.19, Z:-0.62 [[ 9.99389939e-01 -2.77837492e-02 2.11615989e-02 3.86687436e+00] [ 2.77847285e-02 9.99613899e-01 2.47796825e-04 -1.89291197e-01] [-2.11603131e-02 3.40323626e-04 9.99776038e-01 -6.15878843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.457719421 meters Centerline goodness : 0.952844 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.18, Z:-0.62 [[ 9.99216065e-01 -3.24362635e-02 2.26967996e-02 3.89983886e+00] [ 3.24386617e-02 9.99473694e-01 2.62604280e-04 -1.82667163e-01] [-2.26933720e-02 4.73855387e-04 9.99742360e-01 -6.17492355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.487719420999998 meters Centerline goodness : 0.952673 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.18, Z:-0.62 [[ 9.99197116e-01 -3.22663988e-02 2.37487253e-02 3.93268626e+00] [ 3.22690533e-02 9.99479182e-01 2.71545999e-04 -1.78933642e-01] [-2.37451184e-02 4.95020904e-04 9.99717922e-01 -6.18136791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.517719421 meters Centerline goodness : 0.950081 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.17, Z:-0.62 [[ 9.99397503e-01 -2.58827152e-02 2.31239205e-02 3.96427706e+00] [ 2.58835961e-02 9.99664929e-01 2.61259773e-04 -1.74912752e-01] [-2.31229344e-02 3.37427853e-04 9.99732572e-01 -6.21132982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.547719421 meters Centerline goodness : 0.949381 Centerline is valid? [True, False] Translation: X:3.96, Y:-0.17, Z:-0.62 [[ 9.99730245e-01 -1.40828413e-02 1.84691802e-02 3.96194361e+00] [ 1.41144997e-02 9.99899129e-01 -1.58488732e-03 -1.70689952e-01] [-1.84449975e-02 1.84514303e-03 9.99828174e-01 -6.24182429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.577719421 meters Centerline goodness : 0.949322 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.17, Z:-0.63 [[ 9.99796153e-01 -9.28669896e-03 1.79279135e-02 3.96426441e+00] [ 9.24435230e-03 9.99954285e-01 2.44348304e-03 -1.67187086e-01] [-1.79497858e-02 -2.27725300e-03 9.99836296e-01 -6.25771921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.607719421 meters Centerline goodness : 0.949950 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.16, Z:-0.63 [[ 9.99845156e-01 -9.80782450e-05 1.75969908e-02 3.96585867e+00] [-8.15424557e-05 9.99947909e-01 1.02064590e-02 -1.60910035e-01] [-1.75970752e-02 -1.02063135e-02 9.99793066e-01 -6.26506542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.637719421 meters Centerline goodness : 0.946679 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.16, Z:-0.63 [[ 0.99984057 0.00410327 0.01737801 3.96700121] [-0.00434593 0.99989326 0.01394897 -0.15969665] [-0.01731892 -0.01402227 0.99975168 -0.62721481] [ 0. 0. 0. 1. ]] SLAMing on 26.667719421 meters Centerline goodness : 0.947067 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.16, Z:-0.63 [[ 0.99980491 0.00963902 0.01724013 3.9688628 ] [-0.00995953 0.99977734 0.01860323 -0.16033508] [-0.01705697 -0.01877131 0.9996783 -0.62855951] [ 0. 0. 0. 1. ]] SLAMing on 26.697719421 meters Centerline goodness : 0.945803 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.16, Z:-0.63 [[ 0.99979279 0.01152645 0.01677879 3.97161423] [-0.01186261 0.99972809 0.02007542 -0.16230458] [-0.01654283 -0.0202703 0.99965767 -0.63063857] [ 0. 0. 0. 1. ]] SLAMing on 26.727719421 meters Centerline goodness : 0.945557 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.16, Z:-0.63 [[ 0.99979092 0.01203081 0.01653401 3.97285852] [-0.01236828 0.99971412 0.02046228 -0.16249199] [-0.0162831 -0.0206625 0.9996539 -0.63148079] [ 0. 0. 0. 1. ]] SLAMing on 26.757719421 meters Centerline goodness : 0.944724 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.16, Z:-0.63 [[ 0.99978931 0.01258256 0.01621755 3.97380613] [-0.01292399 0.99969335 0.02112303 -0.16297573] [-0.01594679 -0.02132818 0.99964534 -0.63161057] [ 0. 0. 0. 1. ]] SLAMing on 26.787719421 meters Centerline goodness : 0.943285 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.16, Z:-0.63 [[ 0.99982967 0.00944779 0.01585448 3.97476698] [-0.00972612 0.9997983 0.01757135 -0.16311374] [-0.01568528 -0.01772256 0.9997199 -0.63173974] [ 0. 0. 0. 1. ]] SLAMing on 26.817719421 meters Centerline goodness : 0.945323 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.17, Z:-0.63 [[ 0.9998827 0.00423581 0.01471917 3.97848086] [-0.00442312 0.99990936 0.01271628 -0.17055754] [-0.01466398 -0.01277989 0.9998108 -0.63328925] [ 0. 0. 0. 1. ]] SLAMing on 26.847719421 meters Centerline goodness : 0.944543 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.17, Z:-0.63 [[ 9.99895775e-01 1.11363212e-03 1.43944408e-02 3.98006271e+00] [-1.25980409e-03 9.99947697e-01 1.01496757e-02 -1.74597105e-01] [-1.43823849e-02 -1.01667520e-02 9.99844880e-01 -6.34321715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.877719421 meters Centerline goodness : 0.948509 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.18, Z:-0.63 [[ 9.99896968e-01 -2.32092749e-03 1.41657177e-02 3.98107634e+00] [ 2.20567159e-03 9.99964384e-01 8.14646252e-03 -1.81080935e-01] [-1.41841205e-02 -8.11437825e-03 9.99866475e-01 -6.34853238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.907719421 meters Centerline goodness : 0.947255 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.18, Z:-0.64 [[ 0.99989674 -0.00462776 0.01360498 3.98315268] [ 0.00454816 0.99997239 0.00587571 -0.18197873] [-0.01363179 -0.00581323 0.99989018 -0.6357851 ] [ 0. 0. 0. 1. ]] SLAMing on 26.937719421 meters Centerline goodness : 0.948145 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.19, Z:-0.64 [[ 0.99988552 -0.00761991 0.01307259 3.9849139 ] [ 0.00756354 0.99996191 0.00435562 -0.18856327] [-0.01310528 -0.00425625 0.99990506 -0.63657846] [ 0. 0. 0. 1. ]] SLAMing on 26.967719420999998 meters Centerline goodness : 0.947696 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.19, Z:-0.64 [[ 9.99863330e-01 -1.04048505e-02 1.28475774e-02 3.98637285e+00] [ 1.03768079e-02 9.99943634e-01 2.24744993e-03 -1.93080577e-01] [-1.28702376e-02 -2.11382593e-03 9.99914941e-01 -6.37604924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.997719421 meters Centerline goodness : 0.946971 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.20, Z:-0.64 [[ 9.99784892e-01 -1.63837620e-02 1.27177860e-02 3.98755201e+00] [ 1.64220917e-02 9.99860898e-01 -2.91530141e-03 -1.99983322e-01] [-1.26682533e-02 3.12352695e-03 9.99914876e-01 -6.38080143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.027719421 meters Centerline goodness : 0.948596 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.20, Z:-0.64 [[ 9.99794071e-01 -1.61058842e-02 1.23457267e-02 3.98876141e+00] [ 1.61286110e-02 9.99868405e-01 -1.74351012e-03 -2.03344549e-01] [-1.23160213e-02 1.94227050e-03 9.99922269e-01 -6.38685191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.057719420999998 meters Centerline goodness : 0.951830 Centerline is valid? [False, True] Translation: X:3.99, Y:-0.21, Z:-0.64 [[ 9.99750273e-01 -1.89432185e-02 1.18552497e-02 3.99080912e+00] [ 1.89896072e-02 9.99812412e-01 -3.81265375e-03 -2.06752492e-01] [-1.17808019e-02 4.03682816e-03 9.99922455e-01 -6.39689750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.087719421 meters Centerline goodness : 0.950449 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.21, Z:-0.64 [[ 9.99725558e-01 -2.11591959e-02 1.00547497e-02 4.02385888e+00] [ 2.11575256e-02 9.99776117e-01 2.72470182e-04 -2.09025990e-01] [-1.00582639e-02 -5.96617804e-05 9.99949413e-01 -6.41193659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.117719421 meters Centerline goodness : 0.950607 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.21, Z:-0.64 [[ 9.99629851e-01 -2.58865495e-02 8.36938653e-03 4.05645001e+00] [ 2.58855655e-02 9.99664887e-01 2.25897199e-04 -2.13631737e-01] [-8.37242954e-03 -9.16728079e-06 9.99964951e-01 -6.41223078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.147719420999998 meters Centerline goodness : 0.951086 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.22, Z:-0.64 [[ 9.99539806e-01 -2.85015702e-02 1.03844936e-02 4.08859668e+00] [ 2.85002225e-02 9.99593748e-01 2.77775197e-04 -2.15935611e-01] [-1.03881919e-02 1.83130105e-05 9.99946041e-01 -6.43422320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.177719421 meters Centerline goodness : 0.953694 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.22, Z:-0.65 [[ 9.99405313e-01 -3.19056797e-02 1.30784986e-02 4.12118538e+00] [ 3.19038443e-02 9.99490882e-01 3.49007183e-04 -2.19667946e-01] [-1.30829754e-02 6.84547488e-05 9.99914412e-01 -6.45874808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.207719421 meters Centerline goodness : 0.953306 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.22, Z:-0.65 [[ 9.99395655e-01 -3.22611502e-02 1.29438055e-02 4.15303958e+00] [ 3.22594092e-02 9.99479471e-01 3.43331465e-04 -2.18792220e-01] [-1.29481442e-02 7.44355439e-05 9.99916166e-01 -6.46768312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.237719420999998 meters Centerline goodness : 0.954130 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.22, Z:-0.65 [[ 9.99381322e-01 -3.33232465e-02 1.12487600e-02 4.18557844e+00] [ 3.33220027e-02 9.99444623e-01 2.98024754e-04 -2.17460650e-01] [-1.12524438e-02 7.69908386e-05 9.99936686e-01 -6.46761283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.267719421 meters Centerline goodness : 0.953033 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.22, Z:-0.65 [[ 9.99359429e-01 -3.41792086e-02 1.06072513e-02 4.21729791e+00] [ 3.41781675e-02 9.99415717e-01 2.79463134e-04 -2.18232049e-01] [-1.06106055e-02 8.32522926e-05 9.99943702e-01 -6.47999007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.297719421 meters Centerline goodness : 0.952904 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.22, Z:-0.65 [[ 9.99246016e-01 -3.69570863e-02 1.18984867e-02 4.24904321e+00] [ 3.69559987e-02 9.99316845e-01 3.11330335e-04 -2.18114642e-01] [-1.19018641e-02 1.28624865e-04 9.99929162e-01 -6.49192820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.327719421 meters Centerline goodness : 0.955347 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.21, Z:-0.65 [[ 9.99041204e-01 -4.22995729e-02 1.12880146e-02 4.28204836e+00] [ 4.22989319e-02 9.99104956e-01 2.95626601e-04 -2.09876847e-01] [-1.12904162e-02 1.82127807e-04 9.99936245e-01 -6.49569651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.357719421 meters Centerline goodness : 0.954264 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.21, Z:-0.65 [[ 9.98871353e-01 -4.62913841e-02 1.06361219e-02 4.31529113e+00] [ 4.62910528e-02 9.98927956e-01 2.77462312e-04 -2.05977097e-01] [-1.06375636e-02 2.15208123e-04 9.99943396e-01 -6.50561281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.387719421 meters Centerline goodness : 0.950590 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.20, Z:-0.65 [[ 9.98408978e-01 -5.55689985e-02 9.57071963e-03 4.34837173e+00] [ 5.55691634e-02 9.98454809e-01 2.48898918e-04 -2.03301542e-01] [-9.56976211e-03 2.83333969e-04 9.99954169e-01 -6.53996299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.417719421 meters Centerline goodness : 0.950830 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.20, Z:-0.66 [[ 9.98106194e-01 -6.05966246e-02 1.05865695e-02 4.38143941e+00] [ 6.05971279e-02 9.98162268e-01 2.73513344e-04 -2.01366670e-01] [-1.05836882e-02 3.68520345e-04 9.99943923e-01 -6.55960931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.447719421 meters Centerline goodness : 0.950393 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.20, Z:-0.66 [[ 9.97421537e-01 -7.08462767e-02 1.14491415e-02 4.41372305e+00] [ 7.08475650e-02 9.97487111e-01 2.93539266e-04 -1.96322981e-01] [-1.14411673e-02 5.18361411e-04 9.99934413e-01 -6.58153409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.477719421 meters Centerline goodness : 0.951172 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.19, Z:-0.66 [[ 9.97062282e-01 -7.57750800e-02 1.11777627e-02 4.44620299e+00] [ 7.57766239e-02 9.97124777e-01 2.85937987e-04 -1.92515076e-01] [-1.11672912e-02 5.61915141e-04 9.99937486e-01 -6.59456559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.507719421 meters Centerline goodness : 0.950466 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.19, Z:-0.66 [[ 9.96751132e-01 -7.97511938e-02 1.12662354e-02 4.47946067e+00] [ 7.97530308e-02 9.96814613e-01 2.86839751e-04 -1.88403796e-01] [-1.12532239e-02 6.12608570e-04 9.99936493e-01 -6.60586284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.537719421 meters Centerline goodness : 0.952542 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.18, Z:-0.66 [[ 9.96247671e-01 -8.55738288e-02 1.29498312e-02 4.51136633e+00] [ 8.55767809e-02 9.96331525e-01 3.27007566e-04 -1.78791691e-01] [-1.29303084e-02 7.82424341e-04 9.99916094e-01 -6.60476198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.567719421 meters Centerline goodness : 0.951285 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.17, Z:-0.66 [[ 9.95756103e-01 -9.07003946e-02 1.55955599e-02 4.54429966e+00] [ 9.07053331e-02 9.95877698e-01 3.91851758e-04 -1.68433853e-01] [-1.55668114e-02 1.02441168e-03 9.99878305e-01 -6.61477802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.597719421 meters Centerline goodness : 0.950793 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.16, Z:-0.66 [[ 9.95594096e-01 -9.24222451e-02 1.58279757e-02 4.57707794e+00] [ 9.24275803e-02 9.95719331e-01 3.95677029e-04 -1.64455359e-01] [-1.57967907e-02 1.06900778e-03 9.99874651e-01 -6.63355330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.627719421 meters Centerline goodness : 0.946179 Centerline is valid? [True, False] Translation: X:4.57, Y:-0.16, Z:-0.66 [[ 0.9959388 -0.08930871 0.01139529 4.57222509] [ 0.08941451 0.99595257 -0.00913872 -0.15839663] [-0.010533 0.01012051 0.99989331 -0.66396842] [ 0. 0. 0. 1. ]] SLAMing on 27.657719421 meters Centerline goodness : 0.946635 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.15, Z:-0.66 [[ 0.99618228 -0.08669732 0.01021925 4.5744686 ] [ 0.0867647 0.99620863 -0.00634509 -0.1547651 ] [-0.0096304 0.00720753 0.99992765 -0.66484955] [ 0. 0. 0. 1. ]] SLAMing on 27.687719421 meters Centerline goodness : 0.947506 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.14, Z:-0.66 [[ 9.96720827e-01 -8.09091977e-02 -1.13828162e-03 4.57159946e+00] [ 8.09027308e-02 9.96709993e-01 -4.89259355e-03 -1.44039741e-01] [ 1.53039248e-03 4.78445980e-03 9.99987383e-01 -6.59847422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.717719420999998 meters Centerline goodness : 0.946297 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.14, Z:-0.66 [[ 9.97029962e-01 -7.57775906e-02 -1.37481433e-02 4.57085590e+00] [ 7.57361562e-02 9.97121713e-01 -3.51058376e-03 -1.40777452e-01] [ 1.39745958e-02 2.45892567e-03 9.99899327e-01 -6.55635435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.747719421 meters Centerline goodness : 0.943796 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.13, Z:-0.65 [[ 0.99713477 -0.07151149 -0.02466489 4.56964307] [ 0.07135372 0.99742495 -0.00721958 -0.13238311] [ 0.02511766 0.00543896 0.99966971 -0.6544037 ] [ 0. 0. 0. 1. ]] SLAMing on 27.777719421 meters Centerline goodness : 0.943422 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.13, Z:-0.65 [[ 0.99719692 -0.06613809 -0.03498652 4.56702835] [ 0.06589688 0.99779433 -0.00800423 -0.13084519] [ 0.03543874 0.00567629 0.99935573 -0.65139779] [ 0. 0. 0. 1. ]] SLAMing on 27.807719420999998 meters Centerline goodness : 0.943422 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.13, Z:-0.65 [[ 0.99720486 -0.0660464 -0.03493324 4.56692532] [ 0.06579583 0.99779879 -0.0082755 -0.13032076] [ 0.03540291 0.00595391 0.99935538 -0.65137819] [ 0. 0. 0. 1. ]] SLAMing on 27.837719421 meters Centerline goodness : 0.944768 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.12, Z:-0.65 [[ 9.97071752e-01 -6.93559107e-02 -3.22130206e-02 4.57557788e+00] [ 6.93681235e-02 9.97590856e-01 -7.39637277e-04 -1.22703411e-01] [ 3.21867130e-02 -1.49708536e-03 9.99480752e-01 -6.53531716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.867719421 meters Centerline goodness : 0.948228 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.11, Z:-0.65 [[ 9.97108121e-01 -6.87588223e-02 -3.23669478e-02 4.57604250e+00] [ 6.87700895e-02 9.97632241e-01 -7.66313440e-04 -1.13973278e-01] [ 3.23430014e-02 -1.46178054e-03 9.99475759e-01 -6.54074530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.897719420999998 meters Centerline goodness : 0.948064 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.11, Z:-0.66 [[ 0.99724158 -0.06875547 -0.02796264 4.5844924 ] [ 0.06907624 0.99755431 0.01067081 -0.11136193] [ 0.02716058 -0.01257293 0.99955201 -0.65682896] [ 0. 0. 0. 1. ]] SLAMing on 27.927719421 meters Centerline goodness : 0.950511 Centerline is valid? [False, True] Translation: X:4.58, Y:-0.11, Z:-0.66 [[ 0.99719976 -0.06936426 -0.02795078 4.58444406] [ 0.06963615 0.99753299 0.00887335 -0.10552462] [ 0.02726633 -0.01079489 0.99956992 -0.65638527] [ 0. 0. 0. 1. ]] SLAMing on 27.957719421 meters Centerline goodness : 0.954955 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.09, Z:-0.65 [[ 9.97333062e-01 -6.86158612e-02 -2.48722033e-02 4.61638424e+00] [ 6.86442458e-02 9.97641160e-01 2.88214160e-04 -9.11047864e-02] [ 2.47937577e-02 -1.99477915e-03 9.99690597e-01 -6.54517497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.987719420999998 meters Centerline goodness : 0.953970 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.08, Z:-0.65 [[ 9.97425729e-01 -6.68385212e-02 -2.59716786e-02 4.64844123e+00] [ 6.68689260e-02 9.97761723e-01 3.02991342e-04 -8.49748921e-02] [ 2.58932953e-02 -2.03890961e-03 9.99662633e-01 -6.53857693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.017719421 meters Centerline goodness : 0.954086 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.07, Z:-0.65 [[ 9.97836710e-01 -5.93536142e-02 -2.82674604e-02 4.68041937e+00] [ 5.93867129e-02 9.98234996e-01 3.32092144e-04 -7.22427548e-02] [ 2.81978574e-02 -2.01008529e-03 9.99600340e-01 -6.54370952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.047719421 meters Centerline goodness : 0.956625 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.06, Z:-0.66 [[ 9.98340252e-01 -5.18905059e-02 -2.49823310e-02 4.71165117e+00] [ 5.19140676e-02 9.98651512e-01 2.95055941e-04 -6.12036685e-02] [ 2.49333320e-02 -1.59150064e-03 9.99687849e-01 -6.55753794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.077719421 meters Centerline goodness : 0.959051 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.06, Z:-0.65 [[ 9.98566255e-01 -4.82113684e-02 -2.32615318e-02 4.74371506e+00] [ 4.82308409e-02 9.98836178e-01 2.76471921e-04 -5.54150840e-02] [ 2.32211304e-02 -1.39799877e-03 9.99729376e-01 -6.54425843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.107719421 meters Centerline goodness : 0.960585 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.04, Z:-0.65 [[ 9.98902611e-01 -4.06237892e-02 -2.33084147e-02 4.77471683e+00] [ 4.06413135e-02 9.99173762e-01 2.78435073e-04 -4.03095233e-02] [ 2.32778453e-02 -1.22541411e-03 9.99728283e-01 -6.51548819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.137719421 meters Centerline goodness : 0.957698 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.04, Z:-0.65 [[ 9.99101685e-01 -3.47901403e-02 -2.41964813e-02 4.80685838e+00] [ 3.48073752e-02 9.99393997e-01 2.91358152e-04 -3.55576756e-02] [ 2.41716818e-02 -1.13331243e-03 9.99707180e-01 -6.50461613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.167719421 meters Centerline goodness : 0.956171 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.03, Z:-0.65 [[ 9.99372799e-01 -2.39015790e-02 -2.61289547e-02 4.83879578e+00] [ 2.39180206e-02 9.99713873e-01 3.16855102e-04 -2.92736989e-02] [ 2.61139052e-02 -9.41609246e-04 9.99658530e-01 -6.53230253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.197719421 meters Centerline goodness : 0.955729 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.03, Z:-0.65 [[ 9.99480867e-01 -1.85140090e-02 -2.63671749e-02 4.86879410e+00] [ 1.85288610e-02 9.99828275e-01 3.19048880e-04 -2.52889890e-02] [ 2.63567402e-02 -8.07436970e-04 9.99652275e-01 -6.53883153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.227719421 meters Centerline goodness : 0.953181 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.02, Z:-0.65 [[ 9.99603163e-01 -8.47195815e-03 -2.68652479e-02 4.89615503e+00] [ 8.48356846e-03 9.99963963e-01 3.18218495e-04 -1.54886280e-02] [ 2.68615838e-02 -5.46005384e-04 9.99639013e-01 -6.53929527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.257719421 meters Centerline goodness : 0.952612 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.00, Z:-0.65 [[ 9.99592391e-01 1.95835983e-03 -2.84818757e-02 4.92297110e+00] [-1.94967036e-03 9.99998044e-01 3.32855076e-04 -4.71245850e-03] [ 2.84824719e-02 -2.77189133e-04 9.99594254e-01 -6.52572354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.287719421 meters Centerline goodness : 0.942732 Centerline is valid? [True, False] Translation: X:4.93, Y:-0.00, Z:-0.65 [[ 9.99560835e-01 7.03041766e-03 -2.87873185e-02 4.92545705e+00] [-6.91363050e-03 9.99967471e-01 4.15442263e-03 -4.50268907e-04] [ 2.88155894e-02 -3.95357328e-03 9.99576926e-01 -6.54129396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.317719421 meters Centerline goodness : 0.952498 Centerline is valid? [False, True] Translation: X:4.93, Y:0.00, Z:-0.65 [[ 9.99517204e-01 1.12318532e-02 -2.89690245e-02 4.92679305e+00] [-1.10250803e-02 9.99912665e-01 7.28760685e-03 2.65356177e-03] [ 2.90483478e-02 -6.96470260e-03 9.99553744e-01 -6.54765555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.347719421 meters Centerline goodness : 0.948386 Centerline is valid? [True, False] Translation: X:4.93, Y:0.00, Z:-0.66 [[ 9.99469259e-01 1.45636800e-02 -2.91392996e-02 4.93075346e+00] [-1.43207900e-02 9.99861094e-01 8.52689279e-03 4.65378279e-03] [ 2.92594349e-02 -8.10506943e-03 9.99538990e-01 -6.57257903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.377719421 meters Centerline goodness : 0.948260 Centerline is valid? [False, False] Translation: X:4.93, Y:0.01, Z:-0.66 [[ 0.9994609 0.01489505 -0.02925843 4.93168383] [-0.01465982 0.9998586 0.008238 0.00534612] [ 0.029377 -0.00780463 0.99953793 -0.65761971] [ 0. 0. 0. 1. ]] SLAMing on 28.407719421 meters Centerline goodness : 0.936005 Centerline is valid? [False, False] Translation: X:4.93, Y:0.01, Z:-0.66 [[ 0.99941188 0.01816441 -0.0290851 4.93034826] [-0.01786612 0.99978543 0.01048304 0.00931388] [ 0.02926928 -0.00995724 0.99952197 -0.65540224] [ 0. 0. 0. 1. ]] SLAMing on 28.437719421 meters Centerline goodness : 0.949018 Centerline is valid? [False, False] Translation: X:4.93, Y:0.01, Z:-0.65 [[ 0.99933048 0.02203914 -0.02920389 4.93025954] [-0.02165267 0.99967461 0.0134843 0.01236723] [ 0.02949157 -0.01284293 0.99948252 -0.65411486] [ 0. 0. 0. 1. ]] SLAMing on 28.467719420999998 meters Centerline goodness : 0.934519 Centerline is valid? [False, False] Translation: X:4.94, Y:0.01, Z:-0.66 [[ 0.99931129 0.0217966 -0.03003091 4.93531315] [-0.02144535 0.99969837 0.01196911 0.01041376] [ 0.03028274 -0.01131685 0.99947731 -0.65675303] [ 0. 0. 0. 1. ]] SLAMing on 28.497719421 meters Centerline goodness : 0.946275 Centerline is valid? [False, False] Translation: X:4.94, Y:0.01, Z:-0.66 [[ 0.99935207 0.01929272 -0.03038469 4.93679341] [-0.01903636 0.99978091 0.0087039 0.00965098] [ 0.03054595 -0.00811985 0.99950038 -0.65699054] [ 0. 0. 0. 1. ]] SLAMing on 28.527719421 meters Centerline goodness : 0.942290 Centerline is valid? [False, False] Translation: X:4.94, Y:0.01, Z:-0.66 [[ 9.99390416e-01 1.65720934e-02 -3.07272339e-02 4.93784710e+00] [-1.64191453e-02 9.99851554e-01 5.22327672e-03 9.11518353e-03] [ 3.08092332e-02 -4.71557777e-03 9.99514159e-01 -6.56693035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.557719420999998 meters Centerline goodness : 0.943095 Centerline is valid? [False, False] Translation: X:4.94, Y:0.00, Z:-0.66 [[ 9.99345766e-01 1.80446770e-02 -3.13437454e-02 4.93946156e+00] [-1.78380058e-02 9.99817350e-01 6.86087754e-03 4.61071335e-03] [ 3.14618228e-02 -6.29727900e-03 9.99485116e-01 -6.56688410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.587719421 meters Centerline goodness : 0.935337 Centerline is valid? [False, False] Translation: X:4.94, Y:0.00, Z:-0.66 [[ 9.99377686e-01 1.60980473e-02 -3.13862102e-02 4.94060989e+00] [-1.59664315e-02 9.99862672e-01 4.43957110e-03 3.70832734e-03] [ 3.14533684e-02 -3.93568251e-03 9.99497472e-01 -6.57230364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.617719421 meters Centerline goodness : 0.942958 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.00, Z:-0.66 [[ 9.99403684e-01 1.34619681e-02 -3.17970558e-02 4.94210631e+00] [-1.33945942e-02 9.99907572e-01 2.33094059e-03 -8.20169234e-04] [ 3.18254959e-02 -1.90364195e-03 9.99491628e-01 -6.57763481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.647719420999998 meters Centerline goodness : 0.941392 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.00, Z:-0.66 [[ 9.99415209e-01 1.09379385e-02 -3.23975442e-02 4.94474236e+00] [-1.09393851e-02 9.99940154e-01 1.32606552e-04 -3.75345455e-03] [ 3.23970558e-02 2.21880206e-04 9.99475053e-01 -6.59361924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.677719421 meters Centerline goodness : 0.941940 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.01, Z:-0.66 [[ 9.99454233e-01 7.42619201e-03 -3.21883219e-02 4.94646053e+00] [-7.51805972e-03 9.99968002e-01 -2.73397969e-03 -1.11961575e-02] [ 3.21669889e-02 2.97448130e-03 9.99478082e-01 -6.61360918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.707719421 meters Centerline goodness : 0.942983 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.02, Z:-0.67 [[ 9.99637382e-01 3.52878556e-03 -2.66955460e-02 4.95736134e+00] [-3.41641201e-03 9.99985116e-01 4.25388859e-03 -1.59991646e-02] [ 2.67101597e-02 -4.16114307e-03 9.99634559e-01 -6.65641068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.737719420999998 meters Centerline goodness : 0.942104 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.02, Z:-0.67 [[ 9.99749755e-01 -2.45624415e-03 -2.22349635e-02 4.97006572e+00] [ 2.66393335e-03 9.99953058e-01 9.31586271e-03 -2.35031669e-02] [ 2.22110378e-02 -9.37276393e-03 9.99709368e-01 -6.69767121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.767719421 meters Centerline goodness : 0.941531 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.03, Z:-0.67 [[ 0.99972892 -0.00569612 -0.02257541 4.97149701] [ 0.00584917 0.99996032 0.00671926 -0.02664868] [ 0.02253624 -0.00684949 0.99972256 -0.67044489] [ 0. 0. 0. 1. ]] SLAMing on 28.797719421 meters Centerline goodness : 0.939712 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.04, Z:-0.67 [[ 0.99970347 -0.0158526 -0.01848402 4.980896 ] [ 0.01604285 0.99981937 0.01019052 -0.03625498] [ 0.01831913 -0.01048403 0.99977722 -0.67252228] [ 0. 0. 0. 1. ]] SLAMing on 28.827719420999998 meters Centerline goodness : 0.940236 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.04, Z:-0.67 [[ 0.99963225 -0.019526 -0.01881753 4.98202154] [ 0.01967601 0.99977583 0.00781969 -0.04125827] [ 0.01866062 -0.00818707 0.99979235 -0.67295546] [ 0. 0. 0. 1. ]] SLAMing on 28.857719421 meters Centerline goodness : 0.936505 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.05, Z:-0.68 [[ 0.99946564 -0.02924931 -0.01459169 4.99389078] [ 0.0294081 0.99950926 0.01078902 -0.05165763] [ 0.01426896 -0.01121237 0.99983533 -0.67641652] [ 0. 0. 0. 1. ]] SLAMing on 28.887719421 meters Centerline goodness : 0.935377 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.06, Z:-0.68 [[ 0.9992127 -0.03892789 -0.00765534 5.0020776 ] [ 0.03901688 0.9991684 0.01184027 -0.06310688] [ 0.00718805 -0.01212963 0.9999006 -0.67667852] [ 0. 0. 0. 1. ]] SLAMing on 28.917719421 meters Centerline goodness : 0.937115 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.07, Z:-0.68 [[ 0.999083 -0.04212848 -0.00763919 5.00286544] [ 0.04220162 0.99906222 0.00968034 -0.0682521 ] [ 0.00722421 -0.00999385 0.99992396 -0.6769727 ] [ 0. 0. 0. 1. ]] SLAMing on 28.947719421 meters Centerline goodness : 0.936380 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.08, Z:-0.68 [[ 0.9989314 -0.04561065 -0.00746452 5.00357255] [ 0.04567165 0.99892272 0.0082155 -0.07660537] [ 0.00708177 -0.00854764 0.99993839 -0.67739159] [ 0. 0. 0. 1. ]] SLAMing on 28.977719421 meters Centerline goodness : 0.934644 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.08, Z:-0.68 [[ 0.99894071 -0.04539609 -0.00752637 5.00393832] [ 0.04546668 0.99892078 0.00948938 -0.08050507] [ 0.00708747 -0.00982153 0.99992665 -0.67751292] [ 0. 0. 0. 1. ]] SLAMing on 29.007719421 meters Centerline goodness : 0.933694 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.09, Z:-0.68 [[ 0.99884165 -0.04748756 -0.00776449 5.00577548] [ 0.04755069 0.99883551 0.00815766 -0.08628806] [ 0.00736806 -0.00851742 0.99993658 -0.67810077] [ 0. 0. 0. 1. ]] SLAMing on 29.037719421 meters Centerline goodness : 0.932630 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.09, Z:-0.68 [[ 0.99888495 -0.04651949 -0.00804905 5.00732085] [ 0.0465973 0.99886602 0.00976539 -0.08988932] [ 0.00758564 -0.01012957 0.99991992 -0.67915889] [ 0. 0. 0. 1. ]] SLAMing on 29.067719421 meters Centerline goodness : 0.933719 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.10, Z:-0.68 [[ 0.998952 -0.04500836 -0.00831503 5.00974952] [ 0.0451088 0.99890616 0.01231577 -0.09672552] [ 0.00775162 -0.01267794 0.99988959 -0.68101487] [ 0. 0. 0. 1. ]] SLAMing on 29.097719421 meters Centerline goodness : 0.932796 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.10, Z:-0.68 [[ 0.99886049 -0.04695682 -0.00853123 5.01265133] [ 0.04704534 0.99883768 0.01048959 -0.09871274] [ 0.00802876 -0.010879 0.99990859 -0.68327521] [ 0. 0. 0. 1. ]] SLAMing on 29.127719421 meters Centerline goodness : 0.931274 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.10, Z:-0.69 [[ 0.99888369 -0.04644539 -0.00861428 5.01448659] [ 0.04654767 0.99884303 0.01207996 -0.1019348 ] [ 0.00804326 -0.01246745 0.99988993 -0.6850451 ] [ 0. 0. 0. 1. ]] SLAMing on 29.157719421 meters Centerline goodness : 0.931576 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.10, Z:-0.69 [[ 0.99889325 -0.04620453 -0.00879838 5.01554253] [ 0.04631312 0.99884793 0.01256648 -0.10165839] [ 0.00820762 -0.01296005 0.99988233 -0.68572928] [ 0. 0. 0. 1. ]] SLAMing on 29.187719421 meters Centerline goodness : 0.928897 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.10, Z:-0.69 [[ 0.99889399 -0.04615419 -0.00897677 5.01616224] [ 0.04626526 0.9988499 0.01258571 -0.10120872] [ 0.00838556 -0.0129871 0.9998805 -0.68551341] [ 0. 0. 0. 1. ]] SLAMing on 29.217719420999998 meters Centerline goodness : 0.929462 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.10, Z:-0.69 [[ 0.99891036 -0.04578551 -0.00904351 5.01658446] [ 0.04589784 0.99886628 0.01263111 -0.10092423] [ 0.00845494 -0.01303242 0.99987933 -0.68561659] [ 0. 0. 0. 1. ]] SLAMing on 29.247719421 meters Centerline goodness : 0.928368 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.10, Z:-0.69 [[ 0.99894847 -0.04495997 -0.00897489 5.0175177 ] [ 0.04507268 0.998902 0.01277726 -0.09986706] [ 0.00839057 -0.01316834 0.99987809 -0.68650374] [ 0. 0. 0. 1. ]] SLAMing on 29.277719421 meters Centerline goodness : 0.929142 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.10, Z:-0.69 [[ 9.99382646e-01 -3.47874911e-02 -4.91502510e-03 5.01568622e+00] [ 3.48161346e-02 9.99376510e-01 5.86757639e-03 -9.59203468e-02] [ 4.70784237e-03 -6.03507619e-03 9.99970707e-01 -6.88528953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.307719420999998 meters Centerline goodness : 0.930629 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.09, Z:-0.69 [[ 9.99659611e-01 -2.55555432e-02 -5.25131260e-03 5.01722179e+00] [ 2.56268246e-02 9.99573718e-01 1.39873933e-02 -9.43655790e-02] [ 4.89161863e-03 -1.41172066e-02 9.99888382e-01 -6.89602129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.337719421 meters Centerline goodness : 0.931147 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.09, Z:-0.69 [[ 9.99756746e-01 -2.13859519e-02 -5.39346885e-03 5.01755411e+00] [ 2.14776639e-02 9.99615071e-01 1.75619029e-02 -9.24982426e-02] [ 5.01581473e-03 -1.76734700e-02 9.99831231e-01 -6.89650691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.367719421 meters Centerline goodness : 0.929780 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.09, Z:-0.69 [[ 0.99984485 -0.01676499 -0.00540515 5.01758873] [ 0.01687697 0.99962886 0.02138482 -0.09033979] [ 0.00504463 -0.02147273 0.99975671 -0.68933008] [ 0. 0. 0. 1. ]] SLAMing on 29.397719420999998 meters Centerline goodness : 0.930799 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.09, Z:-0.69 [[ 0.99980908 -0.0186428 -0.00585236 5.02008585] [ 0.01875029 0.99964589 0.01888195 -0.09095624] [ 0.00549827 -0.01898808 0.99980459 -0.69075429] [ 0. 0. 0. 1. ]] SLAMing on 29.427719421 meters Centerline goodness : 0.927168 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.10, Z:-0.69 [[ 0.99978754 -0.0195845 -0.00642778 5.02452861] [ 0.019698 0.99964218 0.01809693 -0.09756983] [ 0.00607106 -0.01821969 0.99981558 -0.69385531] [ 0. 0. 0. 1. ]] SLAMing on 29.457719421 meters Centerline goodness : 0.928309 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.10, Z:-0.69 [[ 0.99976935 -0.020575 -0.00615753 5.02431852] [ 0.02067901 0.9996359 0.01733314 -0.10154587] [ 0.00579866 -0.01745648 0.99983081 -0.6934621 ] [ 0. 0. 0. 1. ]] SLAMing on 29.487719420999998 meters Centerline goodness : 0.930195 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.10, Z:-0.69 [[ 0.99977324 -0.02029092 -0.00646057 5.02480607] [ 0.02040333 0.99963271 0.01783674 -0.10267847] [ 0.00609627 -0.01796452 0.99982004 -0.6931416 ] [ 0. 0. 0. 1. ]] SLAMing on 29.517719421 meters Centerline goodness : 0.928798 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.10, Z:-0.69 [[ 0.99977918 -0.01992246 -0.00668419 5.02534354] [ 0.02004226 0.99963051 0.01836141 -0.10390118] [ 0.00631592 -0.01849132 0.99980907 -0.69303878] [ 0. 0. 0. 1. ]] SLAMing on 29.547719421 meters Centerline goodness : 0.927641 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.11, Z:-0.69 [[ 0.99975017 -0.02130904 -0.00674754 5.02748771] [ 0.02142246 0.99962239 0.01720889 -0.10874507] [ 0.00637829 -0.01734913 0.99982915 -0.69454611] [ 0. 0. 0. 1. ]] SLAMing on 29.577719420999998 meters Centerline goodness : 0.926560 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.11, Z:-0.70 [[ 0.99969711 -0.02356637 -0.00709325 5.03007555] [ 0.02367175 0.99960486 0.01515797 -0.11163404] [ 0.00673322 -0.01532129 0.99985995 -0.69646052] [ 0. 0. 0. 1. ]] SLAMing on 29.607719421 meters Centerline goodness : 0.924841 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.12, Z:-0.70 [[ 0.99953231 -0.02963007 -0.00756457 5.03376313] [ 0.02970778 0.99950478 0.01037552 -0.11867139] [ 0.00725339 -0.01059539 0.99991756 -0.69912212] [ 0. 0. 0. 1. ]] SLAMing on 29.637719421 meters Centerline goodness : 0.923509 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.12, Z:-0.70 [[ 0.99943273 -0.03275338 -0.00783853 5.03597019] [ 0.03281757 0.99942767 0.00820571 -0.12248982] [ 0.00756528 -0.00845829 0.99993561 -0.7008081 ] [ 0. 0. 0. 1. ]] SLAMing on 29.667719421 meters Centerline goodness : 0.921975 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.13, Z:-0.70 [[ 9.99196739e-01 -3.99859115e-02 -2.64653841e-03 5.04710521e+00] [ 4.00171005e-02 9.99114116e-01 1.30236582e-02 -1.29030633e-01] [ 2.12343104e-03 -1.31191036e-02 9.99911686e-01 -7.04542319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.697719421 meters Centerline goodness : 0.923500 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.13, Z:-0.70 [[ 9.99043830e-01 -4.36404291e-02 -2.63404788e-03 5.04748141e+00] [ 4.36642743e-02 9.98998192e-01 9.80015071e-03 -1.30378725e-01] [ 2.20372629e-03 -9.90579390e-03 9.99948508e-01 -7.04369422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.727719421 meters Centerline goodness : 0.923500 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.13, Z:-0.70 [[ 9.99043830e-01 -4.36404291e-02 -2.63404788e-03 5.04748141e+00] [ 4.36642743e-02 9.98998192e-01 9.80015071e-03 -1.30378725e-01] [ 2.20372629e-03 -9.90579390e-03 9.99948508e-01 -7.04369422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.757719421 meters Centerline goodness : 0.922339 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.14, Z:-0.71 [[ 9.98654626e-01 -5.18189658e-02 1.93226512e-03 5.05956891e+00] [ 5.17895690e-02 9.98573258e-01 1.30110895e-02 -1.37749114e-01] [-2.60372948e-03 -1.28935136e-02 9.99913485e-01 -7.07576526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.787719421 meters Centerline goodness : 0.921190 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.14, Z:-0.71 [[ 9.98468273e-01 -5.52971531e-02 1.82579127e-03 5.06112660e+00] [ 5.52753425e-02 9.98417189e-01 1.03804323e-02 -1.41657094e-01] [-2.39690974e-03 -1.02636110e-02 9.99944455e-01 -7.08656142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.817719421 meters Centerline goodness : 0.918730 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.15, Z:-0.71 [[ 9.98110565e-01 -6.14266995e-02 1.43558525e-03 5.06561271e+00] [ 6.14180205e-02 9.98097188e-01 5.46178085e-03 -1.46549323e-01] [-1.76835277e-03 -5.36329036e-03 9.99984054e-01 -7.12262882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.847719421 meters Centerline goodness : 0.920833 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.15, Z:-0.71 [[ 9.98113413e-01 -6.13866925e-02 1.13496372e-03 5.06659133e+00] [ 6.13781884e-02 9.98093910e-01 6.42381377e-03 -1.49239323e-01] [-1.52713706e-03 -6.34203267e-03 9.99978723e-01 -7.12734967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.877719421 meters Centerline goodness : 0.924578 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.15, Z:-0.71 [[ 9.98111993e-01 -6.14119789e-02 1.00931204e-03 5.06626712e+00] [ 6.14029475e-02 9.98085999e-01 7.34956844e-03 -1.52432903e-01] [-1.45873175e-03 -7.27371767e-03 9.99972482e-01 -7.11527129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.907719421 meters Centerline goodness : 0.925407 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.15, Z:-0.71 [[ 9.98165579e-01 -6.05376220e-02 8.20342224e-04 5.06648635e+00] [ 6.05284909e-02 9.98130251e-01 8.50322055e-03 -1.54625777e-01] [-1.33357314e-03 -8.43796799e-03 9.99963510e-01 -7.10833029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.937719421 meters Centerline goodness : 0.926237 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.15, Z:-0.71 [[ 9.98234220e-01 -5.93989687e-02 4.52621992e-04 5.06834893e+00] [ 5.93918933e-02 9.98188517e-01 9.60667799e-03 -1.54758272e-01] [-1.02242884e-03 -9.56283263e-03 9.99953752e-01 -7.12151389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.967719420999998 meters Centerline goodness : 0.924176 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.16, Z:-0.71 [[ 9.98456938e-01 -5.55312328e-02 1.61510820e-04 5.06936140e+00] [ 5.55236134e-02 9.98360411e-01 1.39146467e-02 -1.56015703e-01] [-9.33943495e-04 -1.38842079e-02 9.99903174e-01 -7.13157825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.997719421 meters Centerline goodness : 0.924709 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.16, Z:-0.72 [[ 9.98589745e-01 -5.30891416e-02 -2.53988047e-04 5.07210162e+00] [ 5.30867969e-02 9.98472335e-01 1.53228231e-02 -1.55251099e-01] [-5.59875485e-04 -1.53146974e-02 9.99882566e-01 -7.15004594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.027719421 meters Centerline goodness : 0.923341 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.15, Z:-0.72 [[ 9.98637684e-01 -5.21760645e-02 -6.59180329e-04 5.07343376e+00] [ 5.21799921e-02 9.98515465e-01 1.56241643e-02 -1.54447451e-01] [-1.57005649e-04 -1.56372752e-02 9.99877718e-01 -7.15506616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.057719420999998 meters Centerline goodness : 0.924480 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.15, Z:-0.72 [[ 9.98836020e-01 -4.82264271e-02 -9.04000181e-04 5.07362229e+00] [ 4.82348973e-02 9.98655489e-01 1.89896943e-02 -1.52343803e-01] [-1.30203623e-05 -1.90111950e-02 9.99819271e-01 -7.15312130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.087719421 meters Centerline goodness : 0.926330 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.15, Z:-0.72 [[ 9.98934144e-01 -4.61381061e-02 -1.36090545e-03 5.07633955e+00] [ 4.61562557e-02 9.98727102e-01 2.03414652e-02 -1.51455189e-01] [ 4.20656475e-04 -2.03825984e-02 9.99792165e-01 -7.17157275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.117719421 meters Centerline goodness : 0.926109 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.15, Z:-0.72 [[ 9.98969383e-01 -4.53671579e-02 -1.41149985e-03 5.07690069e+00] [ 4.53865429e-02 9.98760515e-01 2.04326960e-02 -1.50088863e-01] [ 4.82776969e-04 -2.04757008e-02 9.99790234e-01 -7.17504770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.147719420999998 meters Centerline goodness : 0.926712 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.15, Z:-0.72 [[ 9.99201698e-01 -3.98977038e-02 -2.03450585e-03 5.07952461e+00] [ 3.99360257e-02 9.98892159e-01 2.48911195e-02 -1.47694062e-01] [ 1.03915343e-03 -2.49524990e-02 9.99688098e-01 -7.19426448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.177719421 meters Centerline goodness : 0.926496 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.15, Z:-0.72 [[ 9.99254356e-01 -3.85379421e-02 -2.35780844e-03 5.08136568e+00] [ 3.85852698e-02 9.98935927e-01 2.52624304e-02 -1.45929497e-01] [ 1.38173748e-03 -2.53345703e-02 9.99678073e-01 -7.20674406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.207719421 meters Centerline goodness : 0.929232 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.14, Z:-0.72 [[ 9.99528999e-01 -3.03158889e-02 4.76726575e-03 5.08185978e+00] [ 3.02191821e-02 9.99358974e-01 1.91948260e-02 -1.43048468e-01] [-5.34611802e-03 -1.90417223e-02 9.99804397e-01 -7.21860593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.237719420999998 meters Centerline goodness : 0.931728 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.14, Z:-0.72 [[ 9.99563005e-01 -2.92175707e-02 4.48692865e-03 5.08266105e+00] [ 2.91256390e-02 9.99388567e-01 1.93439487e-02 -1.41252514e-01] [-5.04936838e-03 -1.92048108e-02 9.99802820e-01 -7.21868981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.267719421 meters Centerline goodness : 0.930063 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.14, Z:-0.72 [[ 9.99710448e-01 -2.38095067e-02 3.48249482e-03 5.07697592e+00] [ 2.37659730e-02 9.99644935e-01 1.20491866e-02 -1.40512039e-01] [-3.76814350e-03 -1.19629329e-02 9.99921342e-01 -7.23250309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.297719421 meters Centerline goodness : 0.929226 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.14, Z:-0.73 [[ 9.99729923e-01 -2.30218534e-02 3.17401337e-03 5.07922692e+00] [ 2.29783560e-02 9.99649870e-01 1.31199010e-02 -1.42235801e-01] [-3.47494649e-03 -1.30434241e-02 9.99908893e-01 -7.25273209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.327719420999998 meters Centerline goodness : 0.926229 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.15, Z:-0.73 [[ 9.99709377e-01 -2.39729607e-02 2.54139733e-03 5.08416457e+00] [ 2.39388403e-02 9.99632764e-01 1.26992128e-02 -1.46907506e-01] [-2.84490176e-03 -1.26346840e-02 9.99916132e-01 -7.29523143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.357719421 meters Centerline goodness : 0.927118 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.15, Z:-0.73 [[ 9.99641675e-01 -2.66755033e-02 2.22255603e-03 5.08623175e+00] [ 2.66492239e-02 9.99583040e-01 1.11159788e-02 -1.52986571e-01] [-2.51815364e-03 -1.10527663e-02 9.99935746e-01 -7.30853978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.387719421 meters Centerline goodness : 0.927609 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.16, Z:-0.73 [[ 9.99560880e-01 -2.95633805e-02 2.01355743e-03 5.08740170e+00] [ 2.95445572e-02 9.99524622e-01 8.81187249e-03 -1.56564328e-01] [-2.27310897e-03 -8.74851336e-03 9.99959147e-01 -7.31323010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.417719421 meters Centerline goodness : 0.929445 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.16, Z:-0.73 [[ 9.99342385e-01 -3.62144430e-02 1.81989891e-03 5.08873166e+00] [ 3.62077484e-02 9.99337851e-01 3.58590041e-03 -1.62723778e-01] [-1.94855525e-03 -3.51764782e-03 9.99991915e-01 -7.31673175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.447719421 meters Centerline goodness : 0.929835 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.17, Z:-0.73 [[ 9.99341285e-01 -3.62651734e-02 1.35370865e-03 5.09056895e+00] [ 3.62581476e-02 9.99330461e-01 4.89662298e-03 -1.66479633e-01] [-1.53037917e-03 -4.84431453e-03 9.99987095e-01 -7.32956000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.477719421 meters Centerline goodness : 0.926372 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.17, Z:-0.74 [[ 9.99180235e-01 -4.04697339e-02 1.02933455e-03 5.09371306e+00] [ 4.04678410e-02 9.99179224e-01 1.79771758e-03 -1.71036561e-01] [-1.10124285e-03 -1.75458893e-03 9.99997854e-01 -7.35286490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.507719421 meters Centerline goodness : 0.927027 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.17, Z:-0.74 [[ 9.99180854e-01 -4.04607424e-02 7.41691134e-04 5.09494688e+00] [ 4.04584966e-02 9.99177220e-01 2.82720850e-03 -1.74944593e-01] [-8.55471840e-04 -2.79488489e-03 9.99995728e-01 -7.36125295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.537719421 meters Centerline goodness : 0.924460 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.18, Z:-0.74 [[ 9.98957843e-01 -4.56417932e-02 2.35061314e-04 5.10007386e+00] [ 4.56420891e-02 9.98956786e-01 -1.46293696e-03 -1.78589665e-01] [-1.68045028e-04 1.47214104e-03 9.99998902e-01 -7.40680632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.567719421 meters Centerline goodness : 0.922364 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.18, Z:-0.74 [[ 9.98928630e-01 -4.62773422e-02 -1.47567144e-06 5.10142909e+00] [ 4.62773209e-02 9.98928200e-01 -9.27529387e-04 -1.81330617e-01] [ 4.43976846e-05 9.26467370e-04 9.99999570e-01 -7.41871998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.597719421 meters Centerline goodness : 0.923057 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.19, Z:-0.74 [[ 9.98505984e-01 -5.43482868e-02 5.66251071e-03 5.11131045e+00] [ 5.43340325e-02 9.98519321e-01 2.64157511e-03 -1.86104890e-01] [-5.79769144e-03 -2.32996152e-03 9.99980479e-01 -7.44616879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.627719421 meters Centerline goodness : 0.926908 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.19, Z:-0.74 [[ 9.98435086e-01 -5.57287242e-02 4.65704532e-03 5.11288152e+00] [ 5.57064328e-02 9.98435717e-01 4.78666552e-03 -1.89980329e-01] [-4.91651514e-03 -4.51974742e-03 9.99977700e-01 -7.42639725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.657719421 meters Centerline goodness : 0.926496 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.19, Z:-0.74 [[ 9.98139938e-01 -6.08757304e-02 3.28782772e-03 5.11548521e+00] [ 6.08686132e-02 9.98143311e-01 2.22314878e-03 -1.91675515e-01] [-3.41705906e-03 -2.01888807e-03 9.99992124e-01 -7.41121796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.687719421 meters Centerline goodness : 0.926147 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.19, Z:-0.74 [[ 9.98083113e-01 -6.18403797e-02 2.42203601e-03 5.11761708e+00] [ 6.18333317e-02 9.98082322e-01 2.88416187e-03 -1.93617499e-01] [-2.59574899e-03 -2.72887070e-03 9.99992908e-01 -7.41199830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.717719420999998 meters Centerline goodness : 0.926961 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.20, Z:-0.74 [[ 9.97986747e-01 -6.33921482e-02 1.97176551e-03 5.11870862e+00] [ 6.33834545e-02 9.97980423e-01 4.19688192e-03 -1.98079717e-01] [-2.23383274e-03 -4.06345522e-03 9.99989249e-01 -7.40052824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.747719421 meters Centerline goodness : 0.930183 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.20, Z:-0.74 [[ 9.97997735e-01 -6.32310608e-02 1.53447037e-03 5.11906101e+00] [ 6.32225496e-02 9.97986551e-01 5.07473904e-03 -1.98662504e-01] [-1.85226192e-03 -4.96756494e-03 9.99985946e-01 -7.38959101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.777719421 meters Centerline goodness : 0.930352 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.20, Z:-0.74 [[ 9.98124027e-01 -6.12216787e-02 5.77589120e-04 5.11858771e+00] [ 6.12139060e-02 9.98083172e-01 9.10157058e-03 -1.98254333e-01] [-1.13369541e-03 -9.04913979e-03 9.99958413e-01 -7.35654209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.807719420999998 meters Centerline goodness : 0.931784 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.20, Z:-0.74 [[ 9.98133709e-01 -6.10661171e-02 1.70178778e-04 5.11942734e+00] [ 6.10620308e-02 9.98092328e-01 9.11776311e-03 -1.97379438e-01] [-7.26640522e-04 -9.09035525e-03 9.99958418e-01 -7.35718760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.837719421 meters Centerline goodness : 0.931004 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.20, Z:-0.74 [[ 9.98143804e-01 -6.09010696e-02 -7.79949397e-05 5.12036842e+00] [ 6.08992938e-02 9.98103146e-01 9.02139723e-03 -1.96648789e-01] [-4.71565745e-04 -9.00940158e-03 9.99959303e-01 -7.36237753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.867719421 meters Centerline goodness : 0.931800 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.19, Z:-0.74 [[ 9.98124420e-01 -6.12170463e-02 -3.40769379e-04 5.12086102e+00] [ 6.12177781e-02 9.98090616e-01 8.21617019e-03 -1.94744350e-01] [-1.62850951e-04 -8.22162125e-03 9.99966189e-01 -7.36374447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.897719420999998 meters Centerline goodness : 0.933779 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.19, Z:-0.74 [[ 9.98305961e-01 -5.81713540e-02 -1.14082766e-03 5.12169778e+00] [ 5.81801785e-02 9.98250176e-01 1.05665725e-02 -1.90580058e-01] [ 5.24159579e-04 -1.06150459e-02 9.99943521e-01 -7.36275236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.927719421 meters Centerline goodness : 0.932681 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.19, Z:-0.74 [[ 9.98536602e-01 -5.40624411e-02 -1.38124258e-03 5.12208490e+00] [ 5.40754101e-02 9.98460356e-01 1.23598984e-02 -1.85812323e-01] [ 7.10909682e-04 -1.24165022e-02 9.99922660e-01 -7.37399489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.957719421 meters Centerline goodness : 0.932443 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.18, Z:-0.74 [[ 9.98675571e-01 -5.14244477e-02 -1.62181377e-03 5.12432568e+00] [ 5.14426125e-02 9.98570377e-01 1.45209802e-02 -1.83643455e-01] [ 8.72761806e-04 -1.45851785e-02 9.99893250e-01 -7.39719144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.987719420999998 meters Centerline goodness : 0.931755 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.18, Z:-0.74 [[ 9.98739686e-01 -5.01456114e-02 -2.11124774e-03 5.12751064e+00] [ 5.01717555e-02 9.98627456e-01 1.50332640e-02 -1.77984082e-01] [ 1.35449775e-03 -1.51202424e-02 9.99884765e-01 -7.42739975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.017719421 meters Centerline goodness : 0.931803 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.18, Z:-0.74 [[ 9.98733553e-01 -5.02610022e-02 -2.26312622e-03 5.12818654e+00] [ 5.02887055e-02 9.98628653e-01 1.45553630e-02 -1.75609001e-01] [ 1.52845556e-03 -1.46507391e-02 9.99891504e-01 -7.43164979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.047719421 meters Centerline goodness : 0.933160 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.17, Z:-0.74 [[ 9.98705290e-01 -5.08037202e-02 -2.59349166e-03 5.12902962e+00] [ 5.08340726e-02 9.98616967e-01 1.34183166e-02 -1.69781653e-01] [ 1.90820437e-03 -1.35327815e-02 9.99906607e-01 -7.43370548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.077719420999998 meters Centerline goodness : 0.932052 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.17, Z:-0.74 [[ 9.98694120e-01 -5.10150673e-02 -2.74191016e-03 5.12975442e+00] [ 5.10454875e-02 9.98618190e-01 1.24927826e-02 -1.66315145e-01] [ 2.10080122e-03 -1.26164306e-02 9.99918203e-01 -7.43856920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.107719421 meters Centerline goodness : 0.934306 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.16, Z:-0.74 [[ 9.98838513e-01 -4.81104560e-02 -2.64755001e-03 5.12908901e+00] [ 4.81419737e-02 9.98749046e-01 1.35164120e-02 -1.59689765e-01] [ 1.99395731e-03 -1.36281711e-02 9.99905144e-01 -7.43049119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.137719421 meters Centerline goodness : 0.934167 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.16, Z:-0.74 [[ 9.98998607e-01 -4.46616356e-02 -2.66850088e-03 5.12868894e+00] [ 4.46986933e-02 9.98872687e-01 1.59806441e-02 -1.56142771e-01] [ 1.95177094e-03 -1.60839197e-02 9.99868740e-01 -7.42746211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.167719421 meters Centerline goodness : 0.936386 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.15, Z:-0.74 [[ 9.99359097e-01 -3.56747439e-02 -2.95074923e-03 5.12966504e+00] [ 3.57324100e-02 9.99106051e-01 2.25896883e-02 -1.47156607e-01] [ 2.14223006e-03 -2.26806479e-02 9.99740466e-01 -7.43802505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.197719421 meters Centerline goodness : 0.936013 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.14, Z:-0.74 [[ 9.99478171e-01 -3.21434861e-02 -3.19083720e-03 5.13040361e+00] [ 3.22135560e-02 9.99165955e-01 2.50934547e-02 -1.42201852e-01] [ 2.38158478e-03 -2.51831485e-02 9.99680017e-01 -7.44472731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.227719421 meters Centerline goodness : 0.936044 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.14, Z:-0.75 [[ 9.99660025e-01 -2.58561761e-02 -3.36035347e-03 5.13156367e+00] [ 2.59458297e-02 9.99208803e-01 3.01426808e-02 -1.35342539e-01] [ 2.57832031e-03 -3.02196202e-02 9.99539958e-01 -7.45848313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.257719421 meters Centerline goodness : 0.933282 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.13, Z:-0.75 [[ 9.99664889e-01 -2.56043649e-02 -3.81123711e-03 5.13287127e+00] [ 2.57059772e-02 9.99232493e-01 2.95572012e-02 -1.33167954e-01] [ 3.05151859e-03 -2.96452679e-02 9.99555825e-01 -7.46277504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.287719421 meters Centerline goodness : 0.933290 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.13, Z:-0.75 [[ 9.99672765e-01 -2.53002392e-02 -3.77640771e-03 5.13333382e+00] [ 2.53993717e-02 9.99255592e-01 2.90367586e-02 -1.31891007e-01] [ 3.03895959e-03 -2.91231751e-02 9.99571211e-01 -7.46588650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.317719421 meters Centerline goodness : 0.934048 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.13, Z:-0.75 [[ 9.99673542e-01 -2.52411866e-02 -3.96121141e-03 5.13395962e+00] [ 2.53448603e-02 9.99264731e-01 2.87686522e-02 -1.31487833e-01] [ 3.23214394e-03 -2.88596568e-02 9.99578248e-01 -7.46737732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.347719421 meters Centerline goodness : 0.934240 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.13, Z:-0.75 [[ 9.99691519e-01 -2.44840642e-02 -4.17111559e-03 5.13441183e+00] [ 2.45947184e-02 9.99278363e-01 2.89456893e-02 -1.29990034e-01] [ 3.45939744e-03 -2.90393475e-02 9.99572283e-01 -7.46512134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.377719421 meters Centerline goodness : 0.933939 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.13, Z:-0.75 [[ 0.99978698 -0.01960619 -0.00644937 5.12881777] [ 0.01973905 0.99957983 0.02122562 -0.12882117] [ 0.0060305 -0.0213484 0.99975391 -0.74632304] [ 0. 0. 0. 1. ]] SLAMing on 31.407719421 meters Centerline goodness : 0.931355 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.13, Z:-0.75 [[ 0.99979682 -0.01897504 -0.00680219 5.13010461] [ 0.01912022 0.99957613 0.02195398 -0.13051065] [ 0.00638273 -0.02207958 0.99973584 -0.7468954 ] [ 0. 0. 0. 1. ]] SLAMing on 31.437719421 meters Centerline goodness : 0.932780 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.14, Z:-0.75 [[ 0.9997574 -0.02081725 -0.00719563 5.13176332] [ 0.02096042 0.99957156 0.02042912 -0.13629132] [ 0.00676727 -0.02057499 0.99976541 -0.74724736] [ 0. 0. 0. 1. ]] SLAMing on 31.467719420999998 meters Centerline goodness : 0.933678 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.14, Z:-0.75 [[ 0.99970729 -0.02299951 -0.00750727 5.13345793] [ 0.02313122 0.99957117 0.01795609 -0.13768204] [ 0.00709107 -0.01812449 0.99981059 -0.748015 ] [ 0. 0. 0. 1. ]] SLAMing on 31.497719421 meters Centerline goodness : 0.934027 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.14, Z:-0.75 [[ 0.99969582 -0.02341085 -0.00775942 5.13608196] [ 0.02354274 0.99957199 0.01736587 -0.1411244 ] [ 0.00734955 -0.01754327 0.99981909 -0.74980185] [ 0. 0. 0. 1. ]] SLAMing on 31.527719421 meters Centerline goodness : 0.932113 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.14, Z:-0.75 [[ 0.99968146 -0.02391027 -0.00808001 5.13939967] [ 0.02404398 0.99956842 0.01687756 -0.14288748] [ 0.00767298 -0.01706646 0.99982492 -0.75255526] [ 0. 0. 0. 1. ]] SLAMing on 31.557719420999998 meters Centerline goodness : 0.930816 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.15, Z:-0.76 [[ 0.99962151 -0.02612915 -0.00860805 5.14284558] [ 0.02626266 0.99953051 0.01578074 -0.14786993] [ 0.00819167 -0.01600084 0.99983842 -0.75536195] [ 0. 0. 0. 1. ]] SLAMing on 31.587719421 meters Centerline goodness : 0.930661 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.15, Z:-0.76 [[ 0.99950847 -0.0301277 -0.00866841 5.14314587] [ 0.03024203 0.9994531 0.01337575 -0.1532322 ] [ 0.00826069 -0.01363133 0.99987297 -0.75502435] [ 0. 0. 0. 1. ]] SLAMing on 31.617719421 meters Centerline goodness : 0.930661 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.15, Z:-0.76 [[ 0.99950847 -0.0301277 -0.00866841 5.14314587] [ 0.03024203 0.9994531 0.01337575 -0.1532322 ] [ 0.00826069 -0.01363133 0.99987297 -0.75502435] [ 0. 0. 0. 1. ]] SLAMing on 31.647719420999998 meters Centerline goodness : 0.931272 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.16, Z:-0.76 [[ 0.99939804 -0.0335225 -0.00893264 5.14440101] [ 0.03361703 0.99937803 0.01065165 -0.15635062] [ 0.00857002 -0.01094553 0.99990337 -0.75544819] [ 0. 0. 0. 1. ]] SLAMing on 31.677719421 meters Centerline goodness : 0.930591 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.17, Z:-0.76 [[ 0.99917898 -0.04005479 -0.00608058 5.16097562] [ 0.04013739 0.99909424 0.01413129 -0.16721214] [ 0.00550905 -0.01436374 0.99988166 -0.76025427] [ 0. 0. 0. 1. ]] SLAMing on 31.707719421 meters Centerline goodness : 0.930120 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.17, Z:-0.76 [[ 0.99904834 -0.04316469 -0.00626214 5.16254021] [ 0.04323635 0.99899521 0.0117978 -0.1709281 ] [ 0.0057466 -0.01205732 0.99991079 -0.76117963] [ 0. 0. 0. 1. ]] SLAMing on 31.737719420999998 meters Centerline goodness : 0.934949 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.18, Z:-0.76 [[ 9.98985395e-01 -4.50349680e-02 -1.81936320e-04 5.17200918e+00] [ 4.50295793e-02 9.98784968e-01 2.00231013e-02 -1.76893533e-01] [-7.20024463e-04 -2.00109782e-02 9.99799501e-01 -7.62282785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.767719421 meters Centerline goodness : 0.937188 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.18, Z:-0.76 [[ 9.99002048e-01 -4.46627298e-02 -3.84764744e-04 5.17185763e+00] [ 4.46612282e-02 9.98791871e-01 2.04981333e-02 -1.77803980e-01] [-5.31202692e-04 -2.04948612e-02 9.99789817e-01 -7.61326465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.797719421 meters Centerline goodness : 0.936500 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.18, Z:-0.76 [[ 9.99040516e-01 -4.37901535e-02 -6.84828926e-04 5.17299525e+00] [ 4.37946712e-02 9.98802607e-01 2.18031983e-02 -1.81542954e-01] [-2.70756484e-04 -2.18122704e-02 9.99762047e-01 -7.61668086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.827719420999998 meters Centerline goodness : 0.936564 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.18, Z:-0.76 [[ 9.99075491e-01 -4.29809403e-02 -8.95837325e-04 5.17517648e+00] [ 4.29901883e-02 9.98814664e-01 2.28278672e-02 -1.83209259e-01] [-8.63877413e-05 -2.28452749e-02 9.99739009e-01 -7.63768937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.857719421 meters Centerline goodness : 0.933015 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.18, Z:-0.77 [[ 9.99277810e-01 -3.79457525e-02 -1.99452924e-03 5.17596873e+00] [ 3.79733781e-02 9.99144565e-01 1.63756249e-02 -1.82621945e-01] [ 1.37143764e-03 -1.64395376e-02 9.99863921e-01 -7.71456945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.887719421 meters Centerline goodness : 0.931576 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.18, Z:-0.77 [[ 9.99352584e-01 -3.58754242e-02 -2.71401855e-03 5.17969635e+00] [ 3.59189697e-02 9.99189035e-01 1.81961543e-02 -1.82789244e-01] [ 2.05902282e-03 -1.82818585e-02 9.99830753e-01 -7.74324122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.917719421 meters Centerline goodness : 0.932905 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.19, Z:-0.77 [[ 9.99436611e-01 -3.33765184e-02 -3.53119119e-03 5.18204017e+00] [ 3.34422051e-02 9.99229354e-01 2.05503381e-02 -1.86802093e-01] [ 2.84257115e-03 -2.06568511e-02 9.99782584e-01 -7.74937132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.947719421 meters Centerline goodness : 0.933302 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.19, Z:-0.77 [[ 9.99447006e-01 -3.30369722e-02 -3.77377659e-03 5.18226810e+00] [ 3.31095590e-02 9.99228131e-01 2.11399927e-02 -1.89108297e-01] [ 3.07246238e-03 -2.12532505e-02 9.99769403e-01 -7.74374395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.977719421 meters Centerline goodness : 0.938612 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.19, Z:-0.77 [[ 9.99474921e-01 -3.21291130e-02 -4.19562676e-03 5.18180283e+00] [ 3.22133194e-02 9.99242363e-01 2.18403849e-02 -1.89602169e-01] [ 3.49073580e-03 -2.19640721e-02 9.99752667e-01 -7.72503662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.007719421 meters Centerline goodness : 0.940466 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.19, Z:-0.77 [[ 9.99493820e-01 -3.15056566e-02 -4.41563269e-03 5.18213001e+00] [ 3.15956538e-02 9.99257285e-01 2.20588455e-02 -1.88942323e-01] [ 3.71737473e-03 -2.21871946e-02 9.99746923e-01 -7.72215158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.037719421 meters Centerline goodness : 0.940563 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.19, Z:-0.77 [[ 9.99681867e-01 -2.51032513e-02 2.44779050e-03 5.18136239e+00] [ 2.50669921e-02 9.99589652e-01 1.38626332e-02 -1.89348582e-01] [-2.79478322e-03 -1.37968643e-02 9.99900913e-01 -7.72041248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.067719421 meters Centerline goodness : 0.941544 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.19, Z:-0.77 [[ 9.99754704e-01 -2.20306170e-02 2.27689428e-03 5.18349876e+00] [ 2.19912353e-02 9.99628922e-01 1.60749405e-02 -1.90145109e-01] [-2.63019023e-03 -1.60209257e-02 9.99868197e-01 -7.73838887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.097719421 meters Centerline goodness : 0.940610 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.19, Z:-0.77 [[ 9.99758523e-01 -2.18732258e-02 2.11149687e-03 5.18470287e+00] [ 2.18366876e-02 9.99633440e-01 1.60045045e-02 -1.89966604e-01] [-2.46079302e-03 -1.59545316e-02 9.99869690e-01 -7.74909688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.127719421 meters Centerline goodness : 0.940220 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.19, Z:-0.78 [[ 9.99746548e-01 -2.24078706e-02 2.17425176e-03 5.18678547e+00] [ 2.23719406e-02 9.99632013e-01 1.53406206e-02 -1.90027591e-01] [-2.51720231e-03 -1.52880903e-02 9.99879962e-01 -7.77290498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.157719420999996 meters Centerline goodness : 0.942625 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.19, Z:-0.78 [[ 9.99744084e-01 -2.25325261e-02 2.01268114e-03 5.18714737e+00] [ 2.24988828e-02 9.99628059e-01 1.54124419e-02 -1.90748105e-01] [-2.35921379e-03 -1.53632146e-02 9.99879196e-01 -7.77272959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.187719421 meters Centerline goodness : 0.941649 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.19, Z:-0.77 [[ 9.99717179e-01 -2.36714372e-02 2.28589849e-03 5.18451655e+00] [ 2.36354513e-02 9.99613139e-01 1.46607473e-02 -1.93483068e-01] [-2.63205513e-03 -1.46025727e-02 9.99889913e-01 -7.74326478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.217719421 meters Centerline goodness : 0.941985 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.20, Z:-0.77 [[ 9.99711800e-01 -2.39226043e-02 2.00670898e-03 5.18484946e+00] [ 2.38899240e-02 9.99602406e-01 1.49767007e-02 -1.96005979e-01] [-2.36419281e-03 -1.49244443e-02 9.99885829e-01 -7.73907551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.247719421 meters Centerline goodness : 0.944396 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.20, Z:-0.77 [[ 9.99641473e-01 -2.67306783e-02 1.54778588e-03 5.18572256e+00] [ 2.67082114e-02 9.99557872e-01 1.30664818e-02 -2.01602431e-01] [-1.89637748e-03 -1.30204586e-02 9.99913432e-01 -7.73348088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.277719421 meters Centerline goodness : 0.944812 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.21, Z:-0.77 [[ 9.99631102e-01 -2.71279614e-02 1.31691587e-03 5.18609207e+00] [ 2.71078135e-02 9.99541935e-01 1.34568695e-02 -2.06322221e-01] [-1.68137007e-03 -1.34162066e-02 9.99908585e-01 -7.73041412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.307719421 meters Centerline goodness : 0.945128 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.21, Z:-0.77 [[ 9.99563432e-01 -2.95277360e-02 1.02862898e-03 5.18815706e+00] [ 2.95121146e-02 9.99481941e-01 1.28407297e-02 -2.14160665e-01] [-1.40725376e-03 -1.28047668e-02 9.99917025e-01 -7.74412720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.337719421 meters Centerline goodness : 0.945096 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.22, Z:-0.78 [[ 9.99587510e-01 -2.87097763e-02 7.46960974e-04 5.18925973e+00] [ 2.86958576e-02 9.99481990e-01 1.45704736e-02 -2.18420586e-01] [-1.16488908e-03 -1.45430288e-02 9.99893566e-01 -7.75003279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.367719421 meters Centerline goodness : 0.946731 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.23, Z:-0.77 [[ 9.99614337e-01 -2.77568114e-02 8.58350985e-04 5.18904309e+00] [ 2.77391030e-02 9.99481728e-01 1.63345469e-02 -2.26101471e-01] [-1.31130106e-03 -1.63044374e-02 9.99866214e-01 -7.74347241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.397719421 meters Centerline goodness : 0.946318 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.23, Z:-0.77 [[ 9.99644955e-01 -2.66394504e-02 5.50946323e-04 5.18995354e+00] [ 2.66253348e-02 9.99485330e-01 1.78931905e-02 -2.29746028e-01] [-1.02732753e-03 -1.78721684e-02 9.99839752e-01 -7.74611620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.427719421 meters Centerline goodness : 0.944276 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.24, Z:-0.78 [[ 9.99658991e-01 -2.61071002e-02 -5.67114108e-04 5.19412280e+00] [ 2.61131317e-02 9.99486171e-01 1.85875914e-02 -2.38060279e-01] [ 8.15545967e-05 -1.85960620e-02 9.99827075e-01 -7.76398963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.457719421 meters Centerline goodness : 0.942270 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.24, Z:-0.78 [[ 9.99619059e-01 -2.75713068e-02 -1.24909057e-03 5.19723928e+00] [ 2.75889051e-02 9.99467340e-01 1.74324283e-02 -2.42946821e-01] [ 7.67790403e-04 -1.74602486e-02 9.99847263e-01 -7.78222249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.487719421 meters Centerline goodness : 0.940261 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.25, Z:-0.78 [[ 9.99637133e-01 -2.66154240e-02 -4.14979816e-03 5.20898681e+00] [ 2.66772414e-02 9.99521897e-01 1.56301558e-02 -2.53232284e-01] [ 3.73181090e-03 -1.57351893e-02 9.99869230e-01 -7.81866569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.517719421 meters Centerline goodness : 0.938755 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.26, Z:-0.79 [[ 9.99644894e-01 -2.62253895e-02 -4.72386286e-03 5.21371956e+00] [ 2.63028213e-02 9.99506862e-01 1.71521237e-02 -2.59260753e-01] [ 4.27171222e-03 -1.72702838e-02 9.99841732e-01 -7.86009283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.547719421 meters Centerline goodness : 0.937848 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.26, Z:-0.79 [[ 9.99662173e-01 -2.54918706e-02 -5.06989182e-03 5.21481872e+00] [ 2.55813854e-02 9.99502406e-01 1.84535155e-02 -2.62119854e-01] [ 4.59695444e-03 -1.85769763e-02 9.99816865e-01 -7.86385229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.577719421 meters Centerline goodness : 0.940162 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.27, Z:-0.78 [[ 9.99614433e-01 -2.73129480e-02 -4.99877714e-03 5.21379265e+00] [ 2.73961471e-02 9.99473031e-01 1.74100978e-02 -2.68157849e-01] [ 4.52062184e-03 -1.75403323e-02 9.99835937e-01 -7.84574709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.607719421 meters Centerline goodness : 0.943543 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.27, Z:-0.78 [[ 9.99539207e-01 -2.99437151e-02 -4.97461517e-03 5.21390530e+00] [ 3.00144196e-02 9.99439820e-01 1.48047477e-02 -2.70695195e-01] [ 4.52851934e-03 -1.49472360e-02 9.99878029e-01 -7.84140262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.637719421 meters Centerline goodness : 0.944847 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.28, Z:-0.78 [[ 9.99462661e-01 -3.24157664e-02 -4.85865413e-03 5.21201145e+00] [ 3.24786581e-02 9.99381542e-01 1.34785156e-02 -2.78860627e-01] [ 4.41873284e-03 -1.36290757e-02 9.99897356e-01 -7.81165847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.667719421 meters Centerline goodness : 0.947922 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.29, Z:-0.78 [[ 0.9993323 -0.03596811 -0.00642187 5.21911577] [ 0.03610618 0.99908642 0.02286202 -0.28795045] [ 0.0055937 -0.02307862 0.999718 -0.77697772] [ 0. 0. 0. 1. ]] SLAMing on 32.697719421 meters Centerline goodness : 0.946572 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.29, Z:-0.78 [[ 0.99922925 -0.03867337 -0.00672887 5.22132579] [ 0.03880563 0.99903066 0.02078143 -0.29037029] [ 0.00591866 -0.02102653 0.9997614 -0.77840517] [ 0. 0. 0. 1. ]] SLAMing on 32.727719420999996 meters Centerline goodness : 0.946804 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.29, Z:-0.78 [[ 0.99912299 -0.04125126 -0.00718275 5.2243527 ] [ 0.04137987 0.99896688 0.01878524 -0.29251022] [ 0.00640042 -0.01906599 0.99979774 -0.78055029] [ 0. 0. 0. 1. ]] SLAMing on 32.757719421 meters Centerline goodness : 0.944240 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.30, Z:-0.78 [[ 0.99881489 -0.04814273 -0.00714835 5.22671116] [ 0.04823729 0.99874188 0.01370496 -0.29795377] [ 0.00647956 -0.01403353 0.99988053 -0.78236212] [ 0. 0. 0. 1. ]] SLAMing on 32.787719421 meters Centerline goodness : 0.943988 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.31, Z:-0.78 [[ 9.98415888e-01 -5.62088990e-02 -2.50475728e-03 5.24025897e+00] [ 5.62380752e-02 9.98323277e-01 1.37081205e-02 -3.07601971e-01] [ 1.73003913e-03 -1.38272680e-02 9.99902902e-01 -7.83736631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.817719421 meters Centerline goodness : 0.944732 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.31, Z:-0.78 [[ 9.98207190e-01 -5.98025965e-02 -2.46094256e-03 5.24022294e+00] [ 5.98264536e-02 9.98146500e-01 1.11516878e-02 -3.12175344e-01] [ 1.78948132e-03 -1.12789245e-02 9.99934790e-01 -7.82795040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.847719421 meters Centerline goodness : 0.948639 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.32, Z:-0.78 [[ 9.97991835e-01 -6.32984676e-02 -2.36677871e-03 5.23977796e+00] [ 6.33162588e-02 9.97958134e-01 8.40327669e-03 -3.15506183e-01] [ 1.83003153e-03 -8.53625709e-03 9.99961891e-01 -7.81650873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.877719421 meters Centerline goodness : 0.952938 Centerline is valid? [False, True] Translation: X:5.24, Y:-0.32, Z:-0.78 [[ 9.97734438e-01 -6.72451793e-02 -2.01924217e-03 5.23862229e+00] [ 6.72561499e-02 9.97717865e-01 5.97257991e-03 -3.19216164e-01] [ 1.61300678e-03 -6.09485512e-03 9.99980125e-01 -7.79946337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.907719420999996 meters Centerline goodness : 0.952857 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.31, Z:-0.78 [[ 9.97636678e-01 -6.86966512e-02 -1.35213806e-03 5.26676460e+00] [ 6.86965707e-02 9.97637594e-01 -1.05966631e-04 -3.14869582e-01] [ 1.35622332e-03 1.28289503e-05 9.99999080e-01 -7.80178557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.937719421 meters Centerline goodness : 0.953408 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.31, Z:-0.78 [[ 9.97747456e-01 -6.70655986e-02 -1.49011489e-03 5.29357925e+00] [ 6.70655070e-02 9.97748568e-01 -1.11383628e-04 -3.12449127e-01] [ 1.49423000e-03 1.11974213e-05 9.99998884e-01 -7.81142074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.967719421 meters Centerline goodness : 0.952974 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.31, Z:-0.78 [[ 9.98153067e-01 -6.07213608e-02 -1.83594268e-03 5.32109663e+00] [ 6.07212028e-02 9.98154755e-01 -1.41702168e-04 -3.08638812e-01] [ 1.84115927e-03 2.99598060e-05 9.99998305e-01 -7.82060063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.997719421 meters Centerline goodness : 0.951091 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.30, Z:-0.78 [[ 9.98309954e-01 -5.80878529e-02 -1.74251710e-03 5.34870610e+00] [ 5.80877048e-02 9.98311475e-01 -1.35533949e-04 -3.04556519e-01] [ 1.74744769e-03 3.40860720e-05 9.99998473e-01 -7.83897808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.027719421 meters Centerline goodness : 0.949453 Centerline is valid? [True, False] Translation: X:5.35, Y:-0.30, Z:-0.79 [[ 9.98650019e-01 -5.18880931e-02 -2.40108368e-03 5.35134291e+00] [ 5.18996414e-02 9.98639652e-01 5.02716382e-03 -3.00124875e-01] [ 2.13696743e-03 -5.14499263e-03 9.99984481e-01 -7.86512144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.057719421 meters Centerline goodness : 0.949297 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-0.79 [[ 9.98942437e-01 -4.58673866e-02 -3.19222873e-03 5.35397937e+00] [ 4.58967180e-02 9.98897942e-01 9.81797528e-03 -2.95743661e-01] [ 2.73838584e-03 -9.95410498e-03 9.99946707e-01 -7.88729135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.087719421 meters Centerline goodness : 0.947785 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.29, Z:-0.79 [[ 9.99080778e-01 -4.26972251e-02 -3.81382010e-03 5.35590633e+00] [ 4.27413737e-02 9.99009699e-01 1.23610756e-02 -2.93610358e-01] [ 3.28225964e-03 -1.25127209e-02 9.99916326e-01 -7.90042284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.117719421 meters Centerline goodness : 0.946698 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.29, Z:-0.79 [[ 9.99111081e-01 -4.19561657e-02 -4.09009275e-03 5.35683015e+00] [ 4.20025151e-02 9.99045502e-01 1.19947557e-02 -2.91091706e-01] [ 3.58293481e-03 -1.21558875e-02 9.99919695e-01 -7.90815926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.147719421 meters Centerline goodness : 0.945557 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-0.79 [[ 9.99372115e-01 -3.48009807e-02 -6.65341963e-03 5.34038838e+00] [ 3.48072317e-02 9.99393703e-01 8.26011649e-04 -2.89503110e-01] [ 6.62063967e-03 -1.05708013e-03 9.99977525e-01 -7.91326890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.177719421 meters Centerline goodness : 0.947959 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.29, Z:-0.79 [[ 9.99467686e-01 -3.26228497e-02 -3.07068648e-04 5.34990573e+00] [ 3.26241028e-02 9.99385236e-01 1.28381217e-02 -2.91730531e-01] [-1.11936240e-04 -1.28413056e-02 9.99917541e-01 -7.93879364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.207719421 meters Centerline goodness : 0.951740 Centerline is valid? [False, True] Translation: X:5.35, Y:-0.29, Z:-0.79 [[ 9.99472129e-01 -3.24873197e-02 -1.92282785e-04 5.34878004e+00] [ 3.24870679e-02 9.99387299e-01 1.30237271e-02 -2.92090777e-01] [-2.30941013e-04 -1.30230989e-02 9.99915169e-01 -7.92477634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.237719421 meters Centerline goodness : 0.949690 Centerline is valid? [True, False] Translation: X:5.35, Y:-0.30, Z:-0.79 [[ 9.99490638e-01 -3.19130844e-02 -1.38593517e-04 5.34811559e+00] [ 3.19118523e-02 9.99390634e-01 1.41419668e-02 -2.95118092e-01] [-3.12804716e-04 -1.41391862e-02 9.99899988e-01 -7.91393088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.267719421 meters Centerline goodness : 0.949828 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-0.79 [[ 9.99494463e-01 -3.17912754e-02 -3.64112756e-04 5.34927931e+00] [ 3.17931839e-02 9.99385195e-01 1.47792410e-02 -2.97739911e-01] [-1.05962025e-04 -1.47833459e-02 9.99890715e-01 -7.92135396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.297719421 meters Centerline goodness : 0.948544 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-0.79 [[ 9.99414264e-01 -3.42188804e-02 -4.43826768e-04 5.35159157e+00] [ 3.42217565e-02 9.99334717e-01 1.26093249e-02 -2.99655987e-01] [ 1.20545149e-05 -1.26171277e-02 9.99920401e-01 -7.94483359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.327719421 meters Centerline goodness : 0.949204 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.30, Z:-0.79 [[ 9.99335890e-01 -3.62757462e-02 3.44241035e-03 5.36584089e+00] [ 3.62236943e-02 9.99243680e-01 1.41390378e-02 -3.04218670e-01] [-3.95271093e-03 -1.40049511e-02 9.99894113e-01 -7.92455470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.357719421 meters Centerline goodness : 0.950774 Centerline is valid? [False, True] Translation: X:5.37, Y:-0.31, Z:-0.79 [[ 9.99205098e-01 -3.97151745e-02 3.44628403e-03 5.36558669e+00] [ 3.96736890e-02 9.99147996e-01 1.13701490e-02 -3.07519260e-01] [-3.89491524e-03 -1.12243840e-02 9.99929419e-01 -7.91516908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.387719421 meters Centerline goodness : 0.949949 Centerline is valid? [True, False] Translation: X:5.37, Y:-0.31, Z:-0.79 [[ 9.99050227e-01 -4.34298549e-02 3.53440984e-03 5.36579130e+00] [ 4.33995536e-02 9.99023810e-01 8.24047782e-03 -3.10251851e-01] [-3.88884234e-03 -8.07925942e-03 9.99959800e-01 -7.91417607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.417719421 meters Centerline goodness : 0.949528 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.31, Z:-0.79 [[ 9.98697321e-01 -5.09090537e-02 3.45385371e-03 5.36903817e+00] [ 5.09024381e-02 9.98701674e-01 1.97707069e-03 -3.12509825e-01] [-3.55002028e-03 -1.79868563e-03 9.99992081e-01 -7.94417744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.447719421 meters Centerline goodness : 0.948377 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.31, Z:-0.80 [[ 9.98244853e-01 -5.91222001e-02 3.43205428e-03 5.37183459e+00] [ 5.91390582e-02 9.98237042e-01 -5.03791442e-03 -3.14298656e-01] [-3.12815113e-03 5.23204060e-03 9.99981420e-01 -7.96833255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.477719420999996 meters Centerline goodness : 0.945314 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.32, Z:-0.80 [[ 9.97992152e-01 -6.32405874e-02 3.50616396e-03 5.37235036e+00] [ 6.32692261e-02 9.97957978e-01 -8.76809533e-03 -3.15328786e-01] [-2.94450479e-03 8.97232261e-03 9.99955413e-01 -7.96981021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.507719421 meters Centerline goodness : 0.947045 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.32, Z:-0.80 [[ 9.97651235e-01 -6.84156813e-02 3.36262094e-03 5.37286928e+00] [ 6.84548551e-02 9.97564352e-01 -1.33901303e-02 -3.15929440e-01] [-2.43833589e-03 1.35888678e-02 9.99904694e-01 -7.96405900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.537719421 meters Centerline goodness : 0.947045 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.32, Z:-0.80 [[ 9.97648214e-01 -6.84573177e-02 3.41112362e-03 5.37281202e+00] [ 6.84972106e-02 9.97561101e-01 -1.34157155e-02 -3.16041329e-01] [-2.48440034e-03 1.36178170e-02 9.99904187e-01 -7.96306443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.567719421 meters Centerline goodness : 0.946653 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.31, Z:-0.80 [[ 9.97593263e-01 -6.92612110e-02 3.25060545e-03 5.37288711e+00] [ 6.93010864e-02 9.97491890e-01 -1.43974956e-02 -3.14852437e-01] [-2.24526460e-03 1.45881151e-02 9.99891067e-01 -7.95680484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.597719421 meters Centerline goodness : 0.948578 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.31, Z:-0.79 [[ 9.97885015e-01 -6.47880195e-02 5.29233915e-03 5.38587442e+00] [ 6.49158087e-02 9.97460873e-01 -2.92872703e-02 -3.07860070e-01] [-3.38143700e-03 2.95688846e-02 9.99557025e-01 -7.91126396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.627719421 meters Centerline goodness : 0.951964 Centerline is valid? [False, True] Translation: X:5.39, Y:-0.31, Z:-0.79 [[ 9.98368065e-01 -5.69139993e-02 4.69084510e-03 5.38631145e+00] [ 5.70029743e-02 9.98137373e-01 -2.17358323e-02 -3.06014042e-01] [-3.44503466e-03 2.19677529e-02 9.99752744e-01 -7.91269304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.657719420999996 meters Centerline goodness : 0.948854 Centerline is valid? [True, False] Translation: X:5.39, Y:-0.30, Z:-0.79 [[ 9.98593208e-01 -5.28529824e-02 4.26231266e-03 5.38763467e+00] [ 5.29210225e-02 9.98439130e-01 -1.78512984e-02 -3.04884156e-01] [-3.31216538e-03 1.80517513e-02 9.99831568e-01 -7.92398048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.687719421 meters Centerline goodness : 0.950248 Centerline is valid? [False, True] Translation: X:5.39, Y:-0.31, Z:-0.79 [[ 9.98965220e-01 -4.53227957e-02 3.78584403e-03 5.38822441e+00] [ 4.53581042e-02 9.98922436e-01 -9.82901652e-03 -3.05852923e-01] [-3.33628603e-03 9.99056436e-03 9.99944527e-01 -7.92862183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.717719421 meters Centerline goodness : 0.950527 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.31, Z:-0.79 [[ 9.99026980e-01 -4.37569414e-02 5.51575431e-03 5.41832807e+00] [ 4.37557604e-02 9.99042202e-01 3.34663652e-04 -3.08823625e-01] [-5.52511519e-03 -9.29919939e-05 9.99984732e-01 -7.94677485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.747719421 meters Centerline goodness : 0.952985 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.31, Z:-0.79 [[ 9.99240133e-01 -3.84127864e-02 6.60409933e-03 5.44894865e+00] [ 3.84109663e-02 9.99261946e-01 4.02259398e-04 -3.09415380e-01] [-6.61467705e-03 -1.48283897e-04 9.99978112e-01 -7.94175341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.777719421 meters Centerline goodness : 0.952528 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.31, Z:-0.79 [[ 9.99389084e-01 -3.46607294e-02 4.48251353e-03 5.47879260e+00] [ 3.46598504e-02 9.99399129e-01 2.73641016e-04 -3.06371393e-01] [-4.48930472e-03 -1.18110596e-04 9.99989916e-01 -7.94632015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.807719421 meters Centerline goodness : 0.953774 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.30, Z:-0.80 [[ 9.99525515e-01 -3.07596830e-02 1.60826381e-03 5.50960070e+00] [ 3.07595652e-02 9.99526808e-01 9.79257778e-05 -3.02439802e-01] [-1.61051496e-03 -4.84098180e-05 9.99998702e-01 -7.95247202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.837719421 meters Centerline goodness : 0.951034 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.30, Z:-0.80 [[ 9.99740092e-01 -2.27493768e-02 1.48832189e-03 5.53862515e+00] [ 2.27492690e-02 9.99741198e-01 8.92884245e-05 -2.97022876e-01] [-1.48996797e-03 -5.54069826e-05 9.99998888e-01 -7.96833888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.867719421 meters Centerline goodness : 0.950254 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.29, Z:-0.80 [[ 9.99860105e-01 -1.65213017e-02 2.61091163e-03 5.56800263e+00] [ 1.65209442e-02 9.99863507e-01 1.58452788e-04 -2.94357786e-01] [-2.61317310e-03 -1.15295896e-04 9.99996579e-01 -8.00047554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.897719421 meters Centerline goodness : 0.949144 Centerline is valid? [True, False] Translation: X:5.57, Y:-0.30, Z:-0.80 [[ 9.99866256e-01 -1.61479069e-02 2.59124306e-03 5.56828193e+00] [ 1.61471679e-02 9.99869579e-01 3.05845799e-04 -2.95174349e-01] [-2.59584388e-03 -2.63963657e-04 9.99996596e-01 -8.00344394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.927719421 meters Centerline goodness : 0.948068 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.30, Z:-0.80 [[ 9.99878594e-01 -1.53616708e-02 2.61091928e-03 5.56844303e+00] [ 1.53578289e-02 9.99880959e-01 1.48522412e-03 -2.99153840e-01] [-2.63342400e-03 -1.44494576e-03 9.99995489e-01 -8.00377824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.957719421 meters Centerline goodness : 0.950769 Centerline is valid? [False, True] Translation: X:5.57, Y:-0.30, Z:-0.80 [[ 9.99880148e-01 -1.52929360e-02 2.41178252e-03 5.56910504e+00] [ 1.52884377e-02 9.99881371e-01 1.87268106e-03 -2.99813168e-01] [-2.44013521e-03 -1.83558423e-03 9.99995338e-01 -8.00618380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.987719421 meters Centerline goodness : 0.948248 Centerline is valid? [True, False] Translation: X:5.57, Y:-0.30, Z:-0.80 [[ 9.99868564e-01 -1.60734536e-02 2.12095583e-03 5.57068291e+00] [ 1.60697532e-02 9.99869341e-01 1.75031016e-03 -2.98536560e-01] [-2.14881224e-03 -1.71599687e-03 9.99996219e-01 -8.01899483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.017719421 meters Centerline goodness : 0.946674 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.30, Z:-0.80 [[ 9.99865492e-01 -1.62987331e-02 1.82996831e-03 5.57198029e+00] [ 1.62948769e-02 9.99865019e-01 2.10277407e-03 -2.99666511e-01] [-1.86399385e-03 -2.07267212e-03 9.99996115e-01 -8.02721984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.047719421 meters Centerline goodness : 0.946204 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.30, Z:-0.80 [[ 9.99712595e-01 -2.38951584e-02 1.93622521e-03 5.57277888e+00] [ 2.39040548e-02 9.99703163e-01 -4.70979124e-03 -3.03268471e-01] [-1.82310926e-03 4.75472126e-03 9.99987034e-01 -8.03310498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.077719421 meters Centerline goodness : 0.947789 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.31, Z:-0.80 [[ 9.99483985e-01 -3.20586822e-02 2.00126368e-03 5.57267312e+00] [ 3.20801873e-02 9.99415129e-01 -1.18432468e-02 -3.07553216e-01] [-1.62041431e-03 1.19013364e-02 9.99927864e-01 -8.02588058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.107719421 meters Centerline goodness : 0.948812 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.31, Z:-0.80 [[ 9.99461278e-01 -3.27741544e-02 1.73443165e-03 5.57352093e+00] [ 3.27921436e-02 9.99394562e-01 -1.16269128e-02 -3.09523687e-01] [-1.35231933e-03 1.16775249e-02 9.99930901e-01 -8.02917448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.137719421 meters Centerline goodness : 0.947333 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.31, Z:-0.80 [[ 9.99284277e-01 -3.77955361e-02 1.55932844e-03 5.57432919e+00] [ 3.78154942e-02 9.99159653e-01 -1.58106474e-02 -3.10261955e-01] [-9.60446167e-04 1.58582982e-02 9.99873788e-01 -8.03074911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.167719421 meters Centerline goodness : 0.947606 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.31, Z:-0.80 [[ 9.99244179e-01 -3.88450639e-02 1.46001100e-03 5.57461870e+00] [ 3.88632564e-02 9.99120563e-01 -1.57400346e-02 -3.12519314e-01] [-8.47304357e-04 1.57848788e-02 9.99875052e-01 -8.03094522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.197719421 meters Centerline goodness : 0.947954 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.32, Z:-0.80 [[ 9.99047838e-01 -4.36019175e-02 1.51312944e-03 5.57392045e+00] [ 4.36231010e-02 9.98859315e-01 -1.94188999e-02 -3.15529536e-01] [-6.64702168e-04 1.94664174e-02 9.99810290e-01 -8.01633822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.227719420999996 meters Centerline goodness : 0.948692 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.31, Z:-0.80 [[ 9.98882156e-01 -4.72459023e-02 1.50461590e-03 5.57393462e+00] [ 4.72681505e-02 9.98610297e-01 -2.33065694e-02 -3.14873265e-01] [-4.01385032e-04 2.33516367e-02 9.99727233e-01 -8.01056812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.257719421 meters Centerline goodness : 0.951968 Centerline is valid? [False, True] Translation: X:5.57, Y:-0.31, Z:-0.80 [[ 9.98810730e-01 -4.87346304e-02 1.43546424e-03 5.57389616e+00] [ 4.87551732e-02 9.98510821e-01 -2.44759624e-02 -3.12231903e-01] [-2.40499602e-04 2.45168402e-02 9.99699388e-01 -8.00611885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.287719421 meters Centerline goodness : 0.952162 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.32, Z:-0.80 [[ 9.98627942e-01 -5.23043419e-02 2.54731894e-03 5.60209701e+00] [ 5.23042823e-02 9.98631190e-01 9.00644224e-05 -3.15935543e-01] [-2.54854291e-03 4.32948401e-05 9.99996752e-01 -8.01185653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.317719421 meters Centerline goodness : 0.949427 Centerline is valid? [True, False] Translation: X:5.60, Y:-0.31, Z:-0.80 [[ 9.98443045e-01 -5.57216843e-02 2.56508860e-03 5.60264454e+00] [ 5.57325155e-02 9.98436195e-01 -4.36477773e-03 -3.12864508e-01] [-2.31786453e-03 4.50094080e-03 9.99987184e-01 -8.01374372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.347719421 meters Centerline goodness : 0.949664 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.30, Z:-0.80 [[ 9.98728717e-01 -5.03851043e-02 1.51362334e-03 5.62108145e+00] [ 5.04051621e-02 9.98534636e-01 -1.96952048e-02 -3.03447526e-01] [-5.19060385e-04 1.97464610e-02 9.99804885e-01 -8.01752799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.377719421 meters Centerline goodness : 0.949929 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.30, Z:-0.80 [[ 9.99071581e-01 -4.30653694e-02 1.16199804e-03 5.62122300e+00] [ 4.30766686e-02 9.98991055e-01 -1.26993373e-02 -3.00502685e-01] [-6.13923997e-04 1.27376020e-02 9.99918685e-01 -8.01786401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.407719420999996 meters Centerline goodness : 0.952457 Centerline is valid? [False, True] Translation: X:5.62, Y:-0.29, Z:-0.80 [[ 9.99483214e-01 -3.21314148e-02 9.36876160e-04 5.61992826e+00] [ 3.21349626e-02 9.99475309e-01 -4.05603080e-03 -2.91293724e-01] [-8.06058582e-04 4.08404118e-03 9.99991335e-01 -8.00318658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.437719421 meters Centerline goodness : 0.951568 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.29, Z:-0.80 [[ 9.99607047e-01 -2.79309660e-02 2.36912043e-03 5.65026623e+00] [ 2.79308281e-02 9.99609854e-01 9.12755343e-05 -2.88134006e-01] [-2.37074554e-03 -2.50681719e-05 9.99997189e-01 -8.02010531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.467719421 meters Centerline goodness : 0.952293 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.28, Z:-0.80 [[ 9.99679222e-01 -2.49114905e-02 4.56842006e-03 5.68030979e+00] [ 2.49109462e-02 9.99689659e-01 1.76008352e-04 -2.84712305e-01] [-4.57138692e-03 -6.21482256e-05 9.99989549e-01 -8.02526884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.497719421 meters Centerline goodness : 0.956371 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.28, Z:-0.80 [[ 9.99665358e-01 -2.54695267e-02 4.52499595e-03 5.71035150e+00] [ 2.54689966e-02 9.99675597e-01 1.74740979e-04 -2.81372099e-01] [-4.52797860e-03 -5.94353966e-05 9.99989747e-01 -8.04038771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.527719421 meters Centerline goodness : 0.954572 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.27, Z:-0.81 [[ 9.99627789e-01 -2.71768329e-02 2.38822401e-03 5.74097220e+00] [ 2.71766885e-02 9.99630641e-01 9.28884274e-05 -2.72899401e-01] [-2.38986631e-03 -2.79498334e-05 9.99997144e-01 -8.06213394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.557719421 meters Centerline goodness : 0.953406 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.27, Z:-0.81 [[ 9.99671811e-01 -2.56176879e-02 6.25983223e-05 5.77178631e+00] [ 2.56176878e-02 9.99671813e-01 2.40771186e-06 -2.68481075e-01] [-6.26394584e-05 -8.03297397e-07 9.99999998e-01 -8.07353127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.587719421 meters Centerline goodness : 0.949240 Centerline is valid? [True, False] Translation: X:5.77, Y:-0.27, Z:-0.81 [[ 9.99812090e-01 -1.75190602e-02 -8.29868172e-03 5.76755661e+00] [ 1.75034948e-02 9.99844911e-01 -1.94458493e-03 -2.66772874e-01] [ 8.33146199e-03 1.79896359e-03 9.99963675e-01 -8.07472629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.617719421 meters Centerline goodness : 0.946077 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.27, Z:-0.81 [[ 9.99876511e-01 -1.30861975e-02 -8.70135630e-03 5.76936537e+00] [ 1.31052339e-02 9.99911845e-01 2.13434191e-03 -2.66649767e-01] [ 8.67265881e-03 -2.24811165e-03 9.99959865e-01 -8.08873269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.647719421 meters Centerline goodness : 0.946699 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.26, Z:-0.81 [[ 0.99993706 -0.00733517 -0.00848964 5.76886703] [ 0.00739005 0.99995188 0.00645125 -0.26367863] [ 0.00844191 -0.00651359 0.99994315 -0.80870627] [ 0. 0. 0. 1. ]] SLAMing on 34.677719421 meters Centerline goodness : 0.949707 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.26, Z:-0.81 [[ 0.99994342 -0.00647748 -0.00843842 5.76881426] [ 0.0065312 0.99995848 0.00635443 -0.26124469] [ 0.00839691 -0.00640918 0.99994421 -0.80861071] [ 0. 0. 0. 1. ]] SLAMing on 34.707719421 meters Centerline goodness : 0.950067 Centerline is valid? [False, True] Translation: X:5.77, Y:-0.26, Z:-0.81 [[ 9.99959511e-01 -2.50484177e-03 -8.64300669e-03 5.76985828e+00] [ 2.59177871e-03 9.99946016e-01 1.00621496e-02 -2.59459410e-01] [ 8.61733602e-03 -1.00841429e-02 9.99912022e-01 -8.09444903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.737719421 meters Centerline goodness : 0.948105 Centerline is valid? [True, False] Translation: X:5.77, Y:-0.26, Z:-0.81 [[ 9.99944570e-01 -5.29968511e-03 -9.09785875e-03 5.77281384e+00] [ 5.36925780e-03 9.99956401e-01 7.63983409e-03 -2.61652785e-01] [ 9.05697338e-03 -7.68825936e-03 9.99929428e-01 -8.11781917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.767719421 meters Centerline goodness : 0.945859 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.26, Z:-0.81 [[ 9.99919782e-01 -8.59099448e-03 -9.30723374e-03 5.77406461e+00] [ 8.63628978e-03 9.99951006e-01 4.83746507e-03 -2.64655555e-01] [ 9.26521910e-03 -4.91745699e-03 9.99944986e-01 -8.12620987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.797719421 meters Centerline goodness : 0.947398 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.27, Z:-0.82 [[ 9.99871948e-01 -1.54144535e-02 -4.29916111e-03 5.78468934e+00] [ 1.54538057e-02 9.99837558e-01 9.27559642e-03 -2.72623130e-01] [ 4.15548450e-03 -9.34084706e-03 9.99947739e-01 -8.15804703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.827719421 meters Centerline goodness : 0.949095 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.28, Z:-0.82 [[ 9.99829643e-01 -1.84341469e-02 9.31433710e-04 5.79548003e+00] [ 1.84160812e-02 9.99691595e-01 1.66602058e-02 -2.75835332e-01] [-1.23826313e-03 -1.66402143e-02 9.99860775e-01 -8.19413560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.857719421 meters Centerline goodness : 0.949236 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.28, Z:-0.82 [[ 9.99803911e-01 -1.97928094e-02 6.20028956e-04 5.79621935e+00] [ 1.97795335e-02 9.99661938e-01 1.68754256e-02 -2.77085067e-01] [-9.53831430e-04 -1.68598526e-02 9.99857408e-01 -8.19057811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.887719421 meters Centerline goodness : 0.947380 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.28, Z:-0.82 [[ 9.99751765e-01 -2.22802164e-02 -5.57194947e-06 5.79840466e+00] [ 2.22780652e-02 9.99651697e-01 1.41482075e-02 -2.77130523e-01] [-3.09655116e-04 -1.41448195e-02 9.99899909e-01 -8.20120744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.917719421 meters Centerline goodness : 0.945980 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.28, Z:-0.82 [[ 9.99664713e-01 -2.58880444e-02 -5.20672515e-04 5.79983199e+00] [ 2.58922623e-02 9.99601578e-01 1.12373001e-02 -2.80761721e-01] [ 2.29553344e-04 -1.12470138e-02 9.99936724e-01 -8.20216009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.947719421 meters Centerline goodness : 0.945289 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.28, Z:-0.82 [[ 9.99661430e-01 -2.60012420e-02 -9.80643689e-04 5.80127407e+00] [ 2.60111553e-02 9.99589460e-01 1.20137752e-02 -2.83585783e-01] [ 6.67868019e-04 -1.20352154e-02 9.99927351e-01 -8.20628020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.977719420999996 meters Centerline goodness : 0.945061 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.28, Z:-0.82 [[ 9.99598148e-01 -2.83148777e-02 -1.34531548e-03 5.80329406e+00] [ 2.83267025e-02 9.99550860e-01 9.78138047e-03 -2.84294480e-01] [ 1.06775266e-03 -9.81555816e-03 9.99951256e-01 -8.21868651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.007719421 meters Centerline goodness : 0.946943 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.28, Z:-0.82 [[ 9.99582123e-01 -2.88716459e-02 -1.41709058e-03 5.80255785e+00] [ 2.88835619e-02 9.99539825e-01 9.26701964e-03 -2.82649748e-01] [ 1.14888436e-03 -9.30407778e-03 9.99956056e-01 -8.20716683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.037719421 meters Centerline goodness : 0.946291 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.28, Z:-0.82 [[ 9.99586119e-01 -2.87138937e-02 -1.76150343e-03 5.80342819e+00] [ 2.87294766e-02 9.99541395e-01 9.57172029e-03 -2.83561027e-01] [ 1.48585423e-03 -9.61836581e-03 9.99952639e-01 -8.20810393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.067719421 meters Centerline goodness : 0.945686 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.29, Z:-0.82 [[ 9.99593300e-01 -2.84541398e-02 -1.89633880e-03 5.80323351e+00] [ 2.84732576e-02 9.99534466e-01 1.09601206e-02 -2.88281735e-01] [ 1.58359518e-03 -1.10096581e-02 9.99938138e-01 -8.19614652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.097719421 meters Centerline goodness : 0.947551 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.29, Z:-0.82 [[ 9.99599584e-01 -2.82323432e-02 -1.89913572e-03 5.80279060e+00] [ 2.82520926e-02 9.99536604e-01 1.13312332e-02 -2.89905352e-01] [ 1.57834840e-03 -1.13803505e-02 9.99933996e-01 -8.18894812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.127719421 meters Centerline goodness : 0.948973 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.29, Z:-0.82 [[ 9.99618039e-01 -2.75743813e-02 -1.85189323e-03 5.80169039e+00] [ 2.75940616e-02 9.99551793e-01 1.16094879e-02 -2.89805867e-01] [ 1.53093876e-03 -1.16561548e-02 9.99930893e-01 -8.17480760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.157719420999996 meters Centerline goodness : 0.949001 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.29, Z:-0.82 [[ 9.99631797e-01 -2.70624851e-02 -1.97297696e-03 5.80150040e+00] [ 2.70841372e-02 9.99561993e-01 1.19277530e-02 -2.89633699e-01] [ 1.64931815e-03 -1.19767976e-02 9.99926915e-01 -8.16883821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.187719421 meters Centerline goodness : 0.949794 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.29, Z:-0.82 [[ 9.99690266e-01 -2.47355021e-02 -2.74342320e-03 5.80410103e+00] [ 2.47720274e-02 9.99592381e-01 1.41921882e-02 -2.91079810e-01] [ 2.39125403e-03 -1.42557526e-02 9.99895522e-01 -8.18204777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.217719421 meters Centerline goodness : 0.948718 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.29, Z:-0.82 [[ 9.99698227e-01 -2.43991217e-02 -2.85282553e-03 5.80440355e+00] [ 2.44381505e-02 9.99595362e-01 1.45563813e-02 -2.91972115e-01] [ 2.49650825e-03 -1.46217063e-02 9.99889981e-01 -8.18184295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.247719421 meters Centerline goodness : 0.950890 Centerline is valid? [False, True] Translation: X:5.80, Y:-0.29, Z:-0.82 [[ 9.99700389e-01 -2.43121121e-02 -2.83780657e-03 5.80403706e+00] [ 2.43516669e-02 9.99593102e-01 1.48535166e-02 -2.92939491e-01] [ 2.47553152e-03 -1.49181716e-02 9.99885653e-01 -8.17694626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.277719421 meters Centerline goodness : 0.951326 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.29, Z:-0.82 [[ 9.99736997e-01 -2.28564380e-02 1.87612919e-03 5.83371077e+00] [ 2.28563347e-02 9.99738757e-01 7.64920990e-05 -2.87144579e-01] [-1.87738740e-03 -3.35905448e-05 9.99998237e-01 -8.17859317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.307719421 meters Centerline goodness : 0.954214 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.29, Z:-0.82 [[ 9.99775666e-01 -2.08297843e-02 3.83894069e-03 5.86376078e+00] [ 2.08293331e-02 9.99783034e-01 1.57474654e-04 -2.86048396e-01] [-3.84138793e-03 -7.74767524e-05 9.99992619e-01 -8.18318104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.337719420999996 meters Centerline goodness : 0.953477 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.29, Z:-0.82 [[ 9.99918720e-01 -1.25153441e-02 2.43295635e-03 5.89448159e+00] [ 1.25151373e-02 9.99921678e-01 1.00209428e-04 -2.85669397e-01] [-2.43401995e-03 -6.97525006e-05 9.99997035e-01 -8.17362501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.367719421 meters Centerline goodness : 0.950452 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.28, Z:-0.82 [[ 9.99972708e-01 -7.29882305e-03 1.14493715e-03 5.92625748e+00] [ 7.29877309e-03 9.99973362e-01 4.78025881e-05 -2.83931764e-01] [-1.14525555e-03 -3.94446470e-05 9.99999343e-01 -8.17868811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.397719421 meters Centerline goodness : 0.950735 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.28, Z:-0.82 [[ 9.99993355e-01 4.63017112e-04 -3.61589117e-03 5.95662983e+00] [-4.63555654e-04 9.99999882e-01 -1.48101013e-04 -2.77518230e-01] [ 3.61582217e-03 1.49776195e-04 9.99993452e-01 -8.21032960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.427719421 meters Centerline goodness : 0.950735 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.28, Z:-0.82 [[ 9.99993374e-01 4.22089858e-04 -3.61584809e-03 5.98675898e+00] [-4.22631928e-04 9.99999900e-01 -1.49152378e-04 -2.76227708e-01] [ 3.61578477e-03 1.50679562e-04 9.99993452e-01 -8.21699164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.457719421 meters Centerline goodness : 0.947090 Centerline is valid? [True, False] Translation: X:5.99, Y:-0.27, Z:-0.82 [[ 9.99986665e-01 3.22294280e-03 -4.03506564e-03 5.98961042e+00] [-3.21324831e-03 9.99991941e-01 2.40674130e-03 -2.74136348e-01] [ 4.04278991e-03 -2.39374354e-03 9.99988963e-01 -8.24054438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.487719421 meters Centerline goodness : 0.946414 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.27, Z:-0.82 [[ 9.99986250e-01 3.15313911e-03 -4.19006326e-03 5.98924103e+00] [-3.14428403e-03 9.99992813e-01 2.11826209e-03 -2.73704652e-01] [ 4.19671232e-03 -2.10505822e-03 9.99988978e-01 -8.23184670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.517719421 meters Centerline goodness : 0.947744 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.28, Z:-0.82 [[ 9.99995839e-01 -2.88410006e-03 -6.71455761e-05 5.99790403e+00] [ 2.88450720e-03 9.99970160e-01 7.16649803e-03 -2.81160352e-01] [ 4.64746751e-05 -7.16666189e-03 9.99974318e-01 -8.24615102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.547719421 meters Centerline goodness : 0.945650 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.28, Z:-0.83 [[ 9.99984266e-01 -5.58749751e-03 -4.97778374e-04 6.00091722e+00] [ 5.58985938e-03 9.99972484e-01 4.87700682e-03 -2.83070557e-01] [ 4.70514413e-04 -4.87971260e-03 9.99987983e-01 -8.27195031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.577719421 meters Centerline goodness : 0.944850 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.28, Z:-0.83 [[ 9.99907574e-01 -1.24728456e-02 -5.41025899e-03 6.01484078e+00] [ 1.25048012e-02 9.99904326e-01 5.91343372e-03 -2.81677833e-01] [ 5.33598403e-03 -5.98054138e-03 9.99967880e-01 -8.29974594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.607719421 meters Centerline goodness : 0.942749 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.28, Z:-0.83 [[ 9.99899509e-01 -1.30612576e-02 -5.51134336e-03 6.01505427e+00] [ 1.30955968e-02 9.99894771e-01 6.24124240e-03 -2.83597146e-01] [ 5.42924492e-03 -6.31278955e-03 9.99965335e-01 -8.29824933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.637719421 meters Centerline goodness : 0.942001 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.29, Z:-0.83 [[ 9.99846910e-01 -1.65961129e-02 -5.54309488e-03 6.01471753e+00] [ 1.66161446e-02 9.99855506e-01 3.58752813e-03 -2.87523468e-01] [ 5.48275491e-03 -3.67908379e-03 9.99978202e-01 -8.28838081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.667719421 meters Centerline goodness : 0.943603 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.29, Z:-0.83 [[ 9.99846638e-01 -1.65388225e-02 -5.75920062e-03 6.01545964e+00] [ 1.65630403e-02 9.99854073e-01 4.18307095e-03 -2.89566310e-01] [ 5.68917713e-03 -4.27781930e-03 9.99974666e-01 -8.29045426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.697719421 meters Centerline goodness : 0.941674 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.29, Z:-0.83 [[ 9.99837453e-01 -1.69928923e-02 -6.02570318e-03 6.01647349e+00] [ 1.70210022e-02 9.99844344e-01 4.64480514e-03 -2.92336215e-01] [ 5.94583656e-03 -4.74661365e-03 9.99971058e-01 -8.29528323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.727719420999996 meters Centerline goodness : 0.943127 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.29, Z:-0.83 [[ 9.99836121e-01 -1.69828062e-02 -6.27023687e-03 6.01732890e+00] [ 1.70132176e-02 9.99843603e-01 4.82906496e-03 -2.92768582e-01] [ 6.18724515e-03 -4.93495048e-03 9.99968682e-01 -8.29904074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.757719421 meters Centerline goodness : 0.945761 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.29, Z:-0.83 [[ 9.99829600e-01 -1.73133238e-02 -6.40472855e-03 6.01462577e+00] [ 1.73436812e-02 9.99838469e-01 4.71505334e-03 -2.92883150e-01] [ 6.32206075e-03 -4.82533147e-03 9.99968373e-01 -8.26257625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.787719421 meters Centerline goodness : 0.950481 Centerline is valid? [False, True] Translation: X:6.01, Y:-0.29, Z:-0.82 [[ 9.99783325e-01 -1.98517284e-02 -6.26197788e-03 6.01105173e+00] [ 1.98688223e-02 9.99799005e-01 2.67949965e-03 -2.92333741e-01] [ 6.20752655e-03 -2.80333720e-03 9.99976804e-01 -8.21940070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.817719421 meters Centerline goodness : 0.948464 Centerline is valid? [True, False] Translation: X:6.01, Y:-0.29, Z:-0.82 [[ 9.99772012e-01 -2.03707398e-02 -6.39979367e-03 6.01141570e+00] [ 2.03869826e-02 9.99789080e-01 2.48310314e-03 -2.92537774e-01] [ 6.34786118e-03 -2.61300951e-03 9.99976438e-01 -8.22014090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.847719421 meters Centerline goodness : 0.946779 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.29, Z:-0.82 [[ 9.99762750e-01 -2.07638241e-02 -6.58083329e-03 6.01285622e+00] [ 2.07804674e-02 9.99781010e-01 2.47084805e-03 -2.93269810e-01] [ 6.52808789e-03 -2.60701464e-03 9.99975293e-01 -8.23238773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.877719421 meters Centerline goodness : 0.943967 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.29, Z:-0.83 [[ 0.99960251 -0.0262947 -0.01016885 6.00835144] [ 0.02613762 0.99954152 -0.01528344 -0.28988647] [ 0.01056606 0.01501158 0.99983149 -0.82526196] [ 0. 0. 0. 1. ]] SLAMing on 35.907719420999996 meters Centerline goodness : 0.945503 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.29, Z:-0.83 [[ 0.99958945 -0.02673714 -0.01029816 6.00951019] [ 0.02657123 0.99952009 -0.01592378 -0.28775766] [ 0.01071898 0.01564361 0.99982017 -0.82624169] [ 0. 0. 0. 1. ]] SLAMing on 35.937719421 meters Centerline goodness : 0.942543 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.29, Z:-0.83 [[ 0.99966887 -0.02346766 -0.01055553 6.00973936] [ 0.02333809 0.99965276 -0.01223471 -0.28771647] [ 0.01083898 0.01198432 0.99986944 -0.82602122] [ 0. 0. 0. 1. ]] SLAMing on 35.967719421 meters Centerline goodness : 0.943866 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.28, Z:-0.82 [[ 0.99972904 -0.02193108 -0.00780241 6.01327512] [ 0.02173613 0.9994696 -0.02424987 -0.2820556 ] [ 0.0083301 0.0240737 0.99967548 -0.82280462] [ 0. 0. 0. 1. ]] SLAMing on 35.997719421 meters Centerline goodness : 0.942642 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.28, Z:-0.82 [[ 0.99981301 -0.01766037 -0.00787814 6.01272912] [ 0.01749861 0.99964382 -0.02015008 -0.28187294] [ 0.00823119 0.02000845 0.99976593 -0.82200517] [ 0. 0. 0. 1. ]] SLAMing on 36.027719421 meters Centerline goodness : 0.948137 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.28, Z:-0.82 [[ 0.99992868 -0.00920952 -0.00760354 6.01055127] [ 0.00911351 0.99987951 -0.01256632 -0.28012621] [ 0.00771835 0.01249612 0.99989213 -0.8200301 ] [ 0. 0. 0. 1. ]] SLAMing on 36.057719421 meters Centerline goodness : 0.944875 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.28, Z:-0.82 [[ 9.99969166e-01 -1.34807643e-03 -7.73628869e-03 6.01105041e+00] [ 1.31590314e-03 9.99990472e-01 -4.16233449e-03 -2.81676051e-01] [ 7.74182612e-03 4.15202595e-03 9.99961412e-01 -8.20310670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.087719420999996 meters Centerline goodness : 0.941729 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.28, Z:-0.82 [[ 9.99945618e-01 6.74103879e-03 -7.95736947e-03 6.01387009e+00] [-6.71719996e-03 9.99972883e-01 3.01875267e-03 -2.79864900e-01] [ 7.97750322e-03 -2.96513726e-03 9.99963783e-01 -8.22978675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.117719421 meters Centerline goodness : 0.941074 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.28, Z:-0.82 [[ 0.99990405 0.01126343 -0.00806372 6.01477473] [-0.01120698 0.99991262 0.00701138 -0.27888985] [ 0.00814199 -0.00692034 0.99994291 -0.82361039] [ 0. 0. 0. 1. ]] SLAMing on 36.147719421 meters Centerline goodness : 0.940135 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.28, Z:-0.82 [[ 0.9998172 0.0173784 -0.00797275 6.01511642] [-0.01728315 0.99978025 0.01186322 -0.277877 ] [ 0.00817716 -0.01172325 0.99989784 -0.82386295] [ 0. 0. 0. 1. ]] SLAMing on 36.177719421 meters Centerline goodness : 0.937791 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.28, Z:-0.83 [[ 0.99978571 0.01897952 -0.00826526 6.01703811] [-0.01886763 0.99973204 0.01341133 -0.28185495] [ 0.00851759 -0.01325251 0.9998759 -0.82534718] [ 0. 0. 0. 1. ]] SLAMing on 36.207719421 meters Centerline goodness : 0.936411 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.28, Z:-0.83 [[ 0.99981649 0.01703771 -0.00875811 6.01971044] [-0.01693853 0.99979294 0.01127698 -0.28314112] [ 0.00894843 -0.01112656 0.99989806 -0.82746434] [ 0. 0. 0. 1. ]] SLAMing on 36.237719421 meters Centerline goodness : 0.936752 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.28, Z:-0.83 [[ 0.9998469 0.01497355 -0.00905372 6.02251406] [-0.01488619 0.99984272 0.00964079 -0.28321455] [ 0.00919665 -0.00950454 0.99991254 -0.8301315 ] [ 0. 0. 0. 1. ]] SLAMing on 36.267719421 meters Centerline goodness : 0.938553 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.28, Z:-0.83 [[ 9.99891467e-01 1.14827639e-02 -9.23044819e-03 6.02284988e+00] [-1.14299153e-02 9.99918098e-01 5.75797709e-03 -2.81656311e-01] [ 9.29580969e-03 -5.65184891e-03 9.99940821e-01 -8.30102012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.297719421 meters Centerline goodness : 0.936550 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.29, Z:-0.83 [[ 9.99975106e-01 4.63339181e-03 -5.32165205e-03 6.03180631e+00] [-4.58383925e-03 9.99946376e-01 9.28625366e-03 -2.86176255e-01] [ 5.36439353e-03 -9.26162888e-03 9.99942721e-01 -8.31345343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.327719421 meters Centerline goodness : 0.936448 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.29, Z:-0.83 [[ 9.99983863e-01 1.02388516e-03 -5.58799904e-03 6.03282091e+00] [-9.89664578e-04 9.99980763e-01 6.12327490e-03 -2.89706853e-01] [ 5.59416107e-03 -6.11764584e-03 9.99965639e-01 -8.31834176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.357719421 meters Centerline goodness : 0.938175 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.30, Z:-0.83 [[ 9.99991751e-01 -4.06121992e-03 7.28683340e-05 6.04407420e+00] [ 4.06024268e-03 9.99937694e-01 1.03981863e-02 -2.98095294e-01] [-1.15093115e-04 -1.03978047e-02 9.99945935e-01 -8.34794360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.387719421 meters Centerline goodness : 0.939187 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.30, Z:-0.83 [[ 9.99969821e-01 -7.76892193e-03 4.11129720e-05 6.04389335e+00] [ 7.76845027e-03 9.99945796e-01 6.93222078e-03 -2.98972844e-01] [-9.49666255e-05 -6.93169218e-03 9.99975971e-01 -8.34221716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.417719421 meters Centerline goodness : 0.939756 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.31, Z:-0.84 [[ 9.99900680e-01 -1.28865464e-02 5.70675981e-03 6.05421071e+00] [ 1.28149447e-02 9.99840866e-01 1.24105011e-02 -3.05091433e-01] [-5.86578017e-03 -1.23361367e-02 9.99906702e-01 -8.36789547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.447719421 meters Centerline goodness : 0.940913 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.31, Z:-0.84 [[ 9.99849705e-01 -1.63913151e-02 5.64729090e-03 6.05486945e+00] [ 1.63389062e-02 9.99824141e-01 9.20477118e-03 -3.06612442e-01] [-5.79717608e-03 -9.11111719e-03 9.99941688e-01 -8.37213404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.477719420999996 meters Centerline goodness : 0.939284 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.31, Z:-0.84 [[ 9.99741239e-01 -2.19661691e-02 5.91123687e-03 6.05373148e+00] [ 2.19421740e-02 9.99750859e-01 4.09393593e-03 -3.09014355e-01] [-5.99969223e-03 -3.96317119e-03 9.99974148e-01 -8.36117642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.507719421 meters Centerline goodness : 0.938483 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.31, Z:-0.84 [[ 9.99634713e-01 -2.64173917e-02 5.70622824e-03 6.05482369e+00] [ 2.64198539e-02 9.99650871e-01 -3.56520432e-04 -3.08525463e-01] [-5.69481769e-03 5.07147916e-04 9.99983656e-01 -8.36716972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.537719421 meters Centerline goodness : 0.939640 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.31, Z:-0.84 [[ 9.99528580e-01 -3.02100252e-02 5.47469036e-03 6.05576848e+00] [ 3.02364011e-02 9.99531246e-01 -4.80081815e-03 -3.06858031e-01] [-5.32709124e-03 4.96408988e-03 9.99973490e-01 -8.37084609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.567719421 meters Centerline goodness : 0.939121 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.31, Z:-0.84 [[ 9.99508284e-01 -3.08893939e-02 5.38841947e-03 6.05634505e+00] [ 3.09157959e-02 9.99510044e-01 -4.88726631e-03 -3.08499128e-01] [-5.23481468e-03 5.05145044e-03 9.99973539e-01 -8.37454248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.597719421 meters Centerline goodness : 0.935608 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.31, Z:-0.84 [[ 9.99370238e-01 -3.50717809e-02 5.39414467e-03 6.05773293e+00] [ 3.51168736e-02 9.99347020e-01 -8.50526097e-03 -3.10254789e-01] [-5.09232775e-03 8.68933018e-03 9.99949281e-01 -8.38783278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.627719421 meters Centerline goodness : 0.939957 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.31, Z:-0.84 [[ 9.99307169e-01 -3.67901164e-02 5.62760948e-03 6.05663901e+00] [ 3.68484374e-02 9.99264256e-01 -1.06367293e-02 -3.06429423e-01] [-5.23214248e-03 1.08367285e-02 9.99927592e-01 -8.37601702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.657719420999996 meters Centerline goodness : 0.939419 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.30, Z:-0.84 [[ 0.99934108 -0.03466663 0.01075333 6.06574842] [ 0.03486252 0.99921905 -0.01859845 -0.3036498 ] [-0.01010019 0.01896108 0.99976921 -0.83977145] [ 0. 0. 0. 1. ]] SLAMing on 36.687719421 meters Centerline goodness : 0.943583 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.30, Z:-0.84 [[ 0.9994255 -0.03104622 0.01359432 6.07254825] [ 0.03141078 0.99912875 -0.02747917 -0.29916786] [-0.01272935 0.02789039 0.99952993 -0.8385406 ] [ 0. 0. 0. 1. ]] SLAMing on 36.717719421 meters Centerline goodness : 0.943285 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.30, Z:-0.84 [[ 0.99945369 -0.03014268 0.01355476 6.07238413] [ 0.03051056 0.9991476 -0.02780601 -0.29639075] [-0.01270505 0.02820438 0.99952143 -0.83797402] [ 0. 0. 0. 1. ]] SLAMing on 36.747719421 meters Centerline goodness : 0.947528 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.29, Z:-0.83 [[ 0.99962998 -0.02193066 0.01609178 6.0609733 ] [ 0.02267364 0.99861188 -0.04754166 -0.28917444] [-0.01502683 0.04788893 0.99873963 -0.83464673] [ 0. 0. 0. 1. ]] SLAMing on 36.777719421 meters Centerline goodness : 0.944800 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.29, Z:-0.83 [[ 0.99984338 -0.01219089 0.01282951 6.04452127] [ 0.01288543 0.99837419 -0.05552421 -0.28526542] [-0.01213177 0.05568083 0.99837491 -0.83411633] [ 0. 0. 0. 1. ]] SLAMing on 36.807719421 meters Centerline goodness : 0.945377 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.28, Z:-0.84 [[ 0.99990362 -0.00627882 0.01238275 6.04701756] [ 0.00688411 0.99875235 -0.04946067 -0.28379676] [-0.01205674 0.04954115 0.99869931 -0.83616022] [ 0. 0. 0. 1. ]] SLAMing on 36.837719420999996 meters Centerline goodness : 0.943176 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.28, Z:-0.84 [[ 9.99966519e-01 3.21037649e-03 7.52688250e-03 6.04409569e+00] [-2.99134323e-03 9.99576878e-01 -2.89329659e-02 -2.83559881e-01] [-7.61658342e-03 2.89094817e-02 9.99553015e-01 -8.38677615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.867719421 meters Centerline goodness : 0.941565 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.28, Z:-0.84 [[ 0.99994612 0.00732416 0.00735647 6.04541175] [-0.00713987 0.99966759 -0.02477354 -0.28454352] [-0.00753547 0.02471968 0.99966602 -0.83979279] [ 0. 0. 0. 1. ]] SLAMing on 36.897719421 meters Centerline goodness : 0.942839 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.29, Z:-0.84 [[ 0.99990352 0.01050727 0.00908521 6.05357419] [-0.01041245 0.99989148 -0.01042183 -0.28897977] [-0.00919373 0.01032622 0.99990442 -0.84011776] [ 0. 0. 0. 1. ]] SLAMing on 36.927719421 meters Centerline goodness : 0.945285 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.29, Z:-0.84 [[ 0.99989809 0.0110787 0.00900352 6.05336034] [-0.01099459 0.99989595 -0.0093383 -0.2914091 ] [-0.00910604 0.00923836 0.99991586 -0.83950356] [ 0. 0. 0. 1. ]] SLAMing on 36.957719421 meters Centerline goodness : 0.944569 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.29, Z:-0.84 [[ 0.99989513 0.01152907 0.00876361 6.05402023] [-0.01145496 0.9998986 -0.00845994 -0.29341119] [-0.00886025 0.00835867 0.99992581 -0.83967447] [ 0. 0. 0. 1. ]] SLAMing on 36.987719421 meters Centerline goodness : 0.947591 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.30, Z:-0.84 [[ 0.99989778 0.01155905 0.00841566 6.05469751] [-0.01149986 0.99990903 -0.00704841 -0.29882731] [-0.00849637 0.00695091 0.99993975 -0.83959703] [ 0. 0. 0. 1. ]] SLAMing on 37.017719421 meters Centerline goodness : 0.946585 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.30, Z:-0.84 [[ 0.99990312 0.01137548 0.00802207 6.05558064] [-0.01132507 0.99991602 -0.00630079 -0.30209906] [-0.00809307 0.00620933 0.99994797 -0.83968988] [ 0. 0. 0. 1. ]] SLAMing on 37.047719421 meters Centerline goodness : 0.951009 Centerline is valid? [False, True] Translation: X:6.05, Y:-0.31, Z:-0.84 [[ 0.99993262 0.00822468 0.00819172 6.05434046] [-0.00816028 0.99993577 -0.0078654 -0.30789332] [-0.00825589 0.00779802 0.99993551 -0.83817919] [ 0. 0. 0. 1. ]] SLAMing on 37.077719421 meters Centerline goodness : 0.950074 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.31, Z:-0.84 [[ 9.99931073e-01 5.36694999e-03 1.04424311e-02 6.08757429e+00] [-5.37026219e-03 9.99985538e-01 2.89172206e-04 -3.13304464e-01] [-1.04407281e-02 -3.45230867e-04 9.99945435e-01 -8.39904184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.107719421 meters Centerline goodness : 0.951807 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.32, Z:-0.84 [[ 9.99964567e-01 -6.74563278e-04 8.39107396e-03 6.12037670e+00] [ 6.72641640e-04 9.99999747e-01 2.31829810e-04 -3.18418018e-01] [-8.39122822e-03 -2.26177410e-04 9.99964767e-01 -8.40646736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.137719421 meters Centerline goodness : 0.951177 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.32, Z:-0.84 [[ 9.99967512e-01 -4.04712337e-03 6.97101978e-03 6.15189438e+00] [ 4.04590709e-03 9.99991798e-01 1.88570116e-04 -3.19215989e-01] [-6.97172577e-03 -1.60359891e-04 9.99975684e-01 -8.43312481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.167719421 meters Centerline goodness : 0.948883 Centerline is valid? [True, False] Translation: X:6.15, Y:-0.32, Z:-0.84 [[ 9.99942025e-01 -8.39042009e-03 6.74893040e-03 6.15263946e+00] [ 8.41172960e-03 9.99959706e-01 -3.13530095e-03 -3.22192274e-01] [-6.72235197e-03 3.19188936e-03 9.99972311e-01 -8.43556054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.197719421 meters Centerline goodness : 0.949650 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.33, Z:-0.84 [[ 9.99900970e-01 -1.24077216e-02 6.64072457e-03 6.15303046e+00] [ 1.24474184e-02 9.99904705e-01 -5.97021122e-03 -3.27039222e-01] [-6.56601502e-03 6.05227987e-03 9.99960128e-01 -8.43599542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.227719420999996 meters Centerline goodness : 0.949243 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.33, Z:-0.85 [[ 0.99985535 -0.01573699 0.00645237 6.15526147] [ 0.0157951 0.99983424 -0.00905574 -0.32810725] [-0.00630879 0.00915635 0.99993818 -0.84568962] [ 0. 0. 0. 1. ]] SLAMing on 37.257719421 meters Centerline goodness : 0.952118 Centerline is valid? [False, True] Translation: X:6.16, Y:-0.33, Z:-0.85 [[ 9.99804554e-01 -1.87544105e-02 6.25504799e-03 6.15738857e+00] [ 1.88265712e-02 9.99754489e-01 -1.16842486e-02 -3.27137889e-01] [-6.03438111e-03 1.17997260e-02 9.99912172e-01 -8.47472627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.287719421 meters Centerline goodness : 0.954402 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.33, Z:-0.85 [[ 9.99881451e-01 -1.36098091e-02 7.20125026e-03 6.18777352e+00] [ 1.36090747e-02 9.99907381e-01 1.50969737e-04 -3.25940357e-01] [-7.20263796e-03 -5.29494862e-05 9.99974059e-01 -8.45172523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.317719421 meters Centerline goodness : 0.952819 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.32, Z:-0.85 [[ 9.99954028e-01 -7.17876410e-03 6.35660623e-03 6.21935319e+00] [ 7.17805445e-03 9.99974228e-01 1.34447068e-04 -3.23550133e-01] [-6.35740757e-03 -8.88128219e-05 9.99979788e-01 -8.45849774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.347719421 meters Centerline goodness : 0.952289 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.32, Z:-0.85 [[ 9.99974375e-01 6.90656377e-03 1.88400125e-03 6.25023427e+00] [-6.90665286e-03 9.99976148e-01 4.07855080e-05 -3.21316699e-01] [-1.88367462e-03 -5.37966055e-05 9.99998224e-01 -8.46704153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.377719421 meters Centerline goodness : 0.952289 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.32, Z:-0.85 [[ 9.99974081e-01 6.94894429e-03 1.88400310e-03 6.28204412e+00] [-6.94903329e-03 9.99975854e-01 4.06979040e-05 -3.20706970e-01] [-1.88367481e-03 -5.37888494e-05 9.99998224e-01 -8.47787551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.407719420999996 meters Centerline goodness : 0.953458 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.32, Z:-0.85 [[ 9.99912002e-01 1.32080414e-02 1.23894796e-03 6.31338311e+00] [-1.32080853e-02 9.99912769e-01 2.72121221e-05 -3.19333670e-01] [-1.23848047e-03 -4.35738578e-05 9.99999232e-01 -8.49571594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.437719421 meters Centerline goodness : 0.953627 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.32, Z:-0.85 [[ 9.99785860e-01 2.05130689e-02 2.72910353e-03 6.34449955e+00] [-2.05133038e-02 9.99789578e-01 5.81130446e-05 -3.16834905e-01] [-2.72733719e-03 -1.14083530e-04 9.99996274e-01 -8.51289097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.467719421 meters Centerline goodness : 0.955597 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.32, Z:-0.85 [[ 9.99749278e-01 2.18169419e-02 5.04015029e-03 6.37579825e+00] [-2.18177868e-02 9.99761957e-01 1.12708192e-04 -3.16476446e-01] [-5.03649157e-03 -2.22644858e-04 9.99987292e-01 -8.52650870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.497719421 meters Centerline goodness : 0.956822 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.32, Z:-0.85 [[ 9.99764530e-01 2.06272373e-02 6.73814725e-03 6.40784027e+00] [-2.06286897e-02 9.99787195e-01 1.46110582e-04 -3.19420642e-01] [-6.73369948e-03 -2.85075325e-04 9.99977288e-01 -8.53759677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.527719421 meters Centerline goodness : 0.956981 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.32, Z:-0.85 [[ 9.99780445e-01 1.94890373e-02 7.69676195e-03 6.43987926e+00] [-1.94908736e-02 9.99810021e-01 1.63624896e-04 -3.22465572e-01] [-7.69211084e-03 -3.13605586e-04 9.99970366e-01 -8.54579244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.557719421 meters Centerline goodness : 0.957888 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.33, Z:-0.86 [[ 9.99811494e-01 1.71625477e-02 9.07876059e-03 6.47337223e+00] [-1.71649667e-02 9.99852653e-01 1.88588658e-04 -3.29367896e-01] [-9.07418620e-03 -3.44389730e-04 9.99958769e-01 -8.56283163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.587719420999996 meters Centerline goodness : 0.955904 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.33, Z:-0.86 [[ 9.99818029e-01 1.69098497e-02 8.82977721e-03 6.50631899e+00] [-1.69121040e-02 9.99856964e-01 1.80692416e-04 -3.32179616e-01] [-8.82545875e-03 -3.29989645e-04 9.99961000e-01 -8.58067742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.617719421 meters Centerline goodness : 0.955729 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.34, Z:-0.86 [[ 9.99832098e-01 1.71828198e-02 6.36611368e-03 6.53945588e+00] [-1.71840033e-02 9.99852335e-01 1.31253270e-04 -3.35912353e-01] [-6.36291833e-03 -2.40626551e-04 9.99979727e-01 -8.59669875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.647719421 meters Centerline goodness : 0.955801 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.34, Z:-0.86 [[ 9.99825085e-01 1.80705870e-02 4.82220481e-03 6.57280165e+00] [-1.80712837e-02 9.99836696e-01 1.00931317e-04 -3.38900642e-01] [-4.81959344e-03 -1.88057094e-04 9.99988368e-01 -8.60873212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.677719421 meters Centerline goodness : 0.952445 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.34, Z:-0.86 [[ 9.99835585e-01 1.77361874e-02 3.77242576e-03 6.60524826e+00] [-1.77366108e-02 9.99842691e-01 7.88151498e-05 -3.40331041e-01] [-3.77043444e-03 -1.45712239e-04 9.99992881e-01 -8.61172819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.707719421 meters Centerline goodness : 0.952368 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.35, Z:-0.86 [[ 9.99889615e-01 1.46814954e-02 2.28302801e-03 6.63769481e+00] [-1.46816501e-02 9.99892217e-01 5.10276739e-05 -3.46947396e-01] [-2.28203277e-03 -8.45406595e-05 9.99997393e-01 -8.64010187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.737719421 meters Centerline goodness : 0.952857 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.35, Z:-0.86 [[ 9.99926143e-01 1.18373867e-02 2.75404925e-03 6.66908768e+00] [-1.18375817e-02 9.99929932e-01 5.45132666e-05 -3.49958142e-01] [-2.75321098e-03 -8.71105232e-05 9.99996206e-01 -8.64999774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.767719421 meters Centerline goodness : 0.954289 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.35, Z:-0.87 [[ 9.99943840e-01 9.07593872e-03 5.47206497e-03 6.70076211e+00] [-9.07665227e-03 9.99958801e-01 1.05577192e-04 -3.51517886e-01] [-5.47088131e-03 -1.55239293e-04 9.99985023e-01 -8.66906637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.797719421 meters Centerline goodness : 0.953921 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.35, Z:-0.87 [[ 9.99944815e-01 1.34213967e-03 1.04194366e-02 6.73288760e+00] [-1.34418053e-03 9.99999079e-01 1.88870634e-04 -3.51873057e-01] [-1.04191735e-02 -2.02865815e-04 9.99945698e-01 -8.67361629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.827719421 meters Centerline goodness : 0.953397 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.36, Z:-0.87 [[ 9.99946932e-01 -5.81395019e-03 8.50482769e-03 6.76604256e+00] [ 5.81284596e-03 9.99983093e-01 1.54548887e-04 -3.57315953e-01] [-8.50558244e-03 -1.05103432e-04 9.99963821e-01 -8.68147105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.857719421 meters Centerline goodness : 0.952163 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.36, Z:-0.87 [[ 9.99929293e-01 -9.46010964e-03 7.20519793e-03 6.79784145e+00] [ 9.45946570e-03 9.99955251e-01 1.23446452e-04 -3.59081211e-01] [-7.20604332e-03 -5.52804005e-05 9.99974035e-01 -8.69278911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.887719421 meters Centerline goodness : 0.953967 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.36, Z:-0.87 [[ 9.99865930e-01 -1.50525497e-02 6.44537479e-03 6.82885376e+00] [ 1.50521596e-02 9.99886704e-01 1.09032556e-04 -3.61208257e-01] [-6.44628577e-03 -1.20011283e-05 9.99979222e-01 -8.69997422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.917719421 meters Centerline goodness : 0.953288 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.36, Z:-0.87 [[ 9.99839058e-01 -1.67303294e-02 6.47718209e-03 6.85950838e+00] [ 1.67299763e-02 9.99860038e-01 1.08688291e-04 -3.61106184e-01] [-6.47809392e-03 -3.07695859e-07 9.99979017e-01 -8.70644197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.947719421 meters Centerline goodness : 0.950620 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.36, Z:-0.87 [[ 9.99802170e-01 -1.96438247e-02 3.12095857e-03 6.88939288e+00] [ 1.96437560e-02 9.99807041e-01 5.26670250e-05 -3.59278191e-01] [-3.12139094e-03 8.65074285e-06 9.99995128e-01 -8.70732189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.977719420999996 meters Centerline goodness : 0.949721 Centerline is valid? [True, False] Translation: X:6.89, Y:-0.36, Z:-0.87 [[ 9.99804047e-01 -1.96282826e-02 2.56881682e-03 6.89283312e+00] [ 1.96274488e-02 9.99807302e-01 3.49390813e-04 -3.59082556e-01] [-2.57517976e-03 -2.98903028e-04 9.99996640e-01 -8.73455655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.007719421 meters Centerline goodness : 0.949815 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.36, Z:-0.88 [[ 9.99757645e-01 -2.19201032e-02 2.03984887e-03 6.89550392e+00] [ 2.19230085e-02 9.99758664e-01 -1.41294378e-03 -3.59367413e-01] [-2.00838470e-03 1.45732096e-03 9.99996921e-01 -8.75102228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.037719421 meters Centerline goodness : 0.949508 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.36, Z:-0.87 [[ 9.99767481e-01 -2.10822168e-02 4.53043396e-03 6.90111625e+00] [ 2.11347393e-02 9.99706096e-01 -1.18762058e-02 -3.57821363e-01] [-4.27872570e-03 1.19691939e-02 9.99919212e-01 -8.72395908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.067719421 meters Centerline goodness : 0.952920 Centerline is valid? [False, True] Translation: X:6.90, Y:-0.35, Z:-0.87 [[ 9.99769800e-01 -2.10180220e-02 4.31147397e-03 6.90110682e+00] [ 2.10708468e-02 9.99698631e-01 -1.25962622e-02 -3.54036406e-01] [-4.04542611e-03 1.26842090e-02 9.99911369e-01 -8.71580415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.097719421 meters Centerline goodness : 0.953982 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.34, Z:-0.87 [[ 9.99877464e-01 -1.43709692e-02 6.20738152e-03 6.93090861e+00] [ 1.43708077e-02 9.99896732e-01 7.06244153e-05 -3.44989733e-01] [-6.20775543e-03 1.85893248e-05 9.99980732e-01 -8.69924076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.127719421 meters Centerline goodness : 0.954983 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.34, Z:-0.87 [[ 9.99939196e-01 -9.46602298e-03 5.65680260e-03 6.96186605e+00] [ 9.46580038e-03 9.99955196e-01 6.61228765e-05 -3.39699555e-01] [-5.65717508e-03 -1.25726917e-05 9.99983998e-01 -8.71447985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.157719420999996 meters Centerline goodness : 0.954025 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.33, Z:-0.87 [[ 9.99997516e-01 -9.40126126e-04 2.02107336e-03 6.99271695e+00] [ 9.40078685e-04 9.99999558e-01 2.44228763e-05 -3.32650576e-01] [-2.02109542e-03 -2.25228477e-05 9.99997957e-01 -8.71495189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.187719421 meters Centerline goodness : 0.955329 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.33, Z:-0.87 [[ 9.99993759e-01 3.18370819e-03 1.53135244e-03 7.02349445e+00] [-3.18374069e-03 9.99994932e-01 1.87871004e-05 -3.28108528e-01] [-1.53128486e-03 -2.36624122e-05 9.99998827e-01 -8.72287002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.217719421 meters Centerline goodness : 0.957746 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.32, Z:-0.87 [[ 9.99923497e-01 1.13744664e-02 4.86018707e-03 7.05507919e+00] [-1.13748747e-02 9.99935302e-01 5.63826904e-05 -3.20698325e-01] [-4.85923131e-03 -1.11662396e-04 9.99988188e-01 -8.72766896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.247719421 meters Centerline goodness : 0.956475 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.32, Z:-0.87 [[ 9.99872003e-01 1.50812054e-02 5.34185185e-03 7.08696310e+00] [-1.50817872e-02 9.99886261e-01 6.86517896e-05 -3.17169607e-01] [-5.34020892e-03 -1.49207675e-04 9.99985730e-01 -8.73332612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.277719421 meters Centerline goodness : 0.954618 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.31, Z:-0.87 [[ 9.99746973e-01 2.24215791e-02 1.80620208e-03 7.11918756e+00] [-2.24216683e-02 9.99748602e-01 2.91581751e-05 -3.09914157e-01] [-1.80509423e-03 -6.96488611e-05 9.99998368e-01 -8.74850696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.307719421 meters Centerline goodness : 0.953209 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.30, Z:-0.88 [[ 9.99652319e-01 2.63591443e-02 6.61212806e-04 7.15018318e+00] [-2.63591557e-02 9.99652537e-01 8.43533086e-06 -3.04020903e-01] [-6.60760711e-04 -2.58614093e-05 9.99999781e-01 -8.77221628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.337719420999996 meters Centerline goodness : 0.951898 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.30, Z:-0.88 [[ 9.99634332e-01 2.70398272e-02 2.25554575e-04 7.18069095e+00] [-2.70398284e-02 9.99634357e-01 2.40349626e-06 -3.01889036e-01] [-2.25407112e-04 -8.50157438e-06 9.99999975e-01 -8.77621994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.367719421 meters Centerline goodness : 0.952132 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.30, Z:-0.88 [[ 9.99589837e-01 2.86255675e-02 -8.57278601e-04 7.21100535e+00] [-2.86255852e-02 9.99590204e-01 -8.43273476e-06 -3.01557733e-01] [ 8.56685900e-04 3.29693776e-05 9.99999633e-01 -8.78871334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.397719421 meters Centerline goodness : 0.950151 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.30, Z:-0.88 [[ 9.99574923e-01 2.91471500e-02 -6.45241325e-04 7.24131568e+00] [-2.91471605e-02 9.99575131e-01 -6.86181880e-06 -3.02822658e-01] [ 6.44767179e-04 2.56658544e-05 9.99999792e-01 -8.79466987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.427719421 meters Centerline goodness : 0.952145 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.30, Z:-0.88 [[ 9.99594594e-01 2.84621632e-02 7.44183037e-04 7.27054140e+00] [-2.84621765e-02 9.99594870e-01 7.24981280e-06 -3.03545856e-01] [-7.43675201e-04 -2.84279426e-05 9.99999723e-01 -8.79899762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.457719421 meters Centerline goodness : 0.953637 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.30, Z:-0.88 [[ 9.99702660e-01 2.43653025e-02 9.61085148e-04 7.30147987e+00] [-2.43653248e-02 9.99703121e-01 1.15491298e-05 -3.03979704e-01] [-9.60518425e-04 -3.49628476e-05 9.99999538e-01 -8.81904227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.487719421 meters Centerline goodness : 0.951632 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.31, Z:-0.88 [[ 9.99859072e-01 1.67362666e-02 -1.31684761e-03 7.33201092e+00] [-1.67362986e-02 9.99859938e-01 -1.32779240e-05 -3.05172486e-01] [ 1.31644094e-03 3.53152074e-05 9.99999133e-01 -8.84381647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.517719421 meters Centerline goodness : 0.951677 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.31, Z:-0.89 [[ 9.99936449e-01 1.12449164e-02 -8.05645102e-04 7.36202346e+00] [-1.12449270e-02 9.99936774e-01 -8.53380884e-06 -3.06807109e-01] [ 8.05498202e-04 1.75926868e-05 9.99999675e-01 -8.86048357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.547719421 meters Centerline goodness : 0.953142 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.31, Z:-0.89 [[ 9.99997095e-01 -3.33336090e-04 2.38735799e-03 7.39216431e+00] [ 3.33276667e-04 9.99999944e-01 2.52881283e-05 -3.12554141e-01] [-2.38736629e-03 -2.44924042e-05 9.99997150e-01 -8.86177133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.577719421 meters Centerline goodness : 0.952049 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.31, Z:-0.89 [[ 9.99970359e-01 -6.71178969e-03 3.77261785e-03 7.42376229e+00] [ 6.71168212e-03 9.99977476e-01 4.11728665e-05 -3.14109679e-01] [-3.77280921e-03 -1.58510344e-05 9.99992883e-01 -8.87283835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.607719421 meters Centerline goodness : 0.951049 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.32, Z:-0.89 [[ 9.99826558e-01 -1.83497375e-02 3.18449532e-03 7.45448388e+00] [ 1.83497216e-02 9.99831629e-01 3.42045093e-05 -3.16788978e-01] [-3.18458678e-03 2.42360257e-05 9.99994929e-01 -8.87758208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.637719421 meters Centerline goodness : 0.949278 Centerline is valid? [True, False] Translation: X:7.46, Y:-0.32, Z:-0.89 [[ 9.99761903e-01 -2.16323149e-02 2.86001930e-03 7.45661055e+00] [ 2.16410706e-02 9.99761101e-01 -3.06673840e-03 -3.17459695e-01] [-2.79299539e-03 3.12790210e-03 9.99991208e-01 -8.89183594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.667719421 meters Centerline goodness : 0.947895 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.32, Z:-0.89 [[ 9.99686807e-01 -2.49093780e-02 2.41063623e-03 7.46064790e+00] [ 2.49233396e-02 9.99671681e-01 -5.94616052e-03 -3.17296957e-01] [-2.26172961e-03 6.00437933e-03 9.99979416e-01 -8.92586444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.697719421 meters Centerline goodness : 0.949067 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.32, Z:-0.90 [[ 9.99676846e-01 -2.53495461e-02 1.89854644e-03 7.46415126e+00] [ 2.53611515e-02 9.99658117e-01 -6.36086388e-03 -3.16385757e-01] [-1.73665235e-03 6.40695766e-03 9.99977967e-01 -8.95396925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.727719420999996 meters Centerline goodness : 0.945818 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.31, Z:-0.90 [[ 9.99700471e-01 -2.44436126e-02 1.21582314e-03 7.46743476e+00] [ 2.44502467e-02 9.99684344e-01 -5.77907288e-03 -3.13877663e-01] [-1.07417794e-03 5.80706905e-03 9.99982562e-01 -8.97605774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.757719421 meters Centerline goodness : 0.946149 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.31, Z:-0.89 [[ 9.99757252e-01 -2.19989159e-02 1.21852104e-03 7.49071611e+00] [ 2.20148787e-02 9.99642589e-01 -1.51670693e-02 -3.09449482e-01] [-8.84426446e-04 1.51902131e-02 9.99884231e-01 -8.94527059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.787719421 meters Centerline goodness : 0.948176 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.31, Z:-0.89 [[ 9.99746069e-01 -2.25156688e-02 9.17440203e-04 7.49114989e+00] [ 2.25273223e-02 9.99622415e-01 -1.57336165e-02 -3.07847932e-01] [-5.62840893e-04 1.57502887e-02 9.99875798e-01 -8.94076095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.817719421 meters Centerline goodness : 0.945803 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.30, Z:-0.89 [[ 9.99729961e-01 -2.32200908e-02 9.12483009e-04 7.49083332e+00] [ 2.32320133e-02 9.99593244e-01 -1.65414374e-02 -3.04867213e-01] [-5.28018173e-04 1.65581694e-02 9.99862765e-01 -8.93243675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.847719421 meters Centerline goodness : 0.947555 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.30, Z:-0.89 [[ 9.99730220e-01 -2.32113501e-02 8.49089944e-04 7.49097429e+00] [ 2.32223048e-02 9.99590570e-01 -1.67157933e-02 -3.03953868e-01] [-4.60746171e-04 1.67310015e-02 9.99859921e-01 -8.93008445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.877719421 meters Centerline goodness : 0.947199 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.30, Z:-0.90 [[ 9.99869300e-01 -1.56416003e-02 4.08932264e-03 7.51215509e+00] [ 1.57382869e-02 9.99568788e-01 -2.47900258e-02 -3.00928905e-01] [-3.69980360e-03 2.48511447e-02 9.99684316e-01 -8.95042226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.907719420999996 meters Centerline goodness : 0.945955 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.30, Z:-0.90 [[ 0.99989774 -0.0117593 0.00813868 7.52331367] [ 0.01201147 0.99942649 -0.03166093 -0.29680128] [-0.0077617 0.03175545 0.99946553 -0.89824978] [ 0. 0. 0. 1. ]] SLAMing on 38.937719421 meters Centerline goodness : 0.944008 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.29, Z:-0.90 [[ 9.99971396e-01 -9.45811320e-04 7.50416802e-03 7.52670960e+00] [ 1.10848167e-03 9.99763850e-01 -2.17028719e-02 -2.91458194e-01] [-7.48186909e-03 2.17105693e-02 9.99736302e-01 -9.00789087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.967719421 meters Centerline goodness : 0.942917 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.29, Z:-0.90 [[ 9.99962736e-01 5.25900680e-03 6.84619515e-03 7.52992456e+00] [-5.15088714e-03 9.99863234e-01 -1.57156416e-02 -2.88927341e-01] [-6.92790749e-03 1.56797920e-02 9.99853063e-01 -9.03020899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.997719421 meters Centerline goodness : 0.941036 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.29, Z:-0.90 [[ 9.99904801e-01 1.21249218e-02 6.58593484e-03 7.53194157e+00] [-1.20613819e-02 9.99881142e-01 -9.60333567e-03 -2.85614598e-01] [-6.70159175e-03 9.52298597e-03 9.99932198e-01 -9.04532375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.027719421 meters Centerline goodness : 0.940155 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.29, Z:-0.91 [[ 9.99879787e-01 1.43380879e-02 5.90172071e-03 7.53488387e+00] [-1.42939411e-02 9.99870039e-01 -7.45574097e-03 -2.85129698e-01] [-6.00785479e-03 7.37048584e-03 9.99954790e-01 -9.06334623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.057719421 meters Centerline goodness : 0.939805 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.28, Z:-0.91 [[ 9.99837772e-01 1.72505733e-02 5.18148397e-03 7.53822178e+00] [-1.72243694e-02 9.99838846e-01 -5.05999011e-03 -2.83504551e-01] [-5.26793668e-03 4.96992145e-03 9.99973774e-01 -9.08521751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.087719420999996 meters Centerline goodness : 0.939234 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.28, Z:-0.91 [[ 9.99811155e-01 1.88651565e-02 4.66468664e-03 7.54099970e+00] [-1.88483621e-02 9.99815806e-01 -3.61845208e-03 -2.82400884e-01] [-4.73209010e-03 3.52984706e-03 9.99982574e-01 -9.10493813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.117719421 meters Centerline goodness : 0.940177 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.28, Z:-0.91 [[ 9.99734746e-01 2.25962027e-02 4.45523855e-03 7.54226574e+00] [-2.25939082e-02 9.99744566e-01 -5.64676363e-04 -2.78866427e-01] [-4.46686007e-03 4.63865329e-04 9.99989916e-01 -9.11081816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.147719421 meters Centerline goodness : 0.939594 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.28, Z:-0.91 [[ 9.99714770e-01 2.35388165e-02 4.03772621e-03 7.54393979e+00] [-2.35369464e-02 9.99722838e-01 -5.10050236e-04 -2.75964269e-01] [-4.04861308e-03 4.14869009e-04 9.99991718e-01 -9.11886630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.177719421 meters Centerline goodness : 0.938459 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.27, Z:-0.91 [[ 9.99685006e-01 2.48454756e-02 3.54826293e-03 7.54453369e+00] [-2.48432793e-02 9.99691139e-01 -6.61713365e-04 -2.73290344e-01] [-3.56360759e-03 5.73354443e-04 9.99993486e-01 -9.10956554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.207719421 meters Centerline goodness : 0.938930 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.27, Z:-0.91 [[ 9.99685387e-01 2.48672963e-02 3.27788681e-03 7.54457017e+00] [-2.48640565e-02 9.99690316e-01 -1.02545224e-03 -2.72735188e-01] [-3.30237192e-03 9.43628057e-04 9.99994102e-01 -9.10084828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.237719421 meters Centerline goodness : 0.942364 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.27, Z:-0.91 [[ 9.99689551e-01 2.47263549e-02 3.06742654e-03 7.54428050e+00] [-2.47232861e-02 9.99693798e-01 -1.03437481e-03 -2.73496909e-01] [-3.09206361e-03 9.58216822e-04 9.99994760e-01 -9.08707119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.267719421 meters Centerline goodness : 0.942364 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.27, Z:-0.91 [[ 9.99689551e-01 2.47263549e-02 3.06742654e-03 7.54428050e+00] [-2.47232861e-02 9.99693798e-01 -1.03437481e-03 -2.73496909e-01] [-3.09206361e-03 9.58216822e-04 9.99994760e-01 -9.08707119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.297719421 meters Centerline goodness : 0.943881 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.27, Z:-0.91 [[ 9.99723308e-01 2.33890319e-02 2.50224530e-03 7.54610547e+00] [-2.33843019e-02 9.99724738e-01 -1.90316227e-03 -2.73948417e-01] [-2.54606965e-03 1.84412242e-03 9.99995058e-01 -9.09491249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.327719421 meters Centerline goodness : 0.942421 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.28, Z:-0.91 [[ 9.99926689e-01 1.20340159e-02 1.34103125e-03 7.57408896e+00] [-1.20526385e-02 9.99816759e-01 1.48722332e-02 -2.79269030e-01] [-1.16181282e-03 -1.48873059e-02 9.99888503e-01 -9.09592398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.357719421 meters Centerline goodness : 0.940646 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.29, Z:-0.90 [[ 9.99999925e-01 -3.81521846e-04 -6.11512652e-05 7.59663384e+00] [ 3.84200273e-04 9.98628341e-01 5.23573231e-02 -2.91866551e-01] [ 4.10919239e-05 -5.23573427e-02 9.98628413e-01 -9.04033106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.387719421 meters Centerline goodness : 0.941964 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.30, Z:-0.90 [[ 9.99987377e-01 -4.66275234e-03 -1.87211760e-03 7.60520586e+00] [ 4.77602004e-03 9.97813793e-01 6.59152781e-02 -2.97751734e-01] [ 1.56067815e-03 -6.59233874e-02 9.97823467e-01 -8.95249580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.417719421 meters Centerline goodness : 0.941967 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.30, Z:-0.89 [[ 9.99915998e-01 -1.28496216e-02 -1.69838113e-03 7.60262672e+00] [ 1.29264930e-02 9.98233741e-01 5.79853735e-02 -3.00292106e-01] [ 9.50291238e-04 -5.80024567e-02 9.98315988e-01 -8.91751482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.447719421 meters Centerline goodness : 0.941381 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.30, Z:-0.89 [[ 9.99891442e-01 -1.46467457e-02 1.60517732e-03 7.61007451e+00] [ 1.45605017e-02 9.98896736e-01 4.46464184e-02 -2.98031246e-01] [-2.25733112e-03 -4.46181995e-02 9.99001562e-01 -8.91717972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.477719420999996 meters Centerline goodness : 0.941819 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.29, Z:-0.89 [[ 9.99948514e-01 -1.00797299e-02 1.16967371e-03 7.63060319e+00] [ 1.00412808e-02 9.99523050e-01 2.92035266e-02 -2.93689676e-01] [-1.46347949e-03 -2.91902780e-02 9.99572802e-01 -8.91609161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.507719421 meters Centerline goodness : 0.942481 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.29, Z:-0.89 [[ 9.99973375e-01 -7.29201005e-03 2.77199894e-04 7.63376369e+00] [ 7.27976733e-03 9.99483893e-01 3.12882230e-02 -2.92057557e-01] [-5.05210866e-04 -3.12853720e-02 9.99510365e-01 -8.93249246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.537719421 meters Centerline goodness : 0.938136 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.29, Z:-0.90 [[ 9.99970338e-01 1.90956576e-03 -7.46171618e-03 7.64937868e+00] [-1.69244692e-03 9.99578081e-01 2.89964603e-02 -2.86908219e-01] [ 7.51393860e-03 -2.89829716e-02 9.99551664e-01 -8.95315888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.567719421 meters Centerline goodness : 0.938567 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.28, Z:-0.90 [[ 9.99948392e-01 6.02269017e-03 -8.18169104e-03 7.65285680e+00] [-5.75497807e-03 9.99459726e-01 3.23594720e-02 -2.84947041e-01] [ 8.37216177e-03 -3.23107165e-02 9.99442807e-01 -8.97710166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.597719421 meters Centerline goodness : 0.938488 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.28, Z:-0.90 [[ 9.99903152e-01 1.27695141e-02 -5.53411331e-03 7.66011993e+00] [-1.26180518e-02 9.99566783e-01 2.65900553e-02 -2.77824786e-01] [ 5.87125793e-03 -2.65176504e-02 9.99631103e-01 -8.96738760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.627719421 meters Centerline goodness : 0.938061 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.28, Z:-0.90 [[ 9.99900639e-01 1.27465484e-02 -6.01970862e-03 7.66073277e+00] [-1.25880449e-02 9.99591141e-01 2.56727924e-02 -2.75047623e-01] [ 6.34448690e-03 -2.55944651e-02 9.99652275e-01 -8.96256298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.657719420999996 meters Centerline goodness : 0.939891 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.27, Z:-0.90 [[ 9.99893512e-01 1.29731040e-02 -6.68298223e-03 7.66226309e+00] [-1.28018693e-02 9.99604031e-01 2.50578126e-02 -2.73708879e-01] [ 7.00541358e-03 -2.49695896e-02 9.99663665e-01 -8.96451146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.687719421 meters Centerline goodness : 0.938704 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.27, Z:-0.90 [[ 9.99925091e-01 9.95968745e-03 -7.11461095e-03 7.66350962e+00] [-9.80813675e-03 9.99730781e-01 2.10277255e-02 -2.72456207e-01] [ 7.32212514e-03 -2.09563692e-02 9.99753578e-01 -8.96920422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.717719421 meters Centerline goodness : 0.939332 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.27, Z:-0.90 [[ 9.99945262e-01 1.02932539e-02 -1.87656361e-03 7.67443725e+00] [-1.02718871e-02 9.99886067e-01 1.10608036e-02 -2.69822820e-01] [ 1.99020147e-03 -1.10409223e-02 9.99937067e-01 -9.00156181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.747719421 meters Centerline goodness : 0.942116 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.27, Z:-0.90 [[ 9.99939902e-01 1.07289651e-02 -2.25420147e-03 7.67575506e+00] [-1.07041621e-02 9.99885018e-01 1.07411059e-02 -2.66829570e-01] [ 2.36918323e-03 -1.07163311e-02 9.99939772e-01 -9.00750924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.777719421 meters Centerline goodness : 0.938911 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.26, Z:-0.90 [[ 9.99841903e-01 1.75240855e-02 -3.01257275e-03 7.67845333e+00] [-1.74705264e-02 9.99703359e-01 1.69698224e-02 -2.63124966e-01] [ 3.30905971e-03 -1.69145083e-02 9.99851464e-01 -9.01982312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.807719421 meters Centerline goodness : 0.936122 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.26, Z:-0.90 [[ 9.99794847e-01 1.98906773e-02 -3.82417048e-03 7.68180636e+00] [-1.98175098e-02 9.99636065e-01 1.83031036e-02 -2.64398317e-01] [ 4.18683986e-03 -1.82235631e-02 9.99825171e-01 -9.04073280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.837719420999996 meters Centerline goodness : 0.935699 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.26, Z:-0.91 [[ 9.99781822e-01 2.04801838e-02 -4.10737354e-03 7.68325040e+00] [-2.04019247e-02 9.99624968e-01 1.82670676e-02 -2.63720441e-01] [ 4.47994605e-03 -1.81792838e-02 9.99824706e-01 -9.05107787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.867719421 meters Centerline goodness : 0.935504 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.26, Z:-0.91 [[ 9.99706953e-01 2.37661614e-02 -4.60185361e-03 7.68616838e+00] [-2.36639815e-02 9.99496997e-01 2.11132581e-02 -2.62672541e-01] [ 5.10131996e-03 -2.09981727e-02 9.99766499e-01 -9.07280498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.897719421 meters Centerline goodness : 0.934930 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.26, Z:-0.91 [[ 9.99702074e-01 2.38830183e-02 -5.03637576e-03 7.68739327e+00] [-2.37721274e-02 9.99496088e-01 2.10346472e-02 -2.62547263e-01] [ 5.53620874e-03 -2.09086551e-02 9.99766062e-01 -9.07644137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.927719421 meters Centerline goodness : 0.938309 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.26, Z:-0.91 [[ 9.99769377e-01 2.07898935e-02 -5.38261695e-03 7.68739098e+00] [-2.06930481e-02 9.99633358e-01 1.74627293e-02 -2.62883565e-01] [ 5.74369174e-03 -1.73473193e-02 9.99833026e-01 -9.06703478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.957719421 meters Centerline goodness : 0.940529 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.26, Z:-0.90 [[ 9.99849408e-01 1.73446430e-02 5.70594079e-04 7.69979632e+00] [-1.73510921e-02 9.99744432e-01 1.44917648e-02 -2.62799885e-01] [-3.19093766e-04 -1.44994829e-02 9.99894826e-01 -9.04389415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.987719421 meters Centerline goodness : 0.943589 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.26, Z:-0.90 [[ 9.99911397e-01 1.33090619e-02 2.58348047e-04 7.69915874e+00] [-1.33110495e-02 9.99855525e-01 1.05709460e-02 -2.63049008e-01] [-1.17621348e-04 -1.05734483e-02 9.99944093e-01 -9.02628950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.017719421 meters Centerline goodness : 0.946148 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.27, Z:-0.90 [[ 9.99992460e-01 1.81725474e-03 3.43171218e-03 7.72011109e+00] [-1.87179336e-03 9.99870931e-01 1.59567745e-02 -2.66918991e-01] [-3.40227173e-03 -1.59630777e-02 9.99866793e-01 -9.03583627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.047719421 meters Centerline goodness : 0.944698 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.27, Z:-0.91 [[ 9.99957118e-01 -6.60174935e-03 6.49457860e-03 7.73468251e+00] [ 6.49278127e-03 9.99840153e-01 1.66586992e-02 -2.72392888e-01] [-6.60351701e-03 -1.66158170e-02 9.99840141e-01 -9.07498373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.077719421 meters Centerline goodness : 0.942992 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.27, Z:-0.91 [[ 0.9999029 -0.01027298 0.00941629 7.74646691] [ 0.01004322 0.99965836 0.02413081 -0.27454036] [-0.00966097 -0.0240339 0.99966446 -0.91130814] [ 0. 0. 0. 1. ]] SLAMing on 40.107719421 meters Centerline goodness : 0.942348 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.27, Z:-0.92 [[ 0.99983799 -0.01589373 0.00844828 7.75171372] [ 0.01573369 0.99970163 0.01868426 -0.27467724] [-0.00874273 -0.01854831 0.99978974 -0.91545568] [ 0. 0. 0. 1. ]] SLAMing on 40.137719421 meters Centerline goodness : 0.942924 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.27, Z:-0.92 [[ 0.99979109 -0.01889623 0.00779124 7.75477924] [ 0.01877422 0.99970442 0.0154469 -0.27408774] [-0.00808082 -0.0152974 0.99985033 -0.91748691] [ 0. 0. 0. 1. ]] SLAMing on 40.167719421 meters Centerline goodness : 0.940992 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.27, Z:-0.92 [[ 9.99748721e-01 -2.11692364e-02 7.37286022e-03 7.75656028e+00] [ 2.10710937e-02 9.99691576e-01 1.31439284e-02 -2.70861678e-01] [-7.64883318e-03 -1.29852713e-02 9.99886433e-01 -9.18618987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.197719421 meters Centerline goodness : 0.942837 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.27, Z:-0.92 [[ 9.99745219e-01 -2.14825351e-02 6.92806384e-03 7.75703083e+00] [ 2.13949662e-02 9.99693263e-01 1.24754105e-02 -2.69091892e-01] [-7.19394219e-03 -1.23240063e-02 9.99898178e-01 -9.18032644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.227719420999996 meters Centerline goodness : 0.943967 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.27, Z:-0.92 [[ 9.99756648e-01 -2.10954656e-02 6.45175789e-03 7.75750773e+00] [ 2.10182777e-02 9.99709378e-01 1.18063929e-02 -2.66961674e-01] [-6.69894422e-03 -1.16679150e-02 9.99909488e-01 -9.17322753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.257719421 meters Centerline goodness : 0.940475 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.26, Z:-0.92 [[ 9.99915582e-01 -1.29142670e-02 1.43208466e-03 7.76062539e+00] [ 1.29123537e-02 9.99915738e-01 1.33732571e-03 -2.61348569e-01] [-1.44923457e-03 -1.31872123e-03 9.99998080e-01 -9.18396358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.287719421 meters Centerline goodness : 0.941984 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.26, Z:-0.92 [[ 9.99993569e-01 -3.43244249e-03 1.03902675e-03 7.76063274e+00] [ 3.42329126e-03 9.99956427e-01 8.68474221e-03 -2.55992567e-01] [-1.06879135e-03 -8.68112947e-03 9.99961747e-01 -9.17205408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.317719421 meters Centerline goodness : 0.944435 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.25, Z:-0.92 [[ 9.99999277e-01 9.05474359e-04 7.91629754e-04 7.76040268e+00] [-9.15032650e-04 9.99925665e-01 1.21583830e-02 -2.53835643e-01] [-7.80561805e-04 -1.21590985e-02 9.99925771e-01 -9.16115629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.347719421 meters Centerline goodness : 0.947138 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.25, Z:-0.92 [[ 9.99958927e-01 9.03321484e-03 7.37895071e-04 7.76005930e+00] [-9.04581424e-03 9.99771487e-01 1.93687000e-02 -2.51071534e-01] [-5.62764824e-04 -1.93745793e-02 9.99812137e-01 -9.15252618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.377719421 meters Centerline goodness : 0.947240 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.25, Z:-0.92 [[ 9.99919414e-01 1.26849806e-02 5.05886943e-04 7.76091491e+00] [-1.26931995e-02 9.99661404e-01 2.27147582e-02 -2.49155397e-01] [-2.17579385e-04 -2.27193491e-02 9.99741859e-01 -9.15631950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.407719420999996 meters Centerline goodness : 0.944194 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.25, Z:-0.92 [[ 9.99917027e-01 1.28807893e-02 1.56379416e-04 7.76221434e+00] [-1.28811117e-02 9.99674927e-01 2.20026639e-02 -2.45997185e-01] [ 1.27083097e-04 -2.20028527e-02 9.99757900e-01 -9.16356197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.437719421 meters Centerline goodness : 0.941809 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.24, Z:-0.92 [[ 9.99897345e-01 1.43225310e-02 -4.06186920e-04 7.76510340e+00] [-1.43096864e-02 9.99641901e-01 2.26120049e-02 -2.44830396e-01] [ 7.29902606e-04 -2.26038712e-02 9.99744233e-01 -9.18464870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.467719421 meters Centerline goodness : 0.943553 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.25, Z:-0.92 [[ 9.99895233e-01 1.44539766e-02 -7.78332511e-04 7.76641156e+00] [-1.44326104e-02 9.99638554e-01 2.26817440e-02 -2.45356754e-01] [ 1.10589258e-03 -2.26681343e-02 9.99742433e-01 -9.19138507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.497719421 meters Centerline goodness : 0.942903 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.25, Z:-0.92 [[ 9.99942108e-01 1.07001753e-02 -1.13439153e-03 7.76673542e+00] [-1.06772581e-02 9.99770347e-01 1.85809038e-02 -2.45093906e-01] [ 1.33294994e-03 -1.85677159e-02 9.99826717e-01 -9.18658518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.527719421 meters Centerline goodness : 0.943073 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.25, Z:-0.92 [[ 9.99976276e-01 6.67233149e-03 -1.71116821e-03 7.76716716e+00] [-6.64612472e-03 9.99867066e-01 1.48889296e-02 -2.46501728e-01] [ 1.81028461e-03 -1.48772037e-02 9.99887690e-01 -9.17734350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.557719421 meters Centerline goodness : 0.943876 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.25, Z:-0.92 [[ 9.99992318e-01 3.25207214e-03 -2.18832973e-03 7.76801267e+00] [-3.22705358e-03 9.99930484e-01 1.13407434e-02 -2.46848241e-01] [ 2.22505852e-03 -1.13335945e-02 9.99933297e-01 -9.17597060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.587719420999996 meters Centerline goodness : 0.943283 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.25, Z:-0.92 [[ 9.99996548e-01 -3.88757163e-04 -2.59873939e-03 7.76907023e+00] [ 4.09158702e-04 9.99969068e-01 7.85463605e-03 -2.47833018e-01] [ 2.59560546e-03 -7.85567223e-03 9.99965775e-01 -9.17859819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.617719421 meters Centerline goodness : 0.945374 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.25, Z:-0.92 [[ 9.99978504e-01 -6.04492290e-03 2.53979629e-03 7.78157588e+00] [ 6.01327687e-03 9.99906416e-01 1.22882236e-02 -2.52809694e-01] [-2.61383997e-03 -1.22726870e-02 9.99921271e-01 -9.21990642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.647719421 meters Centerline goodness : 0.948029 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.26, Z:-0.93 [[ 0.99989772 -0.01177443 0.0081187 7.7937594 ] [ 0.01164684 0.99981067 0.01558763 -0.25806198] [-0.0083007 -0.01549148 0.99984554 -0.92511029] [ 0. 0. 0. 1. ]] SLAMing on 40.677719421 meters Centerline goodness : 0.950730 Centerline is valid? [False, True] Translation: X:7.82, Y:-0.27, Z:-0.92 [[ 0.99981279 -0.01757331 0.00809748 7.81800336] [ 0.01736843 0.9995437 0.02471281 -0.26567817] [-0.00852807 -0.02456755 0.9996618 -0.92258779] [ 0. 0. 0. 1. ]] SLAMing on 40.707719421 meters Centerline goodness : 0.949429 Centerline is valid? [True, False] Translation: X:7.82, Y:-0.27, Z:-0.92 [[ 0.99974002 -0.02140045 0.00786793 7.81862168] [ 0.02123188 0.99955571 0.02091845 -0.26682477] [-0.0083121 -0.02074597 0.99975023 -0.92253377] [ 0. 0. 0. 1. ]] SLAMing on 40.737719421 meters Centerline goodness : 0.949535 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.27, Z:-0.92 [[ 9.99678371e-01 -2.42875550e-02 7.29862604e-03 7.82066401e+00] [ 2.41513975e-02 9.99542673e-01 1.81976650e-02 -2.68936505e-01] [-7.73726497e-03 -1.80155400e-02 9.99807769e-01 -9.23310775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.767719421 meters Centerline goodness : 0.950350 Centerline is valid? [False, True] Translation: X:7.82, Y:-0.27, Z:-0.92 [[ 9.99588499e-01 -2.78128107e-02 7.01994484e-03 7.82167593e+00] [ 2.77023870e-02 9.99498115e-01 1.53654189e-02 -2.72785592e-01] [-7.44377712e-03 -1.51646268e-02 9.99857302e-01 -9.23620788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.797719421 meters Centerline goodness : 0.954899 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.27, Z:-0.92 [[ 9.99612619e-01 -2.66392331e-02 8.05992797e-03 7.85235891e+00] [ 2.66387668e-02 9.99645111e-01 1.65225073e-04 -2.65545532e-01] [-8.06146906e-03 4.95454738e-05 9.99967505e-01 -9.22547928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.827719421 meters Centerline goodness : 0.954032 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.26, Z:-0.92 [[ 9.99649062e-01 -2.46075219e-02 9.80936753e-03 7.88412921e+00] [ 2.46067862e-02 9.99697188e-01 1.95704869e-04 -2.63427264e-01] [-9.81121295e-03 4.57408203e-05 9.99951868e-01 -9.23084681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.857719421 meters Centerline goodness : 0.955458 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.26, Z:-0.92 [[ 9.99721465e-01 -2.08225848e-02 1.11091265e-02 7.91549002e+00] [ 2.08214145e-02 9.99783186e-01 2.21009349e-04 -2.63060865e-01] [-1.11113199e-02 1.03599370e-05 9.99938267e-01 -9.23625748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.887719421 meters Centerline goodness : 0.956941 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.26, Z:-0.92 [[ 9.99883645e-01 -1.05893775e-02 1.09800598e-02 7.94623084e+00] [ 1.05876155e-02 9.99943926e-01 2.18588466e-04 -2.64994070e-01] [-1.09817588e-02 -1.02310381e-04 9.99939693e-01 -9.24737906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.917719421 meters Centerline goodness : 0.957130 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.26, Z:-0.93 [[ 9.99941024e-01 1.33847784e-03 1.07776591e-02 7.97828873e+00] [-1.34086719e-03 9.99999078e-01 2.14471218e-04 -2.62912844e-01] [-1.07773621e-02 -2.28909978e-04 9.99941896e-01 -9.27954555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.947719421 meters Centerline goodness : 0.959248 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.26, Z:-0.93 [[ 9.99915867e-01 6.56181370e-03 1.11893852e-02 8.01029867e+00] [-6.56470384e-03 9.99978428e-01 2.21583339e-04 -2.58805250e-01] [-1.11876899e-02 -2.95019697e-04 9.99937372e-01 -9.29380486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.977719420999996 meters Centerline goodness : 0.958668 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.25, Z:-0.93 [[ 9.99857208e-01 1.35776173e-02 1.00603705e-02 8.04188189e+00] [-1.35803032e-02 9.99907764e-01 1.98710958e-04 -2.51914818e-01] [-1.00567446e-02 -3.35305466e-04 9.99949373e-01 -9.30683744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.007719421 meters Centerline goodness : 0.955282 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.25, Z:-0.93 [[ 9.99817604e-01 1.70304653e-02 8.64420779e-03 8.07443081e+00] [-1.70326394e-02 9.99854918e-01 1.77950482e-04 -2.51913472e-01] [-8.63992310e-03 -3.25151698e-04 9.99962622e-01 -9.31991793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.037719421 meters Centerline goodness : 0.956400 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.26, Z:-0.93 [[ 9.99790325e-01 1.95625011e-02 6.05108016e-03 8.10611718e+00] [-1.95636193e-02 9.99808606e-01 1.25654429e-04 -2.56519369e-01] [-6.04746390e-03 -2.44009111e-04 9.99981684e-01 -9.34080243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.067719421 meters Centerline goodness : 0.954378 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.26, Z:-0.93 [[ 9.99799345e-01 1.97834704e-02 3.14380711e-03 8.13724575e+00] [-1.97837583e-02 9.99804280e-01 6.05191247e-05 -2.57766814e-01] [-3.14199453e-03 -1.22703301e-04 9.99995056e-01 -9.34215997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.097719421 meters Centerline goodness : 0.957863 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.26, Z:-0.94 [[ 9.99821410e-01 1.82519067e-02 4.90054884e-03 8.16789043e+00] [-1.82525761e-02 9.99833404e-01 9.18978109e-05 -2.56929374e-01] [-4.89805512e-03 -1.81329039e-04 9.99987988e-01 -9.35177544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.127719421 meters Centerline goodness : 0.959962 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.26, Z:-0.94 [[ 9.99842147e-01 1.66399911e-02 6.22828932e-03 8.19774584e+00] [-1.66410454e-02 9.99861521e-01 1.17496392e-04 -2.55976075e-01] [-6.22547169e-03 -2.21123091e-04 9.99980597e-01 -9.36826370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.157719420999996 meters Centerline goodness : 0.959962 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.26, Z:-0.94 [[ 9.99840851e-01 1.67176991e-02 6.22825733e-03 8.22955632e+00] [-1.67187656e-02 9.99860225e-01 1.19209501e-04 -2.55459943e-01] [-6.22539386e-03 -2.23319303e-04 9.99980597e-01 -9.38067443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.187719421 meters Centerline goodness : 0.958196 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.26, Z:-0.94 [[ 9.99906519e-01 1.28466667e-02 4.68144908e-03 8.26158647e+00] [-1.28472621e-02 9.99917466e-01 9.71254475e-05 -2.57205715e-01] [-4.67981496e-03 -1.57260171e-04 9.99989037e-01 -9.39813800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.217719421 meters Centerline goodness : 0.957190 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.26, Z:-0.94 [[ 9.99937867e-01 1.05607700e-02 3.56817686e-03 8.29249035e+00] [-1.05611045e-02 9.99944227e-01 7.49176826e-05 -2.59859163e-01] [-3.56718666e-03 -1.12596916e-04 9.99993631e-01 -9.41017497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.247719421 meters Centerline goodness : 0.956549 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.27, Z:-0.94 [[ 9.99985421e-01 3.81068523e-03 3.82569488e-03 8.32348386e+00] [-3.81098380e-03 9.99992736e-01 7.07566405e-05 -2.65523640e-01] [-3.82539746e-03 -8.53352702e-05 9.99992679e-01 -9.43294694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.277719421 meters Centerline goodness : 0.956019 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.27, Z:-0.95 [[ 9.99989120e-01 -1.85501646e-04 4.66106931e-03 8.35456167e+00] [ 1.85104499e-04 9.99999979e-01 8.56364735e-05 -2.67435521e-01] [-4.66108510e-03 -8.47727568e-05 9.99989133e-01 -9.45540147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.307719421 meters Centerline goodness : 0.956394 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.27, Z:-0.95 [[ 9.99955686e-01 -9.32482073e-03 1.29406640e-03 8.38589305e+00] [ 9.32479630e-03 9.99956523e-01 2.49159511e-05 -2.70039045e-01] [-1.29424247e-03 -1.28479414e-05 9.99999162e-01 -9.47974458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.337719420999996 meters Centerline goodness : 0.958483 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.27, Z:-0.95 [[ 9.99831127e-01 -1.83745305e-02 -3.05905216e-04 8.41620190e+00] [ 1.83745308e-02 9.99831174e-01 -1.65099716e-06 -2.70212725e-01] [ 3.05883908e-04 -3.97014647e-06 9.99999953e-01 -9.49865687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.367719421 meters Centerline goodness : 0.958371 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.27, Z:-0.95 [[ 9.99761533e-01 -2.18131534e-02 -1.03152724e-03 8.44642559e+00] [ 2.18131460e-02 9.99762065e-01 -1.84399035e-05 -2.70806782e-01] [ 1.03168403e-03 -4.06534802e-06 9.99999468e-01 -9.49025216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.397719421 meters Centerline goodness : 0.958858 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.28, Z:-0.95 [[ 9.99712066e-01 -2.39953481e-02 8.62212956e-05 8.47669500e+00] [ 2.39953482e-02 9.99712070e-01 -5.96315944e-08 -2.76358850e-01] [-8.61950391e-05 2.12852444e-06 9.99999996e-01 -9.47385171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.427719421 meters Centerline goodness : 0.960697 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.28, Z:-0.95 [[ 9.99714885e-01 -2.38776484e-02 8.63610496e-05 8.50766359e+00] [ 2.38776484e-02 9.99714888e-01 1.54737516e-06 -2.77796417e-01] [-8.63733747e-05 5.15164793e-07 9.99999996e-01 -9.47447594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.457719421 meters Centerline goodness : 0.958845 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.28, Z:-0.95 [[ 9.99757161e-01 -2.19650312e-02 -1.77651345e-03 8.53787459e+00] [ 2.19650093e-02 9.99758740e-01 -3.18307014e-05 -2.76832304e-01] [ 1.77678401e-03 -7.19816270e-06 9.99998421e-01 -9.47698440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.487719421 meters Centerline goodness : 0.960814 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.27, Z:-0.95 [[ 9.99803659e-01 -1.98016236e-02 -7.34950137e-04 8.56768752e+00] [ 1.98016181e-02 9.99803929e-01 -1.48159678e-05 -2.74681105e-01] [ 7.35099415e-04 2.59856861e-07 9.99999730e-01 -9.49582914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.517719421 meters Centerline goodness : 0.967024 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.27, Z:-0.95 [[ 9.99877040e-01 -1.52234223e-02 3.76198204e-03 8.59754415e+00] [ 1.52232786e-02 9.99884117e-01 6.68370568e-05 -2.69347091e-01] [-3.76256358e-03 -9.55913781e-06 9.99992921e-01 -9.49824476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.547719421 meters Centerline goodness : 0.966928 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.27, Z:-0.95 [[ 9.99896750e-01 -1.24931251e-02 7.10004502e-03 8.62825063e+00] [ 1.24925185e-02 9.99921957e-01 1.29779615e-04 -2.66416849e-01] [-7.10111226e-03 -4.10687716e-05 9.99974786e-01 -9.50616716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.577719421 meters Centerline goodness : 0.968635 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.26, Z:-0.95 [[ 9.99930529e-01 -8.56831169e-03 8.09452860e-03 8.65957721e+00] [ 8.56740388e-03 9.99963288e-01 1.46820617e-04 -2.60505115e-01] [-8.09548945e-03 -7.74613210e-05 9.99967228e-01 -9.50985270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.607719421 meters Centerline goodness : 0.964165 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.26, Z:-0.95 [[ 9.99975631e-01 -4.59893383e-03 5.25238250e-03 8.69184470e+00] [ 4.59849066e-03 9.99989422e-01 9.64491776e-05 -2.59804892e-01] [-5.25277050e-03 -7.22937953e-05 9.99986201e-01 -9.53148053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.637719421 meters Centerline goodness : 0.964611 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.26, Z:-0.95 [[ 9.99989179e-01 -2.56322755e-03 3.88211224e-03 8.72383750e+00] [ 2.56296816e-03 9.99996713e-01 7.17880295e-05 -2.59755659e-01] [-3.88228349e-03 -6.18375227e-05 9.99992462e-01 -9.54655448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.667719421 meters Centerline goodness : 0.963471 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.25, Z:-0.96 [[ 9.99988513e-01 2.40012065e-03 4.14892482e-03 8.75463241e+00] [-2.40045162e-03 9.99997116e-01 7.47946742e-05 -2.54522459e-01] [-4.14873334e-03 -8.47531083e-05 9.99991390e-01 -9.57169128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.697719421 meters Centerline goodness : 0.966299 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.25, Z:-0.96 [[ 9.99973410e-01 5.43659819e-03 4.86025993e-03 8.78601831e+00] [-5.43708928e-03 9.99985215e-01 8.78338341e-05 -2.49835128e-01] [-4.85971055e-03 -1.14257166e-04 9.99988185e-01 -9.57433146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.727719420999996 meters Centerline goodness : 0.965996 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.25, Z:-0.96 [[ 9.99952963e-01 8.54114634e-03 4.59565757e-03 8.81767049e+00] [-8.54161500e-03 9.99963516e-01 8.23619535e-05 -2.45810369e-01] [-4.59478644e-03 -1.21612417e-04 9.99989437e-01 -9.58373013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.757719421 meters Centerline goodness : 0.966041 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.24, Z:-0.96 [[ 9.99863722e-01 1.55482010e-02 5.54896188e-03 8.84882268e+00] [-1.55489928e-02 9.99879102e-01 9.95727394e-05 -2.44445669e-01] [-5.54674285e-03 -1.85839938e-04 9.99984599e-01 -9.60277916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.787719421 meters Centerline goodness : 0.966543 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.25, Z:-0.96 [[ 9.99780454e-01 1.96041295e-02 7.39741551e-03 8.88047918e+00] [-1.96056326e-02 9.99807783e-01 1.30723770e-04 -2.45770632e-01] [-7.39343087e-03 -2.75726081e-04 9.99972630e-01 -9.62211890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.817719421 meters Centerline goodness : 0.965372 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.25, Z:-0.96 [[ 9.99753248e-01 2.09255907e-02 7.45408593e-03 8.91302485e+00] [-2.09272115e-02 9.99780992e-01 1.39495161e-04 -2.46106866e-01] [-7.44953441e-03 -2.95453973e-04 9.99972208e-01 -9.63922279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.847719421 meters Centerline goodness : 0.966575 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.25, Z:-0.97 [[ 9.99741123e-01 2.12783998e-02 8.05705224e-03 8.94378013e+00] [-2.12802455e-02 9.99773540e-01 1.43400973e-04 -2.45097862e-01] [-8.05217629e-03 -3.14819900e-04 9.99967531e-01 -9.66985255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.877719421 meters Centerline goodness : 0.964342 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.24, Z:-0.97 [[ 9.99789511e-01 1.97952870e-02 5.39269531e-03 8.97572305e+00] [-1.97961223e-02 9.99804032e-01 1.01550980e-04 -2.44259126e-01] [-5.38962829e-03 -2.08284061e-04 9.99985454e-01 -9.67726293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.907719420999996 meters Centerline goodness : 0.963033 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.25, Z:-0.97 [[ 9.99910866e-01 1.29270470e-02 3.33948286e-03 9.00675027e+00] [-1.29273376e-02 9.99916436e-01 6.54597833e-05 -2.47130136e-01] [-3.33835759e-03 -1.08624571e-04 9.99994422e-01 -9.68644564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.937719421 meters Centerline goodness : 0.964115 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.25, Z:-0.97 [[ 9.99958872e-01 8.07818661e-03 4.12274614e-03 9.03788151e+00] [-8.07854002e-03 9.99967366e-01 6.90759454e-05 -2.49413837e-01] [-4.12205359e-03 -1.02378874e-04 9.99991499e-01 -9.70503108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.967719421 meters Centerline goodness : 0.965372 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.25, Z:-0.97 [[ 9.99974042e-01 -2.19206197e-03 6.86370547e-03 9.06890532e+00] [ 2.19128314e-03 9.99997592e-01 1.20988855e-04 -2.54347792e-01] [-6.86395416e-03 -1.05945392e-04 9.99976437e-01 -9.71591992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.997719421 meters Centerline goodness : 0.964376 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.25, Z:-0.97 [[ 9.99882467e-01 -1.37218629e-02 6.83835121e-03 9.10145212e+00] [ 1.37213695e-02 9.99905850e-01 1.19074326e-04 -2.53906582e-01] [-6.83934131e-03 -2.52287869e-05 9.99976611e-01 -9.73483700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.027719421 meters Centerline goodness : 0.962304 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.25, Z:-0.98 [[ 9.99800738e-01 -1.90900900e-02 5.83546599e-03 9.13298108e+00] [ 1.90898653e-02 9.99817767e-01 9.42137747e-05 -2.52776023e-01] [-5.83620113e-03 1.72032581e-05 9.99982969e-01 -9.75997005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.057719421 meters Centerline goodness : 0.960935 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.25, Z:-0.98 [[ 9.99578432e-01 -2.83598934e-02 6.21893680e-03 9.16524069e+00] [ 2.83598168e-02 9.99597774e-01 1.00518354e-04 -2.52756804e-01] [-6.21928608e-03 7.58919297e-05 9.99980657e-01 -9.77272879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.087719420999996 meters Centerline goodness : 0.961082 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.25, Z:-0.98 [[ 9.99484593e-01 -3.14856230e-02 6.26132580e-03 9.19653410e+00] [ 3.14856178e-02 9.99504200e-01 9.94357352e-05 -2.54135165e-01] [-6.26135223e-03 9.77572256e-05 9.99980393e-01 -9.77701315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.117719421 meters Centerline goodness : 0.964105 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.26, Z:-0.98 [[ 9.99386632e-01 -3.44363835e-02 6.36365503e-03 9.22786020e+00] [ 3.44364398e-02 9.99406885e-01 1.00757439e-04 -2.55687262e-01] [-6.36335037e-03 1.18445985e-04 9.99979747e-01 -9.77648667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.147719421 meters Centerline goodness : 0.964522 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.25, Z:-0.98 [[ 9.99359625e-01 -3.51007735e-02 6.94808067e-03 9.25915994e+00] [ 3.51008597e-02 9.99383769e-01 1.09578062e-04 -2.53151873e-01] [-6.94764532e-03 1.34375714e-04 9.99975856e-01 -9.78592636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.177719421 meters Centerline goodness : 0.966141 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.24, Z:-0.98 [[ 9.99350102e-01 -3.49303186e-02 8.90207524e-03 9.29056508e+00] [ 3.49304606e-02 9.99389736e-01 1.39573589e-04 -2.44708712e-01] [-8.90151797e-03 1.71470708e-04 9.99960366e-01 -9.79296522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.207719421 meters Centerline goodness : 0.966904 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.24, Z:-0.98 [[ 9.99421719e-01 -3.26021918e-02 9.66050872e-03 9.32164284e+00] [ 3.26022548e-02 9.99468394e-01 1.51000146e-04 -2.40463332e-01] [-9.66029607e-03 1.64041541e-04 9.99953325e-01 -9.78814590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.237719421 meters Centerline goodness : 0.967753 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.24, Z:-0.98 [[ 9.99592188e-01 -2.62464409e-02 1.12508493e-02 9.35237210e+00] [ 2.62461257e-02 9.99655496e-01 1.75694244e-04 -2.38303539e-01] [-1.12515847e-02 1.19668611e-04 9.99936692e-01 -9.79944966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.267719420999995 meters Centerline goodness : 0.966336 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.24, Z:-0.98 [[ 9.99695095e-01 -2.20208033e-02 1.11714526e-02 9.38458085e+00] [ 2.20202319e-02 9.99757510e-01 1.74162098e-04 -2.38198776e-01] [-1.11725789e-02 7.18889828e-05 9.99937582e-01 -9.81588158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.297719421 meters Centerline goodness : 0.967919 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.23, Z:-0.98 [[ 9.99848215e-01 -1.39071076e-02 1.04946990e-02 9.41530498e+00] [ 1.39061690e-02 9.99903291e-01 1.62406407e-04 -2.33898684e-01] [-1.04959427e-02 -1.64406987e-05 9.99944916e-01 -9.83722827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.327719421 meters Centerline goodness : 0.968275 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.23, Z:-0.99 [[ 9.99891297e-01 -9.58502760e-03 1.12036459e-02 9.44773533e+00] [ 9.58368973e-03 9.99954060e-01 1.73096645e-04 -2.28851466e-01] [-1.12047904e-02 -6.57055622e-05 9.99937222e-01 -9.85606847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.357719421 meters Centerline goodness : 0.966691 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.22, Z:-0.99 [[ 9.99943158e-01 -1.48401879e-03 1.05583708e-02 9.47836928e+00] [ 1.48239174e-03 9.99998888e-01 1.61924640e-04 -2.18514032e-01] [-1.05585994e-02 -1.46263794e-04 9.99944246e-01 -9.87739868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.387719421 meters Centerline goodness : 0.964923 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.22, Z:-0.99 [[ 9.99954649e-01 2.30727870e-03 9.23990748e-03 9.50920762e+00] [-2.30870324e-03 9.99997325e-01 1.43509381e-04 -2.15514800e-01] [-9.23955164e-03 -1.64835077e-04 9.99957301e-01 -9.88984035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.417719421 meters Centerline goodness : 0.962140 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.21, Z:-0.99 [[ 9.99929485e-01 9.11208614e-03 7.61540558e-03 9.54111065e+00] [-9.11324003e-03 9.99958467e-01 1.16832410e-04 -2.14894610e-01] [-7.61402470e-03 -1.86225190e-04 9.99970996e-01 -9.89626644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.447719421 meters Centerline goodness : 0.962623 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.21, Z:-0.99 [[ 9.99896877e-01 1.27107358e-02 6.68378881e-03 9.57226301e+00] [-1.27117441e-02 9.99919197e-01 1.08396523e-04 -2.14451671e-01] [-6.68187093e-03 -1.93347958e-04 9.99977657e-01 -9.90624938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.477719420999996 meters Centerline goodness : 0.961786 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.21, Z:-0.99 [[ 9.99807328e-01 1.93023269e-02 3.56749303e-03 9.60367711e+00] [-1.93026416e-02 9.99813685e-01 5.38025675e-05 -2.11736207e-01] [-3.56578984e-03 -1.22654241e-04 9.99993635e-01 -9.91801029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.507719421 meters Centerline goodness : 0.960361 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.21, Z:-0.99 [[ 9.99644249e-01 2.65829823e-02 2.17256425e-03 9.63264987e+00] [-2.65831122e-02 9.99646606e-01 3.08986002e-05 -2.10747667e-01] [-2.17097510e-03 -8.86411271e-05 9.99997640e-01 -9.94174877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.537719421 meters Centerline goodness : 0.961106 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.21, Z:-0.99 [[ 9.99564844e-01 2.93741160e-02 2.69893978e-03 9.66181889e+00] [-2.93743273e-02 9.99568481e-01 3.86726324e-05 -2.11100926e-01] [-2.69663916e-03 -1.17935344e-04 9.99996357e-01 -9.94741549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.567719421 meters Centerline goodness : 0.961415 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.21, Z:-0.99 [[ 9.99403063e-01 3.41672000e-02 5.11069915e-03 9.69150932e+00] [-3.41680209e-02 9.99416100e-01 7.33579273e-05 -2.10528351e-01] [-5.10520858e-03 -2.47936612e-04 9.99986938e-01 -9.93830176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.597719421 meters Centerline goodness : 0.963984 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.21, Z:-1.00 [[ 9.99372084e-01 3.50871715e-02 4.93238584e-03 9.72148671e+00] [-3.50879552e-02 9.99384225e-01 7.24219839e-05 -2.10055009e-01] [-4.92680752e-03 -2.45443843e-04 9.99987833e-01 -9.95033503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.627719421 meters Centerline goodness : 0.961875 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.21, Z:-1.00 [[ 9.99438546e-01 3.32419960e-02 4.19069327e-03 9.75201108e+00] [-3.32425455e-02 9.99447312e-01 6.15317476e-05 -2.14977215e-01] [-4.18633168e-03 -2.00806512e-04 9.99991217e-01 -9.98405624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.657719420999996 meters Centerline goodness : 0.960029 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.22, Z:-1.00 [[ 9.99550457e-01 2.96248135e-02 4.61021968e-03 9.78127820e+00] [-2.96254368e-02 9.99561068e-01 6.69479298e-05 -2.19144474e-01] [-4.60621279e-03 -2.03497605e-04 9.99989371e-01 -1.00023510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.687719421 meters Centerline goodness : 0.961695 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.23, Z:-1.00 [[ 9.99785863e-01 1.95544681e-02 6.77128067e-03 9.81304813e+00] [-1.95555995e-02 9.99808766e-01 1.00920473e-04 -2.26684288e-01] [-6.76801232e-03 -2.33315315e-04 9.99977070e-01 -1.00184356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.717719421 meters Centerline goodness : 0.963190 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.23, Z:-1.00 [[ 9.99890493e-01 1.37187930e-02 5.54947487e-03 9.84537807e+00] [-1.37195131e-02 9.99905879e-01 9.17122653e-05 -2.29022550e-01] [-5.54769437e-03 -1.67838315e-04 9.99984597e-01 -1.00249093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.747719421 meters Centerline goodness : 0.962548 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.23, Z:-1.00 [[ 9.99991879e-01 3.07205613e-03 2.60870822e-03 9.87617282e+00] [-3.07218055e-03 9.99995280e-01 4.36861915e-05 -2.33457193e-01] [-2.60856170e-03 -5.17002593e-05 9.99996596e-01 -1.00330405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.777719421 meters Centerline goodness : 0.959036 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.24, Z:-1.00 [[ 9.99994645e-01 -7.88677319e-04 3.17612686e-03 9.90760819e+00] [ 7.88533653e-04 9.99999688e-01 4.64849871e-05 -2.36791434e-01] [-3.17616253e-03 -4.39802553e-05 9.99994955e-01 -1.00495185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.807719421 meters Centerline goodness : 0.961707 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.24, Z:-1.00 [[ 9.99956738e-01 -7.59685370e-03 5.36741295e-03 9.93954656e+00] [ 7.59654804e-03 9.99971143e-01 7.73340142e-05 -2.44356523e-01] [-5.36784556e-03 -3.65568583e-05 9.99985592e-01 -1.00432245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.837719420999996 meters Centerline goodness : 0.962785 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.25, Z:-1.01 [[ 9.99927598e-01 -1.01653049e-02 6.43933080e-03 9.97107755e+00] [ 1.01649177e-02 9.99948332e-01 9.28546633e-05 -2.46161113e-01] [-6.43994198e-03 -2.73926730e-05 9.99979263e-01 -1.00542474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.867719421 meters Centerline goodness : 0.959756 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.25, Z:-1.01 [[ 9.99892863e-01 -1.41565920e-02 3.72215089e-03 1.00022646e+01] [ 1.41564873e-02 9.99899790e-01 5.44579703e-05 -2.46542621e-01] [-3.72254884e-03 -1.75955388e-06 9.99993071e-01 -1.00622711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.897719421 meters Centerline goodness : 0.960110 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.25, Z:-1.01 [[ 9.99844716e-01 -1.74200102e-02 2.66206424e-03 1.00334000e+01] [ 1.74199689e-02 9.99848260e-01 3.87256813e-05 -2.47801191e-01] [-2.66233490e-03 7.65340841e-06 9.99996456e-01 -1.00754361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.927719421 meters Centerline goodness : 0.959769 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.25, Z:-1.01 [[ 9.99845808e-01 -1.72564915e-02 3.25170267e-03 1.00644278e+01] [ 1.72564305e-02 9.99851096e-01 4.68030571e-05 -2.49098682e-01] [-3.25202614e-03 9.31694082e-06 9.99994712e-01 -1.00836585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.957719421 meters Centerline goodness : 0.962676 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.25, Z:-1.01 [[ 9.99900219e-01 -1.38928903e-02 2.55720923e-03 1.00935355e+01] [ 1.38928468e-02 9.99903489e-01 3.47484968e-05 -2.51318537e-01] [-2.55744518e-03 7.81886519e-07 9.99996730e-01 -1.00835254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.987719421 meters Centerline goodness : 0.962115 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.25, Z:-1.01 [[ 9.99930618e-01 -1.14713567e-02 2.67723028e-03 1.01252851e+01] [ 1.14712942e-02 9.99934202e-01 3.87157441e-05 -2.50969643e-01] [-2.67749825e-03 -8.00176172e-06 9.99996415e-01 -1.00956590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.017719420999995 meters Centerline goodness : 0.964101 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.25, Z:-1.01 [[ 9.99990687e-01 -3.51379889e-03 2.50572516e-03 1.01560060e+01] [ 3.51372285e-03 9.99993826e-01 3.47470301e-05 -2.45282133e-01] [-2.50583179e-03 -2.59422827e-05 9.99996860e-01 -1.01051972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.047719421 meters Centerline goodness : 0.964101 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.24, Z:-1.01 [[ 9.99990760e-01 -3.49295294e-03 2.50571462e-03 1.01869805e+01] [ 3.49287493e-03 9.99993899e-01 3.55079227e-05 -2.44864464e-01] [-2.50582336e-03 -2.67554468e-05 9.99996860e-01 -1.01172815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.077719421 meters Centerline goodness : 0.964335 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.24, Z:-1.01 [[ 9.99995063e-01 1.33796077e-03 2.84332328e-03 1.02178617e+01] [-1.33808254e-03 9.99999104e-01 4.09269666e-05 -2.41264943e-01] [-2.84326597e-03 -4.47313658e-05 9.99995957e-01 -1.01263295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.107719421 meters Centerline goodness : 0.965134 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.24, Z:-1.01 [[ 9.99963867e-01 7.63951861e-03 3.72851346e-03 1.02487160e+01] [-7.63976927e-03 9.99970815e-01 5.29910424e-05 -2.39016960e-01] [-3.72799981e-03 -8.14741102e-05 9.99993048e-01 -1.01396828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.137719421 meters Centerline goodness : 0.966068 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.24, Z:-1.02 [[ 9.99943358e-01 9.41331630e-03 4.96689073e-03 1.02801363e+01] [-9.41381892e-03 9.99955686e-01 7.78240085e-05 -2.40158910e-01] [-4.96593805e-03 -1.24577010e-04 9.99987662e-01 -1.01532761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.167719421 meters Centerline goodness : 0.965302 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.24, Z:-1.02 [[ 9.99948584e-01 8.58396630e-03 5.39865064e-03 1.03116558e+01] [-8.58449192e-03 9.99963150e-01 7.41958952e-05 -2.44223415e-01] [-5.39781480e-03 -1.20536753e-04 9.99985424e-01 -1.01691937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.197719421 meters Centerline goodness : 0.966982 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.24, Z:-1.02 [[ 9.99954004e-01 7.45528392e-03 6.03389305e-03 1.03436460e+01] [-7.45596746e-03 9.99972200e-01 9.07954687e-05 -2.44792366e-01] [-6.03304840e-03 -1.35779803e-04 9.99981792e-01 -1.01820900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.227719420999996 meters Centerline goodness : 0.966629 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.24, Z:-1.02 [[ 9.99942203e-01 9.81976914e-03 4.37759619e-03 1.03758179e+01] [-9.82016111e-03 9.99951779e-01 6.80525648e-05 -2.43066699e-01] [-4.37671683e-03 -1.11037331e-04 9.99990416e-01 -1.01856240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.257719421 meters Centerline goodness : 0.966412 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.24, Z:-1.02 [[ 9.99918193e-01 1.27317438e-02 1.22876480e-03 1.04075441e+01] [-1.27317748e-02 9.99918948e-01 1.74040144e-05 -2.42062592e-01] [-1.22844363e-03 -3.30469474e-05 9.99999245e-01 -1.01955276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.287719421 meters Centerline goodness : 0.962595 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.24, Z:-1.02 [[ 9.99762971e-01 2.17402830e-02 -1.16741203e-03 1.04382019e+01] [-2.17403142e-02 9.99763651e-01 -1.40787636e-05 -2.43877586e-01] [ 1.16683003e-03 3.94553308e-05 9.99999318e-01 -1.02225563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.317719421 meters Centerline goodness : 0.967491 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.25, Z:-1.02 [[ 9.99539234e-01 3.03532475e-02 -2.30655609e-05 1.04681014e+01] [-3.03532476e-02 9.99539234e-01 -2.01615287e-06 -2.46232536e-01] [ 2.29937363e-05 2.71533858e-06 1.00000000e+00 -1.02335285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.347719421 meters Centerline goodness : 0.965496 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.25, Z:-1.02 [[ 9.99443690e-01 3.33508946e-02 -1.67521230e-04 1.04981707e+01] [-3.33508957e-02 9.99443704e-01 -3.85233406e-06 -2.46225745e-01] [ 1.67299560e-04 9.43717404e-06 9.99999986e-01 -1.02439078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.377719421 meters Centerline goodness : 0.965718 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.25, Z:-1.03 [[ 9.99315410e-01 3.69905340e-02 -6.42223645e-04 1.05277254e+01] [-3.69905475e-02 9.99315615e-01 -9.11091950e-06 -2.48299714e-01] [ 6.41447099e-04 3.28608865e-05 9.99999794e-01 -1.02506127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.407719420999996 meters Centerline goodness : 0.963801 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.25, Z:-1.03 [[ 9.99276499e-01 3.80323395e-02 1.38157204e-04 1.05571554e+01] [-3.80323400e-02 9.99276509e-01 9.62612142e-07 -2.50625587e-01] [-1.38020638e-04 -6.21635744e-06 9.99999990e-01 -1.02669679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.437719421 meters Centerline goodness : 0.966351 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.25, Z:-1.03 [[ 9.99307059e-01 3.72163877e-02 5.84372902e-04 1.05880988e+01] [-3.72163985e-02 9.99307230e-01 7.54143131e-06 -2.52881840e-01] [-5.83687401e-04 -2.92844603e-05 9.99999829e-01 -1.02801513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.467719421 meters Centerline goodness : 0.970960 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.26, Z:-1.03 [[ 9.99521280e-01 3.08870973e-02 1.78816319e-03 1.06187674e+01] [-3.08871893e-02 9.99522877e-01 2.38607524e-05 -2.56355551e-01] [-1.78657303e-03 -7.90806647e-05 9.99998401e-01 -1.02910237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.497719421 meters Centerline goodness : 0.967205 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.26, Z:-1.03 [[ 9.99657527e-01 2.60477443e-02 2.51870215e-03 1.06503826e+01] [-2.60479125e-02 9.99660695e-01 3.39752329e-05 -2.58984375e-01] [-2.51696256e-03 -9.95705304e-05 9.99996827e-01 -1.03074094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.527719421 meters Centerline goodness : 0.968740 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.27, Z:-1.03 [[ 9.99843967e-01 1.73232037e-02 3.45666428e-03 1.06813375e+01] [-1.73234658e-02 9.99849936e-01 4.58840972e-05 -2.65843934e-01] [-3.45535070e-03 -1.05758343e-04 9.99994025e-01 -1.03197446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.557719421 meters Centerline goodness : 0.970322 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.27, Z:-1.03 [[ 9.99940914e-01 9.04076144e-03 6.03592975e-03 1.07127064e+01] [-9.04144644e-03 9.99959122e-01 8.62096253e-05 -2.71108878e-01] [-6.03490361e-03 -1.40778067e-04 9.99981780e-01 -1.03387019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.587719420999996 meters Centerline goodness : 0.971020 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.27, Z:-1.03 [[ 9.99964412e-01 4.80458052e-03 6.93468695e-03 1.07447051e+01] [-4.80536344e-03 9.99988450e-01 9.62410610e-05 -2.72933024e-01] [-6.93414445e-03 -1.29561327e-04 9.99975950e-01 -1.03494355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.617719421 meters Centerline goodness : 0.970056 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.28, Z:-1.04 [[ 9.99980319e-01 -3.44652759e-03 5.24245530e-03 1.07772009e+01] [ 3.44620200e-03 9.99994059e-01 7.11385561e-05 -2.77631886e-01] [-5.24266934e-03 -5.30705961e-05 9.99986256e-01 -1.03662525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.647719421 meters Centerline goodness : 0.968107 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.28, Z:-1.04 [[ 9.99978658e-01 -5.48096560e-03 3.55566918e-03 1.08097108e+01] [ 5.48083725e-03 9.99984979e-01 4.58395594e-05 -2.80438859e-01] [-3.55586702e-03 -2.63505370e-05 9.99993678e-01 -1.03786494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.677719421 meters Centerline goodness : 0.967903 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.28, Z:-1.04 [[ 9.99988617e-01 -3.30807830e-03 3.43836537e-03 1.08409872e+01] [ 3.30795145e-03 9.99994528e-01 4.25786004e-05 -2.84610593e-01] [-3.43848741e-03 -3.12041700e-05 9.99994088e-01 -1.03819717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.707719421 meters Centerline goodness : 0.968258 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.28, Z:-1.04 [[ 9.99989423e-01 -1.44163857e-04 4.59711172e-03 1.08710990e+01] [ 1.43902750e-04 9.99999988e-01 5.71288734e-05 -2.83750795e-01] [-4.59711990e-03 -5.64667321e-05 9.99989432e-01 -1.03945680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.737719421 meters Centerline goodness : 0.969963 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.28, Z:-1.04 [[ 9.99955291e-01 8.61522219e-03 3.89797373e-03 1.09013525e+01] [-8.61547016e-03 9.99962885e-01 4.68281268e-05 -2.83983939e-01] [-3.89742562e-03 -8.04089096e-05 9.99992402e-01 -1.04056695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.767719420999995 meters Centerline goodness : 0.970617 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.29, Z:-1.04 [[ 9.99901530e-01 1.38788179e-02 2.07578759e-03 1.09323394e+01] [-1.38789018e-02 9.99903683e-01 2.60026831e-05 -2.86000129e-01] [-2.07522677e-03 -5.48097747e-05 9.99997845e-01 -1.04173484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.797719421 meters Centerline goodness : 0.969825 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.29, Z:-1.04 [[ 9.99730453e-01 2.30054462e-02 3.12572631e-03 1.09634006e+01] [-2.30057026e-02 9.99735333e-01 4.61040107e-05 -2.90275172e-01] [-3.12383839e-03 -1.18001113e-04 9.99995114e-01 -1.04327742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.827719421 meters Centerline goodness : 0.970299 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.29, Z:-1.04 [[ 9.99608002e-01 2.75629667e-02 4.91169289e-03 1.09953455e+01] [-2.75636229e-02 9.99620049e-01 6.59460482e-05 -2.91288061e-01] [-4.90800902e-03 -2.01304248e-04 9.99987935e-01 -1.04421503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.857719421 meters Centerline goodness : 0.971093 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.29, Z:-1.05 [[ 9.99462336e-01 3.22073844e-02 6.14191473e-03 1.10276171e+01] [-3.22084745e-02 9.99481169e-01 7.86251297e-05 -2.92501699e-01] [-6.13619581e-03 -2.76404560e-04 9.99981135e-01 -1.04570656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.887719421 meters Centerline goodness : 0.970447 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.30, Z:-1.05 [[ 9.99286484e-01 3.71879039e-02 6.60176824e-03 1.10592424e+01] [-3.71892568e-02 9.99308237e-01 8.22390418e-05 -2.96945761e-01] [-6.59414308e-03 -3.27695217e-04 9.99978205e-01 -1.04820958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.917719421 meters Centerline goodness : 0.970156 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.30, Z:-1.05 [[ 9.99249781e-01 3.80691067e-02 7.11466335e-03 1.10926846e+01] [-3.80706825e-02 9.99275045e-01 8.61459821e-05 -3.00662337e-01] [-7.10622604e-03 -3.56941444e-04 9.99974687e-01 -1.04989111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.947719421 meters Centerline goodness : 0.971845 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.31, Z:-1.05 [[ 9.99325529e-01 3.62647719e-02 5.77520840e-03 1.11246532e+01] [-3.62657788e-02 9.99342178e-01 6.96866206e-05 -3.10671793e-01] [-5.76888218e-03 -2.79082049e-04 9.99983321e-01 -1.05263486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.977719420999996 meters Centerline goodness : 0.971353 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.32, Z:-1.05 [[ 9.99480959e-01 3.19044785e-02 4.46284816e-03 1.11578370e+01] [-3.19050464e-02 9.99490903e-01 5.60814311e-05 -3.19786020e-01] [-4.45878689e-03 -1.98439700e-04 9.99990040e-01 -1.05487679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.007719421 meters Centerline goodness : 0.970931 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.32, Z:-1.06 [[ 9.99521798e-01 3.03932813e-02 5.69413981e-03 1.11907484e+01] [-3.03941502e-02 9.99537989e-01 6.60912116e-05 -3.23098228e-01] [-5.68950033e-03 -2.39128147e-04 9.99983786e-01 -1.05684106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.037719421 meters Centerline goodness : 0.970483 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.33, Z:-1.06 [[ 9.99613488e-01 2.71028961e-02 6.18932184e-03 1.12230839e+01] [-2.71038349e-02 9.99632621e-01 6.78313374e-05 -3.29843297e-01] [-6.18520959e-03 -2.35559477e-04 9.99980844e-01 -1.05647476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.067719421 meters Centerline goodness : 0.967689 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.33, Z:-1.06 [[ 9.99622878e-01 2.63075336e-02 7.87500712e-03 1.12565382e+01] [-2.63089884e-02 9.99653855e-01 8.11921755e-05 -3.33370739e-01] [-7.87014526e-03 -2.88345027e-04 9.99968988e-01 -1.05791848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.097719421 meters Centerline goodness : 0.969890 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.34, Z:-1.06 [[ 9.99616777e-01 2.61646888e-02 9.03924306e-03 1.12886822e+01] [-2.61665488e-02 9.99657593e-01 8.75462631e-05 -3.39544690e-01] [-9.03385735e-03 -3.24038508e-04 9.99959141e-01 -1.06096119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.127719421 meters Centerline goodness : 0.969445 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.35, Z:-1.06 [[ 9.99653010e-01 2.54995023e-02 6.60560445e-03 1.13218391e+01] [-2.55004937e-02 9.99674807e-01 6.58781558e-05 -3.45061797e-01] [-6.60177650e-03 -2.34301471e-04 9.99978181e-01 -1.06326912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.157719420999996 meters Centerline goodness : 0.967450 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.35, Z:-1.07 [[ 9.99711345e-01 2.33534580e-02 5.64287441e-03 1.13534217e+01] [-2.33541242e-02 9.99727254e-01 5.21747155e-05 -3.47395441e-01] [-5.64011688e-03 -1.83944045e-04 9.99984077e-01 -1.06509819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.187719421 meters Centerline goodness : 0.969758 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.35, Z:-1.07 [[ 9.99831219e-01 1.72017087e-02 6.45247369e-03 1.13863303e+01] [-1.72024630e-02 9.99852025e-01 6.14156852e-05 -3.53966590e-01] [-6.45046243e-03 -1.72403759e-04 9.99979181e-01 -1.06698282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.217719421 meters Centerline goodness : 0.969463 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.36, Z:-1.07 [[ 9.99879590e-01 1.31786794e-02 8.19312941e-03 1.14186341e+01] [-1.31797041e-02 9.99913141e-01 7.10897181e-05 -3.56107159e-01] [-8.19148090e-03 -1.79064180e-04 9.99966433e-01 -1.06756155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.247719421 meters Centerline goodness : 0.967226 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.36, Z:-1.07 [[ 9.99925241e-01 7.41258981e-03 9.72450673e-03 1.14502793e+01] [-7.41367896e-03 9.99972515e-01 7.59567012e-05 -3.61258308e-01] [-9.72367642e-03 -1.48045394e-04 9.99952713e-01 -1.06765808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.277719421 meters Centerline goodness : 0.968919 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.37, Z:-1.07 [[ 9.99922013e-01 8.21255136e-03 9.40858994e-03 1.14830310e+01] [-8.21362590e-03 9.99966265e-01 7.55732688e-05 -3.65244717e-01] [-9.40765189e-03 -1.52846013e-04 9.99955735e-01 -1.06746915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.307719421 meters Centerline goodness : 0.969773 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.37, Z:-1.07 [[ 9.99860262e-01 1.33800579e-02 1.00215140e-02 1.15145620e+01] [-1.33814892e-02 9.99910461e-01 7.57752889e-05 -3.70598688e-01] [-1.00196029e-02 -2.09867482e-04 9.99949780e-01 -1.06849451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.337719420999996 meters Centerline goodness : 0.969945 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.37, Z:-1.07 [[ 9.99809015e-01 1.69557655e-02 9.71779441e-03 1.15473669e+01] [-1.69572635e-02 9.99856213e-01 7.17719266e-05 -3.70798325e-01] [-9.71518016e-03 -2.36545420e-04 9.99952779e-01 -1.06999923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.367719421 meters Centerline goodness : 0.968907 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.37, Z:-1.07 [[ 9.99634014e-01 2.48195996e-02 1.07621956e-02 1.15794725e+01] [-2.48218300e-02 9.99691888e-01 7.37063869e-05 -3.72576678e-01] [-1.07570503e-02 -3.40816802e-04 9.99942083e-01 -1.07202245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.397719421 meters Centerline goodness : 0.969388 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.38, Z:-1.07 [[ 9.99515188e-01 2.90955537e-02 1.10832485e-02 1.16125982e+01] [-2.90981477e-02 9.99576557e-01 7.28351558e-05 -3.75153580e-01] [-1.10764362e-02 -3.95301846e-04 9.99938576e-01 -1.07284259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.427719421 meters Centerline goodness : 0.968538 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.38, Z:-1.07 [[ 9.99270072e-01 3.67795440e-02 1.03241873e-02 1.16442766e+01] [-3.67821701e-02 9.99323305e-01 6.45343279e-05 -3.80107692e-01] [-1.03148274e-02 -4.44233235e-04 9.99946702e-01 -1.07355770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.457719421 meters Centerline goodness : 0.969041 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.38, Z:-1.08 [[ 9.99201166e-01 3.89020275e-02 9.14666547e-03 1.16767244e+01] [-3.89041627e-02 9.99242945e-01 5.55703851e-05 -3.81269020e-01] [-9.13757914e-03 -4.11369355e-04 9.99958167e-01 -1.07512222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.487719421 meters Centerline goodness : 0.967692 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.39, Z:-1.08 [[ 9.99139950e-01 4.06124310e-02 8.36609963e-03 1.17084860e+01] [-4.06142586e-02 9.99174899e-01 4.86030575e-05 -3.85474794e-01] [-8.35722287e-03 -3.88344190e-04 9.99965002e-01 -1.07615895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.517719420999995 meters Centerline goodness : 0.968575 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.39, Z:-1.08 [[ 9.99107471e-01 4.12249956e-02 9.20658981e-03 1.17416567e+01] [-4.12272020e-02 9.99149796e-01 4.99208929e-05 -3.89363582e-01] [-9.19670435e-03 -4.29438275e-04 9.99957617e-01 -1.07694044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.547719421 meters Centerline goodness : 0.969418 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.39, Z:-1.08 [[ 9.99136161e-01 4.04407364e-02 9.56440200e-03 1.17738036e+01] [-4.04430445e-02 9.99181844e-01 4.79590998e-05 -3.93875929e-01] [-9.55463732e-03 -4.34731206e-04 9.99954259e-01 -1.07817012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.577719421 meters Centerline goodness : 0.969276 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.39, Z:-1.08 [[ 9.99171296e-01 3.95572819e-02 9.58872266e-03 1.18064261e+01] [-3.95595466e-02 9.99217214e-01 4.65598065e-05 -3.94249598e-01] [-9.57937496e-03 -4.25846743e-04 9.99954026e-01 -1.08033684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.607719421 meters Centerline goodness : 0.968014 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.40, Z:-1.08 [[ 9.99189692e-01 3.92747215e-02 8.80089910e-03 1.18388170e+01] [-3.92765966e-02 9.99228376e-01 4.02532857e-05 -3.96448071e-01] [-8.79252718e-03 -3.85890032e-04 9.99961271e-01 -1.08145130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.637719421 meters Centerline goodness : 0.968886 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.40, Z:-1.08 [[ 9.99172979e-01 3.98824212e-02 7.92157585e-03 1.18718952e+01] [-3.98839540e-02 9.99204318e-01 3.55456736e-05 -3.99655280e-01] [-7.91385514e-03 -3.51460043e-04 9.99968623e-01 -1.08156374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.667719421 meters Centerline goodness : 0.970315 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.40, Z:-1.08 [[ 9.99137978e-01 4.07537755e-02 7.90131946e-03 1.19048258e+01] [-4.07553086e-02 9.99169157e-01 3.30549967e-05 -4.03536443e-01] [-7.89340759e-03 -3.55047216e-04 9.99968784e-01 -1.08271482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.697719421 meters Centerline goodness : 0.967499 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.40, Z:-1.09 [[ 9.99134128e-01 4.09050338e-02 7.60076042e-03 1.19370504e+01] [-4.09064369e-02 9.99162981e-01 2.91679539e-05 -4.03824612e-01] [-7.59320533e-03 -3.40062725e-04 9.99971113e-01 -1.08531906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.727719420999996 meters Centerline goodness : 0.968999 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.41, Z:-1.09 [[ 9.99133147e-01 4.08883625e-02 7.81642513e-03 1.19700968e+01] [-4.08898303e-02 9.99163661e-01 2.79992979e-05 -4.05308491e-01] [-7.80874310e-03 -3.47587324e-04 9.99969451e-01 -1.08704727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.757719421 meters Centerline goodness : 0.967307 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.41, Z:-1.09 [[ 9.99200417e-01 3.96440835e-02 5.18393891e-03 1.20025552e+01] [-3.96447213e-02 9.99213839e-01 2.03015424e-05 -4.08840131e-01] [-5.17905866e-03 -2.25801123e-04 9.99986563e-01 -1.08805267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.787719421 meters Centerline goodness : 0.967656 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.41, Z:-1.09 [[ 9.99209301e-01 3.96417718e-02 3.04989182e-03 1.20357020e+01] [-3.96420072e-02 9.99213947e-01 1.67354684e-05 -4.11287203e-01] [-3.04683102e-03 -1.37626069e-04 9.99995349e-01 -1.08882264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.817719421 meters Centerline goodness : 0.967063 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.42, Z:-1.09 [[ 9.99194309e-01 3.96337711e-02 6.31648944e-03 1.20675600e+01] [-3.96346792e-02 9.99214237e-01 1.86055593e-05 -4.15593033e-01] [-6.31078877e-03 -2.68942602e-04 9.99980051e-01 -1.09045867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.847719421 meters Centerline goodness : 0.969070 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.42, Z:-1.09 [[ 9.99144435e-01 4.02724196e-02 9.40902826e-03 1.21002469e+01] [-4.02743872e-02 9.99188658e-01 1.96559679e-05 -4.17826431e-01] [-9.40060272e-03 -3.98581998e-04 9.99955734e-01 -1.09126216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.877719421 meters Centerline goodness : 0.972049 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.42, Z:-1.09 [[ 9.99077046e-01 4.05929408e-02 1.40452872e-02 1.21323228e+01] [-4.05971705e-02 9.99175595e-01 1.60465431e-05 -4.19767623e-01] [-1.40330568e-02 -5.86230653e-04 9.99901360e-01 -1.09117783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.907719420999996 meters Centerline goodness : 0.971983 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.42, Z:-1.09 [[ 9.99067969e-01 4.06713782e-02 1.44579155e-02 1.21650244e+01] [-4.06758682e-02 9.99172394e-01 1.65142918e-05 -4.20116541e-01] [-1.44452784e-02 -6.04587167e-04 9.99895479e-01 -1.09168011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.937719421 meters Centerline goodness : 0.973048 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.42, Z:-1.09 [[ 9.99269111e-01 3.48288136e-02 1.57542649e-02 1.21964503e+01] [-3.48333165e-02 9.99393136e-01 1.14234665e-05 -4.21083869e-01] [-1.57443064e-02 -5.60188413e-04 9.99875894e-01 -1.09340114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.967719421 meters Centerline goodness : 0.973048 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.42, Z:-1.09 [[ 9.99261795e-01 3.50380833e-02 1.57542654e-02 1.22298991e+01] [-3.50425091e-02 9.99385823e-01 4.87610109e-06 -4.21301074e-01] [-1.57444187e-02 -5.56941492e-04 9.99875894e-01 -1.09470799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.997719421 meters Centerline goodness : 0.972669 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.42, Z:-1.10 [[ 9.99407444e-01 3.08576611e-02 1.52501135e-02 1.22624983e+01] [-3.08613131e-02 9.99523676e-01 4.14225909e-06 -4.23186076e-01] [-1.52427217e-02 -4.74778331e-04 9.99883710e-01 -1.09548871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.027719421 meters Centerline goodness : 0.969558 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.43, Z:-1.10 [[ 9.99682061e-01 2.14214290e-02 1.33003520e-02 1.22951894e+01] [-2.14233499e-02 9.99770494e-01 1.94383099e-06 -4.26214551e-01] [-1.32972578e-02 -2.86881307e-04 9.99911546e-01 -1.09617667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.057719421 meters Centerline goodness : 0.970274 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.43, Z:-1.10 [[ 9.99704548e-01 2.00733399e-02 1.37068213e-02 1.23282870e+01] [-2.00751827e-02 9.99798473e-01 -3.14643989e-06 -4.26928766e-01] [-1.37041222e-02 -2.72021432e-04 9.99906057e-01 -1.09786809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.087719420999996 meters Centerline goodness : 0.970384 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.42, Z:-1.10 [[ 9.99613739e-01 2.44289709e-02 1.32513286e-02 1.23599246e+01] [-2.44310135e-02 9.99701518e-01 -7.74262812e-06 -4.24148335e-01] [-1.32475625e-02 -3.16003750e-04 9.99912197e-01 -1.09810404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.117719421 meters Centerline goodness : 0.971067 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.42, Z:-1.10 [[ 9.99509517e-01 2.91986668e-02 1.13209111e-02 1.23926940e+01] [-2.92004486e-02 9.99573576e-01 -7.90268622e-06 -4.22031644e-01] [-1.13163144e-02 -3.22676873e-04 9.99935916e-01 -1.09930076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.147719421 meters Centerline goodness : 0.968723 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.42, Z:-1.10 [[ 9.99183132e-01 3.94920916e-02 8.56992993e-03 1.24248647e+01] [-3.94934873e-02 9.99219828e-01 -6.38272016e-06 -4.19148140e-01] [-8.56349597e-03 -3.32078912e-04 9.99963277e-01 -1.10211933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.177719421 meters Centerline goodness : 0.967100 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.42, Z:-1.10 [[ 9.98977958e-01 4.44813941e-02 8.02775413e-03 1.24577880e+01] [-4.44827697e-02 9.99010152e-01 -7.19954048e-06 -4.20280888e-01] [-8.02012811e-03 -3.49904556e-04 9.99967777e-01 -1.10336502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.207719421 meters Centerline goodness : 0.965575 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.42, Z:-1.10 [[ 9.98710712e-01 5.04535589e-02 5.59932359e-03 1.24899551e+01] [-5.04543287e-02 9.98726369e-01 -3.78745853e-06 -4.21504013e-01] [-5.59238321e-03 -2.78727537e-04 9.99984324e-01 -1.10411547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.237719421 meters Centerline goodness : 0.963516 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.42, Z:-1.11 [[ 9.98621349e-01 5.23434418e-02 3.94541869e-03 1.25233622e+01] [-5.23438501e-02 9.98629121e-01 2.22607772e-07 -4.22097622e-01] [-3.93999834e-03 -2.06740705e-04 9.99992217e-01 -1.10556278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.267719420999995 meters Centerline goodness : 0.961905 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.42, Z:-1.11 [[ 9.98545781e-01 5.37946539e-02 3.52962152e-03 1.25557790e+01] [-5.37949750e-02 9.98552002e-01 -3.96285848e-06 -4.24850414e-01] [-3.52472381e-03 -1.85918806e-04 9.99993771e-01 -1.10711155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.297719421 meters Centerline goodness : 0.962309 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.43, Z:-1.11 [[ 9.98520607e-01 5.42487152e-02 3.69791713e-03 1.25886906e+01] [-5.42490820e-02 9.98527434e-01 -1.12576916e-06 -4.28094830e-01] [-3.69253278e-03 -1.99484506e-04 9.99993163e-01 -1.10840605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.327719421 meters Centerline goodness : 0.963587 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.43, Z:-1.11 [[ 9.98665012e-01 5.13846759e-02 5.27337684e-03 1.26204291e+01] [-5.13853416e-02 9.98678901e-01 -9.25879801e-06 -4.33898525e-01] [-5.26688594e-03 -2.61727832e-04 9.99986096e-01 -1.10969897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.357719421 meters Centerline goodness : 0.963218 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.44, Z:-1.11 [[ 9.98781668e-01 4.87819893e-02 7.44965994e-03 1.26535709e+01] [-4.87831974e-02 9.98809391e-01 -1.95559372e-05 -4.36003905e-01] [-7.44174429e-03 -3.43886120e-04 9.99972251e-01 -1.11177705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.387719421 meters Centerline goodness : 0.961275 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.44, Z:-1.11 [[ 9.98991503e-01 4.36095798e-02 1.06855315e-02 1.26867004e+01] [-4.36116797e-02 9.99048557e-01 -3.65314601e-05 -4.39002218e-01] [-1.06769579e-02 -4.29519357e-04 9.99942907e-01 -1.11200299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.417719421 meters Centerline goodness : 0.964150 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.44, Z:-1.11 [[ 9.99061200e-01 4.08170279e-02 1.45151417e-02 1.27188192e+01] [-4.08204705e-02 9.99166495e-01 -5.91449285e-05 -4.40972265e-01] [-1.45054574e-02 -5.33425510e-04 9.99894648e-01 -1.11252283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.447719421 meters Centerline goodness : 0.963125 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.44, Z:-1.11 [[ 9.99120480e-01 3.90395164e-02 1.53030102e-02 1.27509546e+01] [-3.90430193e-02 9.99237528e-01 -6.98976908e-05 -4.42246609e-01] [-1.52940708e-02 -5.27639507e-04 9.99882900e-01 -1.11238066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.477719420999996 meters Centerline goodness : 0.962390 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.44, Z:-1.11 [[ 9.99169496e-01 3.73518065e-02 1.62837544e-02 1.27834782e+01] [-3.73555347e-02 9.99302036e-01 -7.52626830e-05 -4.42465747e-01] [-1.62752001e-02 -5.33088176e-04 9.99867408e-01 -1.11318343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.507719421 meters Centerline goodness : 0.963197 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.44, Z:-1.12 [[ 9.99321817e-01 3.40883740e-02 1.39243947e-02 1.28164507e+01] [-3.40907462e-02 9.99418739e-01 -6.70265693e-05 -4.40189374e-01] [-1.39185858e-02 -4.07711892e-04 9.99903049e-01 -1.11548463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.537719421 meters Centerline goodness : 0.961053 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.44, Z:-1.12 [[ 9.99419042e-01 3.22195111e-02 1.11122624e-02 1.28490409e+01] [-3.22208946e-02 9.99480771e-01 -5.45522051e-05 -4.39032293e-01] [-1.11082503e-02 -3.03526524e-04 9.99938255e-01 -1.11709304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.567719421 meters Centerline goodness : 0.959102 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.44, Z:-1.12 [[ 9.99612132e-01 2.66187270e-02 8.18706097e-03 1.28820511e+01] [-2.66193026e-02 9.99645643e-01 -3.86713421e-05 -4.36980221e-01] [-8.18518921e-03 -1.79277510e-04 9.99966485e-01 -1.11851202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.597719421 meters Centerline goodness : 0.959148 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.44, Z:-1.12 [[ 9.99713268e-01 2.22444699e-02 8.86366465e-03 1.29143960e+01] [-2.22449299e-02 9.99752550e-01 -4.66963507e-05 -4.35266387e-01] [-8.86251007e-03 -1.50488637e-04 9.99960716e-01 -1.11813669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.627719421 meters Centerline goodness : 0.957971 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.44, Z:-1.12 [[ 9.99725640e-01 2.13142489e-02 9.71328958e-03 1.29470855e+01] [-2.13147214e-02 9.99772814e-01 -5.48849794e-05 -4.35023559e-01] [-9.71225269e-03 -1.52166140e-04 9.99952823e-01 -1.11907804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.657719420999996 meters Centerline goodness : 0.958983 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.43, Z:-1.12 [[ 9.99699464e-01 2.20676256e-02 1.06771890e-02 1.29800887e+01] [-2.20681861e-02 9.99756466e-01 -6.53325267e-05 -4.34408780e-01] [-1.06760304e-02 -1.70313301e-04 9.99942995e-01 -1.11965682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.687719421 meters Centerline goodness : 0.957457 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.43, Z:-1.12 [[ 9.99672047e-01 2.37181639e-02 9.65650483e-03 1.30130670e+01] [-2.37186794e-02 9.99718671e-01 -6.11597416e-05 -4.34349978e-01] [-9.65523877e-03 -1.67899858e-04 9.99953373e-01 -1.12057291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.717719421 meters Centerline goodness : 0.957670 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.43, Z:-1.12 [[ 9.99590374e-01 2.61609574e-02 1.16055079e-02 1.30451602e+01] [-2.61617500e-02 9.99657719e-01 -8.35408455e-05 -4.34011337e-01] [-1.16037211e-02 -2.20113771e-04 9.99932650e-01 -1.12298449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.747719421 meters Centerline goodness : 0.959910 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.43, Z:-1.12 [[ 9.99322737e-01 3.31219839e-02 1.60312865e-02 1.30768552e+01] [-3.31243217e-02 9.99451232e-01 -1.19751717e-04 -4.34531375e-01] [-1.60264555e-02 -4.11354880e-04 9.99871483e-01 -1.12453231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.777719421 meters Centerline goodness : 0.960005 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.44, Z:-1.13 [[ 9.99102728e-01 3.96691673e-02 1.48356189e-02 1.31089449e+01] [-3.96718352e-02 9.99212756e-01 -1.14536938e-04 -4.36181681e-01] [-1.48284832e-02 -4.74122060e-04 9.99889940e-01 -1.12595294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.807719421 meters Centerline goodness : 0.958635 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.44, Z:-1.13 [[ 9.98987633e-01 4.28400157e-02 1.37274153e-02 1.31415961e+01] [-4.28425604e-02 9.99081830e-01 -1.08775354e-04 -4.36645380e-01] [-1.37194711e-02 -4.79452385e-04 9.99905769e-01 -1.12709199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.837719420999996 meters Centerline goodness : 0.957695 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.44, Z:-1.13 [[ 9.98665347e-01 4.98836359e-02 1.33845941e-02 1.31747229e+01] [-4.98866359e-02 9.98754881e-01 -1.09846198e-04 -4.35781400e-01] [-1.33734082e-02 -5.58012780e-04 9.99910416e-01 -1.12885397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.867719421 meters Centerline goodness : 0.955246 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.43, Z:-1.13 [[ 9.98479260e-01 5.34274687e-02 1.35894323e-02 1.32078551e+01] [-5.34308325e-02 9.98571546e-01 -1.15669788e-04 -4.34605230e-01] [-1.35762004e-02 -6.10600798e-04 9.99907653e-01 -1.13128308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.897719421 meters Centerline goodness : 0.956370 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.43, Z:-1.13 [[ 9.98140926e-01 5.97089763e-02 1.22282119e-02 1.32400151e+01] [-5.97121306e-02 9.98215633e-01 -1.07311063e-04 -4.31146935e-01] [-1.22127997e-02 -6.23061022e-04 9.99925227e-01 -1.13278493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.927719421 meters Centerline goodness : 0.956687 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.43, Z:-1.13 [[ 9.97971682e-01 6.26620844e-02 1.12242944e-02 1.32726468e+01] [-6.26649066e-02 9.98034618e-01 -1.00429321e-04 -4.29597740e-01] [-1.12085275e-02 -6.03143744e-04 9.99937001e-01 -1.13383033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.957719421 meters Centerline goodness : 0.955329 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.43, Z:-1.14 [[ 9.97793950e-01 6.57143294e-02 9.42655190e-03 1.33058306e+01] [-6.57164461e-02 9.97838334e-01 -8.53553982e-05 -4.28786448e-01] [-9.41178392e-03 -5.34312390e-04 9.99955565e-01 -1.13528572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.987719421 meters Centerline goodness : 0.954531 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.43, Z:-1.14 [[ 9.97586888e-01 6.89131658e-02 8.44841318e-03 1.33382948e+01] [-6.89149764e-02 9.97622534e-01 -7.69613864e-05 -4.26295975e-01] [-8.43363102e-03 -5.05446525e-04 9.99964309e-01 -1.13669921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.017719420999995 meters Centerline goodness : 0.953236 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.43, Z:-1.14 [[ 9.97404353e-01 7.15176769e-02 8.35336206e-03 1.33700409e+01] [-7.15195096e-02 9.97439198e-01 -7.94909680e-05 -4.25927346e-01] [-8.33765576e-03 -5.18143720e-04 9.99965107e-01 -1.13853305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.047719421 meters Centerline goodness : 0.951294 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.43, Z:-1.14 [[ 9.97325457e-01 7.28768355e-02 5.55867415e-03 1.34028346e+01] [-7.28776854e-02 9.97340885e-01 -4.97706313e-05 -4.26870041e-01] [-5.54752012e-03 -3.55465788e-04 9.99984549e-01 -1.13984672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.077719421 meters Centerline goodness : 0.949290 Centerline is valid? [True, False] Translation: X:13.40, Y:-0.42, Z:-1.14 [[ 9.97593066e-01 6.90786129e-02 -6.01823819e-03 1.33996922e+01] [-6.90975364e-02 9.97605413e-01 -2.99506619e-03 -4.24215371e-01] [ 5.79693198e-03 3.40370269e-03 9.99977405e-01 -1.13880285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.107719421 meters Centerline goodness : 0.950178 Centerline is valid? [False, True] Translation: X:13.40, Y:-0.42, Z:-1.14 [[ 9.97824305e-01 6.55975417e-02 -6.60442587e-03 1.33999045e+01] [-6.56443336e-02 9.97817565e-01 -7.13645729e-03 -4.22399976e-01] [ 6.12187808e-03 7.55447367e-03 9.99952725e-01 -1.13804646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.137719421 meters Centerline goodness : 0.949746 Centerline is valid? [True, False] Translation: X:13.40, Y:-0.43, Z:-1.14 [[ 9.98192705e-01 5.97412996e-02 -6.50391139e-03 1.33972268e+01] [-5.98097550e-02 9.98150330e-01 -1.08954734e-02 -4.25406145e-01] [ 5.84097156e-03 1.12647794e-02 9.99919491e-01 -1.13573994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.167719421 meters Centerline goodness : 0.950491 Centerline is valid? [False, True] Translation: X:13.40, Y:-0.43, Z:-1.13 [[ 9.98789119e-01 4.86543311e-02 -7.28362184e-03 1.33950817e+01] [-4.87956749e-02 9.98594646e-01 -2.06812753e-02 -4.31119437e-01] [ 6.26715216e-03 2.10116420e-02 9.99759588e-01 -1.13284698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.197719421 meters Centerline goodness : 0.953318 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.44, Z:-1.13 [[ 9.99019392e-01 4.37663749e-02 -6.69021143e-03 1.34280756e+01] [-4.37670059e-02 9.99041764e-01 5.21214543e-05 -4.41997462e-01] [ 6.68608180e-03 2.40740180e-04 9.99977619e-01 -1.12797788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.227719420999996 meters Centerline goodness : 0.954429 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.45, Z:-1.13 [[ 9.99361689e-01 3.49574784e-02 -7.36130260e-03 1.34610494e+01] [-3.49579924e-02 9.99388781e-01 5.88794667e-05 -4.46309322e-01] [ 7.35886150e-03 1.98494477e-04 9.99972904e-01 -1.12802079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.257719421 meters Centerline goodness : 0.956214 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.45, Z:-1.13 [[ 9.99430740e-01 3.28280012e-02 -7.77931538e-03 1.34938763e+01] [-3.28284950e-02 9.99460998e-01 6.42509029e-05 -4.47697201e-01] [ 7.77723154e-03 1.91168889e-04 9.99969739e-01 -1.12765948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.287719421 meters Centerline goodness : 0.954426 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.45, Z:-1.13 [[ 9.99466181e-01 3.21155617e-02 -5.99532527e-03 1.35260907e+01] [-3.21158239e-02 9.99484152e-01 5.25550018e-05 -4.48345957e-01] [ 5.99392043e-03 1.40017864e-04 9.99982026e-01 -1.13010881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.317719421 meters Centerline goodness : 0.956100 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.45, Z:-1.13 [[ 9.99443192e-01 3.32841928e-02 -2.33851130e-03 1.35586300e+01] [-3.32842224e-02 9.99445926e-01 2.62720541e-05 -4.49011330e-01] [ 2.33809003e-03 5.15781044e-05 9.99997265e-01 -1.13004838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.347719421 meters Centerline goodness : 0.959265 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.45, Z:-1.13 [[ 9.99419677e-01 3.40108631e-02 -1.88971705e-03 1.35909658e+01] [-3.40108809e-02 9.99421462e-01 2.27322187e-05 -4.50046911e-01] [ 1.88939692e-03 4.15519148e-05 9.99998214e-01 -1.13041628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.377719421 meters Centerline goodness : 0.954568 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.45, Z:-1.13 [[ 9.99434092e-01 3.29292314e-02 -6.86737527e-03 1.36237649e+01] [-3.29295556e-02 9.99457673e-01 6.58948124e-05 -4.51187118e-01] [ 6.86582077e-03 1.60282094e-04 9.99976417e-01 -1.13073117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.407719420999996 meters Centerline goodness : 0.952683 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.45, Z:-1.13 [[ 9.99482396e-01 3.04554934e-02 -1.03635522e-02 1.36566571e+01] [-3.04560964e-02 9.99536101e-01 9.96651291e-05 -4.49451147e-01] [ 1.03617799e-02 2.16019804e-04 9.99946292e-01 -1.13353906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.437719421 meters Centerline goodness : 0.952834 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.45, Z:-1.13 [[ 9.99547892e-01 2.84573519e-02 -9.70516591e-03 1.36880336e+01] [-2.84577719e-02 9.99594991e-01 9.48470099e-05 -4.48788996e-01] [ 9.70393433e-03 1.81383269e-04 9.99952899e-01 -1.13495594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.467719421 meters Centerline goodness : 0.954732 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.45, Z:-1.13 [[ 9.99688964e-01 2.35747928e-02 -8.13661310e-03 1.37199451e+01] [-2.35748963e-02 9.99722070e-01 8.32038496e-05 -4.46738287e-01] [ 8.13631320e-03 1.08641839e-04 9.99966894e-01 -1.13457861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.497719421 meters Centerline goodness : 0.955305 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.44, Z:-1.13 [[ 9.99757072e-01 2.08419198e-02 -7.17019174e-03 1.37511598e+01] [-2.08419629e-02 9.99782780e-01 6.87154604e-05 -4.44863705e-01] [ 7.17006639e-03 8.07421026e-05 9.99974291e-01 -1.13488399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.527719421 meters Centerline goodness : 0.957455 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.44, Z:-1.13 [[ 9.99869289e-01 1.52276911e-02 -5.43336540e-03 1.37821207e+01] [-1.52276304e-02 9.99884052e-01 5.25262942e-05 -4.42394348e-01] [ 5.43353526e-03 3.02178519e-05 9.99985238e-01 -1.13460498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.557719421 meters Centerline goodness : 0.957028 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.44, Z:-1.13 [[ 9.99908462e-01 1.26407708e-02 -4.82478175e-03 1.38132893e+01] [-1.26406913e-02 9.99920102e-01 4.69868420e-05 -4.41410929e-01] [ 4.82499022e-03 1.40060356e-05 9.99988360e-01 -1.13496999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.587719420999996 meters Centerline goodness : 0.958362 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.44, Z:-1.14 [[ 9.99927331e-01 1.19335239e-02 -1.70980322e-03 1.38435193e+01] [-1.19335125e-02 9.99928793e-01 1.68281760e-05 -4.38454487e-01] [ 1.70988229e-03 3.57700505e-06 9.99998538e-01 -1.13597195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.617719421 meters Centerline goodness : 0.959073 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.44, Z:-1.14 [[ 9.99922458e-01 1.24517494e-02 1.80324522e-04 1.38749977e+01] [-1.24517494e-02 9.99922474e-01 -7.41894548e-07 -4.36520181e-01] [-1.80319780e-04 -1.50351875e-06 9.99999984e-01 -1.13676866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.647719421 meters Centerline goodness : 0.961168 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.43, Z:-1.14 [[ 9.99859012e-01 1.67215815e-02 1.53120408e-03 1.39070499e+01] [-1.67215885e-02 9.99860184e-01 -8.22757645e-06 -4.33483229e-01] [-1.53112757e-03 -1.73777480e-05 9.99998828e-01 -1.13694543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.677719421 meters Centerline goodness : 0.961012 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.43, Z:-1.14 [[ 9.99796181e-01 2.01806900e-02 5.79259959e-04 1.39402756e+01] [-2.01806945e-02 9.99796349e-01 2.02353527e-06 -4.31652912e-01] [-5.79101155e-04 -1.37129911e-05 9.99999832e-01 -1.13790888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.707719421 meters Centerline goodness : 0.962588 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.43, Z:-1.14 [[ 9.99609360e-01 2.78665894e-02 -2.14041050e-03 1.39726221e+01] [-2.78665892e-02 9.99611651e-01 2.99057179e-05 -4.25867160e-01] [ 2.14041265e-03 2.97519047e-05 9.99997709e-01 -1.13894850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.737719421 meters Centerline goodness : 0.959904 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.42, Z:-1.14 [[ 9.99481878e-01 3.18674842e-02 -4.52106081e-03 1.40057416e+01] [-3.18675523e-02 9.99492099e-01 5.69927499e-05 -4.23626259e-01] [ 4.52058077e-03 8.71119209e-05 9.99989778e-01 -1.13986281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.767719420999995 meters Centerline goodness : 0.959049 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.42, Z:-1.14 [[ 9.99276747e-01 3.73093069e-02 -7.34839230e-03 1.40377183e+01] [-3.73096573e-02 9.99303748e-01 8.94415706e-05 -4.20455002e-01] [ 7.34661297e-03 1.84789117e-04 9.99972996e-01 -1.14176370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.797719421 meters Centerline goodness : 0.958741 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.42, Z:-1.14 [[ 9.99221575e-01 3.85347779e-02 -8.44483848e-03 1.40702807e+01] [-3.85352706e-02 9.99257235e-01 1.04415975e-04 -4.20100345e-01] [ 8.44258960e-03 2.21089442e-04 9.99964336e-01 -1.14183738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.827719421 meters Centerline goodness : 0.957402 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.42, Z:-1.14 [[ 9.99174394e-01 3.93797129e-02 -9.98841300e-03 1.41028037e+01] [-3.93804363e-02 9.99224282e-01 1.24318922e-04 -4.20462976e-01] [ 9.98556045e-03 2.69131778e-04 9.99950107e-01 -1.14311278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.857719421 meters Centerline goodness : 0.957402 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.42, Z:-1.14 [[ 9.99171977e-01 3.94409790e-02 -9.98846810e-03 1.41346184e+01] [-3.94417523e-02 9.99221864e-01 1.19632252e-04 -4.20900318e-01] [ 9.98541413e-03 2.74429490e-04 9.99950107e-01 -1.14386858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.887719421 meters Centerline goodness : 0.956585 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.42, Z:-1.15 [[ 9.99271579e-01 3.69273340e-02 -9.62719287e-03 1.41667536e+01] [-3.69278584e-02 9.99317926e-01 1.23351442e-04 -4.19133375e-01] [ 9.62518146e-03 2.32250025e-04 9.99953650e-01 -1.14571809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.917719421 meters Centerline goodness : 0.955463 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.42, Z:-1.15 [[ 9.99268312e-01 3.74054838e-02 -7.97938661e-03 1.41989666e+01] [-3.74058323e-02 9.99300151e-01 1.05614867e-04 -4.17333250e-01] [ 7.97775282e-03 1.92938007e-04 9.99968159e-01 -1.14672045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.947719421 meters Centerline goodness : 0.955232 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.42, Z:-1.15 [[ 9.99207152e-01 3.92335335e-02 -6.76741747e-03 1.42314018e+01] [-3.92338068e-02 9.99230054e-01 9.24170589e-05 -4.16408713e-01] [ 6.76583277e-03 1.73167763e-04 9.99977096e-01 -1.14776289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.977719420999996 meters Centerline goodness : 0.953350 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.42, Z:-1.15 [[ 9.99077284e-01 4.20948482e-02 -8.52083962e-03 1.42644020e+01] [-4.20953684e-02 9.99113590e-01 1.18369213e-04 -4.15357279e-01] [ 8.51826940e-03 2.40427891e-04 9.99963690e-01 -1.14738829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.007719421 meters Centerline goodness : 0.955821 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.42, Z:-1.15 [[ 9.99043073e-01 4.28932391e-02 -8.55037780e-03 1.42967439e+01] [-4.28937794e-02 9.99079631e-01 1.20255894e-04 -4.16110918e-01] [ 8.54766646e-03 2.46617201e-04 9.99963438e-01 -1.14793069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.037719421 meters Centerline goodness : 0.957762 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.42, Z:-1.15 [[ 9.99050998e-01 4.30089891e-02 -6.87966712e-03 1.43287952e+01] [-4.30093155e-02 9.99074666e-01 1.00562768e-04 -4.17574364e-01] [ 6.87762624e-03 1.95422440e-04 9.99976330e-01 -1.14792133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.067719421 meters Centerline goodness : 0.958816 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.42, Z:-1.15 [[ 9.99134519e-01 4.13638136e-02 -4.38720641e-03 1.43606326e+01] [-4.13639143e-02 9.99144145e-01 6.78065362e-05 -4.16484236e-01] [ 4.38625633e-03 1.13724179e-04 9.99990374e-01 -1.14957010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.097719421 meters Centerline goodness : 0.961042 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.41, Z:-1.15 [[ 9.99224755e-01 3.92878915e-02 -2.52000768e-03 1.43934781e+01] [-3.92879077e-02 9.99227931e-01 4.30959202e-05 -4.13948441e-01] [ 2.51975521e-03 5.59433190e-05 9.99996824e-01 -1.15118831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.127719421 meters Centerline goodness : 0.962441 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.41, Z:-1.15 [[ 9.99370628e-01 3.54604132e-02 9.52176469e-04 1.44263791e+01] [-3.54604231e-02 9.99371081e-01 -6.42844461e-06 -4.11240874e-01] [-9.51805583e-04 -2.73401818e-05 9.99999547e-01 -1.15155714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.157719420999996 meters Centerline goodness : 0.962433 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.41, Z:-1.15 [[ 9.99428700e-01 3.37532410e-02 1.72996509e-03 1.44594330e+01] [-3.37532605e-02 9.99430196e-01 -1.79703158e-05 -4.13760926e-01] [-1.72958591e-03 -4.04319131e-05 9.99998503e-01 -1.15199590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.187719421 meters Centerline goodness : 0.961087 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.42, Z:-1.15 [[ 9.99588735e-01 2.86667608e-02 -7.60623897e-04 1.44910982e+01] [-2.86667549e-02 9.99589024e-01 1.86522276e-05 -4.19849327e-01] [ 7.60845998e-04 3.16006231e-06 9.99999711e-01 -1.15076892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.217719421 meters Centerline goodness : 0.963016 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.42, Z:-1.15 [[ 9.99776201e-01 2.09424924e-02 -2.99330349e-03 1.45232579e+01] [-2.09424268e-02 9.99780682e-01 5.32361099e-05 -4.20515393e-01] [ 2.99376190e-03 9.46284349e-06 9.99995519e-01 -1.15325686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.247719421 meters Centerline goodness : 0.962601 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.42, Z:-1.15 [[ 9.99848533e-01 1.68617645e-02 -4.31177790e-03 1.45549221e+01] [-1.68616009e-02 9.99857830e-01 7.43006297e-05 -4.19250718e-01] [ 4.31241774e-03 -1.58589747e-06 9.99990701e-01 -1.15491537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.277719421 meters Centerline goodness : 0.961537 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.42, Z:-1.16 [[ 9.99897008e-01 1.32854938e-02 -5.42857669e-03 1.45861160e+01] [-1.32852207e-02 9.99911744e-01 8.63730452e-05 -4.17756260e-01] [ 5.42924509e-03 -1.42443101e-05 9.99985261e-01 -1.15647724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.307719421 meters Centerline goodness : 0.959942 Centerline is valid? [True, True] Translation: X:14.62, Y:-0.42, Z:-1.16 [[ 9.99950267e-01 7.59625790e-03 -6.46217196e-03 1.46162703e+01] [-7.59575927e-03 9.99971147e-01 1.01700432e-04 -4.18600957e-01] [ 6.46275805e-03 -5.26102712e-05 9.99979115e-01 -1.15715714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.337719420999996 meters Centerline goodness : 0.960338 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.42, Z:-1.16 [[ 9.99961995e-01 6.66894476e-03 -5.61552219e-03 1.46457113e+01] [-6.66855683e-03 9.99977761e-01 8.78027238e-05 -4.20573269e-01] [ 5.61598285e-03 -5.03519580e-05 9.99984229e-01 -1.15680424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.367719421 meters Centerline goodness : 0.963307 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.42, Z:-1.15 [[ 9.99975118e-01 5.77823205e-03 -4.04653954e-03 1.46752410e+01] [-5.77802678e-03 9.99983305e-01 6.24172402e-05 -4.22492261e-01] [ 4.04683265e-03 -3.90346733e-05 9.99991811e-01 -1.15459603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.397719421 meters Centerline goodness : 0.965609 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.42, Z:-1.15 [[ 9.99976859e-01 6.58001301e-03 -1.72758700e-03 1.47058436e+01] [-6.57997604e-03 9.99978351e-01 2.70807363e-05 -4.22130125e-01] [ 1.72772779e-03 -1.57126286e-05 9.99998507e-01 -1.15492541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.427719421 meters Centerline goodness : 0.970212 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.41, Z:-1.16 [[ 9.99948112e-01 1.01641618e-02 6.80347205e-04 1.47367928e+01] [-1.01641572e-02 9.99948344e-01 -1.01821709e-05 -4.11604959e-01] [-6.80415553e-04 3.26648665e-06 9.99999769e-01 -1.15719146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.457719421 meters Centerline goodness : 0.969826 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.40, Z:-1.16 [[ 9.99806854e-01 1.96311713e-02 -9.34147566e-04 1.47681469e+01] [-1.96311653e-02 9.99807290e-01 1.56779111e-05 -3.98897966e-01] [ 9.34275322e-04 2.66352227e-06 9.99999564e-01 -1.16018879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.487719421 meters Centerline goodness : 0.968856 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.40, Z:-1.16 [[ 9.99689081e-01 2.49116074e-02 -1.07420385e-03 1.48001042e+01] [-2.49115959e-02 9.99689658e-01 2.40325453e-05 -3.97469436e-01] [ 1.07446917e-03 2.73505921e-06 9.99999423e-01 -1.16111282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.517719420999995 meters Centerline goodness : 0.968608 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.40, Z:-1.16 [[ 9.99358969e-01 3.55724292e-02 -4.03166589e-03 1.48327791e+01] [-3.55724259e-02 9.99367098e-01 7.25442664e-05 -3.95147150e-01] [ 4.03169482e-03 7.09183729e-05 9.99991870e-01 -1.16011573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.547719421 meters Centerline goodness : 0.968901 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.39, Z:-1.16 [[ 9.99152089e-01 4.08300516e-02 -5.29247452e-03 1.48637371e+01] [-4.08301264e-02 9.99166098e-01 9.39625282e-05 -3.91054328e-01] [ 5.29189761e-03 1.22209547e-04 9.99985990e-01 -1.16089086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.577719421 meters Centerline goodness : 0.968541 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.39, Z:-1.16 [[ 9.98889385e-01 4.66614423e-02 -6.53498552e-03 1.48946697e+01] [-4.66616803e-02 9.98910744e-01 1.16132328e-04 -3.86056982e-01] [ 6.53328615e-03 1.88930056e-04 9.99978640e-01 -1.16196398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.607719421 meters Centerline goodness : 0.968415 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.38, Z:-1.16 [[ 9.98347790e-01 5.69373935e-02 -7.73451208e-03 1.49263179e+01] [-5.69380809e-02 9.98377703e-01 1.31468013e-04 -3.78283863e-01] [ 7.72944985e-03 3.09137475e-04 9.99970080e-01 -1.16320544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.637719421 meters Centerline goodness : 0.970988 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.37, Z:-1.16 [[ 9.97967381e-01 6.33911499e-02 -6.53207095e-03 1.49564970e+01] [-6.33917795e-02 9.97988712e-01 1.10823466e-04 -3.74919298e-01] [ 6.52595831e-03 3.03481397e-04 9.99978660e-01 -1.16413328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.667719421 meters Centerline goodness : 0.969267 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.38, Z:-1.16 [[ 9.97841039e-01 6.53885563e-02 -6.13176699e-03 1.49875140e+01] [-6.53891053e-02 9.97859836e-01 1.11115880e-04 -3.75963264e-01] [ 6.12590971e-03 2.90074772e-04 9.99981194e-01 -1.16486258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.697719421 meters Centerline goodness : 0.970801 Centerline is valid? [True, True] Translation: X:15.02, Y:-0.38, Z:-1.17 [[ 9.98013012e-01 6.23441354e-02 -9.12342894e-03 1.50189518e+01] [-6.23452475e-02 9.98054630e-01 1.62735771e-04 -3.81536586e-01] [ 9.11582611e-03 4.06390019e-04 9.99958367e-01 -1.16505833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.727719420999996 meters Centerline goodness : 0.968780 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.38, Z:-1.17 [[ 9.98120825e-01 6.04499821e-02 -1.00308530e-02 1.50514050e+01] [-6.04511890e-02 9.98171138e-01 1.83110405e-04 -3.84656973e-01] [ 1.00235770e-02 4.23610681e-04 9.99949673e-01 -1.16593298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.757719421 meters Centerline goodness : 0.970454 Centerline is valid? [True, True] Translation: X:15.08, Y:-0.39, Z:-1.17 [[ 9.98341215e-01 5.70306868e-02 -7.89428831e-03 1.50836266e+01] [-5.70313000e-02 9.98372380e-01 1.47598283e-04 -3.85924258e-01] [ 7.88985704e-03 3.02868076e-04 9.99968829e-01 -1.16777955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.787719421 meters Centerline goodness : 0.969824 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.39, Z:-1.17 [[ 9.98443125e-01 5.52186327e-02 -7.88851998e-03 1.51157956e+01] [-5.52191711e-02 9.98474246e-01 1.49702137e-04 -3.88224919e-01] [ 7.88475039e-03 2.86128465e-04 9.99968874e-01 -1.16920190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.817719421 meters Centerline goodness : 0.968078 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.40, Z:-1.17 [[ 9.98696847e-01 5.00040410e-02 -1.02080388e-02 1.51481520e+01] [-5.00046611e-02 9.98748965e-01 1.94631106e-04 -3.96735792e-01] [ 1.02050005e-02 3.16072048e-04 9.99947878e-01 -1.17037007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.847719421 meters Centerline goodness : 0.970013 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.40, Z:-1.17 [[ 9.98865414e-01 4.65655991e-02 -9.97646708e-03 1.51793970e+01] [-4.65659983e-02 9.98915197e-01 1.92391408e-04 -4.00446468e-01] [ 9.97460340e-03 2.72391025e-04 9.99950215e-01 -1.17179795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.877719421 meters Centerline goodness : 0.971140 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.40, Z:-1.17 [[ 9.99177699e-01 3.99793826e-02 -6.75091222e-03 1.52109444e+01] [-3.99794340e-02 9.99200495e-01 1.27378886e-04 -4.02203401e-01] [ 6.75060736e-03 1.42623507e-04 9.99977204e-01 -1.17320071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.907719420999996 meters Centerline goodness : 0.970140 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.40, Z:-1.17 [[ 9.99302946e-01 3.67634118e-02 -6.48641224e-03 1.52425033e+01] [-3.67633657e-02 9.99323991e-01 1.26376000e-04 -4.03619681e-01] [ 6.48667338e-03 1.12174436e-04 9.99978955e-01 -1.17429784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.937719421 meters Centerline goodness : 0.969546 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.41, Z:-1.17 [[ 9.99513331e-01 3.08955620e-02 -4.30867664e-03 1.52741570e+01] [-3.08954624e-02 9.99522617e-01 8.96906451e-05 -4.08931394e-01] [ 4.30939080e-03 4.34715617e-05 9.99990714e-01 -1.17297490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.967719421 meters Centerline goodness : 0.969823 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.41, Z:-1.17 [[ 9.99544162e-01 3.00980692e-02 -2.36117395e-03 1.53056751e+01] [-3.00980294e-02 9.99546950e-01 5.24252474e-05 -4.11421164e-01] [ 2.36168212e-03 1.86653329e-05 9.99997211e-01 -1.17408993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.997719421 meters Centerline goodness : 0.970953 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.41, Z:-1.17 [[ 9.99477379e-01 3.21138462e-02 -3.69720816e-03 1.53379352e+01] [-3.21137710e-02 9.99484217e-01 7.97424913e-05 -4.10661721e-01] [ 3.69786204e-03 3.90304797e-05 9.99993162e-01 -1.17411853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.027719421 meters Centerline goodness : 0.969080 Centerline is valid? [True, True] Translation: X:15.37, Y:-0.41, Z:-1.17 [[ 9.99310923e-01 3.63859373e-02 -7.33099626e-03 1.53687750e+01] [-3.63857946e-02 9.99337806e-01 1.52892064e-04 -4.07912430e-01] [ 7.33170484e-03 1.13957414e-04 9.99973116e-01 -1.17465953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.057719421 meters Centerline goodness : 0.967211 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.41, Z:-1.18 [[ 9.99155258e-01 4.03056978e-02 -8.01386064e-03 1.54001246e+01] [-4.03056971e-02 9.99187382e-01 1.61654500e-04 -4.06449229e-01] [ 8.01386403e-03 1.61486296e-04 9.99967875e-01 -1.17646234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.087719420999996 meters Centerline goodness : 0.966073 Centerline is valid? [True, True] Translation: X:15.43, Y:-0.40, Z:-1.18 [[ 9.98827679e-01 4.77137280e-02 -8.16506938e-03 1.54302321e+01] [-4.77139774e-02 9.98861026e-01 1.64354559e-04 -4.03305794e-01] [ 8.16361155e-03 2.25426053e-04 9.99966652e-01 -1.17697781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.117719421 meters Centerline goodness : 0.966203 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.40, Z:-1.18 [[ 9.98673835e-01 5.07638103e-02 -8.57944886e-03 1.54612135e+01] [-5.07641912e-02 9.98710652e-01 1.73503128e-04 -4.03818759e-01] [ 8.57719465e-03 2.62255748e-04 9.99963181e-01 -1.17734085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.147719421 meters Centerline goodness : 0.967590 Centerline is valid? [True, True] Translation: X:15.49, Y:-0.41, Z:-1.18 [[ 9.98531405e-01 5.37522347e-02 -6.76237789e-03 1.54923018e+01] [-5.37525367e-02 9.98554278e-01 1.37224245e-04 -4.07826617e-01] [ 6.75997748e-03 2.26472247e-04 9.99977125e-01 -1.17822473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.177719421 meters Centerline goodness : 0.968907 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.41, Z:-1.18 [[ 9.98493963e-01 5.46922246e-02 -4.30891925e-03 1.55243449e+01] [-5.46923245e-02 9.98503250e-01 9.47316928e-05 -4.09198283e-01] [ 4.30765097e-03 1.41075787e-04 9.99990712e-01 -1.17981383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.207719421 meters Centerline goodness : 0.968747 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.41, Z:-1.18 [[ 9.98461473e-01 5.54057082e-02 -2.21243300e-03 1.55577665e+01] [-5.54057250e-02 9.98463922e-01 5.37335411e-05 -4.09059094e-01] [ 2.21201167e-03 6.89305837e-05 9.99997551e-01 -1.18057675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.237719421 meters Centerline goodness : 0.971416 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.41, Z:-1.18 [[ 9.98341235e-01 5.75516908e-02 -1.60695847e-03 1.55908136e+01] [-5.75516980e-02 9.98342527e-01 4.17712726e-05 -4.08948240e-01] [ 1.60669898e-03 5.07812045e-05 9.99998708e-01 -1.18001704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.267719420999995 meters Centerline goodness : 0.968498 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.42, Z:-1.18 [[ 9.98258378e-01 5.89805280e-02 -1.22794181e-03 1.56227842e+01] [-5.89805312e-02 9.98259133e-01 3.35895980e-05 -4.16102330e-01] [ 1.22778526e-03 3.88935625e-05 9.99999246e-01 -1.17999663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.297719421 meters Centerline goodness : 0.969513 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.42, Z:-1.18 [[ 9.98291818e-01 5.84220460e-02 -5.57043905e-04 1.56556568e+01] [-5.84220441e-02 9.98291974e-01 1.95624102e-05 -4.20712616e-01] [ 5.57235335e-04 1.30146495e-05 9.99999845e-01 -1.18139451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.327719421 meters Centerline goodness : 0.969687 Centerline is valid? [True, True] Translation: X:15.69, Y:-0.43, Z:-1.18 [[ 9.98494139e-01 5.48328427e-02 1.67758226e-03 1.56883418e+01] [-5.48328709e-02 9.98495546e-01 -2.92281416e-05 -4.26035086e-01] [-1.67666108e-03 -6.28025235e-05 9.99998592e-01 -1.18139382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.357719421 meters Centerline goodness : 0.972441 Centerline is valid? [True, True] Translation: X:15.72, Y:-0.43, Z:-1.18 [[ 9.98607030e-01 5.26868561e-02 2.84498070e-03 1.57207291e+01] [-5.26869090e-02 9.98611079e-01 -5.64027893e-05 -4.28814254e-01] [-2.84400093e-03 -9.35690171e-05 9.99995951e-01 -1.18246903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.387719421 meters Centerline goodness : 0.969036 Centerline is valid? [True, True] Translation: X:15.75, Y:-0.43, Z:-1.19 [[ 9.98869383e-01 4.75004485e-02 1.91396194e-03 1.57531025e+01] [-4.75004670e-02 9.98871215e-01 -3.58049698e-05 -4.31879257e-01] [-1.91350224e-03 -5.51495977e-05 9.99998168e-01 -1.18578355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.417719421 meters Centerline goodness : 0.968821 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.43, Z:-1.19 [[ 9.98967033e-01 4.54391160e-02 -3.92884043e-04 1.57861705e+01] [-4.54391130e-02 9.98967110e-01 1.65591151e-05 -4.33712008e-01] [ 3.93230668e-04 1.31029236e-06 9.99999923e-01 -1.18650154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.447719421 meters Centerline goodness : 0.964547 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.44, Z:-1.19 [[ 9.99119280e-01 4.18807145e-02 -2.58275871e-03 1.58182388e+01] [-4.18806808e-02 9.99122617e-01 6.71596432e-05 -4.36723303e-01] [ 2.58330534e-03 4.10671990e-05 9.99996662e-01 -1.18671359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.477719420999996 meters Centerline goodness : 0.964127 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.44, Z:-1.19 [[ 9.99202712e-01 3.98433293e-02 -2.53964411e-03 1.58511619e+01] [-3.98432866e-02 9.99205939e-01 6.74246119e-05 -4.38867098e-01] [ 2.54031389e-03 3.38169129e-05 9.99996773e-01 -1.18685516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.507719421 meters Centerline goodness : 0.963925 Centerline is valid? [True, True] Translation: X:15.88, Y:-0.44, Z:-1.19 [[ 9.99381034e-01 3.46576702e-02 -6.03273029e-03 1.58836064e+01] [-3.46574070e-02 9.99399241e-01 1.48195804e-04 -4.39368347e-01] [ 6.03424219e-03 6.09747132e-05 9.99981792e-01 -1.18742470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.537719421 meters Centerline goodness : 0.961388 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.44, Z:-1.19 [[ 9.99542158e-01 2.81794363e-02 -1.10178721e-02 1.59158042e+01] [-2.81781470e-02 9.99602880e-01 2.72265652e-04 -4.38895823e-01] [ 1.10211690e-02 3.83222230e-05 9.99939264e-01 -1.18846738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.567719421 meters Centerline goodness : 0.963183 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.44, Z:-1.19 [[ 9.99639207e-01 2.38762921e-02 -1.23035889e-02 1.59458263e+01] [-2.38744532e-02 9.99714921e-01 2.96329000e-04 -4.38713150e-01] [ 1.23071566e-02 -2.48062977e-06 9.99924264e-01 -1.18962746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.597719421 meters Centerline goodness : 0.965750 Centerline is valid? [True, True] Translation: X:15.98, Y:-0.44, Z:-1.19 [[ 9.99836636e-01 1.43574560e-02 -1.09802050e-02 1.59764880e+01] [-1.43554175e-02 9.99896921e-01 2.64455615e-04 -4.37109563e-01] [ 1.09828701e-02 -1.06786986e-04 9.99939681e-01 -1.18942798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.627719421 meters Centerline goodness : 0.966398 Centerline is valid? [True, True] Translation: X:16.00, Y:-0.44, Z:-1.19 [[ 9.99915921e-01 9.54776635e-03 -8.77447959e-03 1.60049106e+01] [-9.54629589e-03 9.99954411e-01 2.09452116e-04 -4.36703436e-01] [ 8.77607937e-03 -1.25670727e-04 9.99961482e-01 -1.18909329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.657719420999996 meters Centerline goodness : 0.968365 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.44, Z:-1.19 [[ 9.99982875e-01 2.36261390e-04 -5.84759224e-03 1.60344135e+01] [-2.35450360e-04 9.99999963e-01 1.39382665e-04 -4.35656579e-01] [ 5.84762495e-03 -1.38003460e-04 9.99982893e-01 -1.18830032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.687719421 meters Centerline goodness : 0.969885 Centerline is valid? [True, True] Translation: X:16.06, Y:-0.44, Z:-1.19 [[ 9.99976719e-01 -4.06540982e-03 -5.48036315e-03 1.60636312e+01] [ 4.06617906e-03 9.99991725e-01 1.29228202e-04 -4.35070497e-01] [ 5.47979243e-03 -1.51509332e-04 9.99984974e-01 -1.18964854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.717719421 meters Centerline goodness : 0.969552 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.43, Z:-1.19 [[ 9.99948652e-01 -8.04595276e-03 -6.16079765e-03 1.60919469e+01] [ 8.04699542e-03 9.99967612e-01 1.44472300e-04 -4.29381610e-01] [ 6.15943570e-03 -1.94040792e-04 9.99981012e-01 -1.19025714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.747719421 meters Centerline goodness : 0.967317 Centerline is valid? [True, True] Translation: X:16.12, Y:-0.43, Z:-1.19 [[ 9.99942660e-01 -7.95993246e-03 -7.16359829e-03 1.61197644e+01] [ 7.96129167e-03 9.99968295e-01 1.61242276e-04 -4.25624999e-01] [ 7.16208769e-03 -2.18264526e-04 9.99974328e-01 -1.19040255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.777719421 meters Centerline goodness : 0.964937 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.42, Z:-1.19 [[ 9.99969496e-01 -3.15018870e-03 -7.14724268e-03 1.61481025e+01] [ 3.15139457e-03 9.99995022e-01 1.57461938e-04 -4.20633131e-01] [ 7.14671107e-03 -1.79980916e-04 9.99974446e-01 -1.19025484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.807719421 meters Centerline goodness : 0.964937 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.42, Z:-1.19 [[ 9.99968800e-01 -3.36396658e-03 -7.14720624e-03 1.61766048e+01] [ 3.36518892e-03 9.99994325e-01 1.59004253e-04 -4.21081816e-01] [ 7.14663079e-03 -1.83050992e-04 9.99974446e-01 -1.19093018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.837719420999996 meters Centerline goodness : 0.966091 Centerline is valid? [True, True] Translation: X:16.20, Y:-0.42, Z:-1.19 [[ 9.99978940e-01 8.63731703e-04 -6.43226298e-03 1.62048512e+01] [-8.62830740e-04 9.99999618e-01 1.42842991e-04 -4.18402246e-01] [ 6.43238390e-03 -1.37290029e-04 9.99979303e-01 -1.19177269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.867719421 meters Centerline goodness : 0.965414 Centerline is valid? [True, True] Translation: X:16.23, Y:-0.41, Z:-1.19 [[ 9.99934061e-01 9.65444587e-03 -6.21821454e-03 1.62335482e+01] [-9.65376229e-03 9.99953392e-01 1.39938225e-04 -4.08193573e-01] [ 6.21927574e-03 -7.98998329e-05 9.99980657e-01 -1.19218991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.897719421 meters Centerline goodness : 0.966243 Centerline is valid? [True, True] Translation: X:16.26, Y:-0.40, Z:-1.19 [[ 9.99874368e-01 1.37783182e-02 -7.83623940e-03 1.62635704e+01] [-1.37773539e-02 9.99905072e-01 1.77026660e-04 -4.02448148e-01] [ 7.83793465e-03 -6.90417767e-05 9.99969281e-01 -1.19182060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.927719421 meters Centerline goodness : 0.965321 Centerline is valid? [True, True] Translation: X:16.29, Y:-0.39, Z:-1.19 [[ 9.99698689e-01 2.31347198e-02 -8.20458904e-03 1.62929773e+01] [-2.31339844e-02 9.99732357e-01 1.84534308e-04 -3.91558794e-01] [ 8.20666228e-03 5.32612886e-06 9.99966325e-01 -1.19196408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.957719421 meters Centerline goodness : 0.965928 Centerline is valid? [True, True] Translation: X:16.32, Y:-0.39, Z:-1.19 [[ 9.99582141e-01 2.78801200e-02 -7.63162441e-03 1.63231241e+01] [-2.78796228e-02 9.99611273e-01 1.71546865e-04 -3.87874413e-01] [ 7.63344054e-03 4.12916274e-05 9.99970864e-01 -1.19197763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.987719421 meters Centerline goodness : 0.965955 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.38, Z:-1.19 [[ 9.99376055e-01 3.42579800e-02 -8.59606627e-03 1.63515045e+01] [-3.42575925e-02 9.99413018e-01 1.92358042e-04 -3.83275738e-01] [ 8.59761033e-03 1.02242515e-04 9.99963035e-01 -1.19187105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.017719420999995 meters Centerline goodness : 0.966139 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.38, Z:-1.19 [[ 9.99303517e-01 3.61169168e-02 -9.38340466e-03 1.63817956e+01] [-3.61165223e-02 9.99347563e-01 2.11545159e-04 -3.80919334e-01] [ 9.38492294e-03 1.27498122e-04 9.99955953e-01 -1.19264572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.047719421 meters Centerline goodness : 0.967591 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.37, Z:-1.20 [[ 9.99158734e-01 3.99088992e-02 -9.43950217e-03 1.64119693e+01] [-3.99086819e-02 9.99203309e-01 2.11460095e-04 -3.72854216e-01] [ 9.44042094e-03 1.65435889e-04 9.99955425e-01 -1.19525747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.077719421 meters Centerline goodness : 0.965264 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.37, Z:-1.20 [[ 9.99075280e-01 4.17597373e-02 -1.02327689e-02 1.64411848e+01] [-4.17595892e-02 9.99127662e-01 2.28228884e-04 -3.69028505e-01] [ 1.02333732e-02 1.99298388e-04 9.99947618e-01 -1.19698541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.107719421 meters Centerline goodness : 0.963521 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.37, Z:-1.20 [[ 9.98908161e-01 4.46537405e-02 -1.37306352e-02 1.64701944e+01] [-4.46537410e-02 9.99002477e-01 3.06687815e-04 -3.65044303e-01] [ 1.37306333e-02 3.06771266e-04 9.99905683e-01 -1.19818670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.137719421 meters Centerline goodness : 0.961251 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.37, Z:-1.20 [[ 9.98840541e-01 4.58713886e-02 -1.46078798e-02 1.64991678e+01] [-4.58715483e-02 9.98947294e-01 3.24307933e-04 -3.65660906e-01] [ 1.46073785e-02 3.46154153e-04 9.99893247e-01 -1.19832991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.167719421 meters Centerline goodness : 0.964739 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.37, Z:-1.20 [[ 9.98833320e-01 4.67855312e-02 -1.19629513e-02 1.65276590e+01] [-4.67857217e-02 9.98904914e-01 2.64085292e-04 -3.67953101e-01] [ 1.19622062e-02 2.95918119e-04 9.99928406e-01 -1.19722955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.197719421 meters Centerline goodness : 0.968657 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.37, Z:-1.20 [[ 9.98673709e-01 5.06822470e-02 -9.06269739e-03 1.65560826e+01] [-5.06825215e-02 9.98714795e-01 1.99521993e-04 -3.69453670e-01] [ 9.06116219e-03 2.60062987e-04 9.99958913e-01 -1.19639428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.227719420999996 meters Centerline goodness : 0.968003 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.37, Z:-1.20 [[ 9.98546397e-01 5.32033893e-02 -8.63094111e-03 1.65861521e+01] [-5.32037317e-02 9.98583660e-01 1.90091684e-04 -3.68576716e-01] [ 8.62883029e-03 2.69382909e-04 9.99962735e-01 -1.19678236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.257719421 meters Centerline goodness : 0.965884 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.37, Z:-1.20 [[ 9.98343409e-01 5.70628283e-02 -7.36685047e-03 1.66153799e+01] [-5.70631858e-02 9.98370556e-01 1.61819133e-04 -3.67761567e-01] [ 7.36408045e-03 2.58824892e-04 9.99972851e-01 -1.19828530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.287719421 meters Centerline goodness : 0.964608 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.37, Z:-1.20 [[ 9.98017846e-01 6.24809980e-02 -7.51695739e-03 1.66450711e+01] [-6.24815210e-02 9.98046107e-01 1.65471661e-04 -3.68940822e-01] [ 7.51260889e-03 3.04527261e-04 9.99971734e-01 -1.20076426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.317719421 meters Centerline goodness : 0.962470 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.38, Z:-1.20 [[ 9.97836908e-01 6.51106732e-02 -9.06120819e-03 1.66750123e+01] [-6.51115362e-02 9.97877972e-01 2.00044594e-04 -3.76613627e-01] [ 9.05500509e-03 3.90377306e-04 9.99958926e-01 -1.20103734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.347719421 meters Centerline goodness : 0.965789 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.38, Z:-1.20 [[ 9.97842065e-01 6.50155450e-02 -9.17561553e-03 1.67043801e+01] [-6.50164320e-02 9.97884173e-01 2.01903908e-04 -3.80872916e-01] [ 9.16932841e-03 3.95097570e-04 9.99957883e-01 -1.20160830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.377719421 meters Centerline goodness : 0.966609 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.39, Z:-1.20 [[ 9.97998490e-01 6.30044343e-02 -5.42724227e-03 1.67343566e+01] [-6.30047133e-02 9.98013222e-01 1.19707374e-04 -3.89490193e-01] [ 5.42400165e-03 2.22474065e-04 9.99985265e-01 -1.20277918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.407719420999996 meters Centerline goodness : 0.968496 Centerline is valid? [True, True] Translation: X:16.77, Y:-0.39, Z:-1.20 [[ 9.98127498e-01 6.10877033e-02 -3.12896535e-03 1.67658267e+01] [-6.10877833e-02 9.98132395e-01 7.00918096e-05 -3.92973888e-01] [ 3.12740343e-03 1.21180995e-04 9.99995102e-01 -1.20414008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.437719421 meters Centerline goodness : 0.967206 Centerline is valid? [True, True] Translation: X:16.80, Y:-0.40, Z:-1.21 [[ 9.98371746e-01 5.70264730e-02 -1.35563011e-03 1.67967220e+01] [-5.70264760e-02 9.98372666e-01 3.64559507e-05 -3.95829348e-01] [ 1.35550300e-03 4.09102165e-05 9.99999080e-01 -1.20598489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.467719421 meters Centerline goodness : 0.965313 Centerline is valid? [True, True] Translation: X:16.83, Y:-0.40, Z:-1.21 [[ 9.98503010e-01 5.46587865e-02 -2.03848323e-03 1.68287748e+01] [-5.46587928e-02 9.98505089e-01 5.26756351e-05 -3.97299153e-01] [ 2.03831507e-03 5.88242526e-05 9.99997921e-01 -1.20682658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.497719421 meters Centerline goodness : 0.962918 Centerline is valid? [True, True] Translation: X:16.86, Y:-0.40, Z:-1.21 [[ 9.98621473e-01 5.16002149e-02 -9.62137014e-03 1.68594424e+01] [-5.16004286e-02 9.98667785e-01 2.26200203e-04 -4.04322994e-01] [ 9.62022439e-03 2.70578442e-04 9.99953688e-01 -1.20800101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.527719421 meters Centerline goodness : 0.962897 Centerline is valid? [True, True] Translation: X:16.89, Y:-0.41, Z:-1.21 [[ 9.98664645e-01 5.02130843e-02 -1.21479612e-02 1.68894161e+01] [-5.02134061e-02 9.98738472e-01 2.78709736e-04 -4.09290780e-01] [ 1.21466311e-02 3.31652948e-04 9.99926172e-01 -1.20760054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.557719421 meters Centerline goodness : 0.962393 Centerline is valid? [True, True] Translation: X:16.92, Y:-0.42, Z:-1.21 [[ 9.98797800e-01 4.75480390e-02 -1.19221822e-02 1.69199982e+01] [-4.75481564e-02 9.98868909e-01 2.73763332e-04 -4.16154656e-01] [ 1.19217141e-02 2.93443573e-04 9.99928891e-01 -1.20836374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.587719420999996 meters Centerline goodness : 0.964512 Centerline is valid? [True, True] Translation: X:16.95, Y:-0.42, Z:-1.21 [[ 9.98978082e-01 4.38548246e-02 -1.09336748e-02 1.69500754e+01] [-4.38547067e-02 9.99037888e-01 2.50647478e-04 -4.18654218e-01] [ 1.09341474e-02 2.29101763e-04 9.99940194e-01 -1.20971316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.617719421 meters Centerline goodness : 0.963579 Centerline is valid? [True, True] Translation: X:16.98, Y:-0.42, Z:-1.21 [[ 9.99096358e-01 4.15273325e-02 -9.05255880e-03 1.69804595e+01] [-4.15271562e-02 9.99137354e-01 2.07524102e-04 -4.21227855e-01] [ 9.05336757e-03 1.68590449e-04 9.99959003e-01 -1.21110970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.647719421 meters Centerline goodness : 0.966268 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.42, Z:-1.21 [[ 9.99402679e-01 3.40607668e-02 -5.84375091e-03 1.70105481e+01] [-3.40605622e-02 9.99419762e-01 1.34567471e-04 -4.24331777e-01] [ 5.84494362e-03 6.45543498e-05 9.99982916e-01 -1.21260902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.677719421 meters Centerline goodness : 0.966086 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.43, Z:-1.21 [[ 9.99553810e-01 2.95692742e-02 -4.22362949e-03 1.70417853e+01] [-2.95691237e-02 9.99562733e-01 9.80837163e-05 -4.26570149e-01] [ 4.22468290e-03 2.68490707e-05 9.99991076e-01 -1.21354046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.707719421 meters Centerline goodness : 0.964628 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.43, Z:-1.21 [[ 9.99764968e-01 2.13432864e-02 -3.80444697e-03 1.70733146e+01] [-2.13430799e-02 9.99772206e-01 9.48840018e-05 -4.31833101e-01] [ 3.80560548e-03 -1.36630853e-05 9.99992759e-01 -1.21405495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.737719421 meters Centerline goodness : 0.964684 Centerline is valid? [True, True] Translation: X:17.10, Y:-0.44, Z:-1.21 [[ 9.99824827e-01 1.76616017e-02 -6.19544367e-03 1.71036290e+01] [-1.76610442e-02 9.99844021e-01 1.44677678e-04 -4.36129165e-01] [ 6.19703255e-03 -3.52343292e-05 9.99980798e-01 -1.21353050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.767719420999995 meters Centerline goodness : 0.966786 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.44, Z:-1.21 [[ 9.99933765e-01 9.08917273e-03 -7.06057759e-03 1.71343570e+01] [-9.08823880e-03 9.99958688e-01 1.64347326e-04 -4.37554437e-01] [ 7.06177968e-03 -1.00168225e-04 9.99975060e-01 -1.21386314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.797719421 meters Centerline goodness : 0.965792 Centerline is valid? [True, True] Translation: X:17.16, Y:-0.44, Z:-1.21 [[ 9.99970698e-01 5.94516164e-03 -4.82274598e-03 1.71640945e+01] [-5.94469523e-03 9.99982324e-01 1.11039630e-04 -4.35303582e-01] [ 4.82332088e-03 -8.23666215e-05 9.99988364e-01 -1.21472929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.827719421 meters Centerline goodness : 0.970146 Centerline is valid? [True, True] Translation: X:17.19, Y:-0.43, Z:-1.21 [[ 9.99992929e-01 2.49487641e-03 -2.81375253e-03 1.71937625e+01] [-2.49470554e-03 9.99996886e-01 6.42375034e-05 -4.28384228e-01] [ 2.81390404e-03 -5.72175652e-05 9.99996039e-01 -1.21256896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.857719421 meters Centerline goodness : 0.968421 Centerline is valid? [True, True] Translation: X:17.22, Y:-0.42, Z:-1.21 [[ 9.99994546e-01 2.58641083e-03 -2.05412219e-03 1.72237764e+01] [-2.58631955e-03 9.99996654e-01 4.70912616e-05 -4.24860405e-01] [ 2.05423712e-03 -4.17783884e-05 9.99997889e-01 -1.21254016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.887719421 meters Centerline goodness : 0.969948 Centerline is valid? [True, True] Translation: X:17.25, Y:-0.42, Z:-1.21 [[ 9.99988218e-01 4.24258201e-03 -2.35900841e-03 1.72540527e+01] [-4.24246487e-03 9.99990999e-01 5.46580806e-05 -4.23301105e-01] [ 2.35921907e-03 -4.46494263e-05 9.99997216e-01 -1.21406136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.917719421 meters Centerline goodness : 0.967112 Centerline is valid? [True, True] Translation: X:17.28, Y:-0.42, Z:-1.22 [[ 9.99950577e-01 8.82127673e-03 -4.58570843e-03 1.72833644e+01] [-8.82088496e-03 9.99961090e-01 1.05651046e-04 -4.15403728e-01] [ 4.58646198e-03 -6.51958176e-05 9.99989480e-01 -1.21539129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.947719421 meters Centerline goodness : 0.968766 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.41, Z:-1.22 [[ 9.99907903e-01 1.25695623e-02 -5.11780702e-03 1.73128403e+01] [-1.25691266e-02 9.99920999e-01 1.17287733e-04 -4.09776165e-01] [ 5.11887696e-03 -5.29505667e-05 9.99986897e-01 -1.21579962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.977719420999996 meters Centerline goodness : 0.967827 Centerline is valid? [True, True] Translation: X:17.34, Y:-0.40, Z:-1.21 [[ 9.99759110e-01 2.14757813e-02 -4.52908833e-03 1.73423603e+01] [-2.14755330e-02 9.99769369e-01 1.03462881e-04 -3.97995488e-01] [ 4.53026573e-03 -6.17337239e-06 9.99989738e-01 -1.21452511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.007719421 meters Centerline goodness : 0.969069 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.40, Z:-1.21 [[ 9.99653853e-01 2.58509937e-02 -4.88883280e-03 1.73723163e+01] [-2.58507572e-02 9.99665807e-01 1.11560938e-04 -3.95760365e-01] [ 4.89008295e-03 1.48577079e-05 9.99988043e-01 -1.21465028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.037719421 meters Centerline goodness : 0.969091 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.39, Z:-1.22 [[ 9.99423544e-01 3.28157947e-02 -8.70081635e-03 1.74018121e+01] [-3.28153061e-02 9.99461413e-01 1.98957536e-04 -3.92178357e-01] [ 8.70265915e-03 8.66771059e-05 9.99962127e-01 -1.21598323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.067719421 meters Centerline goodness : 0.968921 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.39, Z:-1.22 [[ 9.99283141e-01 3.64081403e-02 -1.03755416e-02 1.74319635e+01] [-3.64076413e-02 9.99336994e-01 2.37031437e-04 -3.88964536e-01] [ 1.03772924e-02 1.40887477e-04 9.99946145e-01 -1.21772363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.097719421 meters Centerline goodness : 0.969277 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.38, Z:-1.22 [[ 9.99051373e-01 4.21459857e-02 -1.09576685e-02 1.74610569e+01] [-4.21457941e-02 9.99111440e-01 2.48500061e-04 -3.82060981e-01] [ 1.09584052e-02 2.13555313e-04 9.99939932e-01 -1.21924800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.127719421 meters Centerline goodness : 0.968695 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.38, Z:-1.22 [[ 9.98971227e-01 4.41948226e-02 -1.01639654e-02 1.74908321e+01] [-4.41947597e-02 9.99022908e-01 2.30900323e-04 -3.81918510e-01] [ 1.01642389e-02 2.18531232e-04 9.99948319e-01 -1.21973567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.157719420999996 meters Centerline goodness : 0.970458 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.38, Z:-1.22 [[ 9.98846706e-01 4.75507282e-02 -6.64732691e-03 1.75208363e+01] [-4.75507797e-02 9.98868811e-01 1.50380799e-04 -3.81415936e-01] [ 6.64695824e-03 1.65878212e-04 9.99977895e-01 -1.22004292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.187719421 meters Centerline goodness : 0.971755 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.38, Z:-1.22 [[ 9.98750024e-01 4.95372551e-02 -6.66708807e-03 1.75504042e+01] [-4.95373530e-02 9.98772260e-01 1.50555910e-04 -3.80146285e-01] [ 6.66636074e-03 1.79902177e-04 9.99977763e-01 -1.22008721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.217719421 meters Centerline goodness : 0.967071 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.38, Z:-1.22 [[ 9.98589847e-01 5.21456776e-02 -9.95723243e-03 1.75802574e+01] [-5.21460248e-02 9.98639445e-01 2.24923686e-04 -3.75306453e-01] [ 9.95541387e-03 2.94623580e-04 9.99950400e-01 -1.22172897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.247719421 meters Centerline goodness : 0.969584 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.37, Z:-1.22 [[ 9.98685041e-01 4.96863814e-02 -1.26274416e-02 1.76090314e+01] [-4.96867561e-02 9.98764810e-01 2.84238941e-04 -3.74872846e-01] [ 1.26259671e-02 3.43551433e-04 9.99920230e-01 -1.22247279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.277719421 meters Centerline goodness : 0.966975 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.38, Z:-1.22 [[ 9.98885768e-01 4.57546764e-02 -1.15642530e-02 1.76379976e+01] [-4.57547467e-02 9.98952670e-01 2.58629005e-04 -3.76589501e-01] [ 1.15639749e-02 2.70778637e-04 9.99933098e-01 -1.22349221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.307719421 meters Centerline goodness : 0.968139 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.38, Z:-1.22 [[ 9.99363893e-01 3.43907569e-02 -9.43846979e-03 1.76666176e+01] [-3.43902955e-02 9.99408457e-01 2.11230073e-04 -3.79136010e-01] [ 9.44015089e-03 1.13496057e-04 9.99955434e-01 -1.22378190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.337719420999996 meters Centerline goodness : 0.966831 Centerline is valid? [True, True] Translation: X:17.70, Y:-0.38, Z:-1.22 [[ 9.99570860e-01 2.77214912e-02 -9.46648694e-03 1.76961465e+01] [-2.77207309e-02 9.99615684e-01 2.11536926e-04 -3.78887030e-01] [ 9.46871294e-03 5.09717902e-05 9.99955169e-01 -1.22392323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.367719421 meters Centerline goodness : 0.966926 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.38, Z:-1.22 [[ 9.99716817e-01 2.19223540e-02 -9.25724103e-03 1.77262169e+01] [-2.19213823e-02 9.99759676e-01 2.06436641e-04 -3.78298953e-01] [ 9.25954188e-03 -3.44666206e-06 9.99957130e-01 -1.22482064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.397719421 meters Centerline goodness : 0.963964 Centerline is valid? [True, True] Translation: X:17.76, Y:-0.38, Z:-1.22 [[ 9.99869653e-01 1.46012105e-02 -6.89065711e-03 1.77557380e+01] [-1.46005023e-02 9.99893395e-01 1.53078684e-04 -3.78809787e-01] [ 6.89215767e-03 -5.24516763e-05 9.99976247e-01 -1.22409831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.427719421 meters Centerline goodness : 0.965619 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.38, Z:-1.22 [[ 9.99904901e-01 1.17174182e-02 -7.27259632e-03 1.77847604e+01] [-1.17165596e-02 9.99931346e-01 1.60649354e-04 -3.80524186e-01] [ 7.27397942e-03 -7.54242684e-05 9.99973541e-01 -1.22343981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.457719421 meters Centerline goodness : 0.964635 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.38, Z:-1.22 [[ 9.99967618e-01 5.91079008e-03 -5.46126145e-03 1.78142678e+01] [-5.91021991e-03 9.99982527e-01 1.20535817e-04 -3.82205911e-01] [ 5.46187849e-03 -8.82546578e-05 9.99985080e-01 -1.22384436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.487719421 meters Centerline goodness : 0.964474 Centerline is valid? [True, True] Translation: X:17.84, Y:-0.38, Z:-1.22 [[ 9.99994040e-01 -1.15744377e-03 -3.25265681e-03 1.78425452e+01] [ 1.15767973e-03 9.99999327e-01 7.06649102e-05 -3.81283260e-01] [ 3.25257283e-03 -7.44300239e-05 9.99994708e-01 -1.22374232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.517719420999995 meters Centerline goodness : 0.963281 Centerline is valid? [True, True] Translation: X:17.87, Y:-0.38, Z:-1.22 [[ 9.99983504e-01 -4.58473717e-03 -3.45992258e-03 1.78721787e+01] [ 4.58502629e-03 9.99989486e-01 7.56375747e-05 -3.82389874e-01] [ 3.45953942e-03 -9.15001630e-05 9.99994012e-01 -1.22467391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.547719421 meters Centerline goodness : 0.964290 Centerline is valid? [True, True] Translation: X:17.90, Y:-0.38, Z:-1.22 [[ 9.99917727e-01 -1.06455320e-02 -7.15618862e-03 1.79010444e+01] [ 1.06469250e-02 9.99943308e-01 1.56580837e-04 -3.83879938e-01] [ 7.15411603e-03 -2.32759358e-04 9.99974382e-01 -1.22399011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.577719421 meters Centerline goodness : 0.960474 Centerline is valid? [True, True] Translation: X:17.93, Y:-0.38, Z:-1.22 [[ 9.99864084e-01 -1.40042561e-02 -8.70023355e-03 1.79291197e+01] [ 1.40064288e-02 9.99901887e-01 1.88844092e-04 -3.82010269e-01] [ 8.69673532e-03 -3.10677627e-04 9.99962134e-01 -1.22429195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.607719421 meters Centerline goodness : 0.962436 Centerline is valid? [True, True] Translation: X:17.96, Y:-0.38, Z:-1.22 [[ 9.99808342e-01 -1.72685259e-02 -9.22372366e-03 1.79574439e+01] [ 1.72710306e-02 9.99850826e-01 1.91954125e-04 -3.76738082e-01] [ 9.21903296e-03 -3.51220549e-04 9.99957442e-01 -1.22358806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.637719421 meters Centerline goodness : 0.962664 Centerline is valid? [True, True] Translation: X:17.98, Y:-0.37, Z:-1.22 [[ 9.99865735e-01 -1.51654575e-02 -6.20647057e-03 1.79847855e+01] [ 1.51665572e-02 9.99884973e-01 1.30148305e-04 -3.69588834e-01] [ 6.20378290e-03 -2.24261621e-04 9.99980731e-01 -1.22344385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.667719421 meters Centerline goodness : 0.962155 Centerline is valid? [True, True] Translation: X:18.01, Y:-0.36, Z:-1.22 [[ 9.99928752e-01 -1.06971110e-02 -5.29737173e-03 1.80137531e+01] [ 1.06978218e-02 9.99942771e-01 1.05862026e-04 -3.64971981e-01] [ 5.29593615e-03 -1.62524822e-04 9.99985963e-01 -1.22371872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.697719420999995 meters Centerline goodness : 0.962155 Centerline is valid? [True, True] Translation: X:18.04, Y:-0.37, Z:-1.22 [[ 9.99925937e-01 -1.09571047e-02 -5.29739023e-03 1.80430649e+01] [ 1.09578143e-02 9.99939956e-01 1.04944620e-04 -3.65380909e-01] [ 5.29592227e-03 -1.62984666e-04 9.99985963e-01 -1.22441404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.727719420999996 meters Centerline goodness : 0.963297 Centerline is valid? [True, True] Translation: X:18.07, Y:-0.36, Z:-1.22 [[ 9.99973705e-01 -5.17292241e-03 -5.08243823e-03 1.80725204e+01] [ 5.17349033e-03 9.99986613e-01 9.86001311e-05 -3.60128343e-01] [ 5.08186014e-03 -1.24891483e-04 9.99987079e-01 -1.22366454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.757719421 meters Centerline goodness : 0.963581 Centerline is valid? [True, True] Translation: X:18.10, Y:-0.34, Z:-1.22 [[ 9.99859236e-01 1.61844822e-02 -4.42398265e-03 1.81021077e+01] [-1.61842702e-02 9.99869023e-01 8.37189121e-05 -3.44514337e-01] [ 4.42475815e-03 -1.21081969e-05 9.99990211e-01 -1.22263196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.787719421 meters Centerline goodness : 0.964288 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.34, Z:-1.22 [[ 9.99738451e-01 2.23597006e-02 -4.80353651e-03 1.81304877e+01] [-2.23594929e-02 9.99749991e-01 9.69439355e-05 -3.37878592e-01] [ 4.80450321e-03 1.04860606e-05 9.99988458e-01 -1.22472063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.817719421 meters Centerline goodness : 0.960283 Centerline is valid? [True, True] Translation: X:18.16, Y:-0.33, Z:-1.23 [[ 9.99577878e-01 2.80920948e-02 -7.40941875e-03 1.81598041e+01] [-2.80917652e-02 9.99605337e-01 1.48577064e-04 -3.31921874e-01] [ 7.41066837e-03 5.96293057e-05 9.99972539e-01 -1.22573115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.847719421 meters Centerline goodness : 0.957586 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.33, Z:-1.23 [[ 9.99241040e-01 3.62138195e-02 -1.43493073e-02 1.81876385e+01] [-3.62134216e-02 9.99344038e-01 2.87646290e-04 -3.25579316e-01] [ 1.43503115e-02 2.32209538e-04 9.99897002e-01 -1.22842578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.877719421 meters Centerline goodness : 0.957555 Centerline is valid? [True, True] Translation: X:18.22, Y:-0.33, Z:-1.23 [[ 9.99158096e-01 3.74611065e-02 -1.67261656e-02 1.82160943e+01] [-3.74607479e-02 9.99298044e-01 3.34857344e-04 -3.25073829e-01] [ 1.67269687e-02 2.91999246e-04 9.99860052e-01 -1.22968649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.907719420999996 meters Centerline goodness : 0.955695 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.32, Z:-1.23 [[ 9.99248642e-01 3.39589442e-02 -1.86799687e-02 1.82444382e+01] [-3.39579222e-02 9.99423194e-01 3.71993645e-04 -3.21146707e-01] [ 1.86818265e-02 2.62618781e-04 9.99825445e-01 -1.23007495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.937719421 meters Centerline goodness : 0.955377 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.32, Z:-1.23 [[ 9.99363560e-01 3.11818160e-02 -1.73253886e-02 1.82733594e+01] [-3.11805424e-02 9.99513710e-01 3.43695685e-04 -3.18037577e-01] [ 1.73276805e-02 1.96738071e-04 9.99849845e-01 -1.23044348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.967719421 meters Centerline goodness : 0.956864 Centerline is valid? [True, True] Translation: X:18.30, Y:-0.31, Z:-1.23 [[ 9.99514309e-01 2.70191238e-02 -1.55277913e-02 1.83013417e+01] [-2.70176336e-02 9.99634910e-01 3.05773998e-04 -3.14086790e-01] [ 1.55303841e-02 1.13898690e-04 9.99879390e-01 -1.23030650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.997719421 meters Centerline goodness : 0.956417 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.31, Z:-1.23 [[ 9.99555812e-01 2.55937794e-02 -1.52688070e-02 1.83300722e+01] [-2.55921810e-02 9.99672421e-01 3.00099355e-04 -3.13262443e-01] [ 1.52714860e-02 9.07960191e-05 9.99883380e-01 -1.23094132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.027719421 meters Centerline goodness : 0.956788 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.31, Z:-1.23 [[ 9.99604197e-01 2.34831513e-02 -1.54916384e-02 1.83579363e+01] [-2.34812813e-02 9.99724231e-01 3.02616456e-04 -3.13535405e-01] [ 1.54944727e-02 6.12668395e-05 9.99879952e-01 -1.23274700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.057719421 meters Centerline goodness : 0.955472 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.31, Z:-1.23 [[ 9.99631094e-01 2.13996263e-02 -1.67252154e-02 1.83867644e+01] [-2.13971651e-02 9.99771001e-01 3.26104905e-04 -3.12961410e-01] [ 1.67283638e-02 3.18875922e-05 9.99860071e-01 -1.23495890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.087719420999996 meters Centerline goodness : 0.953379 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.31, Z:-1.24 [[ 9.99689914e-01 1.56899625e-02 -1.93365320e-02 1.84155928e+01] [-1.56856285e-02 9.99876902e-01 3.75793747e-04 -3.11170513e-01] [ 1.93400479e-02 -7.23715623e-05 9.99812961e-01 -1.23541815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.117719421 meters Centerline goodness : 0.954850 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.31, Z:-1.24 [[ 9.99787191e-01 1.13838944e-02 -1.72040369e-02 1.84439082e+01] [-1.13798650e-02 9.99935192e-01 3.32095441e-04 -3.09736416e-01] [ 1.72067025e-02 -1.36245152e-04 9.99851944e-01 -1.23627375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.147719421 meters Centerline goodness : 0.955995 Centerline is valid? [True, True] Translation: X:18.47, Y:-0.31, Z:-1.23 [[ 9.99892251e-01 3.22336019e-03 -1.43211706e-02 1.84723780e+01] [-3.21974692e-03 9.99994779e-01 2.75352052e-04 -3.05419396e-01] [ 1.43219834e-02 -2.29211839e-04 9.99897409e-01 -1.23498696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.177719421 meters Centerline goodness : 0.958069 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.30, Z:-1.24 [[ 9.99904176e-01 -2.65696968e-03 -1.35859639e-02 1.85008356e+01] [ 2.66074608e-03 9.99996426e-01 2.59895772e-04 -3.03288112e-01] [ 1.35852248e-02 -2.96019668e-04 9.99907673e-01 -1.23605601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.207719421 meters Centerline goodness : 0.958218 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.30, Z:-1.24 [[ 9.99881648e-01 -5.23382415e-03 -1.44671029e-02 1.85282139e+01] [ 5.23830811e-03 9.99986243e-01 2.72065112e-04 -3.01860583e-01] [ 1.44654800e-02 -3.47816055e-04 9.99895309e-01 -1.23700843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.237719421 meters Centerline goodness : 0.958457 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.30, Z:-1.24 [[ 9.99829480e-01 -1.06462589e-02 -1.50886881e-02 1.85563957e+01] [ 1.06517591e-02 9.99943228e-01 2.84199340e-04 -3.00801779e-01] [ 1.50848058e-02 -4.44871948e-04 9.99886119e-01 -1.23891446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.267719420999995 meters Centerline goodness : 0.955046 Centerline is valid? [True, True] Translation: X:18.58, Y:-0.30, Z:-1.24 [[ 9.99801235e-01 -1.27455623e-02 -1.53310490e-02 1.85841123e+01] [ 1.27513496e-02 9.99918659e-01 2.79792860e-04 -3.00913290e-01] [ 1.53262358e-02 -4.75228812e-04 9.99882433e-01 -1.23956213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.297719421 meters Centerline goodness : 0.956648 Centerline is valid? [True, True] Translation: X:18.61, Y:-0.29, Z:-1.24 [[ 9.99752162e-01 -1.56719479e-02 -1.58115598e-02 1.86107234e+01] [ 1.56785032e-02 9.99877042e-01 2.90709055e-04 -2.94286053e-01] [ 1.58050597e-02 -5.38538598e-04 9.99874947e-01 -1.24003908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.327719421 meters Centerline goodness : 0.959661 Centerline is valid? [True, True] Translation: X:18.64, Y:-0.29, Z:-1.24 [[ 9.99743265e-01 -1.68056930e-02 -1.51978197e-02 1.86386902e+01] [ 1.68117397e-02 9.99858636e-01 2.70181844e-04 -2.89429598e-01] [ 1.51911307e-02 -5.25614267e-04 9.99884470e-01 -1.24026033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.357719421 meters Centerline goodness : 0.956906 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.28, Z:-1.24 [[ 9.99801546e-01 -1.54407071e-02 -1.25878512e-02 1.86660974e+01] [ 1.54447625e-02 9.99880697e-01 2.25011831e-04 -2.83505617e-01] [ 1.25828751e-02 -4.19383548e-04 9.99920745e-01 -1.24134653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.387719421 meters Centerline goodness : 0.956619 Centerline is valid? [True, True] Translation: X:18.69, Y:-0.28, Z:-1.24 [[ 9.99839937e-01 -1.36011799e-02 -1.16235978e-02 1.86945307e+01] [ 1.36044225e-02 9.99907436e-01 1.99942484e-04 -2.82737711e-01] [ 1.16198024e-02 -3.58042817e-04 9.99932424e-01 -1.24175061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.417719421 meters Centerline goodness : 0.958501 Centerline is valid? [True, True] Translation: X:18.72, Y:-0.28, Z:-1.24 [[ 9.99922365e-01 -7.93964361e-03 -9.60345666e-03 1.87236991e+01] [ 7.94156128e-03 9.99968452e-01 1.61566735e-04 -2.79082582e-01] [ 9.60187091e-03 -2.37820631e-04 9.99953873e-01 -1.24359280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.447719420999995 meters Centerline goodness : 0.961316 Centerline is valid? [True, True] Translation: X:18.75, Y:-0.28, Z:-1.24 [[ 9.99964155e-01 -4.50722264e-03 -7.16759604e-03 1.87516252e+01] [ 4.50821667e-03 9.99989830e-01 1.22533425e-04 -2.75956196e-01] [ 7.16697086e-03 -1.54842108e-04 9.99974305e-01 -1.24468344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.477719420999996 meters Centerline goodness : 0.959892 Centerline is valid? [True, True] Translation: X:18.78, Y:-0.27, Z:-1.25 [[ 9.99991890e-01 2.47152093e-03 -3.17985949e-03 1.87800700e+01] [-2.47138093e-03 9.99996945e-01 4.79560273e-05 -2.68645930e-01] [ 3.17996830e-03 -4.00969943e-05 9.99994943e-01 -1.24518044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.507719421 meters Centerline goodness : 0.961735 Centerline is valid? [True, True] Translation: X:18.81, Y:-0.27, Z:-1.25 [[ 9.99981869e-01 4.59397431e-03 -3.89315811e-03 1.88091590e+01] [-4.59375545e-03 9.99989447e-01 6.51569958e-05 -2.65479067e-01] [ 3.89341635e-03 -4.72715981e-05 9.99992420e-01 -1.24626033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.537719421 meters Centerline goodness : 0.958712 Centerline is valid? [True, True] Translation: X:18.84, Y:-0.26, Z:-1.25 [[ 9.99936384e-01 8.46689950e-03 -7.45242903e-03 1.88375237e+01] [-8.46624960e-03 9.99964154e-01 1.18750245e-04 -2.61054006e-01] [ 7.45316733e-03 -5.56485661e-05 9.99972223e-01 -1.24745105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.567719421 meters Centerline goodness : 0.958181 Centerline is valid? [True, True] Translation: X:18.86, Y:-0.26, Z:-1.25 [[ 9.99870848e-01 1.53529270e-02 -4.75127234e-03 1.88641359e+01] [-1.53527392e-02 9.99882137e-01 7.59945495e-05 -2.55156295e-01] [ 4.75187908e-03 -3.03968937e-06 9.99988710e-01 -1.24988750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.597719421 meters Centerline goodness : 0.958010 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.25, Z:-1.25 [[ 9.99775867e-01 2.03884789e-02 -5.70311808e-03 1.88920739e+01] [-2.03882842e-02 9.99792133e-01 9.22858179e-05 -2.51820983e-01] [ 5.70381416e-03 2.40116584e-05 9.99983733e-01 -1.25048834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.627719421 meters Centerline goodness : 0.953827 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.25, Z:-1.25 [[ 9.99363013e-01 3.36066278e-02 -1.20067677e-02 1.89198517e+01] [-3.36067060e-02 9.99435116e-01 1.95308846e-04 -2.46859101e-01] [ 1.20065490e-02 2.08323477e-04 9.99927897e-01 -1.25171998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.657719420999996 meters Centerline goodness : 0.952946 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.25, Z:-1.25 [[ 9.99144157e-01 3.90867214e-02 -1.35344391e-02 1.89476034e+01] [-3.90873384e-02 9.99235774e-01 2.19034057e-04 -2.46885443e-01] [ 1.35326570e-02 3.10178602e-04 9.99908381e-01 -1.25366209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.687719421 meters Centerline goodness : 0.953105 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.25, Z:-1.25 [[ 9.98774806e-01 4.72342553e-02 -1.47584442e-02 1.89755747e+01] [-4.72359097e-02 9.98883733e-01 2.36659144e-04 -2.49276081e-01] [ 1.47531483e-02 4.60759348e-04 9.99891060e-01 -1.25403635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.717719421 meters Centerline goodness : 0.954506 Centerline is valid? [True, True] Translation: X:19.00, Y:-0.25, Z:-1.25 [[ 9.98691141e-01 4.91882067e-02 -1.40187716e-02 1.90034581e+01] [-4.91899201e-02 9.98789418e-01 2.22768207e-04 -2.49995720e-01] [ 1.40127583e-02 4.67105621e-04 9.99901707e-01 -1.25414069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.747719421 meters Centerline goodness : 0.954831 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.25, Z:-1.25 [[ 9.98763104e-01 4.84548255e-02 -1.11530722e-02 1.90312410e+01] [-4.84558870e-02 9.98825308e-01 1.75186866e-04 -2.54111098e-01] [ 1.11484595e-02 3.65461829e-04 9.99937787e-01 -1.25478421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.777719421 meters Centerline goodness : 0.957644 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.26, Z:-1.26 [[ 9.99045282e-01 4.25393191e-02 -9.94639283e-03 1.90586755e+01] [-4.25398866e-02 9.99094757e-01 1.54599521e-04 -2.61687262e-01] [ 9.94396549e-03 2.68666501e-04 9.99950521e-01 -1.25522319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.807719421 meters Centerline goodness : 0.956893 Centerline is valid? [True, True] Translation: X:19.09, Y:-0.27, Z:-1.26 [[ 9.99191925e-01 3.87837952e-02 -1.05505234e-02 1.90864031e+01] [-3.87842288e-02 9.99247595e-01 1.63574758e-04 -2.65303900e-01] [ 1.05489291e-02 2.45751334e-04 9.99944328e-01 -1.25519740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.837719420999996 meters Centerline goodness : 0.956680 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.27, Z:-1.26 [[ 9.99311667e-01 3.57781586e-02 -9.80380612e-03 1.91148310e+01] [-3.57783931e-02 9.99359737e-01 1.51520267e-04 -2.68707213e-01] [ 9.80295022e-03 1.99348458e-04 9.99951930e-01 -1.25616788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.867719421 meters Centerline goodness : 0.956595 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.28, Z:-1.26 [[ 9.99450803e-01 3.22718295e-02 -7.52467623e-03 1.91434675e+01] [-3.22718772e-02 9.99479121e-01 1.15100328e-04 -2.77302738e-01] [ 7.52447128e-03 1.27798312e-04 9.99971683e-01 -1.25758150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.897719421 meters Centerline goodness : 0.956996 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.28, Z:-1.26 [[ 9.99453965e-01 3.20193284e-02 -8.15683849e-03 1.91716572e+01] [-3.20193881e-02 9.99487240e-01 1.23304599e-04 -2.80805821e-01] [ 8.15660412e-03 1.37939707e-04 9.99966725e-01 -1.25799226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.927719421 meters Centerline goodness : 0.959094 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.28, Z:-1.26 [[ 9.99495624e-01 3.02724570e-02 -9.59562447e-03 1.92002192e+01] [-3.02724557e-02 9.99541674e-01 1.45417800e-04 -2.84376976e-01] [ 9.59562870e-03 1.45138663e-04 9.99953950e-01 -1.25908816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.957719421 meters Centerline goodness : 0.956664 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.29, Z:-1.26 [[ 9.99562054e-01 2.72530757e-02 -1.15312995e-02 1.92278049e+01] [-2.72528880e-02 9.99628556e-01 1.73441272e-04 -2.87928920e-01] [ 1.15317431e-02 1.40895900e-04 9.99933497e-01 -1.25881189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.987719421 meters Centerline goodness : 0.957554 Centerline is valid? [True, True] Translation: X:19.26, Y:-0.29, Z:-1.26 [[ 9.99592317e-01 2.56601144e-02 -1.25203152e-02 1.92558346e+01] [-2.56597809e-02 9.99670716e-01 1.87302249e-04 -2.91213166e-01] [ 1.25209987e-02 1.34042656e-04 9.99921600e-01 -1.26024562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.017719420999995 meters Centerline goodness : 0.957026 Centerline is valid? [True, True] Translation: X:19.28, Y:-0.30, Z:-1.26 [[ 9.99624707e-01 2.36331920e-02 -1.38533985e-02 1.92847487e+01] [-2.36325942e-02 9.99720690e-01 2.06875016e-04 -2.95309882e-01] [ 1.38544182e-02 1.20594368e-04 9.99904016e-01 -1.26031827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.047719421 meters Centerline goodness : 0.958030 Centerline is valid? [True, True] Translation: X:19.31, Y:-0.30, Z:-1.26 [[ 9.99760529e-01 1.72347507e-02 -1.34851376e-02 1.93128920e+01] [-1.72336278e-02 9.99851470e-01 1.99479594e-04 -3.01468821e-01] [ 1.34865727e-02 3.29660179e-05 9.99909051e-01 -1.26028530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.077719421 meters Centerline goodness : 0.958183 Centerline is valid? [True, True] Translation: X:19.34, Y:-0.31, Z:-1.26 [[ 9.99829419e-01 1.17881555e-02 -1.42187284e-02 1.93412851e+01] [-1.17863663e-02 9.99930516e-01 2.09626352e-04 -3.05938421e-01] [ 1.42202115e-02 -4.20034528e-05 9.99898887e-01 -1.25908493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.107719421 meters Centerline goodness : 0.957159 Centerline is valid? [True, True] Translation: X:19.37, Y:-0.31, Z:-1.26 [[ 9.99823336e-01 1.20112692e-02 -1.44577603e-02 1.93696327e+01] [-1.20094607e-02 9.99927861e-01 2.11899250e-04 -3.07340602e-01] [ 1.44592625e-02 -3.82319107e-05 9.99895459e-01 -1.25938338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.137719421 meters Centerline goodness : 0.958794 Centerline is valid? [True, True] Translation: X:19.40, Y:-0.31, Z:-1.26 [[ 9.99770398e-01 1.74552036e-02 -1.24285065e-02 1.93969639e+01] [-1.74543141e-02 9.99847646e-01 1.80047798e-04 -3.09351632e-01] [ 1.24297557e-02 3.69245968e-05 9.99922747e-01 -1.25900028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.167719421 meters Centerline goodness : 0.958322 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.31, Z:-1.26 [[ 9.99696337e-01 2.10260623e-02 -1.28505966e-02 1.94262217e+01] [-2.10254105e-02 9.99778924e-01 1.85838516e-04 -3.11255705e-01] [ 1.28516631e-02 8.44069844e-05 9.99917410e-01 -1.25995627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.197719420999995 meters Centerline goodness : 0.954515 Centerline is valid? [True, True] Translation: X:19.45, Y:-0.32, Z:-1.26 [[ 9.99453670e-01 3.07073106e-02 -1.22238164e-02 1.94537053e+01] [-3.07074784e-02 9.99528399e-01 1.74004632e-04 -3.16731800e-01] [ 1.22233949e-02 2.01453010e-04 9.99925271e-01 -1.26148032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.227719420999996 meters Centerline goodness : 0.955798 Centerline is valid? [True, True] Translation: X:19.48, Y:-0.32, Z:-1.26 [[ 9.99217801e-01 3.80482057e-02 -1.07759452e-02 1.94816457e+01] [-3.80487763e-02 9.99275872e-01 1.52127424e-04 -3.17923359e-01] [ 1.07739302e-02 2.58003098e-04 9.99941926e-01 -1.26216333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.257719421 meters Centerline goodness : 0.956319 Centerline is valid? [True, True] Translation: X:19.51, Y:-0.32, Z:-1.26 [[ 9.99091877e-01 4.11778630e-02 -1.09455099e-02 1.95100277e+01] [-4.11786416e-02 9.99151788e-01 1.54321330e-04 -3.17599920e-01] [ 1.09425804e-02 2.96540041e-04 9.99940084e-01 -1.26166576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.287719421 meters Centerline goodness : 0.956270 Centerline is valid? [True, True] Translation: X:19.54, Y:-0.32, Z:-1.26 [[ 9.98967211e-01 4.45066421e-02 -9.14712796e-03 1.95375115e+01] [-4.45073415e-02 9.99009049e-01 1.27192849e-04 -3.19449934e-01] [ 9.14372453e-03 2.80052862e-04 9.99958156e-01 -1.26208927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.317719421 meters Centerline goodness : 0.954561 Centerline is valid? [True, True] Translation: X:19.57, Y:-0.32, Z:-1.26 [[ 9.98945775e-01 4.49833873e-02 -9.15601108e-03 1.95664383e+01] [-4.49841099e-02 9.98987694e-01 1.27104825e-04 -3.24764166e-01] [ 9.15246000e-03 2.84904180e-04 9.99958075e-01 -1.26362973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.347719421 meters Centerline goodness : 0.957314 Centerline is valid? [True, True] Translation: X:19.60, Y:-0.33, Z:-1.26 [[ 9.99058626e-01 4.23704882e-02 -9.30609214e-03 1.95952397e+01] [-4.23711296e-02 9.99101932e-01 1.28317744e-04 -3.34029281e-01] [ 9.30317153e-03 2.66112687e-04 9.99956689e-01 -1.26489985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.377719421 meters Centerline goodness : 0.956417 Centerline is valid? [True, True] Translation: X:19.62, Y:-0.34, Z:-1.27 [[ 9.99102111e-01 4.14070471e-02 -8.96822522e-03 1.96239294e+01] [-4.14076115e-02 9.99142330e-01 1.22817445e-04 -3.35692857e-01] [ 8.96561895e-03 2.48645617e-04 9.99959777e-01 -1.26510738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.407719420999996 meters Centerline goodness : 0.957798 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.34, Z:-1.27 [[ 9.99050092e-01 4.30543561e-02 -6.72576047e-03 1.96514809e+01] [-4.30547223e-02 9.99072711e-01 9.03984100e-05 -3.36504926e-01] [ 6.72341580e-03 1.99263209e-04 9.99977378e-01 -1.26506220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.437719421 meters Centerline goodness : 0.956928 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.34, Z:-1.27 [[ 9.98982686e-01 4.46291908e-02 -6.46754193e-03 1.96800602e+01] [-4.46295624e-02 9.99003601e-01 8.69257429e-05 -3.38432926e-01] [ 6.46497710e-03 2.01806254e-04 9.99979081e-01 -1.26534416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.467719421 meters Centerline goodness : 0.956506 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.35, Z:-1.27 [[ 9.98848244e-01 4.74660314e-02 -7.01152201e-03 1.97083014e+01] [-4.74665424e-02 9.98872824e-01 9.36053499e-05 -3.45592265e-01] [ 7.00806187e-03 2.39315168e-04 9.99975415e-01 -1.26693058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.497719421 meters Centerline goodness : 0.957072 Centerline is valid? [True, True] Translation: X:19.74, Y:-0.35, Z:-1.27 [[ 9.98687952e-01 5.06639568e-02 -7.45238523e-03 1.97359992e+01] [-5.06646317e-02 9.98715718e-01 9.83211316e-05 -3.49969775e-01] [ 7.44779561e-03 2.79380224e-04 9.99972226e-01 -1.26756985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.527719421 meters Centerline goodness : 0.958263 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.35, Z:-1.27 [[ 9.98553463e-01 5.28528050e-02 -9.87739515e-03 1.97648332e+01] [-5.28540936e-02 9.98602237e-01 1.30709721e-04 -3.50331647e-01] [ 9.87049727e-03 3.91540124e-04 9.99951209e-01 -1.26890300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.557719421 meters Centerline goodness : 0.956055 Centerline is valid? [True, True] Translation: X:19.79, Y:-0.35, Z:-1.27 [[ 9.98370764e-01 5.50010935e-02 -1.51886902e-02 1.97925415e+01] [-5.50044050e-02 9.98486092e-01 1.99953053e-04 -3.54681870e-01] [ 1.51766936e-02 6.35817587e-04 9.99884625e-01 -1.26980894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.587719420999996 meters Centerline goodness : 0.956055 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.35, Z:-1.27 [[ 9.98374386e-01 5.49353155e-02 -1.51886892e-02 1.98218610e+01] [-5.49386183e-02 9.98489714e-01 2.00024330e-04 -3.54974456e-01] [ 1.51767383e-02 6.34746430e-04 9.99884625e-01 -1.27050454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.617719421 meters Centerline goodness : 0.952455 Centerline is valid? [True, True] Translation: X:19.85, Y:-0.36, Z:-1.27 [[ 9.98407608e-01 5.41879623e-02 -1.56816312e-02 1.98497336e+01] [-5.41914329e-02 9.98530544e-01 2.03844650e-04 -3.59968754e-01] [ 1.56696337e-02 6.46290017e-04 9.99877015e-01 -1.27193223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.647719421 meters Centerline goodness : 0.954211 Centerline is valid? [True, True] Translation: X:19.88, Y:-0.37, Z:-1.27 [[ 9.98742223e-01 4.78225796e-02 -1.50656085e-02 1.98783328e+01] [-4.78250726e-02 9.98855708e-01 1.94968372e-04 -3.68578141e-01] [ 1.50576929e-02 5.25790673e-04 9.99886488e-01 -1.27307103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.677719421 meters Centerline goodness : 0.955538 Centerline is valid? [True, True] Translation: X:19.91, Y:-0.37, Z:-1.27 [[ 9.98951033e-01 4.37222432e-02 -1.36088220e-02 1.99070141e+01] [-4.37239157e-02 9.99043637e-01 1.74745657e-04 -3.71038163e-01] [ 1.36034473e-02 4.20468633e-04 9.99907380e-01 -1.27390463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.707719421 meters Centerline goodness : 0.955752 Centerline is valid? [True, True] Translation: X:19.93, Y:-0.38, Z:-1.27 [[ 9.99334627e-01 3.44101310e-02 -1.20932604e-02 1.99343068e+01] [-3.44108006e-02 9.99407761e-01 1.52771161e-04 -3.77221575e-01] [ 1.20913552e-02 2.63469262e-04 9.99926862e-01 -1.27361169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.737719421 meters Centerline goodness : 0.957304 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.39, Z:-1.27 [[ 9.99663550e-01 2.39402953e-02 -9.98248104e-03 1.99625844e+01] [-2.39402340e-02 9.99713384e-01 1.25647174e-04 -3.86801602e-01] [ 9.98262793e-03 1.13378032e-04 9.99950166e-01 -1.27475428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.767719420999995 meters Centerline goodness : 0.956819 Centerline is valid? [True, True] Translation: X:19.99, Y:-0.39, Z:-1.28 [[ 9.99808104e-01 1.78620045e-02 -8.04393268e-03 1.99908765e+01] [-1.78617764e-02 9.99840461e-01 1.00198605e-04 -3.90793351e-01] [ 8.04443911e-03 4.34995496e-05 9.99967642e-01 -1.27553835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.797719421 meters Centerline goodness : 0.957697 Centerline is valid? [True, True] Translation: X:20.02, Y:-0.39, Z:-1.27 [[ 9.99902886e-01 1.20724794e-02 -6.96232840e-03 2.00192839e+01] [-1.20721695e-02 9.99927125e-01 8.65324577e-05 -3.94347388e-01] [ 6.96286568e-03 -2.47364550e-06 9.99975759e-01 -1.27473730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.827719421 meters Centerline goodness : 0.957824 Centerline is valid? [True, True] Translation: X:20.05, Y:-0.40, Z:-1.28 [[ 9.99980903e-01 6.43647289e-04 -6.14650376e-03 2.00490147e+01] [-6.43189436e-04 9.99999790e-01 7.64664052e-05 -4.00499811e-01] [ 6.14655169e-03 -7.25115787e-05 9.99981107e-01 -1.27545802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.857719421 meters Centerline goodness : 0.955287 Centerline is valid? [True, True] Translation: X:20.08, Y:-0.40, Z:-1.28 [[ 9.99955034e-01 -4.29345217e-03 -8.45558820e-03 2.00774088e+01] [ 4.29448982e-03 9.99990773e-01 1.04564753e-04 -4.03682257e-01] [ 8.45506124e-03 -1.40872489e-04 9.99964245e-01 -1.27568709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.887719421 meters Centerline goodness : 0.957629 Centerline is valid? [True, True] Translation: X:20.10, Y:-0.41, Z:-1.28 [[ 9.99929779e-01 -9.50249592e-03 -7.08087728e-03 2.01048523e+01] [ 9.50334089e-03 9.99954839e-01 8.56931360e-05 -4.06139726e-01] [ 7.07974320e-03 -1.52979109e-04 9.99974927e-01 -1.27691251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.917719421 meters Centerline goodness : 0.956175 Centerline is valid? [True, True] Translation: X:20.13, Y:-0.41, Z:-1.28 [[ 9.99946346e-01 -8.47851987e-03 -5.95140819e-03 2.01334572e+01] [ 8.47906132e-03 9.99964050e-01 6.57518036e-05 -4.06465597e-01] [ 5.95063676e-03 -1.16210631e-04 9.99982288e-01 -1.27843469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.947719420999995 meters Centerline goodness : 0.956874 Centerline is valid? [True, True] Translation: X:20.16, Y:-0.41, Z:-1.28 [[ 9.99952639e-01 -7.36782541e-03 -6.35891086e-03 2.01622307e+01] [ 7.36841318e-03 9.99972850e-01 6.90091377e-05 -4.07079214e-01] [ 6.35822977e-03 -1.15860952e-04 9.99979780e-01 -1.27850285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.977719420999996 meters Centerline goodness : 0.954972 Centerline is valid? [True, True] Translation: X:20.19, Y:-0.41, Z:-1.28 [[ 9.99979995e-01 -2.19355345e-03 -5.93271266e-03 2.01906175e+01] [ 2.19396101e-03 9.99997591e-01 6.21883669e-05 -4.07973061e-01] [ 5.93256195e-03 -7.52032631e-05 9.99982399e-01 -1.27769387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.007719421 meters Centerline goodness : 0.957164 Centerline is valid? [True, True] Translation: X:20.22, Y:-0.41, Z:-1.28 [[ 9.99990593e-01 1.36066321e-04 -4.33528737e-03 2.02190556e+01] [-1.35884658e-04 9.99999990e-01 4.21978742e-05 -4.08010991e-01] [ 4.33529307e-03 -4.16083782e-05 9.99990602e-01 -1.27880698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.037719421 meters Centerline goodness : 0.957683 Centerline is valid? [True, True] Translation: X:20.25, Y:-0.41, Z:-1.28 [[ 9.99992116e-01 3.83962055e-03 -1.01256184e-03 2.02486443e+01] [-3.83961199e-03 9.99992629e-01 1.03965364e-05 -4.07134527e-01] [ 1.01259429e-03 -6.50860983e-06 9.99999487e-01 -1.27916425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.067719421 meters Centerline goodness : 0.956891 Centerline is valid? [True, True] Translation: X:20.28, Y:-0.41, Z:-1.28 [[ 9.99979123e-01 6.45585876e-03 -2.75703304e-04 2.02791471e+01] [-6.45585815e-03 9.99979161e-01 3.10728979e-06 -4.05358713e-01] [ 2.75717618e-04 -1.32732350e-06 9.99999962e-01 -1.27925251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.097719421 meters Centerline goodness : 0.958662 Centerline is valid? [True, True] Translation: X:20.31, Y:-0.40, Z:-1.28 [[ 9.99938671e-01 1.08880611e-02 2.02589881e-03 2.03081739e+01] [-1.08880362e-02 9.99940723e-01 -2.32945807e-05 -4.01128007e-01] [-2.02603235e-03 1.23509246e-06 9.99997948e-01 -1.28098593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.127719421 meters Centerline goodness : 0.957375 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.40, Z:-1.28 [[ 9.99932681e-01 1.15698620e-02 8.77956250e-04 2.03397271e+01] [-1.15698586e-02 9.99933067e-01 -8.92529750e-06 -4.01093640e-01] [-8.78000750e-04 -1.23313305e-06 9.99999615e-01 -1.28285495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.157719420999996 meters Centerline goodness : 0.955979 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.40, Z:-1.28 [[ 9.99952788e-01 9.59293612e-03 -1.54803156e-03 2.03706146e+01] [-9.59292056e-03 9.99953987e-01 1.74784585e-05 -4.01006806e-01] [ 1.54812800e-03 -2.62748955e-06 9.99998802e-01 -1.28397773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.187719421 meters Centerline goodness : 0.955148 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.40, Z:-1.28 [[ 9.99967997e-01 7.58650572e-03 -2.53968803e-03 2.04011559e+01] [-7.58645736e-03 9.99971222e-01 2.86750173e-05 -3.97282824e-01] [ 2.53983248e-03 -9.40686470e-06 9.99996775e-01 -1.28498613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.217719421 meters Centerline goodness : 0.955219 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.39, Z:-1.29 [[ 9.99964911e-01 7.71738739e-03 -3.25850330e-03 2.04310089e+01] [-7.71731037e-03 9.99970220e-01 3.62087526e-05 -3.94794484e-01] [ 3.25868571e-03 -1.10606007e-05 9.99994690e-01 -1.28599847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.247719421 meters Centerline goodness : 0.952981 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.39, Z:-1.29 [[ 9.99911189e-01 1.17941538e-02 -6.20575057e-03 2.04607560e+01] [-1.17939549e-02 9.99930447e-01 6.86483264e-05 -3.89956237e-01] [ 6.20612859e-03 4.54811260e-06 9.99980742e-01 -1.28682597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.277719421 meters Centerline goodness : 0.952174 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.39, Z:-1.29 [[ 9.99843036e-01 1.57584748e-02 -8.09780908e-03 2.04892464e+01] [-1.57582671e-02 9.99875827e-01 8.94568303e-05 -3.87734872e-01] [ 8.09821325e-03 3.81646496e-05 9.99967208e-01 -1.28730755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.307719421 meters Centerline goodness : 0.948247 Centerline is valid? [True, False] Translation: X:20.49, Y:-0.38, Z:-1.29 [[ 9.99725817e-01 2.05916850e-02 -1.11477697e-02 2.04852984e+01] [-2.06803001e-02 9.99754982e-01 -7.89308484e-03 -3.84358264e-01] [ 1.09825064e-02 8.12145991e-03 9.99906709e-01 -1.29013061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.337719420999996 meters Centerline goodness : 0.951102 Centerline is valid? [False, True] Translation: X:20.49, Y:-0.39, Z:-1.29 [[ 9.99632878e-01 2.43948661e-02 -1.17897886e-02 2.04871639e+01] [-2.44388855e-02 9.99694829e-01 -3.60412811e-03 -3.85124672e-01] [ 1.16982685e-02 3.89093425e-03 9.99924003e-01 -1.29052002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.367719421 meters Centerline goodness : 0.949797 Centerline is valid? [True, False] Translation: X:20.49, Y:-0.38, Z:-1.29 [[ 9.99611549e-01 2.52133216e-02 -1.18759773e-02 2.04875544e+01] [-2.52629778e-02 9.99672636e-01 -4.04991566e-03 -3.82056127e-01] [ 1.17699777e-02 4.34836502e-03 9.99921277e-01 -1.29081208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.397719421 meters Centerline goodness : 0.952755 Centerline is valid? [False, True] Translation: X:20.49, Y:-0.38, Z:-1.29 [[ 9.99538525e-01 2.75847562e-02 -1.27207930e-02 2.04893587e+01] [-2.76015870e-02 9.99618343e-01 -1.14939459e-03 -3.81291960e-01] [ 1.26842322e-02 1.49997825e-03 9.99918427e-01 -1.29074104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.427719421 meters Centerline goodness : 0.950716 Centerline is valid? [True, True] Translation: X:20.52, Y:-0.38, Z:-1.29 [[ 9.99551348e-01 2.71793755e-02 -1.25850556e-02 2.05177019e+01] [-2.71803327e-02 9.99630542e-01 9.50078308e-05 -3.79869939e-01] [ 1.25829882e-02 2.47100792e-04 9.99920801e-01 -1.28982034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.457719421 meters Centerline goodness : 0.951932 Centerline is valid? [True, True] Translation: X:20.55, Y:-0.38, Z:-1.29 [[ 9.99555274e-01 2.64260482e-02 -1.38173239e-02 2.05459695e+01] [-2.64271504e-02 9.99650737e-01 1.02841612e-04 -3.81934879e-01] [ 1.38152158e-02 2.62356623e-04 9.99904531e-01 -1.28997633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.487719421 meters Centerline goodness : 0.950242 Centerline is valid? [True, True] Translation: X:20.57, Y:-0.39, Z:-1.29 [[ 9.99624714e-01 2.34871777e-02 -1.40990856e-02 2.05735752e+01] [-2.34880535e-02 9.99724112e-01 1.03491465e-04 -3.88889978e-01] [ 1.40976265e-02 2.27707450e-04 9.99900598e-01 -1.29213146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.517719420999995 meters Centerline goodness : 0.950855 Centerline is valid? [True, True] Translation: X:20.60, Y:-0.39, Z:-1.29 [[ 9.99680640e-01 2.10224554e-02 -1.40240409e-02 2.06022124e+01] [-2.10230872e-02 9.99778985e-01 1.02382715e-04 -3.89848622e-01] [ 1.40230937e-02 1.92478618e-04 9.99901653e-01 -1.29403102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.547719421 meters Centerline goodness : 0.952104 Centerline is valid? [True, True] Translation: X:20.63, Y:-0.39, Z:-1.30 [[ 9.99829546e-01 1.52776967e-02 -1.03668297e-02 2.06310337e+01] [-1.52777460e-02 9.99883286e-01 7.44449101e-05 -3.86479960e-01] [ 1.03667571e-02 8.39495705e-05 9.99946260e-01 -1.29511731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.577719421 meters Centerline goodness : 0.953110 Centerline is valid? [True, True] Translation: X:20.66, Y:-0.39, Z:-1.29 [[ 9.99867032e-01 1.31311289e-02 -9.66915267e-03 2.06584844e+01] [-1.31310854e-02 9.99913781e-01 6.79824303e-05 -3.85886041e-01] [ 9.66921170e-03 5.89930787e-05 9.99953250e-01 -1.29498826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.607719421 meters Centerline goodness : 0.952028 Centerline is valid? [True, True] Translation: X:20.69, Y:-0.39, Z:-1.29 [[ 9.99904677e-01 8.44590122e-03 -1.09226281e-02 2.06869312e+01] [-8.44556866e-03 9.99964333e-01 7.65722541e-05 -3.88173266e-01] [ 1.09228853e-02 1.56828509e-05 9.99940343e-01 -1.29464371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.637719421 meters Centerline goodness : 0.950158 Centerline is valid? [True, True] Translation: X:20.72, Y:-0.39, Z:-1.30 [[ 9.99908750e-01 5.29386703e-03 -1.24284914e-02 2.07157783e+01] [-5.29320483e-03 9.99985987e-01 8.61751945e-05 -3.89272460e-01] [ 1.24287735e-02 -2.03807801e-05 9.99922760e-01 -1.29564732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.667719421 meters Centerline goodness : 0.952188 Centerline is valid? [True, True] Translation: X:20.74, Y:-0.39, Z:-1.30 [[ 9.99935043e-01 -1.62306171e-03 -1.12816392e-02 2.07435144e+01] [ 1.62402767e-03 9.99998678e-01 7.64622853e-05 -3.88494546e-01] [ 1.12815002e-02 -9.47790128e-05 9.99936357e-01 -1.29602067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.697719420999995 meters Centerline goodness : 0.952228 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.39, Z:-1.30 [[ 9.99931729e-01 -4.81205403e-03 -1.06480486e-02 2.07713834e+01] [ 4.81308380e-03 9.99988415e-01 7.10853522e-05 -3.86244315e-01] [ 1.06475832e-02 -1.22330449e-04 9.99943305e-01 -1.29669243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.727719420999996 meters Centerline goodness : 0.953647 Centerline is valid? [True, True] Translation: X:20.80, Y:-0.38, Z:-1.30 [[ 9.99898951e-01 -8.83644883e-03 -1.11357692e-02 2.07998876e+01] [ 8.83781933e-03 9.99960943e-01 7.38669355e-05 -3.81283964e-01] [ 1.11346815e-02 -1.72275387e-04 9.99937993e-01 -1.29620567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.757719421 meters Centerline goodness : 0.952400 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.38, Z:-1.30 [[ 9.99875470e-01 -1.07306874e-02 -1.15714185e-02 2.08283138e+01] [ 1.07321929e-02 9.99942406e-01 6.80128234e-05 -3.79585726e-01] [ 1.15700222e-02 -1.92191048e-04 9.99933047e-01 -1.29736176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.787719421 meters Centerline goodness : 0.952726 Centerline is valid? [True, True] Translation: X:20.86, Y:-0.38, Z:-1.30 [[ 9.99852457e-01 -1.38476038e-02 -1.01640644e-02 2.08562692e+01] [ 1.38488808e-02 9.99904098e-01 5.52594736e-05 -3.77511502e-01] [ 1.01623244e-02 -1.96012236e-04 9.99948343e-01 -1.29853354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.817719421 meters Centerline goodness : 0.954112 Centerline is valid? [True, True] Translation: X:20.88, Y:-0.37, Z:-1.30 [[ 9.99854186e-01 -1.41069540e-02 -9.62294384e-03 2.08831664e+01] [ 1.41081315e-02 9.99900474e-01 5.44924770e-05 -3.73034455e-01] [ 9.62121738e-03 -1.90246289e-04 9.99953697e-01 -1.29939151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.847719421 meters Centerline goodness : 0.954034 Centerline is valid? [True, True] Translation: X:20.91, Y:-0.37, Z:-1.30 [[ 9.99843674e-01 -1.44998590e-02 -1.01184256e-02 2.09113409e+01] [ 1.45011074e-02 9.99894852e-01 5.00235606e-05 -3.70750273e-01] [ 1.01166363e-02 -1.96744117e-04 9.99948806e-01 -1.29909373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.877719421 meters Centerline goodness : 0.952641 Centerline is valid? [True, True] Translation: X:20.94, Y:-0.37, Z:-1.30 [[ 9.99832219e-01 -1.48459132e-02 -1.07300301e-02 2.09398340e+01] [ 1.48473032e-02 9.99889771e-01 4.98957660e-05 -3.67644228e-01] [ 1.07281066e-02 -2.09199406e-04 9.99942430e-01 -1.29943136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.907719420999996 meters Centerline goodness : 0.952763 Centerline is valid? [True, True] Translation: X:20.97, Y:-0.37, Z:-1.30 [[ 9.99828908e-01 -1.41493920e-02 -1.19142280e-02 2.09671661e+01] [ 1.41510911e-02 9.99899867e-01 5.83196165e-05 -3.67443910e-01] [ 1.19122098e-02 -2.26908965e-04 9.99929021e-01 -1.29982680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.937719421 meters Centerline goodness : 0.951063 Centerline is valid? [True, True] Translation: X:20.99, Y:-0.37, Z:-1.30 [[ 9.99873147e-01 -9.30230606e-03 -1.29289314e-02 2.09938114e+01] [ 9.30388134e-03 9.99956716e-01 6.16984417e-05 -3.66890506e-01] [ 1.29277978e-02 -1.81979859e-04 9.99916416e-01 -1.30133269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.967719421 meters Centerline goodness : 0.955466 Centerline is valid? [True, True] Translation: X:21.02, Y:-0.36, Z:-1.30 [[ 9.99946636e-01 1.58832718e-03 -1.02079927e-02 2.10220939e+01] [-1.58799060e-03 9.99998738e-01 4.10779538e-05 -3.61877317e-01] [ 1.02080451e-02 -2.48655653e-05 9.99947896e-01 -1.30257350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.997719421 meters Centerline goodness : 0.954691 Centerline is valid? [True, True] Translation: X:21.05, Y:-0.36, Z:-1.30 [[ 9.99919971e-01 7.89186720e-03 -9.88791151e-03 2.10503363e+01] [-7.89189310e-03 9.99968858e-01 3.63986718e-05 -3.58542779e-01] [ 9.88789084e-03 4.16385819e-05 9.99951113e-01 -1.30321459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.027719421 meters Centerline goodness : 0.954689 Centerline is valid? [True, True] Translation: X:21.08, Y:-0.36, Z:-1.30 [[ 9.99862609e-01 1.39045429e-02 -9.02367326e-03 2.10787804e+01] [-1.39048410e-02 9.99903323e-01 2.97090828e-05 -3.55721400e-01] [ 9.02321396e-03 9.57677409e-05 9.99959285e-01 -1.30336249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.057719421 meters Centerline goodness : 0.955959 Centerline is valid? [True, True] Translation: X:21.11, Y:-0.35, Z:-1.30 [[ 9.99664956e-01 2.38979804e-02 -9.94294556e-03 2.11059954e+01] [-2.38988064e-02 9.99714382e-01 3.57495152e-05 -3.52718585e-01] [ 9.94096002e-03 2.01886994e-04 9.99950567e-01 -1.30458682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.087719420999996 meters Centerline goodness : 0.954191 Centerline is valid? [True, True] Translation: X:21.13, Y:-0.35, Z:-1.30 [[ 9.99549397e-01 2.75292998e-02 -1.19641765e-02 2.11343978e+01] [-2.75307490e-02 9.99620956e-01 4.35821061e-05 -3.53259387e-01] [ 1.19608414e-02 2.85820274e-04 9.99928426e-01 -1.30483971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.117719421 meters Centerline goodness : 0.952330 Centerline is valid? [True, True] Translation: X:21.16, Y:-0.35, Z:-1.31 [[ 9.99354465e-01 3.29633258e-02 -1.42853754e-02 2.11619444e+01] [-3.29659702e-02 9.99456473e-01 5.03887565e-05 -3.53770362e-01] [ 1.42792719e-02 4.20575030e-04 9.99897958e-01 -1.30706418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.147719421 meters Centerline goodness : 0.951795 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.35, Z:-1.31 [[ 9.99282332e-01 3.50619998e-02 -1.43344580e-02 2.11901920e+01] [-3.50648980e-02 9.99385036e-01 4.91776329e-05 -3.53170755e-01] [ 1.43273670e-02 4.53493966e-04 9.99897255e-01 -1.30852133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.177719421 meters Centerline goodness : 0.951947 Centerline is valid? [True, True] Translation: X:21.22, Y:-0.35, Z:-1.31 [[ 9.99126263e-01 3.90046762e-02 -1.50115203e-02 2.12187124e+01] [-3.90083111e-02 9.99238885e-01 5.06993765e-05 -3.48746311e-01] [ 1.50020723e-02 5.34918975e-04 9.99887319e-01 -1.30859223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.207719421 meters Centerline goodness : 0.951195 Centerline is valid? [True, True] Translation: X:21.25, Y:-0.35, Z:-1.31 [[ 9.99081711e-01 4.06460925e-02 -1.35510173e-02 2.12476595e+01] [-4.06492245e-02 9.99173478e-01 4.43394983e-05 -3.50026178e-01] [ 1.35416193e-02 5.06539564e-04 9.99908180e-01 -1.30927230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.237719421 meters Centerline goodness : 0.953323 Centerline is valid? [True, True] Translation: X:21.28, Y:-0.35, Z:-1.31 [[ 9.99162555e-01 3.92780005e-02 -1.14641807e-02 2.12763678e+01] [-3.92801667e-02 9.99228236e-01 3.62319146e-05 -3.53140594e-01] [ 1.14567562e-02 4.14113356e-04 9.99934283e-01 -1.30971780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.267719420999995 meters Centerline goodness : 0.954600 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.36, Z:-1.31 [[ 9.99432504e-01 3.24363562e-02 -9.08589839e-03 2.13045619e+01] [-3.24374507e-02 9.99473767e-01 2.69223330e-05 -3.59237467e-01] [ 9.08199035e-03 2.67816326e-04 9.99958722e-01 -1.31001402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.297719421 meters Centerline goodness : 0.954771 Centerline is valid? [True, True] Translation: X:21.33, Y:-0.36, Z:-1.31 [[ 9.99566707e-01 2.77909693e-02 -9.69845588e-03 2.13335322e+01] [-2.77919937e-02 9.99613728e-01 2.91634152e-05 -3.61610800e-01] [ 9.69552011e-03 2.40388646e-04 9.99952968e-01 -1.31156898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.327719421 meters Centerline goodness : 0.954039 Centerline is valid? [True, True] Translation: X:21.36, Y:-0.36, Z:-1.31 [[ 9.99705980e-01 2.20429898e-02 -1.01024911e-02 2.13623088e+01] [-2.20438207e-02 9.99757005e-01 2.91075236e-05 -3.64791969e-01] [ 1.01006778e-02 1.93598537e-04 9.99948968e-01 -1.31183667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.357719421 meters Centerline goodness : 0.954769 Centerline is valid? [True, True] Translation: X:21.39, Y:-0.37, Z:-1.31 [[ 9.99899481e-01 1.19607948e-02 -7.61367560e-03 2.13916321e+01] [-1.19609736e-02 9.99928465e-01 2.20531970e-05 -3.71506221e-01] [ 7.61339473e-03 6.90159926e-05 9.99971015e-01 -1.31388994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.387719421 meters Centerline goodness : 0.954504 Centerline is valid? [True, True] Translation: X:21.42, Y:-0.38, Z:-1.31 [[ 9.99944984e-01 5.23205555e-03 -9.09146751e-03 2.14199903e+01] [-5.23204004e-03 9.99986312e-01 2.54895948e-05 -3.75959909e-01] [ 9.09147643e-03 2.20787296e-05 9.99958671e-01 -1.31395928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.417719421 meters Centerline goodness : 0.955479 Centerline is valid? [True, True] Translation: X:21.45, Y:-0.38, Z:-1.32 [[ 9.99936192e-01 1.91051290e-03 -1.11338016e-02 2.14490199e+01] [-1.91029658e-03 9.99998175e-01 3.00641848e-05 -3.78100525e-01] [ 1.11338387e-02 -8.79340343e-06 9.99938017e-01 -1.31555569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.447719420999995 meters Centerline goodness : 0.953102 Centerline is valid? [True, True] Translation: X:21.48, Y:-0.38, Z:-1.32 [[ 9.99903223e-01 -4.38431213e-03 -1.32031554e-02 2.14778327e+01] [ 4.38515429e-03 9.99990385e-01 3.48351860e-05 -3.82391172e-01] [ 1.32028757e-02 -9.27296881e-05 9.99912834e-01 -1.31622479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.477719420999996 meters Centerline goodness : 0.953102 Centerline is valid? [True, True] Translation: X:21.51, Y:-0.38, Z:-1.32 [[ 9.99901724e-01 -4.71360354e-03 -1.32031792e-02 2.15063126e+01] [ 4.71435212e-03 9.99988887e-01 2.55738269e-05 -3.82202532e-01] [ 1.32029120e-02 -8.78157497e-05 9.99912834e-01 -1.31680327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.507719421 meters Centerline goodness : 0.952078 Centerline is valid? [True, True] Translation: X:21.53, Y:-0.38, Z:-1.32 [[ 9.99881729e-01 -8.12853714e-03 -1.30558568e-02 2.15332658e+01] [ 8.12958036e-03 9.99966954e-01 2.68336498e-05 -3.83982788e-01] [ 1.30552073e-02 -1.32969113e-04 9.99914768e-01 -1.31668039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.537719421 meters Centerline goodness : 0.952422 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.38, Z:-1.32 [[ 9.99834516e-01 -1.40785886e-02 -1.15209922e-02 2.15615673e+01] [ 1.40797797e-02 9.99900875e-01 2.22752316e-05 -3.83884554e-01] [ 1.15195365e-02 -1.84484576e-04 9.99933631e-01 -1.31600202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.567719421 meters Centerline goodness : 0.954340 Centerline is valid? [True, True] Translation: X:21.59, Y:-0.38, Z:-1.32 [[ 9.99808153e-01 -1.51602777e-02 -1.24025443e-02 2.15882269e+01] [ 1.51617160e-02 9.99885054e-01 2.19444763e-05 -3.83589751e-01] [ 1.24007860e-02 -2.09984121e-04 9.99923085e-01 -1.31587223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.597719421 meters Centerline goodness : 0.951816 Centerline is valid? [True, True] Translation: X:21.62, Y:-0.38, Z:-1.32 [[ 9.99771044e-01 -1.69684800e-02 -1.30357137e-02 2.16162112e+01] [ 1.69701160e-02 9.99855997e-01 1.48962929e-05 -3.82527455e-01] [ 1.30335838e-02 -2.36110457e-04 9.99915031e-01 -1.31711252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.627719421 meters Centerline goodness : 0.953284 Centerline is valid? [True, True] Translation: X:21.64, Y:-0.38, Z:-1.32 [[ 9.99739226e-01 -1.78396395e-02 -1.42557698e-02 2.16431505e+01] [ 1.78416777e-02 9.99840824e-01 1.57984719e-05 -3.80931929e-01] [ 1.42532188e-02 -2.70141202e-04 9.99898381e-01 -1.31779320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.657719420999996 meters Centerline goodness : 0.952589 Centerline is valid? [True, True] Translation: X:21.67, Y:-0.38, Z:-1.32 [[ 9.99710343e-01 -1.83098016e-02 -1.56198880e-02 2.16706137e+01] [ 1.83121975e-02 9.99832318e-01 1.03608979e-05 -3.78080840e-01] [ 1.56170791e-02 -2.96392370e-04 9.99878002e-01 -1.31943229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.687719421 meters Centerline goodness : 0.951802 Centerline is valid? [True, True] Translation: X:21.70, Y:-0.37, Z:-1.32 [[ 9.99682706e-01 -2.05591853e-02 -1.45536134e-02 2.16983408e+01] [ 2.05614209e-02 9.99788592e-01 3.97937998e-06 -3.74487923e-01] [ 1.45504549e-02 -3.03221088e-04 9.99894091e-01 -1.31969705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.717719421 meters Centerline goodness : 0.955255 Centerline is valid? [True, True] Translation: X:21.73, Y:-0.37, Z:-1.32 [[ 9.99659862e-01 -2.20069115e-02 -1.39948487e-02 2.17263777e+01] [ 2.20090496e-02 9.99757772e-01 -1.23473270e-06 -3.70509031e-01] [ 1.39914860e-02 -3.06779008e-04 9.99902067e-01 -1.31983336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.747719421 meters Centerline goodness : 0.952814 Centerline is valid? [True, True] Translation: X:21.75, Y:-0.36, Z:-1.32 [[ 9.99600443e-01 -2.47585380e-02 -1.36370416e-02 2.17543894e+01] [ 2.47607586e-02 9.99693405e-01 -6.00430200e-06 -3.64761984e-01] [ 1.36330093e-02 -3.31661593e-04 9.99907011e-01 -1.32112938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.777719421 meters Centerline goodness : 0.952993 Centerline is valid? [True, True] Translation: X:21.78, Y:-0.36, Z:-1.32 [[ 9.99549971e-01 -2.65124689e-02 -1.40337204e-02 2.17812844e+01] [ 2.65150223e-02 9.99648415e-01 -4.11717105e-06 -3.64225721e-01] [ 1.40288955e-02 -3.67989091e-04 9.99901522e-01 -1.32165933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.807719421 meters Centerline goodness : 0.954555 Centerline is valid? [True, True] Translation: X:21.81, Y:-0.36, Z:-1.32 [[ 9.99470347e-01 -2.89279976e-02 -1.49062218e-02 2.18095476e+01] [ 2.89310152e-02 9.99581410e-01 -1.32009386e-05 -3.62879210e-01] [ 1.49003641e-02 -4.18058184e-04 9.99888896e-01 -1.32147109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.837719420999996 meters Centerline goodness : 0.955798 Centerline is valid? [True, True] Translation: X:21.84, Y:-0.36, Z:-1.32 [[ 9.99480691e-01 -2.91780218e-02 -1.36745042e-02 2.18361633e+01] [ 2.91806027e-02 9.99574155e-01 -1.07857972e-05 -3.59520588e-01] [ 1.36689957e-02 -3.88250077e-04 9.99906500e-01 -1.32173265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.867719421 meters Centerline goodness : 0.957160 Centerline is valid? [True, True] Translation: X:21.86, Y:-0.35, Z:-1.32 [[ 9.99542842e-01 -2.80409143e-02 -1.13055220e-02 2.18633044e+01] [ 2.80425515e-02 9.99606730e-01 -1.37150504e-05 -3.49570293e-01] [ 1.13014604e-02 -3.03326902e-04 9.99936090e-01 -1.32231781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.897719421 meters Centerline goodness : 0.959437 Centerline is valid? [True, True] Translation: X:21.89, Y:-0.35, Z:-1.32 [[ 9.99589163e-01 -2.64256831e-02 -1.10990455e-02 2.18910911e+01] [ 2.64270928e-02 9.99650743e-01 -1.96617976e-05 -3.46413705e-01] [ 1.10956887e-02 -2.73661787e-04 9.99938404e-01 -1.32322199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.927719421 meters Centerline goodness : 0.958486 Centerline is valid? [True, True] Translation: X:21.92, Y:-0.34, Z:-1.32 [[ 9.99674277e-01 -2.36640356e-02 -9.55791556e-03 2.19184539e+01] [ 2.36649820e-02 9.99719945e-01 -1.40864070e-05 -3.42342606e-01] [ 9.55557216e-03 -2.12106081e-04 9.99954322e-01 -1.32376854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.957719421 meters Centerline goodness : 0.960838 Centerline is valid? [True, True] Translation: X:21.95, Y:-0.34, Z:-1.32 [[ 9.99698517e-01 -2.29299999e-02 -8.78006828e-03 2.19462983e+01] [ 2.29307478e-02 9.99737056e-01 -1.54877864e-05 -3.39304373e-01] [ 8.77811474e-03 -1.85850414e-04 9.99961454e-01 -1.32387200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.987719421 meters Centerline goodness : 0.960620 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.33, Z:-1.33 [[ 9.99713809e-01 -2.28436577e-02 -7.10408074e-03 2.19751217e+01] [ 2.28441066e-02 9.99739039e-01 -1.79640405e-05 -3.32307788e-01] [ 7.10263722e-03 -1.44327478e-04 9.99974766e-01 -1.32521840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.017719420999995 meters Centerline goodness : 0.961138 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.33, Z:-1.33 [[ 9.99740989e-01 -2.17676154e-02 -6.64278982e-03 2.20046727e+01] [ 2.17680133e-02 9.99763049e-01 -1.24083759e-05 -3.27755139e-01] [ 6.64148590e-03 -1.32195175e-04 9.99977936e-01 -1.32654774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.047719421 meters Centerline goodness : 0.958742 Centerline is valid? [True, True] Translation: X:22.03, Y:-0.32, Z:-1.33 [[ 9.99769133e-01 -1.95300107e-02 -8.95877459e-03 2.20335222e+01] [ 1.95306385e-02 9.99809259e-01 -1.74190795e-05 -3.20977584e-01] [ 8.95740597e-03 -1.57555530e-04 9.99959869e-01 -1.32756943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.077719421 meters Centerline goodness : 0.959960 Centerline is valid? [True, True] Translation: X:22.06, Y:-0.32, Z:-1.33 [[ 9.99736043e-01 -2.10105929e-02 -9.29511129e-03 2.20624217e+01] [ 2.10112647e-02 9.99779239e-01 -2.53830737e-05 -3.20505476e-01] [ 9.29359260e-03 -1.69925670e-04 9.99956799e-01 -1.32906840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.107719421 meters Centerline goodness : 0.962475 Centerline is valid? [True, True] Translation: X:22.09, Y:-0.32, Z:-1.33 [[ 9.99541456e-01 -2.90265835e-02 -8.62180456e-03 2.20916147e+01] [ 2.90274349e-02 9.99578615e-01 -2.63996981e-05 -3.17015615e-01] [ 8.61893775e-03 -2.23881278e-04 9.99962831e-01 -1.32917220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.137719421 meters Centerline goodness : 0.964765 Centerline is valid? [True, True] Translation: X:22.12, Y:-0.31, Z:-1.33 [[ 9.99369658e-01 -3.45513853e-02 -8.15400684e-03 2.21208020e+01] [ 3.45523660e-02 9.99402889e-01 -2.06133496e-05 -3.11413842e-01] [ 8.14985021e-03 -2.61139872e-04 9.99966755e-01 -1.33063251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.167719421 meters Centerline goodness : 0.963792 Centerline is valid? [True, True] Translation: X:22.15, Y:-0.30, Z:-1.33 [[ 9.98983542e-01 -4.45484946e-02 -6.87858069e-03 2.21495236e+01] [ 4.45494224e-02 9.99007181e-01 -1.83555378e-05 -3.02588764e-01] [ 6.87256922e-03 -2.88099917e-04 9.99976342e-01 -1.33114157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.197719420999995 meters Centerline goodness : 0.961774 Centerline is valid? [True, True] Translation: X:22.18, Y:-0.30, Z:-1.33 [[ 9.98833085e-01 -4.80009405e-02 -5.32704424e-03 2.21794909e+01] [ 4.80015456e-02 9.98847261e-01 -1.42799624e-05 -3.02013576e-01] [ 5.32158900e-03 -2.41443058e-04 9.99985811e-01 -1.33235256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.227719420999996 meters Centerline goodness : 0.962690 Centerline is valid? [True, True] Translation: X:22.21, Y:-0.30, Z:-1.33 [[ 9.98613737e-01 -5.25165250e-02 -3.55224353e-03 2.22091258e+01] [ 5.25168228e-02 9.98620039e-01 -9.45249050e-06 -3.02278154e-01] [ 3.54783799e-03 -1.77113157e-04 9.99993691e-01 -1.33261820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.257719421 meters Centerline goodness : 0.960413 Centerline is valid? [True, True] Translation: X:22.24, Y:-0.30, Z:-1.33 [[ 9.98530715e-01 -5.41136530e-02 -2.85007625e-03 2.22400916e+01] [ 5.41138521e-02 9.98534772e-01 -7.25730568e-06 -3.01375251e-01] [ 2.84629296e-03 -1.46981962e-04 9.99995938e-01 -1.33425637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.287719421 meters Centerline goodness : 0.963763 Centerline is valid? [True, True] Translation: X:22.27, Y:-0.29, Z:-1.34 [[ 9.98354868e-01 -5.72585110e-02 -3.00342654e-03 2.22703268e+01] [ 5.72587463e-02 9.98359372e-01 -7.64778996e-06 -2.94746198e-01] [ 2.99893694e-03 -1.64337230e-04 9.99995490e-01 -1.33502719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.317719421 meters Centerline goodness : 0.965588 Centerline is valid? [True, True] Translation: X:22.30, Y:-0.28, Z:-1.34 [[ 9.98312016e-01 -5.76764856e-02 -6.82213061e-03 2.23009586e+01] [ 5.76777095e-02 9.98335255e-01 -1.73715658e-05 -2.84756438e-01] [ 6.81177543e-03 -3.76142624e-04 9.99976729e-01 -1.33511076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.347719421 meters Centerline goodness : 0.962813 Centerline is valid? [True, True] Translation: X:22.33, Y:-0.28, Z:-1.34 [[ 9.98329729e-01 -5.70356721e-02 -9.20245205e-03 2.23301246e+01] [ 5.70378665e-02 9.98372015e-01 -2.40305047e-05 -2.80585752e-01] [ 9.18884119e-03 -5.00897864e-04 9.99957656e-01 -1.33644890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.377719421 meters Centerline goodness : 0.961397 Centerline is valid? [True, True] Translation: X:22.36, Y:-0.28, Z:-1.34 [[ 9.98279331e-01 -5.74793564e-02 -1.15974871e-02 2.23610362e+01] [ 5.74828777e-02 9.98346492e-01 -2.97663184e-05 -2.77683911e-01] [ 1.15800215e-02 -6.36941832e-04 9.99932746e-01 -1.33831368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.407719420999996 meters Centerline goodness : 0.958572 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.28, Z:-1.34 [[ 9.98250778e-01 -5.75482374e-02 -1.35493383e-02 2.23908907e+01] [ 5.75530311e-02 9.98342450e-01 -3.61816113e-05 -2.76876977e-01] [ 1.35289618e-02 -7.43687169e-04 9.99908203e-01 -1.34025765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.437719421 meters Centerline goodness : 0.960688 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.27, Z:-1.34 [[ 9.98444507e-01 -5.41808715e-02 -1.31529008e-02 2.24196378e+01] [ 5.41850809e-02 9.98530909e-01 -3.63755615e-05 -2.69469438e-01] [ 1.31355489e-02 -6.76372017e-04 9.99913496e-01 -1.33959379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.467719421 meters Centerline goodness : 0.963996 Centerline is valid? [True, True] Translation: X:22.45, Y:-0.26, Z:-1.34 [[ 9.98602410e-01 -5.15429720e-02 -1.16854439e-02 2.24488662e+01] [ 5.15461125e-02 9.98670615e-01 -3.24681623e-05 -2.62275654e-01] [ 1.16715830e-02 -5.69916423e-04 9.99931722e-01 -1.33898527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.497719421 meters Centerline goodness : 0.964880 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.25, Z:-1.34 [[ 9.99016204e-01 -4.33883523e-02 -9.16923002e-03 2.24781850e+01] [ 4.33899434e-02 9.99058213e-01 -2.54229014e-05 -2.50359025e-01] [ 9.16169761e-03 -3.72454481e-04 9.99957961e-01 -1.34027787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.527719421 meters Centerline goodness : 0.961218 Centerline is valid? [True, True] Translation: X:22.51, Y:-0.25, Z:-1.34 [[ 9.99220245e-01 -3.79865943e-02 -1.07666248e-02 2.25084726e+01] [ 3.79884801e-02 9.99278177e-01 -2.93850244e-05 -2.46656609e-01] [ 1.07599695e-02 -3.79645601e-04 9.99942038e-01 -1.34052614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.557719421 meters Centerline goodness : 0.956489 Centerline is valid? [True, True] Translation: X:22.54, Y:-0.24, Z:-1.34 [[ 9.99476292e-01 -2.92166480e-02 -1.39115123e-02 2.25376424e+01] [ 2.92189486e-02 9.99573035e-01 -3.78933853e-05 -2.41592267e-01] [ 1.39066796e-02 -3.68606221e-04 9.99903230e-01 -1.34318134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.587719420999996 meters Centerline goodness : 0.957901 Centerline is valid? [True, True] Translation: X:22.57, Y:-0.24, Z:-1.34 [[ 9.99579124e-01 -2.58413150e-02 -1.31833897e-02 2.25668963e+01] [ 2.58430695e-02 9.99666011e-01 -3.72836409e-05 -2.38934165e-01] [ 1.31799500e-02 -3.03431307e-04 9.99913095e-01 -1.34417017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.617719421 meters Centerline goodness : 0.960593 Centerline is valid? [True, True] Translation: X:22.60, Y:-0.24, Z:-1.34 [[ 9.99677462e-01 -2.29960135e-02 -1.07775678e-02 2.25962286e+01] [ 2.29970146e-02 9.99735533e-01 -3.10513129e-05 -2.35248512e-01] [ 1.07754315e-02 -2.16810585e-04 9.99941920e-01 -1.34427296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.647719421 meters Centerline goodness : 0.960558 Centerline is valid? [True, True] Translation: X:22.63, Y:-0.23, Z:-1.34 [[ 9.99817896e-01 -1.68694358e-02 -8.92173746e-03 2.26261866e+01] [ 1.68698731e-02 9.99857693e-01 -2.62477823e-05 -2.26648888e-01] [ 8.92091062e-03 -1.24265576e-04 9.99960200e-01 -1.34383234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.677719421 meters Centerline goodness : 0.961161 Centerline is valid? [True, True] Translation: X:22.66, Y:-0.22, Z:-1.34 [[ 9.99921302e-01 -1.03367398e-02 -7.10924009e-03 2.26565825e+01] [ 1.03368571e-02 9.99946573e-01 -2.02460799e-05 -2.21920999e-01] [ 7.10906954e-03 -5.32427121e-05 9.99974729e-01 -1.34415549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.707719421 meters Centerline goodness : 0.959179 Centerline is valid? [True, True] Translation: X:22.69, Y:-0.22, Z:-1.35 [[ 9.99954759e-01 -7.06503193e-03 -6.36906958e-03 2.26858657e+01] [ 7.06505625e-03 9.99975042e-01 -1.86805988e-05 -2.20337224e-01] [ 6.36904260e-03 -2.63180812e-05 9.99979717e-01 -1.34524309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.737719421 meters Centerline goodness : 0.959495 Centerline is valid? [True, True] Translation: X:22.72, Y:-0.22, Z:-1.35 [[ 9.99966414e-01 -2.16913498e-04 -8.19292347e-03 2.27156256e+01] [ 2.16718821e-04 9.99999976e-01 -2.46494895e-05 -2.17612141e-01] [ 8.19292862e-03 2.28731009e-05 9.99966437e-01 -1.34651977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.767719420999995 meters Centerline goodness : 0.959735 Centerline is valid? [True, True] Translation: X:22.74, Y:-0.22, Z:-1.35 [[ 9.99956102e-01 2.00649552e-03 -9.15249656e-03 2.27432957e+01] [-2.00685028e-03 9.99997986e-01 -2.95776267e-05 -2.16138221e-01] [ 9.15241878e-03 4.79440186e-05 9.99958115e-01 -1.34712287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.797719421 meters Centerline goodness : 0.958926 Centerline is valid? [True, True] Translation: X:22.77, Y:-0.22, Z:-1.35 [[ 9.99940763e-01 6.48206739e-03 -8.74377776e-03 2.27702305e+01] [-6.48258056e-03 9.99978987e-01 -3.03484033e-05 -2.15574001e-01] [ 8.74339731e-03 8.70288493e-05 9.99961772e-01 -1.34769798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.827719421 meters Centerline goodness : 0.958502 Centerline is valid? [True, True] Translation: X:22.80, Y:-0.22, Z:-1.35 [[ 9.99935856e-01 9.07071514e-03 -6.78272842e-03 2.27978510e+01] [-9.07108668e-03 9.99958857e-01 -2.40154147e-05 -2.19083308e-01] [ 6.78223152e-03 8.55405918e-05 9.99976997e-01 -1.34756126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.857719421 meters Centerline goodness : 0.961433 Centerline is valid? [True, True] Translation: X:22.83, Y:-0.22, Z:-1.35 [[ 9.99938618e-01 1.02703805e-02 -4.15688585e-03 2.28262437e+01] [-1.02705333e-02 9.99947257e-01 -1.54082929e-05 -2.21295612e-01] [ 4.15650835e-03 5.81007816e-05 9.99991360e-01 -1.34864665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.887719421 meters Centerline goodness : 0.960184 Centerline is valid? [True, True] Translation: X:22.85, Y:-0.22, Z:-1.35 [[ 9.99929458e-01 1.13479778e-02 -3.50736824e-03 2.28539099e+01] [-1.13480966e-02 9.99935608e-01 -1.39727556e-05 -2.23374429e-01] [ 3.50698383e-03 5.37737236e-05 9.99993849e-01 -1.34905142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.917719421 meters Centerline goodness : 0.960115 Centerline is valid? [True, True] Translation: X:22.88, Y:-0.23, Z:-1.35 [[ 9.99927425e-01 1.10527981e-02 -4.79375042e-03 2.28832182e+01] [-1.10530129e-02 9.99938913e-01 -1.83313600e-05 -2.27132950e-01] [ 4.79325497e-03 7.13154151e-05 9.99988510e-01 -1.35032101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.947719420999995 meters Centerline goodness : 0.960693 Centerline is valid? [True, True] Translation: X:22.91, Y:-0.23, Z:-1.35 [[ 9.99940103e-01 1.00438357e-02 -4.34868776e-03 2.29124097e+01] [-1.00440050e-02 9.99949558e-01 -1.70957435e-05 -2.29450937e-01] [ 4.34829670e-03 6.07729611e-05 9.99990544e-01 -1.35074621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.977719420999996 meters Centerline goodness : 0.961672 Centerline is valid? [True, True] Translation: X:22.94, Y:-0.24, Z:-1.35 [[ 9.99979284e-01 5.79619530e-03 -2.79935374e-03 2.29406935e+01] [-5.79624968e-03 9.99983202e-01 -1.13147489e-05 -2.35131172e-01] [ 2.79924113e-03 2.75402677e-05 9.99996082e-01 -1.35105696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.007719421 meters Centerline goodness : 0.960552 Centerline is valid? [True, True] Translation: X:22.97, Y:-0.24, Z:-1.35 [[ 9.99992370e-01 2.30601065e-03 -3.15323189e-03 2.29690377e+01] [-2.30606408e-03 9.99997341e-01 -1.33079435e-05 -2.38825136e-01] [ 3.15319281e-03 2.05793967e-05 9.99995028e-01 -1.35259646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.037719421 meters Centerline goodness : 0.955912 Centerline is valid? [True, True] Translation: X:23.00, Y:-0.25, Z:-1.35 [[ 9.99963274e-01 -7.04473054e-03 -4.88076073e-03 2.29978090e+01] [ 7.04471882e-03 9.99975185e-01 -1.95920565e-05 -2.48938544e-01] [ 4.88077763e-03 -1.47922500e-05 9.99988089e-01 -1.35473131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.067719421 meters Centerline goodness : 0.958623 Centerline is valid? [True, True] Translation: X:23.03, Y:-0.25, Z:-1.36 [[ 9.99912924e-01 -1.21597205e-02 -5.12699590e-03 2.30278765e+01] [ 1.21597765e-02 9.99926067e-01 -2.02527802e-05 -2.53858457e-01] [ 5.12686311e-03 -4.20921076e-05 9.99986857e-01 -1.35601943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.097719421 meters Centerline goodness : 0.959960 Centerline is valid? [True, True] Translation: X:23.06, Y:-0.26, Z:-1.36 [[ 9.99753027e-01 -2.11042075e-02 -6.96404768e-03 2.30572386e+01] [ 2.11045313e-02 9.99777274e-01 -2.69988943e-05 -2.56849572e-01] [ 6.96306640e-03 -1.19980736e-04 9.99975750e-01 -1.35538254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.127719421 meters Centerline goodness : 0.959182 Centerline is valid? [True, True] Translation: X:23.09, Y:-0.26, Z:-1.35 [[ 9.99529061e-01 -2.96394059e-02 -7.94739133e-03 2.30880777e+01] [ 2.96401005e-02 9.99560635e-01 -3.03911859e-05 -2.57904282e-01] [ 7.94480030e-03 -2.05184604e-04 9.99968419e-01 -1.35478981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.157719420999996 meters Centerline goodness : 0.958240 Centerline is valid? [True, True] Translation: X:23.12, Y:-0.26, Z:-1.36 [[ 9.99396341e-01 -3.37747102e-02 -8.13776188e-03 2.31170979e+01] [ 3.37755712e-02 9.99429442e-01 -3.16454682e-05 -2.60261904e-01] [ 8.13418763e-03 -2.43231190e-04 9.99966887e-01 -1.35634997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.187719421 meters Centerline goodness : 0.957851 Centerline is valid? [True, True] Translation: X:23.15, Y:-0.26, Z:-1.36 [[ 9.99144692e-01 -4.07371905e-02 -7.09686640e-03 2.31463464e+01] [ 4.07380196e-02 9.99169862e-01 -2.77512769e-05 -2.64365414e-01] [ 7.09210553e-03 -2.61384742e-04 9.99974817e-01 -1.35899728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.217719421 meters Centerline goodness : 0.958169 Centerline is valid? [True, True] Translation: X:23.18, Y:-0.27, Z:-1.36 [[ 9.99025794e-01 -4.33316308e-02 -8.35653807e-03 2.31765293e+01] [ 4.33328745e-02 9.99060689e-01 -3.22572068e-05 -2.65758606e-01] [ 8.35008644e-03 -3.29887034e-04 9.99965083e-01 -1.35931531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.247719421 meters Centerline goodness : 0.957631 Centerline is valid? [True, True] Translation: X:23.21, Y:-0.27, Z:-1.36 [[ 9.98889547e-01 -4.60603550e-02 -9.90533751e-03 2.32059438e+01] [ 4.60622313e-02 9.98938571e-01 -3.87548874e-05 -2.66274581e-01] [ 9.89660877e-03 -4.17550096e-04 9.99950940e-01 -1.35948145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.277719421 meters Centerline goodness : 0.958110 Centerline is valid? [True, True] Translation: X:23.24, Y:-0.26, Z:-1.36 [[ 9.98909938e-01 -4.56437538e-02 -9.77673039e-03 2.32356607e+01] [ 4.56455550e-02 9.98957698e-01 -3.89357151e-05 -2.63278666e-01] [ 9.76831726e-03 -4.07371013e-04 9.99952206e-01 -1.35920290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.307719421 meters Centerline goodness : 0.960821 Centerline is valid? [True, True] Translation: X:23.27, Y:-0.26, Z:-1.36 [[ 9.99215265e-01 -3.86159963e-02 -8.81245408e-03 2.32650569e+01] [ 3.86171832e-02 9.99254078e-01 -3.55072885e-05 -2.55193487e-01] [ 8.80725182e-03 -3.04832729e-04 9.99961169e-01 -1.35847732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.337719420999996 meters Centerline goodness : 0.962144 Centerline is valid? [True, True] Translation: X:23.30, Y:-0.25, Z:-1.36 [[ 9.99577601e-01 -2.84541702e-02 -5.91434214e-03 2.32951772e+01] [ 2.84545299e-02 9.99595088e-01 -2.33446847e-05 -2.53051227e-01] [ 5.91261161e-03 -1.44955001e-04 9.99982510e-01 -1.35946303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.367719421 meters Centerline goodness : 0.962207 Centerline is valid? [True, True] Translation: X:23.33, Y:-0.25, Z:-1.36 [[ 9.99732438e-01 -2.27640117e-02 -4.10513785e-03 2.33261087e+01] [ 2.27641370e-02 9.99740863e-01 -1.62035179e-05 -2.53131430e-01] [ 4.10444292e-03 -7.72507382e-05 9.99991574e-01 -1.36052595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.397719421 meters Centerline goodness : 0.962207 Centerline is valid? [True, True] Translation: X:23.36, Y:-0.25, Z:-1.36 [[ 9.99732886e-01 -2.27443299e-02 -4.10513975e-03 2.33571053e+01] [ 2.27444570e-02 9.99741311e-01 -1.57228163e-05 -2.53019821e-01] [ 4.10443540e-03 -7.76505579e-05 9.99991574e-01 -1.36115557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.427719421 meters Centerline goodness : 0.961575 Centerline is valid? [True, True] Translation: X:23.39, Y:-0.25, Z:-1.36 [[ 9.99916385e-01 -1.18136897e-02 -5.25924862e-03 2.33875551e+01] [ 1.18137445e-02 9.99930215e-01 -2.06553617e-05 -2.48254395e-01] [ 5.25912562e-03 -4.14777848e-05 9.99986170e-01 -1.36184749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.457719421 meters Centerline goodness : 0.960665 Centerline is valid? [True, True] Translation: X:23.42, Y:-0.24, Z:-1.36 [[ 9.99960239e-01 -6.52175404e-03 -6.08171197e-03 2.34170083e+01] [ 6.52172625e-03 9.99978733e-01 -2.44015180e-05 -2.44167353e-01] [ 6.08174177e-03 -1.52627128e-05 9.99981506e-01 -1.36338799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.487719421 meters Centerline goodness : 0.962823 Centerline is valid? [True, True] Translation: X:23.45, Y:-0.24, Z:-1.36 [[ 9.99961705e-01 -2.86101701e-03 -8.27066076e-03 2.34466691e+01] [ 2.86083557e-03 9.99995907e-01 -3.37678732e-05 -2.40238710e-01] [ 8.27072352e-03 1.01055796e-05 9.99965797e-01 -1.36371045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.517719420999995 meters Centerline goodness : 0.960737 Centerline is valid? [True, True] Translation: X:23.48, Y:-0.24, Z:-1.36 [[ 9.99958392e-01 2.76080962e-03 -8.69436891e-03 2.34758786e+01] [-2.76129004e-03 9.99996187e-01 -4.32524270e-05 -2.37465774e-01] [ 8.69421634e-03 6.72583016e-05 9.99962202e-01 -1.36398965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.547719421 meters Centerline goodness : 0.961635 Centerline is valid? [True, True] Translation: X:23.50, Y:-0.24, Z:-1.37 [[ 9.99944796e-01 6.05814238e-03 -8.58508243e-03 2.35032709e+01] [-6.05871773e-03 9.99981645e-01 -4.10099048e-05 -2.37236299e-01] [ 8.58467640e-03 9.30222320e-05 9.99963147e-01 -1.36585791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.577719421 meters Centerline goodness : 0.961118 Centerline is valid? [True, True] Translation: X:23.53, Y:-0.24, Z:-1.37 [[ 9.99935925e-01 6.89985668e-03 -8.97432944e-03 2.35325462e+01] [-6.90051327e-03 9.99976190e-01 -4.21998406e-05 -2.37238263e-01] [ 8.97382459e-03 1.04124616e-04 9.99959729e-01 -1.36726916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.607719421 meters Centerline goodness : 0.961728 Centerline is valid? [True, True] Translation: X:23.56, Y:-0.24, Z:-1.37 [[ 9.99907976e-01 9.67480183e-03 -9.50983594e-03 2.35610537e+01] [-9.67567113e-03 9.99953189e-01 -4.54052321e-05 -2.36034254e-01] [ 9.50895148e-03 1.37415099e-04 9.99954779e-01 -1.36699727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.637719421 meters Centerline goodness : 0.964697 Centerline is valid? [True, True] Translation: X:23.59, Y:-0.23, Z:-1.37 [[ 9.99886445e-01 1.18115908e-02 -9.35859040e-03 2.35892730e+01] [-1.18125394e-02 9.99930228e-01 -4.60844459e-05 -2.34841125e-01] [ 9.35739311e-03 1.56627930e-04 9.99956206e-01 -1.36661138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.667719421 meters Centerline goodness : 0.962899 Centerline is valid? [True, True] Translation: X:23.62, Y:-0.24, Z:-1.37 [[ 9.99777129e-01 1.77252373e-02 -1.14677171e-02 2.36171261e+01] [-1.77270656e-02 9.99842862e-01 -5.77884114e-05 -2.36724394e-01] [ 1.14648908e-02 2.61064506e-04 9.99934242e-01 -1.36537550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.697719420999995 meters Centerline goodness : 0.963548 Centerline is valid? [True, True] Translation: X:23.65, Y:-0.24, Z:-1.37 [[ 9.99725165e-01 2.05983121e-02 -1.11938965e-02 2.36457556e+01] [-2.06002357e-02 9.99787791e-01 -5.65531332e-05 -2.39088168e-01] [ 1.11903562e-02 2.87134497e-04 9.99937345e-01 -1.36632057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.727719420999996 meters Centerline goodness : 0.962097 Centerline is valid? [True, True] Translation: X:23.67, Y:-0.24, Z:-1.37 [[ 9.99562883e-01 2.75610575e-02 -1.06972131e-02 2.36732751e+01] [-2.75632291e-02 9.99620060e-01 -5.55976605e-05 -2.42895466e-01] [ 1.06916165e-02 3.50423093e-04 9.99942782e-01 -1.36763001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.757719421 meters Centerline goodness : 0.965670 Centerline is valid? [True, True] Translation: X:23.70, Y:-0.24, Z:-1.37 [[ 9.99507520e-01 2.98360080e-02 -9.72269423e-03 2.37014568e+01] [-2.98379263e-02 9.99554749e-01 -5.22744059e-05 -2.43005617e-01] [ 9.71680553e-03 3.42353696e-04 9.99952732e-01 -1.36835345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.787719421 meters Centerline goodness : 0.965334 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.24, Z:-1.37 [[ 9.99405513e-01 3.34908539e-02 -8.18434944e-03 2.37286529e+01] [-3.34923583e-02 9.99438972e-01 -4.67916261e-05 -2.42996796e-01] [ 8.17819070e-03 3.20876973e-04 9.99966507e-01 -1.36830728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.817719421 meters Centerline goodness : 0.965064 Centerline is valid? [True, True] Translation: X:23.76, Y:-0.25, Z:-1.37 [[ 9.99356001e-01 3.47411381e-02 -8.97983969e-03 2.37570327e+01] [-3.47429864e-02 9.99396279e-01 -4.98667087e-05 -2.45467438e-01] [ 8.97268595e-03 3.61821043e-04 9.99959679e-01 -1.36882095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.847719421 meters Centerline goodness : 0.967441 Centerline is valid? [True, True] Translation: X:23.78, Y:-0.25, Z:-1.37 [[ 9.99400104e-01 3.36443193e-02 -8.21533003e-03 2.37849048e+01] [-3.36458401e-02 9.99433817e-01 -4.69494371e-05 -2.52158712e-01] [ 8.20909907e-03 3.23332953e-04 9.99966253e-01 -1.36889586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.877719421 meters Centerline goodness : 0.969337 Centerline is valid? [True, True] Translation: X:23.81, Y:-0.25, Z:-1.37 [[ 9.99444162e-01 3.26795925e-02 -6.58866058e-03 2.38128265e+01] [-3.26805564e-02 9.99465847e-01 -3.86583052e-05 -2.54166974e-01] [ 6.58387789e-03 2.53957911e-04 9.99978294e-01 -1.36956129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.907719420999996 meters Centerline goodness : 0.968165 Centerline is valid? [True, True] Translation: X:23.84, Y:-0.26, Z:-1.37 [[ 9.99579860e-01 2.86129057e-02 -4.62662838e-03 2.38414651e+01] [-2.86133406e-02 9.99590554e-01 -2.78291836e-05 -2.60221265e-01] [ 4.62393775e-03 1.60200785e-04 9.99989297e-01 -1.37131472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.937719421 meters Centerline goodness : 0.968697 Centerline is valid? [True, True] Translation: X:23.87, Y:-0.27, Z:-1.37 [[ 9.99641968e-01 2.56464810e-02 -7.62852139e-03 2.38691012e+01] [-2.56475796e-02 9.99671046e-01 -4.61984972e-05 -2.66121247e-01] [ 7.62482712e-03 2.41835066e-04 9.99970901e-01 -1.37187232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.967719421 meters Centerline goodness : 0.965617 Centerline is valid? [True, True] Translation: X:23.90, Y:-0.28, Z:-1.37 [[ 9.99678610e-01 2.05538773e-02 -1.48396634e-02 2.38967010e+01] [-2.05574622e-02 9.99788669e-01 -8.90554887e-05 -2.78378266e-01] [ 1.48346969e-02 3.94092686e-04 9.99889882e-01 -1.37117014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.997719421 meters Centerline goodness : 0.968717 Centerline is valid? [True, True] Translation: X:23.93, Y:-0.29, Z:-1.37 [[ 9.99749326e-01 1.51463530e-02 -1.64885743e-02 2.39255938e+01] [-1.51500548e-02 9.99885226e-01 -9.96127516e-05 -2.85785094e-01] [ 1.64851731e-02 3.49390585e-04 9.99864049e-01 -1.36969511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.027719421 meters Centerline goodness : 0.969075 Centerline is valid? [True, True] Translation: X:23.95, Y:-0.29, Z:-1.37 [[ 9.99782683e-01 1.36163715e-02 -1.57855057e-02 2.39536301e+01] [-1.36196178e-02 9.99907244e-01 -9.81591517e-05 -2.88477890e-01] [ 1.57827049e-02 3.13130374e-04 9.99875396e-01 -1.36977980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.057719421 meters Centerline goodness : 0.970070 Centerline is valid? [True, True] Translation: X:23.98, Y:-0.30, Z:-1.37 [[ 9.99833135e-01 1.32103856e-02 -1.26170020e-02 2.39820119e+01] [-1.32124367e-02 9.99912709e-01 -7.92255424e-05 -2.97872230e-01] [ 1.26148540e-02 2.45913663e-04 9.99920399e-01 -1.37024501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.087719420999996 meters Centerline goodness : 0.969410 Centerline is valid? [True, True] Translation: X:24.01, Y:-0.30, Z:-1.37 [[ 9.99839968e-01 1.37894310e-02 -1.13968855e-02 2.40099494e+01] [-1.37911617e-02 9.99904895e-01 -7.32824481e-05 -3.04137321e-01] [ 1.13947911e-02 2.30447012e-04 9.99935051e-01 -1.37100461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.117719421 meters Centerline goodness : 0.971528 Centerline is valid? [True, True] Translation: X:24.04, Y:-0.31, Z:-1.37 [[ 9.99830487e-01 1.44448257e-02 -1.14168201e-02 2.40387798e+01] [-1.44466099e-02 9.99895640e-01 -7.38226219e-05 -3.14171338e-01] [ 1.14145622e-02 2.38744454e-04 9.99934823e-01 -1.37060576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.147719421 meters Centerline goodness : 0.971391 Centerline is valid? [True, True] Translation: X:24.07, Y:-0.32, Z:-1.37 [[ 9.99834116e-01 1.23029108e-02 -1.34305415e-02 2.40675295e+01] [-1.23051985e-02 9.99924284e-01 -8.77117035e-05 -3.20199900e-01] [ 1.34284455e-02 2.52962633e-04 9.99909802e-01 -1.36926304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.177719421 meters Centerline goodness : 0.970056 Centerline is valid? [True, True] Translation: X:24.10, Y:-0.32, Z:-1.37 [[ 9.99862738e-01 1.07222228e-02 -1.26308741e-02 2.40953290e+01] [-1.07241424e-02 9.99942491e-01 -8.42574305e-05 -3.23714668e-01] [ 1.26292443e-02 2.19701158e-04 9.99920224e-01 -1.37030078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.207719421 meters Centerline goodness : 0.970118 Centerline is valid? [True, True] Translation: X:24.12, Y:-0.33, Z:-1.37 [[ 9.99865876e-01 7.31286300e-03 -1.46543918e-02 2.41243444e+01] [-7.31508708e-03 9.99973240e-01 -9.81718410e-05 -3.27264357e-01] [ 1.46532817e-02 2.05356826e-04 9.99892614e-01 -1.37079107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.237719421 meters Centerline goodness : 0.971295 Centerline is valid? [True, True] Translation: X:24.15, Y:-0.34, Z:-1.37 [[ 9.99893978e-01 2.37485047e-04 -1.45594331e-02 2.41518897e+01] [-2.38957133e-04 9.99999967e-01 -9.93691524e-05 -3.36367276e-01] [ 1.45594090e-02 1.02837697e-04 9.99894001e-01 -1.37064030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.267719420999995 meters Centerline goodness : 0.972226 Centerline is valid? [True, True] Translation: X:24.18, Y:-0.34, Z:-1.37 [[ 9.99899618e-01 -4.19017833e-03 -1.35350406e-02 2.41806142e+01] [ 4.18930178e-03 9.99991221e-01 -9.31138106e-05 -3.38337900e-01] [ 1.35353119e-02 3.64020942e-05 9.99908393e-01 -1.37076400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.297719421 meters Centerline goodness : 0.971780 Centerline is valid? [True, True] Translation: X:24.21, Y:-0.34, Z:-1.37 [[ 9.99852165e-01 -1.18541391e-02 -1.24549881e-02 2.42099434e+01] [ 1.18539770e-02 9.99929735e-01 -8.68456609e-05 -3.39624511e-01] [ 1.24551425e-02 -6.08083203e-05 9.99922430e-01 -1.37060768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.327719421 meters Centerline goodness : 0.972346 Centerline is valid? [True, True] Translation: X:24.24, Y:-0.34, Z:-1.37 [[ 9.99809269e-01 -1.54977823e-02 -1.18845932e-02 2.42374967e+01] [ 1.54977894e-02 9.99879898e-01 -9.15111850e-05 -3.40585981e-01] [ 1.18845841e-02 -9.26911913e-05 9.99929372e-01 -1.37076097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.357719421 meters Centerline goodness : 0.974357 Centerline is valid? [True, True] Translation: X:24.26, Y:-0.34, Z:-1.37 [[ 9.99778867e-01 -1.88857139e-02 -9.24915262e-03 2.42645153e+01] [ 1.88858719e-02 9.99821644e-01 -7.02660095e-05 -3.43297570e-01] [ 9.24883000e-03 -1.04427841e-04 9.99957223e-01 -1.37147084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.387719421 meters Centerline goodness : 0.973814 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.35, Z:-1.37 [[ 9.99715771e-01 -2.24174179e-02 -8.11394356e-03 2.42927290e+01] [ 2.24176020e-02 9.99748692e-01 -6.82649897e-05 -3.45730604e-01] [ 8.11343478e-03 -1.13649571e-04 9.99967079e-01 -1.37250194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.417719421 meters Centerline goodness : 0.973613 Centerline is valid? [True, True] Translation: X:24.32, Y:-0.34, Z:-1.37 [[ 9.99664113e-01 -2.38908516e-02 -1.00443680e-02 2.43209453e+01] [ 2.38911920e-02 9.99714561e-01 -8.61194100e-05 -3.44826979e-01] [ 1.00435585e-02 -1.53881442e-04 9.99949550e-01 -1.37290944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.447719420999995 meters Centerline goodness : 0.971571 Centerline is valid? [True, True] Translation: X:24.35, Y:-0.34, Z:-1.37 [[ 9.99552413e-01 -2.66237113e-02 -1.36437358e-02 2.43493280e+01] [ 2.66245671e-02 9.99645496e-01 -1.18935321e-04 -3.42435588e-01] [ 1.36420655e-02 -2.44376472e-04 9.99906913e-01 -1.37369052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.477719420999996 meters Centerline goodness : 0.970362 Centerline is valid? [True, True] Translation: X:24.38, Y:-0.34, Z:-1.37 [[ 9.99485152e-01 -2.83659276e-02 -1.49935043e-02 2.43772053e+01] [ 2.83670973e-02 9.99597564e-01 -1.34699561e-04 -3.42334438e-01] [ 1.49912913e-02 -2.90691984e-04 9.99887582e-01 -1.37416281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.507719421 meters Centerline goodness : 0.972576 Centerline is valid? [True, True] Translation: X:24.41, Y:-0.34, Z:-1.37 [[ 9.99450527e-01 -3.05630252e-02 -1.28275594e-02 2.44056385e+01] [ 3.05640004e-02 9.99532805e-01 -1.20055351e-04 -3.44400043e-01] [ 1.28252356e-02 -2.72072145e-04 9.99917716e-01 -1.37383361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.537719421 meters Centerline goodness : 0.975946 Centerline is valid? [True, True] Translation: X:24.43, Y:-0.34, Z:-1.37 [[ 9.99491053e-01 -3.04959602e-02 -9.36112488e-03 2.44332709e+01] [ 3.04964269e-02 9.99534871e-01 -9.29185478e-05 -3.43870606e-01] [ 9.35960440e-03 -1.92609604e-04 9.99956179e-01 -1.37300317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.567719421 meters Centerline goodness : 0.975534 Centerline is valid? [True, True] Translation: X:24.46, Y:-0.34, Z:-1.37 [[ 9.99647802e-01 -2.56274441e-02 -6.89248895e-03 2.44617022e+01] [ 2.56275530e-02 9.99671558e-01 -7.25338731e-05 -3.38574593e-01] [ 6.89208403e-03 -1.04129299e-04 9.99976244e-01 -1.37254800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.597719421 meters Centerline goodness : 0.973961 Centerline is valid? [True, True] Translation: X:24.49, Y:-0.33, Z:-1.37 [[ 9.99764521e-01 -2.00691928e-02 -8.25406358e-03 2.44906675e+01] [ 2.00691583e-02 9.99798590e-01 -8.70162089e-05 -3.34932783e-01] [ 8.25414748e-03 -7.86563903e-05 9.99965931e-01 -1.37380161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.627719420999995 meters Centerline goodness : 0.971869 Centerline is valid? [True, True] Translation: X:24.52, Y:-0.33, Z:-1.37 [[ 9.99896964e-01 -6.35986725e-03 -1.28690741e-02 2.45186840e+01] [ 6.35870014e-03 9.99979775e-01 -1.31606634e-04 -3.29330714e-01] [ 1.28696508e-02 4.97624910e-05 9.99917181e-01 -1.37454684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.657719420999996 meters Centerline goodness : 0.971474 Centerline is valid? [True, True] Translation: X:24.55, Y:-0.33, Z:-1.37 [[ 9.99893399e-01 -3.85803410e-04 -1.45959187e-02 2.45466825e+01] [ 3.83549493e-04 9.99999914e-01 -1.57220004e-04 -3.26443137e-01] [ 1.45959781e-02 1.51604987e-04 9.99893462e-01 -1.37477654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.687719421 meters Centerline goodness : 0.971218 Centerline is valid? [True, True] Translation: X:24.57, Y:-0.32, Z:-1.38 [[ 9.99810323e-01 9.93102326e-03 -1.67538615e-02 2.45734022e+01] [-9.93540067e-03 9.99950627e-01 -1.78061734e-04 -3.20690296e-01] [ 1.67512660e-02 3.44484287e-04 9.99859628e-01 -1.37642485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.717719421 meters Centerline goodness : 0.968819 Centerline is valid? [True, True] Translation: X:24.60, Y:-0.32, Z:-1.38 [[ 9.99752926e-01 1.35116988e-02 -1.76499351e-02 2.46010649e+01] [-1.35171425e-02 9.99908621e-01 -1.89157003e-04 -3.18084336e-01] [ 1.76457665e-02 4.27686955e-04 9.99844210e-01 -1.37714567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.747719421 meters Centerline goodness : 0.969381 Centerline is valid? [True, True] Translation: X:24.63, Y:-0.32, Z:-1.38 [[ 9.99710146e-01 1.80428672e-02 -1.59398421e-02 2.46283788e+01] [-1.80479473e-02 9.99837107e-01 -1.74897847e-04 -3.16694594e-01] [ 1.59340899e-02 4.62528582e-04 9.99872937e-01 -1.37894250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.777719421 meters Centerline goodness : 0.968490 Centerline is valid? [True, True] Translation: X:24.66, Y:-0.32, Z:-1.38 [[ 9.99694978e-01 1.88938050e-02 -1.59051949e-02 2.46569276e+01] [-1.88989607e-02 9.99821384e-01 -1.73899931e-04 -3.17270686e-01] [ 1.58990684e-02 4.74438542e-04 9.99873489e-01 -1.37906717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.807719421 meters Centerline goodness : 0.969041 Centerline is valid? [True, True] Translation: X:24.69, Y:-0.32, Z:-1.38 [[ 9.99634336e-01 2.10407516e-02 -1.69847325e-02 2.46857212e+01] [-2.10469636e-02 9.99778471e-01 -1.87047634e-04 -3.19205572e-01] [ 1.69770342e-02 5.44456283e-04 9.99855732e-01 -1.37973691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.837719420999996 meters Centerline goodness : 0.967599 Centerline is valid? [True, True] Translation: X:24.71, Y:-0.32, Z:-1.38 [[ 9.99555098e-01 2.27801331e-02 -1.92528099e-02 2.47131609e+01] [-2.27884786e-02 9.99740286e-01 -2.14161406e-04 -3.21880586e-01] [ 1.92429311e-02 6.52808373e-04 9.99814625e-01 -1.38016444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.867719421 meters Centerline goodness : 0.965181 Centerline is valid? [True, True] Translation: X:24.74, Y:-0.32, Z:-1.38 [[ 9.99537073e-01 2.22900616e-02 -2.07073182e-02 2.47412129e+01] [-2.22996679e-02 9.99751304e-01 -2.33089945e-04 -3.23572395e-01] [ 2.06969728e-02 6.94748360e-04 9.99785553e-01 -1.38058006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.897719421 meters Centerline goodness : 0.965263 Centerline is valid? [True, True] Translation: X:24.77, Y:-0.33, Z:-1.38 [[ 9.99571810e-01 2.08943263e-02 -2.04847027e-02 2.47704942e+01] [-2.09034516e-02 9.99781472e-01 -2.31421711e-04 -3.25485745e-01] [ 2.04753908e-02 6.59523611e-04 9.99790140e-01 -1.38145406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.927719421 meters Centerline goodness : 0.966506 Centerline is valid? [True, True] Translation: X:24.80, Y:-0.33, Z:-1.38 [[ 9.99662090e-01 1.56238256e-02 -2.07750207e-02 2.47993631e+01] [-1.56321082e-02 9.99877783e-01 -2.36335623e-04 -3.31730099e-01] [ 2.07687892e-02 5.61013134e-04 9.99784148e-01 -1.38052257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.957719421 meters Centerline goodness : 0.964867 Centerline is valid? [True, True] Translation: X:24.83, Y:-0.34, Z:-1.38 [[ 9.99714085e-01 1.25652356e-02 -2.03436103e-02 2.48268356e+01] [-1.25725942e-02 9.99920934e-01 -2.33851907e-04 -3.36062335e-01] [ 2.03390634e-02 4.89557002e-04 9.99793020e-01 -1.38076673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.987719421 meters Centerline goodness : 0.965500 Centerline is valid? [True, True] Translation: X:24.85, Y:-0.34, Z:-1.38 [[ 9.99802685e-01 5.15058447e-03 -1.91849431e-02 2.48549325e+01] [-5.15580861e-03 9.99986684e-01 -2.22852237e-04 -3.44081743e-01] [ 1.91835398e-02 3.21722160e-04 9.99815927e-01 -1.38215107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.017719420999995 meters Centerline goodness : 0.966799 Centerline is valid? [True, True] Translation: X:24.88, Y:-0.35, Z:-1.38 [[ 9.99831898e-01 1.17725614e-03 -1.82972525e-02 2.48835343e+01] [-1.18136027e-03 9.99999279e-01 -2.13496192e-04 -3.47030285e-01] [ 1.82969880e-02 2.35075950e-04 9.99832568e-01 -1.38371113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.047719421 meters Centerline goodness : 0.965388 Centerline is valid? [True, True] Translation: X:24.91, Y:-0.35, Z:-1.38 [[ 9.99809469e-01 -9.12786593e-03 -1.72541851e-02 2.49112414e+01] [ 9.12570890e-03 9.99958339e-01 -2.03746686e-04 -3.54071621e-01] [ 1.72553260e-02 4.62511955e-05 9.99851115e-01 -1.38475105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.077719421 meters Centerline goodness : 0.964560 Centerline is valid? [True, True] Translation: X:24.94, Y:-0.36, Z:-1.38 [[ 9.99627527e-01 -2.05475946e-02 -1.79611602e-02 2.49393693e+01] [ 2.05470738e-02 9.99788864e-01 -2.13551525e-04 -3.62083957e-01] [ 1.79617559e-02 -1.55577302e-04 9.99838663e-01 -1.38369463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.107719421 meters Centerline goodness : 0.968684 Centerline is valid? [True, True] Translation: X:24.97, Y:-0.36, Z:-1.38 [[ 9.99526899e-01 -2.49577968e-02 -1.79746311e-02 2.49673506e+01] [ 2.49578139e-02 9.99688480e-01 -2.23404601e-04 -3.63739606e-01] [ 1.79746074e-02 -2.25308591e-04 9.99838418e-01 -1.38371233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.137719421 meters Centerline goodness : 0.969394 Centerline is valid? [True, True] Translation: X:25.00, Y:-0.37, Z:-1.38 [[ 9.99454588e-01 -2.80015084e-02 -1.75054593e-02 2.49957452e+01] [ 2.80018720e-02 9.99607846e-01 -2.24391500e-04 -3.65520947e-01] [ 1.75048778e-02 -2.65916515e-04 9.99846743e-01 -1.38400382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.167719421 meters Centerline goodness : 0.968845 Centerline is valid? [True, True] Translation: X:25.02, Y:-0.37, Z:-1.38 [[ 9.99483765e-01 -2.72023510e-02 -1.70948758e-02 2.50227414e+01] [ 2.72026022e-02 9.99629917e-01 -2.17877684e-04 -3.65391410e-01] [ 1.70944760e-02 -2.47259897e-04 9.99853848e-01 -1.38406662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.197719420999995 meters Centerline goodness : 0.968397 Centerline is valid? [True, True] Translation: X:25.05, Y:-0.36, Z:-1.38 [[ 9.99556582e-01 -2.30595004e-02 -1.88387716e-02 2.50497335e+01] [ 2.30589805e-02 9.99734076e-01 -2.44847139e-04 -3.62911498e-01] [ 1.88394080e-02 -1.89664297e-04 9.99822505e-01 -1.38194555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.227719420999996 meters Centerline goodness : 0.967796 Centerline is valid? [True, True] Translation: X:25.08, Y:-0.36, Z:-1.38 [[ 9.99588966e-01 -2.07496251e-02 -1.97826157e-02 2.50773221e+01] [ 2.07484523e-02 9.99784693e-01 -2.64554211e-04 -3.60248873e-01] [ 1.97838457e-02 -1.46013188e-04 9.99804270e-01 -1.38208984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.257719421 meters Centerline goodness : 0.967860 Centerline is valid? [True, True] Translation: X:25.10, Y:-0.36, Z:-1.38 [[ 9.99688489e-01 -1.83465810e-02 -1.69212333e-02 2.51039770e+01] [ 1.83453378e-02 9.99831684e-01 -2.28703399e-04 -3.59028621e-01] [ 1.69225811e-02 -8.17935856e-05 9.99856800e-01 -1.38187128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.287719421 meters Centerline goodness : 0.967860 Centerline is valid? [True, True] Translation: X:25.13, Y:-0.36, Z:-1.38 [[ 9.99683463e-01 -1.86184961e-02 -1.69211521e-02 2.51324527e+01] [ 1.86171900e-02 9.99826658e-01 -2.34721042e-04 -3.58357144e-01] [ 1.69225891e-02 -8.03775589e-05 9.99856800e-01 -1.38244977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.317719421 meters Centerline goodness : 0.970198 Centerline is valid? [True, True] Translation: X:25.16, Y:-0.36, Z:-1.38 [[ 9.99719681e-01 -2.00040338e-02 -1.26647979e-02 2.51595967e+01] [ 2.00034131e-02 9.99799896e-01 -1.75691383e-04 -3.59590072e-01] [ 1.26657782e-02 -7.76970503e-05 9.99919783e-01 -1.38311229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.347719421 meters Centerline goodness : 0.972720 Centerline is valid? [True, True] Translation: X:25.19, Y:-0.36, Z:-1.38 [[ 9.99715513e-01 -2.02792204e-02 -1.25556877e-02 2.51880460e+01] [ 2.02785457e-02 9.99794353e-01 -1.81061786e-04 -3.58630627e-01] [ 1.25567774e-02 -7.36008092e-05 9.99921158e-01 -1.38384014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.377719420999995 meters Centerline goodness : 0.971015 Centerline is valid? [True, True] Translation: X:25.22, Y:-0.35, Z:-1.38 [[ 9.99706183e-01 -1.96923582e-02 -1.41336096e-02 2.52154485e+01] [ 1.96914765e-02 9.99806084e-01 -2.01555395e-04 -3.54513873e-01] [ 1.41348380e-02 -7.68154668e-05 9.99900095e-01 -1.38466558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.407719420999996 meters Centerline goodness : 0.970229 Centerline is valid? [True, True] Translation: X:25.24, Y:-0.35, Z:-1.39 [[ 9.99697185e-01 -1.96102847e-02 -1.48652500e-02 2.52432305e+01] [ 1.96091933e-02 9.99807697e-01 -2.19183150e-04 -3.52618708e-01] [ 1.48666897e-02 -7.23787838e-05 9.99889482e-01 -1.38550111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.437719421 meters Centerline goodness : 0.970379 Centerline is valid? [True, True] Translation: X:25.27, Y:-0.35, Z:-1.39 [[ 9.99706674e-01 -1.87012494e-02 -1.53892273e-02 2.52701152e+01] [ 1.86999960e-02 9.99825114e-01 -2.25354833e-04 -3.48371231e-01] [ 1.53907503e-02 -6.24897585e-05 9.99881553e-01 -1.38619335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.467719421 meters Centerline goodness : 0.966488 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.35, Z:-1.39 [[ 9.99735167e-01 -1.65175122e-02 -1.60239585e-02 2.52973044e+01] [ 1.65158441e-02 9.99863576e-01 -2.36437558e-04 -3.46376950e-01] [ 1.60256778e-02 -2.82742593e-05 9.99871580e-01 -1.38581415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.497719421 meters Centerline goodness : 0.969962 Centerline is valid? [True, True] Translation: X:25.32, Y:-0.34, Z:-1.38 [[ 9.99887641e-01 -7.58790949e-03 -1.29278155e-02 2.53242834e+01] [ 7.58602173e-03 9.99971207e-01 -1.95055448e-04 -3.44304432e-01] [ 1.29289234e-02 9.69628419e-05 9.99916413e-01 -1.38496087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.527719421 meters Centerline goodness : 0.969179 Centerline is valid? [True, True] Translation: X:25.35, Y:-0.34, Z:-1.39 [[ 9.99933911e-01 -2.48673951e-03 -1.12245319e-02 2.53526911e+01] [ 2.48491353e-03 9.99996897e-01 -1.76620906e-04 -3.42386254e-01] [ 1.12249363e-02 1.48717242e-04 9.99936987e-01 -1.38538888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.557719421 meters Centerline goodness : 0.970874 Centerline is valid? [True, True] Translation: X:25.38, Y:-0.34, Z:-1.39 [[ 9.99922411e-01 6.77271498e-03 -1.04547717e-02 2.53793479e+01] [-6.77478523e-03 9.99977038e-01 -1.62616378e-04 -3.37215471e-01] [ 1.04534302e-02 2.33432593e-04 9.99945334e-01 -1.38658021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.587719420999996 meters Centerline goodness : 0.969415 Centerline is valid? [True, True] Translation: X:25.41, Y:-0.33, Z:-1.39 [[ 9.99893859e-01 9.19357504e-03 -1.13025717e-02 2.54085824e+01] [-9.19614353e-03 9.99957699e-01 -1.75296222e-04 -3.33528077e-01] [ 1.13004820e-02 2.79217687e-04 9.99936109e-01 -1.38819013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.617719421 meters Centerline goodness : 0.970579 Centerline is valid? [True, True] Translation: X:25.44, Y:-0.33, Z:-1.39 [[ 9.99819415e-01 1.46158258e-02 -1.21455941e-02 2.54366568e+01] [-1.46192188e-02 9.99893115e-01 -1.90621292e-04 -3.31010880e-01] [ 1.21415098e-02 3.68145966e-04 9.99926221e-01 -1.38928810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.647719421 meters Centerline goodness : 0.969450 Centerline is valid? [True, True] Translation: X:25.47, Y:-0.33, Z:-1.39 [[ 9.99786173e-01 1.70595988e-02 -1.16866353e-02 2.54657211e+01] [-1.70629107e-02 9.99854401e-01 -1.83736557e-04 -3.31525098e-01] [ 1.16817993e-02 3.83105285e-04 9.99931692e-01 -1.39057771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.677719421 meters Centerline goodness : 0.967645 Centerline is valid? [True, True] Translation: X:25.49, Y:-0.33, Z:-1.39 [[ 9.99763859e-01 1.87301519e-02 -1.10184962e-02 2.54931925e+01] [-1.87332158e-02 9.99824503e-01 -1.74909094e-04 -3.34260138e-01] [ 1.10132865e-02 3.81279658e-04 9.99939279e-01 -1.39164810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.707719421 meters Centerline goodness : 0.968669 Centerline is valid? [True, True] Translation: X:25.52, Y:-0.34, Z:-1.39 [[ 9.99708161e-01 2.00041036e-02 -1.35435662e-02 2.55212268e+01] [-2.00088644e-02 9.99799779e-01 -2.16092648e-04 -3.36062520e-01] [ 1.35365318e-02 4.87020964e-04 9.99908258e-01 -1.39180080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.737719421 meters Centerline goodness : 0.971197 Centerline is valid? [True, True] Translation: X:25.55, Y:-0.34, Z:-1.39 [[ 9.99675104e-01 2.08020241e-02 -1.47296399e-02 2.55497993e+01] [-2.08077500e-02 9.99783468e-01 -2.35569386e-04 -3.36183845e-01] [ 1.47215501e-02 5.41983515e-04 9.99891485e-01 -1.39272130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.767719420999995 meters Centerline goodness : 0.969099 Centerline is valid? [True, True] Translation: X:25.58, Y:-0.34, Z:-1.39 [[ 9.99553185e-01 2.37666623e-02 -1.81266941e-02 2.55774283e+01] [-2.37758563e-02 9.99717272e-01 -2.91839304e-04 -3.35588612e-01] [ 1.81146331e-02 7.22686579e-04 9.99835655e-01 -1.39450519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.797719421 meters Centerline goodness : 0.965912 Centerline is valid? [True, True] Translation: X:25.61, Y:-0.34, Z:-1.40 [[ 9.99511144e-01 2.41961594e-02 -1.97994559e-02 2.56066193e+01] [-2.42072330e-02 9.99706911e-01 -3.19776608e-04 -3.36377215e-01] [ 1.97859155e-02 7.98910325e-04 9.99803920e-01 -1.39606221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.827719421 meters Centerline goodness : 0.966492 Centerline is valid? [True, True] Translation: X:25.64, Y:-0.34, Z:-1.40 [[ 9.99597613e-01 2.04728220e-02 -1.96335195e-02 2.56357582e+01] [-2.04830260e-02 9.99790150e-01 -3.18745494e-04 -3.43273868e-01] [ 1.96228738e-02 7.20771125e-04 9.99807193e-01 -1.39564345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.857719421 meters Centerline goodness : 0.967253 Centerline is valid? [True, True] Translation: X:25.67, Y:-0.35, Z:-1.40 [[ 9.99695473e-01 1.68007279e-02 -1.80747300e-02 2.56651127e+01] [-1.68088101e-02 9.99858678e-01 -2.95314566e-04 -3.47222901e-01] [ 1.80672142e-02 5.99039338e-04 9.99836595e-01 -1.39632569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.887719421 meters Centerline goodness : 0.967180 Centerline is valid? [True, True] Translation: X:25.69, Y:-0.35, Z:-1.40 [[ 9.99828482e-01 8.29629957e-03 -1.65583343e-02 2.56933269e+01] [-8.30195699e-03 9.99965501e-01 -2.72955841e-04 -3.52039644e-01] [ 1.65554985e-02 4.10375603e-04 9.99862864e-01 -1.39665655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.917719421 meters Centerline goodness : 0.969157 Centerline is valid? [True, True] Translation: X:25.72, Y:-0.35, Z:-1.40 [[ 9.99879234e-01 3.77581983e-03 -1.50751776e-02 2.57222402e+01] [-3.78001113e-03 9.99992825e-01 -2.49542536e-04 -3.53075630e-01] [ 1.50741272e-02 3.06496739e-04 9.99886332e-01 -1.39788275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.947719420999995 meters Centerline goodness : 0.966633 Centerline is valid? [True, True] Translation: X:25.75, Y:-0.36, Z:-1.40 [[ 9.99884349e-01 -4.05406517e-03 -1.46578928e-02 2.57504628e+01] [ 4.05091367e-03 9.99991765e-01 -2.44687654e-04 -3.57798163e-01] [ 1.46587641e-02 1.85281497e-04 9.99892537e-01 -1.39850526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.977719420999996 meters Centerline goodness : 0.966753 Centerline is valid? [True, True] Translation: X:25.78, Y:-0.36, Z:-1.40 [[ 9.99871771e-01 -7.51871721e-03 -1.41389998e-02 2.57783369e+01] [ 7.51609668e-03 9.99971725e-01 -2.38469849e-04 -3.59175778e-01] [ 1.41403930e-02 1.32169181e-04 9.99900011e-01 -1.39917330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.007719421 meters Centerline goodness : 0.967066 Centerline is valid? [True, True] Translation: X:25.81, Y:-0.36, Z:-1.40 [[ 9.99817162e-01 -1.35313917e-02 -1.35109101e-02 2.58058086e+01] [ 1.35295219e-02 9.99908445e-01 -2.29791378e-04 -3.56599749e-01] [ 1.35127825e-02 4.69532093e-05 9.99908697e-01 -1.40017765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.037719421 meters Centerline goodness : 0.968360 Centerline is valid? [True, True] Translation: X:25.83, Y:-0.35, Z:-1.40 [[ 9.99758501e-01 -1.70720523e-02 -1.38378005e-02 2.58323525e+01] [ 1.70703532e-02 9.99854262e-01 -2.40900415e-04 -3.53839692e-01] [ 1.38398964e-02 4.62609669e-06 9.99904224e-01 -1.40014250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.067719421 meters Centerline goodness : 0.968246 Centerline is valid? [True, True] Translation: X:25.86, Y:-0.35, Z:-1.40 [[ 9.99552826e-01 -2.56974828e-02 -1.52900990e-02 2.58599163e+01] [ 2.56963086e-02 9.99669758e-01 -2.73283995e-04 -3.52337864e-01] [ 1.52920723e-02 -1.19737313e-04 9.99883062e-01 -1.39972575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.097719421 meters Centerline goodness : 0.968033 Centerline is valid? [True, True] Translation: X:25.89, Y:-0.35, Z:-1.40 [[ 9.99415937e-01 -3.03246670e-02 -1.57543496e-02 2.58877275e+01] [ 3.03239124e-02 9.99540083e-01 -2.86834764e-04 -3.51689037e-01] [ 1.57558021e-02 -1.91066284e-04 9.99875851e-01 -1.40029730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.127719420999995 meters Centerline goodness : 0.970018 Centerline is valid? [True, True] Translation: X:25.91, Y:-0.35, Z:-1.40 [[ 9.99143299e-01 -3.96787017e-02 -1.17587823e-02 2.59144052e+01] [ 3.96789006e-02 9.99212459e-01 -2.16474345e-04 -3.47065913e-01] [ 1.17581112e-02 -2.50286661e-04 9.99930840e-01 -1.40001314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.157719420999996 meters Centerline goodness : 0.974908 Centerline is valid? [True, True] Translation: X:25.94, Y:-0.34, Z:-1.40 [[ 9.98605021e-01 -5.19863891e-02 -9.24266013e-03 2.59408445e+01] [ 5.19870333e-02 9.98647745e-01 -1.70699263e-04 -3.39424052e-01] [ 9.23903574e-03 -3.10037339e-04 9.99957271e-01 -1.39894246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.187719421 meters Centerline goodness : 0.973466 Centerline is valid? [True, True] Translation: X:25.97, Y:-0.34, Z:-1.40 [[ 9.98244003e-01 -5.83864605e-02 -9.99660327e-03 2.59683197e+01] [ 5.83874691e-02 9.98293978e-01 -1.91175837e-04 -3.36861469e-01] [ 9.99071093e-03 -3.92836232e-04 9.99950014e-01 -1.39910957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.217719421 meters Centerline goodness : 0.973774 Centerline is valid? [True, True] Translation: X:26.00, Y:-0.33, Z:-1.40 [[ 9.97550669e-01 -6.92404075e-02 -9.92112447e-03 2.59964613e+01] [ 6.92418931e-02 9.97599881e-01 -1.94075489e-04 -3.34203665e-01] [ 9.91075046e-03 -4.93357307e-04 9.99950766e-01 -1.40118743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.247719421 meters Centerline goodness : 0.972587 Centerline is valid? [True, True] Translation: X:26.02, Y:-0.33, Z:-1.40 [[ 9.97378142e-01 -7.18922910e-02 -8.26683780e-03 2.60238150e+01] [ 7.18934271e-02 9.97412307e-01 -1.60051141e-04 -3.31565033e-01] [ 8.25695220e-03 -4.34699791e-04 9.99965816e-01 -1.40088468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.277719421 meters Centerline goodness : 0.975646 Centerline is valid? [True, True] Translation: X:26.05, Y:-0.32, Z:-1.40 [[ 9.97347659e-01 -7.23695721e-02 -7.76476659e-03 2.60514100e+01] [ 7.23705356e-02 9.97377802e-01 -1.57187925e-04 -3.20175875e-01] [ 7.75578146e-03 -4.05169307e-04 9.99969841e-01 -1.40209184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.307719421 meters Centerline goodness : 0.975773 Centerline is valid? [True, True] Translation: X:26.08, Y:-0.31, Z:-1.40 [[ 9.97480029e-01 -7.04749429e-02 -8.17763872e-03 2.60791851e+01] [ 7.04759242e-02 9.97513466e-01 -1.68463618e-04 -3.12362180e-01] [ 8.16917721e-03 -4.08287552e-04 9.99966548e-01 -1.40185893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.337719420999996 meters Centerline goodness : 0.975682 Centerline is valid? [True, True] Translation: X:26.11, Y:-0.30, Z:-1.40 [[ 9.98023136e-01 -6.18002815e-02 -1.14256456e-02 2.61055340e+01] [ 6.18016906e-02 9.98088422e-01 -2.30038845e-04 -3.00561551e-01] [ 1.14180211e-02 -4.76540126e-04 9.99934699e-01 -1.40122762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.367719421 meters Centerline goodness : 0.975862 Centerline is valid? [True, True] Translation: X:26.13, Y:-0.30, Z:-1.40 [[ 9.98250353e-01 -5.73199853e-02 -1.45138675e-02 2.61324317e+01] [ 5.73217677e-02 9.98355713e-01 -2.93508746e-04 -2.96925537e-01] [ 1.45068264e-02 -5.38965329e-04 9.99894625e-01 -1.40255670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.397719421 meters Centerline goodness : 0.975607 Centerline is valid? [True, True] Translation: X:26.16, Y:-0.29, Z:-1.41 [[ 9.98662295e-01 -4.95921032e-02 -1.46370419e-02 2.61605714e+01] [ 4.95929594e-02 9.98769466e-01 -3.04687730e-04 -2.90475075e-01] [ 1.46341406e-02 -4.21614075e-04 9.99892826e-01 -1.40553073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.427719421 meters Centerline goodness : 0.976062 Centerline is valid? [True, True] Translation: X:26.19, Y:-0.29, Z:-1.41 [[ 9.98825413e-01 -4.66583542e-02 -1.30687705e-02 2.61883393e+01] [ 4.66587151e-02 9.98910851e-01 -2.77446302e-04 -2.85844202e-01] [ 1.30674818e-02 -3.32651621e-04 9.99914561e-01 -1.40606630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.457719421 meters Centerline goodness : 0.977266 Centerline is valid? [True, True] Translation: X:26.22, Y:-0.28, Z:-1.41 [[ 9.99204974e-01 -3.85904254e-02 -1.00099379e-02 2.62161226e+01] [ 3.85901788e-02 9.99255098e-01 -2.17847252e-04 -2.78275334e-01] [ 1.00108883e-02 -1.68611235e-04 9.99949876e-01 -1.40542202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.487719421 meters Centerline goodness : 0.978859 Centerline is valid? [True, True] Translation: X:26.25, Y:-0.27, Z:-1.41 [[ 9.99364017e-01 -3.44270800e-02 -9.29185065e-03 2.62450603e+01] [ 3.44266651e-02 9.99407206e-01 -2.04650842e-04 -2.73249151e-01] [ 9.29338802e-03 -1.15366743e-04 9.99956809e-01 -1.40588421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.517719420999995 meters Centerline goodness : 0.977236 Centerline is valid? [True, True] Translation: X:26.27, Y:-0.26, Z:-1.41 [[ 9.99671181e-01 -2.35307192e-02 -1.01899716e-02 2.62730376e+01] [ 2.35296730e-02 9.99723114e-01 -2.22559352e-04 -2.64737253e-01] [ 1.01923871e-02 -1.72805304e-05 9.99948056e-01 -1.40673310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.547719421 meters Centerline goodness : 0.977176 Centerline is valid? [True, True] Translation: X:26.30, Y:-0.26, Z:-1.41 [[ 9.99776323e-01 -1.83325563e-02 -1.05461694e-02 2.63014654e+01] [ 1.83310853e-02 9.99831944e-01 -2.36140333e-04 -2.61320112e-01] [ 1.05487261e-02 4.27647833e-05 9.99944360e-01 -1.40781520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.577719421 meters Centerline goodness : 0.977324 Centerline is valid? [True, True] Translation: X:26.33, Y:-0.26, Z:-1.41 [[ 9.99901639e-01 -9.34927741e-03 -1.04548107e-02 2.63301489e+01] [ 9.34730743e-03 9.99956285e-01 -2.37277106e-04 -2.55482078e-01] [ 1.04565721e-02 1.39529437e-04 9.99945319e-01 -1.40941235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.607719421 meters Centerline goodness : 0.979151 Centerline is valid? [True, True] Translation: X:26.36, Y:-0.25, Z:-1.41 [[ 9.99927417e-01 -3.28643629e-03 -1.15913386e-02 2.63582242e+01] [ 3.28355980e-03 9.99994573e-01 -2.67181198e-04 -2.48363747e-01] [ 1.15921537e-02 2.29100952e-04 9.99932782e-01 -1.41068830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.637719421 meters Centerline goodness : 0.977684 Centerline is valid? [True, True] Translation: X:26.39, Y:-0.25, Z:-1.41 [[ 9.99910677e-01 -2.17975471e-03 -1.31865860e-02 2.63854622e+01] [ 2.17597417e-03 9.99997587e-01 -3.01036853e-04 -2.45506038e-01] [ 1.31872104e-02 2.72316293e-04 9.99913008e-01 -1.41167328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.667719421 meters Centerline goodness : 0.977233 Centerline is valid? [True, True] Translation: X:26.41, Y:-0.25, Z:-1.41 [[ 9.99855091e-01 -1.58235171e-03 -1.69497460e-02 2.64126005e+01] [ 1.57593854e-03 9.99998681e-01 -3.91714252e-04 -2.47406607e-01] [ 1.69503435e-02 3.64945731e-04 9.99856266e-01 -1.41140077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.697719420999995 meters Centerline goodness : 0.977356 Centerline is valid? [True, True] Translation: X:26.44, Y:-0.25, Z:-1.41 [[ 9.99837839e-01 -2.54554305e-03 -1.78273813e-02 2.64409737e+01] [ 2.53846544e-03 9.99996690e-01 -4.19625833e-04 -2.48388556e-01] [ 1.78283905e-02 3.74303594e-04 9.99840992e-01 -1.41168161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.727719420999996 meters Centerline goodness : 0.977904 Centerline is valid? [True, True] Translation: X:26.47, Y:-0.25, Z:-1.41 [[ 9.99848217e-01 -5.85357642e-03 -1.64097233e-02 2.64694536e+01] [ 5.84805228e-03 9.99982826e-01 -3.84604221e-04 -2.49597326e-01] [ 1.64116928e-02 2.88580924e-04 9.99865277e-01 -1.41224731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.757719421 meters Centerline goodness : 0.979591 Centerline is valid? [True, True] Translation: X:26.50, Y:-0.25, Z:-1.41 [[ 9.99854939e-01 -8.07395163e-03 -1.49970463e-02 2.64975977e+01] [ 8.06944863e-03 9.99967376e-01 -3.60747646e-04 -2.49133689e-01] [ 1.49994697e-02 2.39677421e-04 9.99887473e-01 -1.41262453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.787719421 meters Centerline goodness : 0.979901 Centerline is valid? [True, True] Translation: X:26.52, Y:-0.25, Z:-1.41 [[ 9.99835842e-01 -9.62549892e-03 -1.53505084e-02 2.65244069e+01] [ 9.62099094e-03 9.99953650e-01 -3.67492080e-04 -2.51343454e-01] [ 1.53533342e-02 2.19744651e-04 9.99882106e-01 -1.41218657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.817719421 meters Centerline goodness : 0.978492 Centerline is valid? [True, True] Translation: X:26.55, Y:-0.25, Z:-1.41 [[ 9.99796208e-01 -1.09106054e-02 -1.69852984e-02 2.65521338e+01] [ 1.09051240e-02 9.99940451e-01 -4.15299830e-04 -2.52555894e-01] [ 1.69888181e-02 2.29988409e-04 9.99855653e-01 -1.41270198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.847719421 meters Centerline goodness : 0.979979 Centerline is valid? [True, True] Translation: X:26.58, Y:-0.26, Z:-1.41 [[ 9.99804078e-01 -1.07435663e-02 -1.66247090e-02 2.65800200e+01] [ 1.07382033e-02 9.99942259e-01 -4.11826151e-04 -2.58778279e-01] [ 1.66281735e-02 2.33225961e-04 9.99861715e-01 -1.41293519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.877719420999995 meters Centerline goodness : 0.982668 Centerline is valid? [True, True] Translation: X:26.61, Y:-0.26, Z:-1.41 [[ 9.99803112e-01 -1.29684865e-02 -1.50184941e-02 2.66079143e+01] [ 1.29642809e-02 9.99915889e-01 -3.77356341e-04 -2.63725171e-01] [ 1.50221246e-02 1.82578068e-04 9.99887145e-01 -1.41253841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.907719420999996 meters Centerline goodness : 0.982707 Centerline is valid? [True, True] Translation: X:26.64, Y:-0.26, Z:-1.41 [[ 9.99768917e-01 -1.58297895e-02 -1.45441016e-02 2.66354908e+01] [ 1.58260796e-02 9.99874691e-01 -3.70146868e-04 -2.62526028e-01] [ 1.45481384e-02 1.39885225e-04 9.99894160e-01 -1.41225890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.937719421 meters Centerline goodness : 0.985570 Centerline is valid? [True, True] Translation: X:26.66, Y:-0.26, Z:-1.41 [[ 9.99711363e-01 -1.97036138e-02 -1.37462171e-02 2.66635340e+01] [ 1.97005874e-02 9.99805861e-01 -3.55550987e-04 -2.60707354e-01] [ 1.37505541e-02 8.46398104e-05 9.99905453e-01 -1.41213146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.967719421 meters Centerline goodness : 0.984348 Centerline is valid? [True, True] Translation: X:26.69, Y:-0.26, Z:-1.41 [[ 9.99504556e-01 -2.75944075e-02 -1.51390780e-02 2.66913671e+01] [ 2.75915754e-02 9.99619202e-01 -3.95942131e-04 -2.63682571e-01] [ 1.51442389e-02 -2.19650506e-05 9.99885319e-01 -1.41174651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.997719421 meters Centerline goodness : 0.985512 Centerline is valid? [True, True] Translation: X:26.72, Y:-0.27, Z:-1.41 [[ 9.99141099e-01 -3.77608300e-02 -1.70641392e-02 2.67199142e+01] [ 3.77586284e-02 9.99286787e-01 -4.51294391e-04 -2.70484388e-01] [ 1.70690101e-02 -1.93411718e-04 9.99854295e-01 -1.41138007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.027719421 meters Centerline goodness : 0.986925 Centerline is valid? [True, True] Translation: X:26.75, Y:-0.27, Z:-1.41 [[ 9.98967335e-01 -4.23366380e-02 -1.64885405e-02 2.67468355e+01] [ 4.23351740e-02 9.99103369e-01 -4.37983708e-04 -2.70799092e-01] [ 1.64922991e-02 -2.60513812e-04 9.99863959e-01 -1.41184105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.057719421 meters Centerline goodness : 0.988677 Centerline is valid? [True, True] Translation: X:26.77, Y:-0.27, Z:-1.41 [[ 9.98755850e-01 -4.80072554e-02 -1.34927719e-02 2.67734434e+01] [ 4.80067785e-02 9.98846945e-01 -3.59409642e-04 -2.67573490e-01] [ 1.34944682e-02 -2.88782028e-04 9.99908904e-01 -1.41077253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.087719420999996 meters Centerline goodness : 0.989708 Centerline is valid? [True, True] Translation: X:26.80, Y:-0.27, Z:-1.41 [[ 9.98748815e-01 -4.81638661e-02 -1.34553633e-02 2.68017352e+01] [ 4.81633111e-02 9.98839407e-01 -3.65471112e-04 -2.65278487e-01] [ 1.34573496e-02 -2.83041010e-04 9.99909406e-01 -1.41071433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.117719421 meters Centerline goodness : 0.989526 Centerline is valid? [True, True] Translation: X:26.83, Y:-0.26, Z:-1.41 [[ 9.98910154e-01 -4.47012031e-02 -1.34278345e-02 2.68297818e+01] [ 4.47002596e-02 9.99000375e-01 -3.70533720e-04 -2.62584147e-01] [ 1.34309750e-02 -2.30097793e-04 9.99909774e-01 -1.41193552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.147719421 meters Centerline goodness : 0.988844 Centerline is valid? [True, True] Translation: X:26.86, Y:-0.26, Z:-1.41 [[ 9.99059283e-01 -4.12841683e-02 -1.32727835e-02 2.68575202e+01] [ 4.12828800e-02 9.99147430e-01 -3.71148567e-04 -2.61177736e-01] [ 1.32767901e-02 -1.77139306e-04 9.99911844e-01 -1.41290718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.177719421 meters Centerline goodness : 0.989886 Centerline is valid? [True, True] Translation: X:26.88, Y:-0.26, Z:-1.41 [[ 9.99293242e-01 -3.47944812e-02 -1.42253538e-02 2.68848899e+01] [ 3.47923783e-02 9.99394484e-01 -3.95359241e-04 -2.57785425e-01] [ 1.42304965e-02 -9.98540727e-05 9.99898736e-01 -1.41391128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.207719421 meters Centerline goodness : 0.989886 Centerline is valid? [True, True] Translation: X:26.91, Y:-0.26, Z:-1.41 [[ 9.99281751e-01 -3.51230509e-02 -1.42251247e-02 2.69133373e+01] [ 3.51208639e-02 9.99382991e-01 -4.03599514e-04 -2.56738651e-01] [ 1.42305233e-02 -9.62890418e-05 9.99898736e-01 -1.41448961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.237719421 meters Centerline goodness : 0.990196 Centerline is valid? [True, True] Translation: X:26.94, Y:-0.25, Z:-1.42 [[ 9.99394419e-01 -3.20249103e-02 -1.36088550e-02 2.69406585e+01] [ 3.20226384e-02 9.99487070e-01 -3.84871091e-04 -2.54758467e-01] [ 1.36142001e-02 -5.11534244e-05 9.99907321e-01 -1.41530295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.267719420999995 meters Centerline goodness : 0.991302 Centerline is valid? [True, True] Translation: X:26.97, Y:-0.25, Z:-1.41 [[ 9.99504141e-01 -2.91582398e-02 -1.18856795e-02 2.69675450e+01] [ 2.91562795e-02 9.99574808e-01 -3.38208293e-04 -2.52330909e-01] [ 1.18904874e-02 -8.50160500e-06 9.99929306e-01 -1.41340517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.297719421 meters Centerline goodness : 0.991054 Centerline is valid? [True, True] Translation: X:27.00, Y:-0.25, Z:-1.41 [[ 9.99576942e-01 -2.60517643e-02 -1.29322648e-02 2.69955448e+01] [ 2.60490793e-02 9.99660594e-01 -3.76052189e-04 -2.50549423e-01] [ 1.29376724e-02 3.90195051e-05 9.99916304e-01 -1.41238371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.327719421 meters Centerline goodness : 0.991721 Centerline is valid? [True, True] Translation: X:27.02, Y:-0.25, Z:-1.41 [[ 9.99592088e-01 -2.52445437e-02 -1.33555138e-02 2.70225034e+01] [ 2.52415988e-02 9.99681304e-01 -3.89044871e-04 -2.49174773e-01] [ 1.33610787e-02 5.17716533e-05 9.99910735e-01 -1.41241476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.357719421 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:27.05, Y:-0.25, Z:-1.41 [[ 9.99597149e-01 -2.44707193e-02 -1.43778783e-02 2.70501461e+01] [ 2.44671284e-02 9.99700544e-01 -4.25631134e-04 -2.47027932e-01] [ 1.43839883e-02 7.36742741e-05 9.99896542e-01 -1.41302485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.387719421 meters Centerline goodness : 0.990762 Centerline is valid? [True, True] Translation: X:27.08, Y:-0.25, Z:-1.41 [[ 9.99596091e-01 -2.36940796e-02 -1.56921854e-02 2.70777976e+01] [ 2.36896321e-02 9.99719251e-01 -4.69271425e-04 -2.46918523e-01] [ 1.56988988e-02 9.73397830e-05 9.99876760e-01 -1.41350163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.417719421 meters Centerline goodness : 0.991015 Centerline is valid? [True, True] Translation: X:27.11, Y:-0.25, Z:-1.41 [[ 9.99619396e-01 -2.15485408e-02 -1.72256742e-02 2.71055923e+01] [ 2.15427742e-02 9.99767792e-01 -5.20278004e-04 -2.47277111e-01] [ 1.72328855e-02 1.48991175e-04 9.99851492e-01 -1.41482309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.447719420999995 meters Centerline goodness : 0.991141 Centerline is valid? [True, True] Translation: X:27.13, Y:-0.25, Z:-1.42 [[ 9.99684620e-01 -1.89745555e-02 -1.64507376e-02 2.71337126e+01] [ 1.89688519e-02 9.99819949e-01 -5.02689699e-04 -2.46052750e-01] [ 1.64573139e-02 1.90479557e-04 9.99864551e-01 -1.41543491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.477719420999996 meters Centerline goodness : 0.991624 Centerline is valid? [True, True] Translation: X:27.16, Y:-0.24, Z:-1.41 [[ 9.99793728e-01 -1.27327722e-02 -1.58233152e-02 2.71614089e+01] [ 1.27266244e-02 9.99918894e-01 -4.89170398e-04 -2.41495748e-01] [ 1.58282603e-02 2.87692107e-04 9.99874684e-01 -1.41440678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.507719421 meters Centerline goodness : 0.991235 Centerline is valid? [True, True] Translation: X:27.19, Y:-0.24, Z:-1.41 [[ 9.99855187e-01 -8.38742656e-03 -1.48072684e-02 2.71879871e+01] [ 8.38158536e-03 9.99964770e-01 -4.56496505e-04 -2.39930101e-01] [ 1.48105756e-02 3.32322014e-04 9.99890262e-01 -1.41457998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.537719421 meters Centerline goodness : 0.990801 Centerline is valid? [True, True] Translation: X:27.22, Y:-0.24, Z:-1.42 [[ 9.99867135e-01 -8.15705398e-04 -1.62802715e-02 2.72156336e+01] [ 8.07488405e-04 9.99999543e-01 -5.11287970e-04 -2.38909337e-01] [ 1.62806812e-02 4.98073907e-04 9.99867337e-01 -1.41540211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.567719421 meters Centerline goodness : 0.991131 Centerline is valid? [True, True] Translation: X:27.24, Y:-0.24, Z:-1.42 [[ 9.99829947e-01 1.71232832e-03 -1.83614909e-02 2.72434913e+01] [-1.72330919e-03 9.99998346e-01 -5.82232388e-04 -2.39893994e-01] [ 1.83604635e-02 6.13775904e-04 9.99831244e-01 -1.41549868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.597719421 meters Centerline goodness : 0.991694 Centerline is valid? [True, True] Translation: X:27.27, Y:-0.24, Z:-1.41 [[ 9.99789875e-01 6.23341907e-03 -1.95281883e-02 2.72705737e+01] [-6.24667146e-03 9.99980299e-01 -6.17702862e-04 -2.43464377e-01] [ 1.95239532e-02 7.39559243e-04 9.99809116e-01 -1.41444544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.627719420999995 meters Centerline goodness : 0.990978 Centerline is valid? [True, True] Translation: X:27.30, Y:-0.24, Z:-1.42 [[ 9.99808489e-01 7.25314377e-03 -1.81763031e-02 2.72986029e+01] [-7.26483008e-03 9.99973444e-01 -5.76994299e-04 -2.44026437e-01] [ 1.81716354e-02 7.08931551e-04 9.99834631e-01 -1.41543956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.657719420999996 meters Centerline goodness : 0.992491 Centerline is valid? [True, True] Translation: X:27.33, Y:-0.25, Z:-1.42 [[ 9.99786353e-01 8.67631888e-03 -1.87608661e-02 2.73270661e+01] [-8.68906303e-03 9.99962071e-01 -5.97885383e-04 -2.47058800e-01] [ 1.87549670e-02 7.60771995e-04 9.99823821e-01 -1.41569583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.687719421 meters Centerline goodness : 0.992378 Centerline is valid? [True, True] Translation: X:27.35, Y:-0.25, Z:-1.42 [[ 9.99744897e-01 8.26789987e-03 -2.10186376e-02 2.73546738e+01] [-8.28383719e-03 9.99965463e-01 -6.71291501e-04 -2.51041825e-01] [ 2.10123615e-02 8.45235224e-04 9.99778859e-01 -1.41649198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.717719421 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:27.38, Y:-0.25, Z:-1.42 [[ 9.99797728e-01 6.28451418e-03 -1.91051617e-02 2.73829727e+01] [-6.29737596e-03 9.99979983e-01 -6.13122311e-04 -2.53529183e-01] [ 1.91009261e-02 7.33310680e-04 9.99817292e-01 -1.41785511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.747719421 meters Centerline goodness : 0.992470 Centerline is valid? [True, True] Translation: X:27.41, Y:-0.26, Z:-1.42 [[ 9.99808871e-01 -1.98893327e-04 -1.95494692e-02 2.74120035e+01] [ 1.86647259e-04 9.99999785e-01 -6.28236957e-04 -2.62678375e-01] [ 1.95495899e-02 6.24468028e-04 9.99808693e-01 -1.41766091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.777719421 meters Centerline goodness : 0.992595 Centerline is valid? [True, True] Translation: X:27.44, Y:-0.27, Z:-1.42 [[ 9.99783585e-01 -4.33987611e-03 -2.03457045e-02 2.74399803e+01] [ 4.32739408e-03 9.99990421e-01 -6.57483440e-04 -2.67112476e-01] [ 2.03483630e-02 5.69297270e-04 9.99792789e-01 -1.41772317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.807719421 meters Centerline goodness : 0.992568 Centerline is valid? [True, True] Translation: X:27.47, Y:-0.27, Z:-1.42 [[ 9.99660005e-01 -1.22586475e-02 -2.30130179e-02 2.74671947e+01] [ 1.22446901e-02 9.99924752e-01 -7.47320955e-04 -2.74593161e-01] [ 2.30204474e-02 4.65279598e-04 9.99734886e-01 -1.41653097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.837719420999996 meters Centerline goodness : 0.992837 Centerline is valid? [True, True] Translation: X:27.50, Y:-0.28, Z:-1.42 [[ 9.99583783e-01 -1.62612008e-02 -2.38292500e-02 2.74951106e+01] [ 1.62470862e-02 9.99867699e-01 -7.85823850e-04 -2.76943144e-01] [ 2.38388758e-02 3.98340898e-04 9.99715734e-01 -1.41754352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.867719421 meters Centerline goodness : 0.992603 Centerline is valid? [True, True] Translation: X:27.52, Y:-0.28, Z:-1.42 [[ 9.99421593e-01 -2.22861311e-02 -2.56867081e-02 2.75220761e+01] [ 2.22716214e-02 9.99751595e-01 -8.50859552e-04 -2.82405087e-01] [ 2.56992898e-02 2.78282771e-04 9.99669680e-01 -1.41765870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.897719421 meters Centerline goodness : 0.991590 Centerline is valid? [True, True] Translation: X:27.55, Y:-0.28, Z:-1.42 [[ 9.99321112e-01 -2.53348945e-02 -2.67480645e-02 2.75502986e+01] [ 2.53199611e-02 9.99678996e-01 -8.96896568e-04 -2.83452092e-01] [ 2.67622011e-02 2.19027722e-04 9.99641804e-01 -1.41745678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.927719421 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:27.58, Y:-0.29, Z:-1.42 [[ 9.99192202e-01 -3.23333428e-02 -2.38641762e-02 2.75773282e+01] [ 3.23234439e-02 9.99477140e-01 -8.00527400e-04 -2.85689108e-01] [ 2.38775824e-02 2.85083726e-05 9.99714889e-01 -1.41683591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.957719421 meters Centerline goodness : 0.993494 Centerline is valid? [True, True] Translation: X:27.61, Y:-0.29, Z:-1.42 [[ 9.99100195e-01 -3.71949765e-02 -2.03797364e-02 2.76054502e+01] [ 3.71885389e-02 9.99308025e-01 -6.94907709e-04 -2.87038950e-01] [ 2.03914812e-02 -6.36101914e-05 9.99792070e-01 -1.41672199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.987719421 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:27.63, Y:-0.29, Z:-1.42 [[ 9.98591469e-01 -4.88424162e-02 -2.07243001e-02 2.76334948e+01] [ 4.88381190e-02 9.98806452e-01 -7.13723641e-04 -2.89210993e-01] [ 2.07344246e-02 -2.99417493e-04 9.99784974e-01 -1.41537403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.017719420999995 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:27.66, Y:-0.29, Z:-1.42 [[ 9.98286048e-01 -5.47172734e-02 -2.07602034e-02 2.76619173e+01] [ 5.47140872e-02 9.98501801e-01 -7.21871851e-04 -2.89148784e-01] [ 2.07685993e-02 -4.15240979e-04 9.99784223e-01 -1.41624547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.047719421 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:27.69, Y:-0.29, Z:-1.42 [[ 9.97696957e-01 -6.44334935e-02 -2.11921387e-02 2.76900252e+01] [ 6.44322042e-02 9.97921809e-01 -7.44345618e-04 -2.88559516e-01] [ 2.11960582e-02 -6.22824853e-04 9.99775144e-01 -1.41584380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.077719421 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:27.72, Y:-0.29, Z:-1.42 [[ 9.97548154e-01 -6.74003048e-02 -1.88382593e-02 2.77181427e+01] [ 6.73996776e-02 9.97725832e-01 -6.68914883e-04 -2.86168456e-01] [ 1.88405030e-02 -6.02417797e-04 9.99822320e-01 -1.41663346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.107719421 meters Centerline goodness : 0.994562 Centerline is valid? [True, True] Translation: X:27.75, Y:-0.28, Z:-1.42 [[ 9.97411039e-01 -7.01068921e-02 -1.60075866e-02 2.77450868e+01] [ 7.01067437e-02 9.97539332e-01 -5.71117781e-04 -2.80097061e-01] [ 1.60082366e-02 -5.52600594e-04 9.99871707e-01 -1.41637697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.137719421 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:27.77, Y:-0.28, Z:-1.42 [[ 9.97306032e-01 -7.19558652e-02 -1.42489450e-02 2.77721770e+01] [ 7.19559253e-02 9.97407683e-01 -5.09121060e-04 -2.76895077e-01] [ 1.42486415e-02 -5.17546520e-04 9.99898349e-01 -1.41662589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.167719421 meters Centerline goodness : 0.994815 Centerline is valid? [True, True] Translation: X:27.80, Y:-0.27, Z:-1.42 [[ 9.97191068e-01 -7.34567337e-02 -1.46315425e-02 2.78003490e+01] [ 7.34568336e-02 9.97298256e-01 -5.31324649e-04 -2.74167861e-01] [ 1.46310412e-02 -5.44954591e-04 9.99892812e-01 -1.41716597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.197719420999995 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:27.83, Y:-0.27, Z:-1.42 [[ 9.96787772e-01 -7.81458919e-02 -1.75316082e-02 2.78280838e+01] [ 7.81466746e-02 9.96941666e-01 -6.41471183e-04 -2.67344459e-01] [ 1.75281190e-02 -7.30626249e-04 9.99846104e-01 -1.41833238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.227719420999996 meters Centerline goodness : 0.994034 Centerline is valid? [True, True] Translation: X:27.86, Y:-0.26, Z:-1.42 [[ 9.96553451e-01 -8.08246746e-02 -1.86705891e-02 2.78551710e+01] [ 8.08260624e-02 9.96727989e-01 -6.81496011e-04 -2.62246752e-01] [ 1.86645804e-02 -8.29922999e-04 9.99825457e-01 -1.41889282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.257719421 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:27.88, Y:-0.26, Z:-1.42 [[ 9.96353797e-01 -8.28796021e-02 -2.02505155e-02 2.78818811e+01] [ 8.28816074e-02 9.96559125e-01 -7.41686590e-04 -2.56368758e-01] [ 2.02423067e-02 -9.39413028e-04 9.99794662e-01 -1.41911420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.287719421 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:27.91, Y:-0.24, Z:-1.42 [[ 9.96232042e-01 -8.44541989e-02 -1.97283090e-02 2.79095668e+01] [ 8.44562008e-02 9.96426923e-01 -7.33163173e-04 -2.44833098e-01] [ 1.97197370e-02 -9.35777384e-04 9.99805109e-01 -1.41897141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.317719421 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:27.94, Y:-0.24, Z:-1.42 [[ 9.96319083e-01 -8.38859556e-02 -1.76473890e-02 2.79371567e+01] [ 8.38873505e-02 9.96475024e-01 -6.62501751e-04 -2.35939302e-01] [ 1.76407570e-02 -8.20329573e-04 9.99844053e-01 -1.41903745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.347719421 meters Centerline goodness : 0.994145 Centerline is valid? [True, True] Translation: X:27.96, Y:-0.23, Z:-1.42 [[ 9.96432422e-01 -8.28364185e-02 -1.61417437e-02 2.79634557e+01] [ 8.28374636e-02 9.96562887e-01 -6.05008814e-04 -2.30464135e-01] [ 1.61363795e-02 -7.34290709e-04 9.99869531e-01 -1.42024132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.377719420999995 meters Centerline goodness : 0.993123 Centerline is valid? [True, True] Translation: X:27.99, Y:-0.22, Z:-1.42 [[ 9.96927061e-01 -7.68226930e-02 -1.53202334e-02 2.79907691e+01] [ 7.68227837e-02 9.97044593e-01 -5.83461149e-04 -2.15402620e-01] [ 1.53197789e-02 -5.95274766e-04 9.99882468e-01 -1.41994803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.407719420999996 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:28.02, Y:-0.21, Z:-1.42 [[ 9.97348903e-01 -7.12598802e-02 -1.47375621e-02 2.80173111e+01] [ 7.12593791e-02 9.97457662e-01 -5.59791906e-04 -2.05727206e-01] [ 1.47399849e-02 -4.91881680e-04 9.99891240e-01 -1.42131331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.437719421 meters Centerline goodness : 0.992840 Centerline is valid? [True, True] Translation: X:28.04, Y:-0.19, Z:-1.42 [[ 9.98307535e-01 -5.62486562e-02 -1.47700120e-02 2.80441590e+01] [ 5.62464783e-02 9.98416755e-01 -5.63144272e-04 -1.90185348e-01] [ 1.47783035e-02 -2.68569988e-04 9.99890759e-01 -1.42301730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.467719421 meters Centerline goodness : 0.991984 Centerline is valid? [True, True] Translation: X:28.07, Y:-0.18, Z:-1.42 [[ 9.98659799e-01 -4.96939704e-02 -1.44607816e-02 2.80721353e+01] [ 4.96910730e-02 9.98764479e-01 -5.59818743e-04 -1.83104563e-01] [ 1.44707346e-02 -1.59503278e-04 9.99895281e-01 -1.42483843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.497719421 meters Centerline goodness : 0.992096 Centerline is valid? [True, True] Translation: X:28.10, Y:-0.17, Z:-1.43 [[ 9.99148047e-01 -3.82391383e-02 -1.55225234e-02 2.81009182e+01] [ 3.82343672e-02 9.99268617e-01 -6.04122531e-04 -1.71869001e-01] [ 1.55342717e-02 1.01139845e-05 9.99879336e-01 -1.42708273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.527719421 meters Centerline goodness : 0.991665 Centerline is valid? [True, True] Translation: X:28.13, Y:-0.17, Z:-1.43 [[ 9.99299702e-01 -3.40073252e-02 -1.56079527e-02 2.81291096e+01] [ 3.40019112e-02 9.99421580e-01 -6.12187790e-04 -1.66209695e-01] [ 1.56197436e-02 8.10588542e-05 9.99878001e-01 -1.42770468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.557719421 meters Centerline goodness : 0.991890 Centerline is valid? [True, True] Translation: X:28.16, Y:-0.16, Z:-1.43 [[ 9.99505512e-01 -2.80804358e-02 -1.41499116e-02 2.81581842e+01] [ 2.80753258e-02 9.99605654e-01 -5.59682027e-04 -1.60935750e-01] [ 1.41600478e-02 1.62141892e-04 9.99899728e-01 -1.42836828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.587719420999996 meters Centerline goodness : 0.991895 Centerline is valid? [True, True] Translation: X:28.19, Y:-0.16, Z:-1.43 [[ 9.99489327e-01 -2.71627734e-02 -1.68306104e-02 2.81857301e+01] [ 2.71554680e-02 9.99631003e-01 -6.62482872e-04 -1.56461392e-01] [ 1.68423948e-02 2.05101457e-04 9.99858136e-01 -1.42868019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.617719421 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:28.21, Y:-0.15, Z:-1.43 [[ 9.99444043e-01 -2.72985880e-02 -1.91413703e-02 2.82136268e+01] [ 2.72889519e-02 9.99627295e-01 -7.64483871e-04 -1.53691799e-01] [ 1.91551056e-02 2.41710917e-04 9.99816495e-01 -1.42875055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.647719421 meters Centerline goodness : 0.991792 Centerline is valid? [True, True] Translation: X:28.24, Y:-0.15, Z:-1.43 [[ 9.99452140e-01 -2.69697613e-02 -1.91846588e-02 2.82417877e+01] [ 2.69598975e-02 9.99636217e-01 -7.72645604e-04 -1.51765347e-01] [ 1.91985178e-02 2.55005868e-04 9.99815659e-01 -1.42991764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.677719421 meters Centerline goodness : 0.991438 Centerline is valid? [True, True] Translation: X:28.27, Y:-0.15, Z:-1.43 [[ 9.99566670e-01 -2.35427731e-02 -1.76694884e-02 2.82688586e+01] [ 2.35338842e-02 9.99722787e-01 -7.10854304e-04 -1.51665609e-01] [ 1.76813257e-02 2.94714575e-04 9.99843630e-01 -1.43117643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.707719421 meters Centerline goodness : 0.992323 Centerline is valid? [True, True] Translation: X:28.30, Y:-0.15, Z:-1.43 [[ 9.99581171e-01 -2.29063403e-02 -1.76856690e-02 2.82964442e+01] [ 2.28971575e-02 9.99737565e-01 -7.21567087e-04 -1.51943934e-01] [ 1.76975561e-02 3.16313326e-04 9.99843336e-01 -1.43140649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.737719421 meters Centerline goodness : 0.992731 Centerline is valid? [True, True] Translation: X:28.32, Y:-0.16, Z:-1.43 [[ 9.99610081e-01 -2.33879393e-02 -1.52541785e-02 2.83236469e+01] [ 2.33811752e-02 9.99726430e-01 -6.21644982e-04 -1.55261075e-01] [ 1.52645444e-02 2.64741971e-04 9.99883455e-01 -1.43218420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.767719420999995 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:28.35, Y:-0.16, Z:-1.43 [[ 9.99540082e-01 -2.63316850e-02 -1.50421481e-02 2.83511720e+01] [ 2.63254104e-02 9.99653237e-01 -6.15024850e-04 -1.58083286e-01] [ 1.50531266e-02 2.18751269e-04 9.99886671e-01 -1.43257111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.797719421 meters Centerline goodness : 0.992991 Centerline is valid? [True, True] Translation: X:28.38, Y:-0.16, Z:-1.43 [[ 9.99425091e-01 -2.91761214e-02 -1.72696546e-02 2.83792313e+01] [ 2.91681162e-02 9.99574264e-01 -7.15293738e-04 -1.58423079e-01] [ 1.72831718e-02 2.11159217e-04 9.99850613e-01 -1.43285989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.827719421 meters Centerline goodness : 0.993069 Centerline is valid? [True, True] Translation: X:28.41, Y:-0.16, Z:-1.43 [[ 9.98985816e-01 -4.01667256e-02 -2.03463206e-02 2.84066832e+01] [ 4.01579346e-02 9.99192991e-01 -8.40626999e-04 -1.59482927e-01] [ 2.03636662e-02 2.27082358e-05 9.99792639e-01 -1.43385566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.857719421 meters Centerline goodness : 0.991981 Centerline is valid? [True, True] Translation: X:28.43, Y:-0.16, Z:-1.43 [[ 9.98659400e-01 -4.67333727e-02 -2.22574488e-02 2.84347653e+01] [ 4.67242429e-02 9.98907393e-01 -9.30344622e-04 -1.60116556e-01] [ 2.22766083e-02 -1.10865040e-04 9.99751839e-01 -1.43394835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.887719421 meters Centerline goodness : 0.992326 Centerline is valid? [True, True] Translation: X:28.46, Y:-0.16, Z:-1.43 [[ 9.97920190e-01 -6.01764340e-02 -2.31104212e-02 2.84622512e+01] [ 6.01702095e-02 9.98187665e-01 -9.65246446e-04 -1.63917750e-01] [ 2.31266225e-02 -4.27319972e-04 9.99732453e-01 -1.43429289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.917719421 meters Centerline goodness : 0.993002 Centerline is valid? [True, True] Translation: X:28.49, Y:-0.16, Z:-1.43 [[ 9.97482194e-01 -6.70919200e-02 -2.29771081e-02 2.84900448e+01] [ 6.70873472e-02 9.97746634e-01 -9.70668809e-04 -1.64911076e-01] [ 2.29904563e-02 -5.73248374e-04 9.99735520e-01 -1.43429369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.947719420999995 meters Centerline goodness : 0.993034 Centerline is valid? [True, True] Translation: X:28.52, Y:-0.17, Z:-1.43 [[ 9.96874171e-01 -7.67062320e-02 -1.89219571e-02 2.85183872e+01] [ 7.67047113e-02 9.97053527e-01 -8.07195651e-04 -1.67888368e-01] [ 1.89281210e-02 -6.46730757e-04 9.99820638e-01 -1.43401962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.977719420999996 meters Centerline goodness : 0.993351 Centerline is valid? [True, True] Translation: X:28.55, Y:-0.17, Z:-1.43 [[ 9.96726415e-01 -7.87224506e-02 -1.84181953e-02 2.85452168e+01] [ 7.87213721e-02 9.96896349e-01 -7.84688758e-04 -1.66869064e-01] [ 1.84228042e-02 -6.67785589e-04 9.99830063e-01 -1.43446382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.007719421 meters Centerline goodness : 0.993110 Centerline is valid? [True, True] Translation: X:28.57, Y:-0.16, Z:-1.43 [[ 9.96928241e-01 -7.61604933e-02 -1.82663863e-02 2.85716073e+01] [ 7.61589593e-02 9.97095383e-01 -7.80607989e-04 -1.63471407e-01] [ 1.82727809e-02 -6.12938819e-04 9.99832851e-01 -1.43458119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.037719421 meters Centerline goodness : 0.992766 Centerline is valid? [True, True] Translation: X:28.60, Y:-0.16, Z:-1.44 [[ 9.97130819e-01 -7.37168312e-02 -1.72034648e-02 2.85991540e+01] [ 7.37149298e-02 9.97279075e-01 -7.45484063e-04 -1.59967592e-01] [ 1.72116102e-02 -5.24807066e-04 9.99851732e-01 -1.43547682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.067719421 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:28.63, Y:-0.16, Z:-1.44 [[ 9.97501832e-01 -6.87869067e-02 -1.60765581e-02 2.86256370e+01] [ 6.87845737e-02 9.97631292e-01 -6.98671810e-04 -1.56000126e-01] [ 1.60865369e-02 -4.08892788e-04 9.99870520e-01 -1.43589578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.097719421 meters Centerline goodness : 0.993372 Centerline is valid? [True, True] Translation: X:28.65, Y:-0.15, Z:-1.44 [[ 9.97597222e-01 -6.73402877e-02 -1.62809452e-02 2.86533460e+01] [ 6.73376007e-02 9.97729993e-01 -7.13799551e-04 -1.52894892e-01] [ 1.62920548e-02 -3.84235336e-04 9.99867202e-01 -1.43627277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.127719420999995 meters Centerline goodness : 0.993372 Centerline is valid? [True, True] Translation: X:28.68, Y:-0.15, Z:-1.44 [[ 9.97578141e-01 -6.76224015e-02 -1.62807610e-02 2.86817665e+01] [ 6.76196835e-02 9.97710911e-01 -7.18002870e-04 -1.51388621e-01] [ 1.62920460e-02 -3.84635938e-04 9.99867202e-01 -1.43685127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.157719420999996 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:28.71, Y:-0.14, Z:-1.44 [[ 9.97812394e-01 -6.42294299e-02 -1.56526949e-02 2.87097947e+01] [ 6.42263980e-02 9.97935110e-01 -6.96828547e-04 -1.44940231e-01] [ 1.56651307e-02 -3.10012050e-04 9.99877246e-01 -1.43729428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.187719421 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:28.74, Y:-0.14, Z:-1.44 [[ 9.98074603e-01 -6.01761659e-02 -1.50305180e-02 2.87384499e+01] [ 6.01728520e-02 9.98187745e-01 -6.73028615e-04 -1.40355932e-01] [ 1.50437792e-02 -2.32696369e-04 9.99886809e-01 -1.43811768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.217719421 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:28.77, Y:-0.14, Z:-1.44 [[ 9.98234704e-01 -5.75437615e-02 -1.47034265e-02 2.87670069e+01] [ 5.75402396e-02 9.98342968e-01 -6.62813462e-04 -1.36841195e-01] [ 1.47172033e-02 -1.84395284e-04 9.99891679e-01 -1.43894482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.247719421 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:28.79, Y:-0.13, Z:-1.44 [[ 9.98633476e-01 -5.05898579e-02 -1.31090480e-02 2.87941498e+01] [ 5.05864832e-02 9.98719511e-01 -5.89099074e-04 -1.28032357e-01] [ 1.31220645e-02 -7.48465827e-05 9.99913899e-01 -1.43984936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.277719421 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:28.82, Y:-0.12, Z:-1.44 [[ 9.98868475e-01 -4.63058443e-02 -1.08414900e-02 2.88236105e+01] [ 4.63032879e-02 9.98927309e-01 -4.86815921e-04 -1.22994823e-01] [ 1.08524029e-02 -1.57315568e-05 9.99941111e-01 -1.44109877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.307719421 meters Centerline goodness : 0.992513 Centerline is valid? [True, True] Translation: X:28.85, Y:-0.12, Z:-1.44 [[ 9.99201502e-01 -3.86857840e-02 -9.98839314e-03 2.88527563e+01] [ 3.86832349e-02 9.99251423e-01 -4.48349531e-04 -1.18166976e-01] [ 9.99826081e-03 6.16081675e-05 9.99950014e-01 -1.44326764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.337719420999996 meters Centerline goodness : 0.992373 Centerline is valid? [True, True] Translation: X:28.88, Y:-0.11, Z:-1.44 [[ 9.99315734e-01 -3.55641437e-02 -1.01615178e-02 2.88825366e+01] [ 3.55613424e-02 9.99367391e-01 -4.56281068e-04 -1.13479287e-01] [ 1.01713168e-02 9.46116358e-05 9.99948266e-01 -1.44421653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.367719421 meters Centerline goodness : 0.992310 Centerline is valid? [True, True] Translation: X:28.91, Y:-0.11, Z:-1.44 [[ 9.99361110e-01 -3.41524113e-02 -1.05349051e-02 2.89121773e+01] [ 3.41493134e-02 9.99416630e-01 -4.73856159e-04 -1.10724923e-01] [ 1.05449427e-02 1.13793640e-04 9.99944394e-01 -1.44451463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.397719421 meters Centerline goodness : 0.990608 Centerline is valid? [True, True] Translation: X:28.94, Y:-0.11, Z:-1.44 [[ 9.99406985e-01 -3.24533501e-02 -1.15090438e-02 2.89416094e+01] [ 3.24495342e-02 9.99473241e-01 -5.18184982e-04 -1.08984977e-01] [ 1.15197981e-02 1.44414581e-04 9.99933634e-01 -1.44454319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.427719421 meters Centerline goodness : 0.990830 Centerline is valid? [True, True] Translation: X:28.97, Y:-0.11, Z:-1.44 [[ 9.99526253e-01 -2.75471810e-02 -1.37267044e-02 2.89707618e+01] [ 2.75412744e-02 9.99620475e-01 -6.19186139e-04 -1.08887284e-01] [ 1.37385516e-02 2.40841870e-04 9.99905593e-01 -1.44479699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.457719421 meters Centerline goodness : 0.990872 Centerline is valid? [True, True] Translation: X:29.00, Y:-0.11, Z:-1.45 [[ 9.99710950e-01 -2.11498388e-02 -1.14324553e-02 2.89997173e+01] [ 2.11453127e-02 9.99776279e-01 -5.16646682e-04 -1.11701970e-01] [ 1.14408246e-02 2.74754503e-04 9.99934514e-01 -1.44622739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.487719421 meters Centerline goodness : 0.990257 Centerline is valid? [True, True] Translation: X:29.03, Y:-0.11, Z:-1.45 [[ 9.99753944e-01 -1.83979138e-02 -1.23922253e-02 2.90284545e+01] [ 1.83922777e-02 9.99830686e-01 -5.68634363e-04 -1.13608854e-01] [ 1.24005888e-02 3.40573198e-04 9.99923052e-01 -1.44647495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.517719420999995 meters Centerline goodness : 0.989291 Centerline is valid? [True, True] Translation: X:29.06, Y:-0.12, Z:-1.45 [[ 9.99795174e-01 -1.39153115e-02 -1.46960451e-02 2.90575187e+01] [ 1.39068523e-02 9.99903065e-01 -6.77653829e-04 -1.19144816e-01] [ 1.47040503e-02 4.73139299e-04 9.99891778e-01 -1.44655426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.547719421 meters Centerline goodness : 0.990424 Centerline is valid? [True, True] Translation: X:29.09, Y:-0.12, Z:-1.45 [[ 9.99816601e-01 -1.17970260e-02 -1.50862052e-02 2.90855191e+01] [ 1.17877767e-02 9.99930275e-01 -7.01876288e-04 -1.19880163e-01] [ 1.50934334e-02 5.23914747e-04 9.99885950e-01 -1.44651409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.577719421 meters Centerline goodness : 0.989579 Centerline is valid? [True, True] Translation: X:29.11, Y:-0.12, Z:-1.45 [[ 9.99830253e-01 -9.76619360e-03 -1.56232935e-02 2.91127267e+01] [ 9.75600599e-03 9.99952144e-01 -7.28162634e-04 -1.24305757e-01] [ 1.56296572e-02 5.75618085e-04 9.99877684e-01 -1.44737749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.607719421 meters Centerline goodness : 0.989883 Centerline is valid? [True, True] Translation: X:29.14, Y:-0.13, Z:-1.45 [[ 9.99795130e-01 -1.03580249e-02 -1.73899344e-02 2.91415591e+01] [ 1.03453576e-02 9.99946151e-01 -8.18231843e-04 -1.34605939e-01] [ 1.73974732e-02 6.38159121e-04 9.99848449e-01 -1.44765210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.637719421 meters Centerline goodness : 0.990343 Centerline is valid? [True, True] Translation: X:29.17, Y:-0.14, Z:-1.45 [[ 9.99758614e-01 -1.29710451e-02 -1.77332023e-02 2.91700453e+01] [ 1.29581734e-02 9.99915686e-01 -8.40570947e-04 -1.38940315e-01] [ 1.77426102e-02 6.10578134e-04 9.99842401e-01 -1.44824048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.667719421 meters Centerline goodness : 0.988811 Centerline is valid? [True, True] Translation: X:29.20, Y:-0.15, Z:-1.45 [[ 9.99602163e-01 -2.20351929e-02 -1.76058313e-02 2.91971378e+01] [ 2.20238956e-02 9.99757096e-01 -8.35329918e-04 -1.48193849e-01] [ 1.76199614e-02 4.47248602e-04 9.99844656e-01 -1.44724023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.697719420999995 meters Centerline goodness : 0.989455 Centerline is valid? [True, True] Translation: X:29.23, Y:-0.15, Z:-1.45 [[ 9.99479611e-01 -2.76570555e-02 -1.66010180e-02 2.92256141e+01] [ 2.76476421e-02 9.99617414e-01 -7.96319542e-04 -1.50693387e-01] [ 1.66166906e-02 3.36926141e-04 9.99861876e-01 -1.44711387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.727719420999996 meters Centerline goodness : 0.989349 Centerline is valid? [True, True] Translation: X:29.25, Y:-0.15, Z:-1.45 [[ 9.99165870e-01 -3.75548954e-02 -1.60372676e-02 2.92533106e+01] [ 3.75472889e-02 9.99294551e-01 -7.75240918e-04 -1.53914062e-01] [ 1.60550683e-02 1.72438345e-04 9.99871094e-01 -1.44644133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.757719421 meters Centerline goodness : 0.989412 Centerline is valid? [True, True] Translation: X:29.28, Y:-0.15, Z:-1.45 [[ 9.99008250e-01 -4.16833525e-02 -1.56529183e-02 2.92804510e+01] [ 4.16766363e-02 9.99130866e-01 -7.55164929e-04 -1.54015786e-01] [ 1.56707916e-02 1.02055013e-04 9.99877200e-01 -1.44694577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.787719421 meters Centerline goodness : 0.989785 Centerline is valid? [True, True] Translation: X:29.31, Y:-0.16, Z:-1.45 [[ 9.98729864e-01 -4.78770609e-02 -1.56985738e-02 2.93083251e+01] [ 4.78709237e-02 9.98853236e-01 -7.66699657e-04 -1.57973532e-01] [ 1.57172786e-02 1.42206161e-05 9.99876476e-01 -1.44747246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.817719421 meters Centerline goodness : 0.989726 Centerline is valid? [True, True] Translation: X:29.34, Y:-0.16, Z:-1.45 [[ 9.98621938e-01 -5.01520905e-02 -1.54593935e-02 2.93353787e+01] [ 5.01463877e-02 9.98741592e-01 -7.56552170e-04 -1.58562864e-01] [ 1.54778820e-02 -1.97231466e-05 9.99880210e-01 -1.44782899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.847719421 meters Centerline goodness : 0.988752 Centerline is valid? [True, True] Translation: X:29.36, Y:-0.16, Z:-1.45 [[ 9.98508626e-01 -5.23989217e-02 -1.53257226e-02 2.93637826e+01] [ 5.23934685e-02 9.98626232e-01 -7.57385660e-04 -1.58985272e-01] [ 1.53443548e-02 -4.67116515e-05 9.99882267e-01 -1.44828874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.877719420999995 meters Centerline goodness : 0.988974 Centerline is valid? [True, True] Translation: X:29.39, Y:-0.16, Z:-1.45 [[ 9.98451283e-01 -5.31927550e-02 -1.62962314e-02 2.93917689e+01] [ 5.31866139e-02 9.98584262e-01 -8.10314332e-04 -1.56788180e-01] [ 1.63162631e-02 -5.76819834e-05 9.99866879e-01 -1.44958053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.907719420999996 meters Centerline goodness : 0.989758 Centerline is valid? [True, True] Translation: X:29.42, Y:-0.16, Z:-1.45 [[ 9.98478296e-01 -5.25451651e-02 -1.67361211e-02 2.94201096e+01] [ 5.25385070e-02 9.98618548e-01 -8.37556821e-04 -1.55998148e-01] [ 1.67570105e-02 -4.30085090e-05 9.99859591e-01 -1.45000001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.937719421 meters Centerline goodness : 0.988984 Centerline is valid? [True, True] Translation: X:29.45, Y:-0.16, Z:-1.45 [[ 9.98537810e-01 -5.11720057e-02 -1.74260654e-02 2.94477040e+01] [ 5.11644703e-02 9.98689855e-01 -8.78267388e-04 -1.55728427e-01] [ 1.74481774e-02 -1.46122110e-05 9.99847769e-01 -1.44933449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.967719421 meters Centerline goodness : 0.989189 Centerline is valid? [True, True] Translation: X:29.47, Y:-0.16, Z:-1.45 [[ 9.98824531e-01 -4.54592064e-02 -1.68230980e-02 2.94749989e+01] [ 4.54513941e-02 9.98966193e-01 -8.46635579e-04 -1.55762253e-01] [ 1.68441935e-02 8.10071282e-05 9.99858123e-01 -1.44820403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.997719421 meters Centerline goodness : 0.989507 Centerline is valid? [True, True] Translation: X:29.50, Y:-0.15, Z:-1.45 [[ 9.98919463e-01 -4.33599679e-02 -1.67278270e-02 2.95020213e+01] [ 4.33518506e-02 9.99059507e-01 -8.47738909e-04 -1.54305915e-01] [ 1.67488525e-02 1.21640639e-04 9.99859721e-01 -1.44815973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.027719421 meters Centerline goodness : 0.990479 Centerline is valid? [True, True] Translation: X:29.53, Y:-0.15, Z:-1.45 [[ 9.99169327e-01 -3.76016335e-02 -1.57090239e-02 2.95287706e+01] [ 3.75937541e-02 9.99292787e-01 -7.96685899e-04 -1.54683804e-01] [ 1.57278710e-02 2.05462931e-04 9.99876288e-01 -1.44885086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.057719421 meters Centerline goodness : 0.988339 Centerline is valid? [True, True] Translation: X:29.56, Y:-0.15, Z:-1.45 [[ 9.99242627e-01 -3.52376028e-02 -1.65070881e-02 2.95564838e+01] [ 3.52284358e-02 9.99378928e-01 -8.45878343e-04 -1.54159393e-01] [ 1.65266428e-02 2.63718803e-04 9.99863391e-01 -1.44928758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.087719420999996 meters Centerline goodness : 0.988430 Centerline is valid? [True, True] Translation: X:29.58, Y:-0.15, Z:-1.45 [[ 9.99330021e-01 -3.11715105e-02 -1.91793264e-02 2.95845323e+01] [ 3.11582695e-02 9.99513974e-01 -9.88890117e-04 -1.54414861e-01] [ 1.92008300e-02 3.90632960e-04 9.99815571e-01 -1.45071171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.117719421 meters Centerline goodness : 0.989537 Centerline is valid? [True, True] Translation: X:29.61, Y:-0.15, Z:-1.45 [[ 9.99455327e-01 -2.64177862e-02 -1.97775119e-02 2.96111210e+01] [ 2.64028009e-02 9.99650866e-01 -1.01847314e-03 -1.54972331e-01] [ 1.97975127e-02 4.95736695e-04 9.99803887e-01 -1.45220554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.147719421 meters Centerline goodness : 0.989305 Centerline is valid? [True, True] Translation: X:29.64, Y:-0.16, Z:-1.45 [[ 9.99554490e-01 -2.38157530e-02 -1.79897606e-02 2.96384488e+01] [ 2.38028222e-02 9.99716238e-01 -9.32598999e-04 -1.55144164e-01] [ 1.80068663e-02 5.03976444e-04 9.99837736e-01 -1.45303673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.177719421 meters Centerline goodness : 0.990199 Centerline is valid? [True, True] Translation: X:29.67, Y:-0.16, Z:-1.45 [[ 9.99690006e-01 -1.95663465e-02 -1.53964554e-02 2.96661322e+01] [ 1.95562355e-02 9.99808433e-01 -8.07004739e-04 -1.56444570e-01] [ 1.54092961e-02 5.05657863e-04 9.99881142e-01 -1.45308724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.207719421 meters Centerline goodness : 0.989269 Centerline is valid? [True, True] Translation: X:29.69, Y:-0.16, Z:-1.45 [[ 9.99690343e-01 -1.81823683e-02 -1.69887913e-02 2.96935777e+01] [ 1.81698966e-02 9.99834519e-01 -8.88194054e-04 -1.56460839e-01] [ 1.70021294e-02 5.79234438e-04 9.99855286e-01 -1.45304544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.237719421 meters Centerline goodness : 0.988341 Centerline is valid? [True, True] Translation: X:29.72, Y:-0.16, Z:-1.45 [[ 9.99551784e-01 -2.04521329e-02 -2.18618526e-02 2.97206873e+01] [ 2.04318995e-02 9.99790587e-01 -1.14850494e-03 -1.60193367e-01] [ 2.18807638e-02 7.01310986e-04 9.99760341e-01 -1.45442290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.267719420999995 meters Centerline goodness : 0.987803 Centerline is valid? [True, True] Translation: X:29.75, Y:-0.16, Z:-1.46 [[ 9.99433918e-01 -2.34629522e-02 -2.41108547e-02 2.97482646e+01] [ 2.34391876e-02 9.99724461e-01 -1.26781414e-03 -1.61446514e-01] [ 2.41339579e-02 7.01957601e-04 9.99708487e-01 -1.45537188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.297719421 meters Centerline goodness : 0.988073 Centerline is valid? [True, True] Translation: X:29.78, Y:-0.16, Z:-1.46 [[ 9.99210716e-01 -3.19106146e-02 -2.36570738e-02 2.97761404e+01] [ 3.18898068e-02 9.99490601e-01 -1.25639439e-03 -1.63562752e-01] [ 2.36851152e-02 5.00983230e-04 9.99719343e-01 -1.45505913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.327719421 meters Centerline goodness : 0.988738 Centerline is valid? [True, True] Translation: X:29.80, Y:-0.16, Z:-1.46 [[ 9.99120469e-01 -3.64553969e-02 -2.07193911e-02 2.98044351e+01] [ 3.64402416e-02 9.99335219e-01 -1.10866398e-03 -1.64350867e-01] [ 2.07460340e-02 3.52669255e-04 9.99784716e-01 -1.45590080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.357719421 meters Centerline goodness : 0.988850 Centerline is valid? [True, True] Translation: X:29.83, Y:-0.17, Z:-1.46 [[ 9.98972789e-01 -4.32565684e-02 -1.34994726e-02 2.98316470e+01] [ 4.32507498e-02 9.99063987e-01 -7.22813071e-04 -1.72410467e-01] [ 1.35181034e-02 1.38208277e-04 9.99908617e-01 -1.45605127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.387719421 meters Centerline goodness : 0.990182 Centerline is valid? [True, True] Translation: X:29.86, Y:-0.17, Z:-1.46 [[ 9.98836224e-01 -4.69739295e-02 -1.09383953e-02 2.98598387e+01] [ 4.69702369e-02 9.98896112e-01 -5.94380346e-04 -1.74440429e-01] [ 1.09542409e-02 7.99096008e-05 9.99939997e-01 -1.45688641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.417719421 meters Centerline goodness : 0.989472 Centerline is valid? [True, True] Translation: X:29.89, Y:-0.18, Z:-1.46 [[ 9.98365456e-01 -5.56510390e-02 -1.30144973e-02 2.98870059e+01] [ 5.56465940e-02 9.98450280e-01 -7.03693872e-04 -1.77796007e-01] [ 1.30334898e-02 -2.16687940e-05 9.99915060e-01 -1.45749688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.447719420999995 meters Centerline goodness : 0.989423 Centerline is valid? [True, True] Translation: X:29.92, Y:-0.18, Z:-1.46 [[ 9.97981174e-01 -6.15619345e-02 -1.56110170e-02 2.99153533e+01] [ 6.15561248e-02 9.98103259e-01 -8.52839828e-04 -1.78412073e-01] [ 1.56339095e-02 -1.09835620e-04 9.99877777e-01 -1.45904810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.477719420999996 meters Centerline goodness : 0.988006 Centerline is valid? [True, True] Translation: X:29.94, Y:-0.18, Z:-1.46 [[ 9.97249755e-01 -7.16619470e-02 -1.89074224e-02 2.99432229e+01] [ 7.16551361e-02 9.97428926e-01 -1.03831694e-03 -1.81011998e-01] [ 1.89332178e-02 -3.19352610e-04 9.99820700e-01 -1.46098123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.507719421 meters Centerline goodness : 0.987998 Centerline is valid? [True, True] Translation: X:29.97, Y:-0.18, Z:-1.46 [[ 9.96778211e-01 -7.77200570e-02 -1.98189594e-02 2.99705212e+01] [ 7.77137975e-02 9.96975117e-01 -1.08698306e-03 -1.80138747e-01] [ 1.98434897e-02 -4.56725562e-04 9.99802994e-01 -1.45943526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.537719421 meters Centerline goodness : 0.987806 Centerline is valid? [True, True] Translation: X:30.00, Y:-0.18, Z:-1.46 [[ 9.96696644e-01 -7.89603291e-02 -1.90017590e-02 2.99986091e+01] [ 7.89546001e-02 9.96877657e-01 -1.05268720e-03 -1.77859075e-01] [ 1.90255495e-02 -4.51066483e-04 9.99818896e-01 -1.45929374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.567719421 meters Centerline goodness : 0.988403 Centerline is valid? [True, True] Translation: X:30.03, Y:-0.18, Z:-1.46 [[ 9.96646190e-01 -7.98029843e-02 -1.81067605e-02 3.00261732e+01] [ 7.97978014e-02 9.96810559e-01 -1.00971060e-03 -1.76126460e-01] [ 1.81295880e-02 -4.38555458e-04 9.99835549e-01 -1.45870944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.597719421 meters Centerline goodness : 0.989200 Centerline is valid? [True, True] Translation: X:30.05, Y:-0.18, Z:-1.46 [[ 9.96565554e-01 -8.12379341e-02 -1.60466217e-02 3.00543495e+01] [ 8.12339377e-02 9.96694654e-01 -9.01777312e-04 -1.75213477e-01] [ 1.60668406e-02 -4.04850060e-04 9.99870838e-01 -1.45883439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.627719420999995 meters Centerline goodness : 0.989960 Centerline is valid? [True, True] Translation: X:30.08, Y:-0.17, Z:-1.46 [[ 9.96545515e-01 -8.14705181e-02 -1.61118450e-02 3.00815873e+01] [ 8.14665470e-02 9.96675667e-01 -9.03741469e-04 -1.72642868e-01] [ 1.61319121e-02 -4.11956867e-04 9.99869787e-01 -1.46003196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.657719420999996 meters Centerline goodness : 0.990294 Centerline is valid? [True, True] Translation: X:30.11, Y:-0.16, Z:-1.46 [[ 9.96818246e-01 -7.81421434e-02 -1.57222442e-02 3.01085801e+01] [ 7.81379109e-02 9.96942167e-01 -8.84251100e-04 -1.64039402e-01] [ 1.57432655e-02 -3.47065688e-04 9.99876007e-01 -1.46209218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.687719421 meters Centerline goodness : 0.990096 Centerline is valid? [True, True] Translation: X:30.14, Y:-0.16, Z:-1.46 [[ 9.97111304e-01 -7.44656249e-02 -1.49639023e-02 3.01366380e+01] [ 7.44612411e-02 9.97223546e-01 -8.50665391e-04 -1.58204478e-01] [ 1.49857010e-02 -2.66022660e-04 9.99887673e-01 -1.46238544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.717719421 meters Centerline goodness : 0.990466 Centerline is valid? [True, True] Translation: X:30.16, Y:-0.15, Z:-1.46 [[ 9.97851615e-01 -6.44898723e-02 -1.15416609e-02 3.01639498e+01] [ 6.44865301e-02 9.97918358e-01 -6.61880864e-04 -1.46970468e-01] [ 1.15603199e-02 -8.38227754e-05 9.99933174e-01 -1.46135456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.747719421 meters Centerline goodness : 0.991408 Centerline is valid? [True, True] Translation: X:30.19, Y:-0.14, Z:-1.46 [[ 9.98571181e-01 -5.25241039e-02 -9.83942802e-03 3.01918586e+01] [ 5.25210442e-02 9.98619655e-01 -5.69283883e-04 -1.36957256e-01] [ 9.85574734e-03 5.16934458e-05 9.99951430e-01 -1.46133391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.777719421 meters Centerline goodness : 0.991409 Centerline is valid? [True, True] Translation: X:30.22, Y:-0.13, Z:-1.46 [[ 9.98873166e-01 -4.61643008e-02 -1.10116121e-02 3.02182957e+01] [ 4.61601193e-02 9.98933853e-01 -6.33728379e-04 -1.32105220e-01] [ 1.10291277e-02 1.24716945e-04 9.99939170e-01 -1.46309836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.807719421 meters Centerline goodness : 0.989390 Centerline is valid? [True, True] Translation: X:30.24, Y:-0.13, Z:-1.47 [[ 9.99195386e-01 -3.53436630e-02 -1.89579835e-02 3.02446727e+01] [ 3.53293085e-02 9.99375129e-01 -1.09166279e-03 -1.26667763e-01] [ 1.89847206e-02 4.21011977e-04 9.99819685e-01 -1.46597468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.837719420999996 meters Centerline goodness : 0.989338 Centerline is valid? [True, True] Translation: X:30.27, Y:-0.12, Z:-1.47 [[ 9.99239042e-01 -3.19642181e-02 -2.23522917e-02 3.02729131e+01] [ 3.19431616e-02 9.99488843e-01 -1.29853594e-03 -1.23852600e-01] [ 2.23823728e-02 5.83544949e-04 9.99749313e-01 -1.46702771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.867719421 meters Centerline goodness : 0.989990 Centerline is valid? [True, True] Translation: X:30.30, Y:-0.12, Z:-1.47 [[ 9.99308742e-01 -2.86034494e-02 -2.37461632e-02 3.02999561e+01] [ 2.85787576e-02 9.99590593e-01 -1.37860767e-03 -1.21020630e-01] [ 2.37758743e-02 6.99018861e-04 9.99717070e-01 -1.46732775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.897719421 meters Centerline goodness : 0.990125 Centerline is valid? [True, True] Translation: X:30.33, Y:-0.12, Z:-1.47 [[ 9.99401861e-01 -2.89805469e-02 -1.88692631e-02 3.03283089e+01] [ 2.89648133e-02 9.99579819e-01 -1.10664153e-03 -1.19459737e-01] [ 1.88934057e-02 5.59434924e-04 9.99821347e-01 -1.46669122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.927719421 meters Centerline goodness : 0.990435 Centerline is valid? [True, True] Translation: X:30.36, Y:-0.12, Z:-1.47 [[ 9.99422075e-01 -2.98030277e-02 -1.63491658e-02 3.03565701e+01] [ 2.97912194e-02 9.99555677e-01 -9.65379583e-04 -1.18978009e-01] [ 1.63706727e-02 4.77760081e-04 9.99865877e-01 -1.46675721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.957719421 meters Centerline goodness : 0.991200 Centerline is valid? [True, True] Translation: X:30.38, Y:-0.12, Z:-1.47 [[ 9.99450506e-01 -2.95520258e-02 -1.50121269e-02 3.03843949e+01] [ 2.95419567e-02 9.99563143e-01 -8.92093100e-04 -1.18883574e-01] [ 1.50319319e-02 4.48115297e-04 9.99886914e-01 -1.46799049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.987719421 meters Centerline goodness : 0.990697 Centerline is valid? [True, True] Translation: X:30.41, Y:-0.12, Z:-1.47 [[ 9.99491179e-01 -2.75036878e-02 -1.61533273e-02 3.04117426e+01] [ 2.74917959e-02 9.99621570e-01 -9.57826802e-04 -1.20929457e-01] [ 1.61735582e-02 5.13255462e-04 9.99869068e-01 -1.46965159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.017719421 meters Centerline goodness : 0.990697 Centerline is valid? [True, True] Translation: X:30.44, Y:-0.12, Z:-1.47 [[ 9.99482460e-01 -2.78190387e-02 -1.61528230e-02 3.04401564e+01] [ 2.78070507e-02 9.99612842e-01 -9.66326924e-04 -1.18977464e-01] [ 1.61734516e-02 5.16664442e-04 9.99869068e-01 -1.47023006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.047719421 meters Centerline goodness : 0.990660 Centerline is valid? [True, True] Translation: X:30.47, Y:-0.12, Z:-1.47 [[ 9.99450619e-01 -2.76726581e-02 -1.82396094e-02 3.04685937e+01] [ 2.76572427e-02 9.99616863e-01 -1.09691766e-03 -1.19182349e-01] [ 1.82629758e-02 5.91857735e-04 9.99833043e-01 -1.47129382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.077719421 meters Centerline goodness : 0.990937 Centerline is valid? [True, True] Translation: X:30.50, Y:-0.12, Z:-1.47 [[ 9.99292448e-01 -3.14843328e-02 -2.05752440e-02 3.04961693e+01] [ 3.14655596e-02 9.99504073e-01 -1.23559962e-03 -1.21119456e-01] [ 2.06039423e-02 5.87313798e-04 9.99787544e-01 -1.47335031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.107719421 meters Centerline goodness : 0.990198 Centerline is valid? [True, True] Translation: X:30.52, Y:-0.12, Z:-1.47 [[ 9.99225403e-01 -3.39031838e-02 -1.99791793e-02 3.05234096e+01] [ 3.38859070e-02 9.99424984e-01 -1.20274371e-03 -1.21177939e-01] [ 2.00084678e-02 5.24799462e-04 9.99799673e-01 -1.47445273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.137719421 meters Centerline goodness : 0.991397 Centerline is valid? [True, True] Translation: X:30.55, Y:-0.12, Z:-1.48 [[ 9.99043368e-01 -4.03789572e-02 -1.67895339e-02 3.05507805e+01] [ 4.03675709e-02 9.99184380e-01 -1.01666231e-03 -1.23957378e-01] [ 1.68168918e-02 3.37937043e-04 9.99858529e-01 -1.47546086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.167719421 meters Centerline goodness : 0.990379 Centerline is valid? [True, True] Translation: X:30.58, Y:-0.13, Z:-1.48 [[ 9.98602077e-01 -4.92811691e-02 -1.91117324e-02 3.05780076e+01] [ 4.92680381e-02 9.98784922e-01 -1.15758632e-03 -1.28191616e-01] [ 1.91455574e-02 2.14370538e-04 9.99816684e-01 -1.47581620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.197719421 meters Centerline goodness : 0.989641 Centerline is valid? [True, True] Translation: X:30.61, Y:-0.13, Z:-1.48 [[ 9.98316550e-01 -5.36628319e-02 -2.20083215e-02 3.06064431e+01] [ 5.36462536e-02 9.98559099e-01 -1.34341456e-03 -1.28362266e-01] [ 2.20487011e-02 1.60488991e-04 9.99756885e-01 -1.47685828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.227719421 meters Centerline goodness : 0.989022 Centerline is valid? [True, True] Translation: X:30.63, Y:-0.13, Z:-1.48 [[ 9.97767694e-01 -6.14048289e-02 -2.62502561e-02 3.06347203e+01] [ 6.13837302e-02 9.98112943e-01 -1.60956898e-03 -1.28494624e-01] [ 2.62995557e-02 -5.36271361e-06 9.99654107e-01 -1.47778667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.257719421 meters Centerline goodness : 0.988535 Centerline is valid? [True, True] Translation: X:30.66, Y:-0.13, Z:-1.48 [[ 9.97594871e-01 -6.42206534e-02 -2.60802678e-02 3.06631833e+01] [ 6.42005447e-02 9.97935721e-01 -1.60849551e-03 -1.28390209e-01] [ 2.61297295e-02 -6.97405284e-05 9.99658558e-01 -1.47759151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28771942099999 meters Centerline goodness : 0.988673 Centerline is valid? [True, True] Translation: X:30.69, Y:-0.13, Z:-1.48 [[ 9.97669912e-01 -6.49660614e-02 -2.08364492e-02 3.06911317e+01] [ 6.49531845e-02 9.97887472e-01 -1.29489092e-03 -1.30929777e-01] [ 2.08765556e-02 -6.15200178e-05 9.99782059e-01 -1.47674283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31771942099999 meters Centerline goodness : 0.990159 Centerline is valid? [True, True] Translation: X:30.72, Y:-0.13, Z:-1.48 [[ 9.97808627e-01 -6.36184064e-02 -1.81835648e-02 3.07183873e+01] [ 6.36083836e-02 9.97974297e-01 -1.12961576e-03 -1.30577918e-01] [ 1.82185947e-02 -2.94868143e-05 9.99834027e-01 -1.47710635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.347719421 meters Centerline goodness : 0.989076 Centerline is valid? [True, True] Translation: X:30.74, Y:-0.13, Z:-1.48 [[ 9.98065906e-01 -5.89609850e-02 -1.96989569e-02 3.07449956e+01] [ 5.89482635e-02 9.98260286e-01 -1.22634226e-03 -1.28123183e-01] [ 1.97369926e-02 6.27510967e-05 9.99805205e-01 -1.47790513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.377719421 meters Centerline goodness : 0.989487 Centerline is valid? [True, True] Translation: X:30.77, Y:-0.13, Z:-1.48 [[ 9.98226873e-01 -5.52411134e-02 -2.21704544e-02 3.07731504e+01] [ 5.52238309e-02 9.98473030e-01 -1.39148695e-03 -1.25199340e-01] [ 2.22134681e-02 1.64682237e-04 9.99753237e-01 -1.47927844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.407719421 meters Centerline goodness : 0.987949 Centerline is valid? [True, True] Translation: X:30.80, Y:-0.12, Z:-1.48 [[ 9.98664880e-01 -4.57777282e-02 -2.39344402e-02 3.08003410e+01] [ 4.57548903e-02 9.98951569e-01 -1.50123833e-03 -1.22024042e-01] [ 2.39780699e-02 4.04116307e-04 9.99712403e-01 -1.47956985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.437719421 meters Centerline goodness : 0.989104 Centerline is valid? [True, True] Translation: X:30.83, Y:-0.12, Z:-1.48 [[ 9.98880463e-01 -4.18377375e-02 -2.20776934e-02 3.08278935e+01] [ 4.18170822e-02 9.99124307e-01 -1.39661804e-03 -1.20950381e-01] [ 2.21167914e-02 4.71829753e-04 9.99755283e-01 -1.48005840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.467719421 meters Centerline goodness : 0.990376 Centerline is valid? [True, True] Translation: X:30.86, Y:-0.12, Z:-1.48 [[ 9.99120346e-01 -3.72220630e-02 -1.93145387e-02 3.08565637e+01] [ 3.72052436e-02 9.99306889e-01 -1.22954728e-03 -1.23218407e-01] [ 1.93469178e-02 5.09863593e-04 9.99812701e-01 -1.47981045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.497719421 meters Centerline goodness : 0.990011 Centerline is valid? [True, True] Translation: X:30.88, Y:-0.12, Z:-1.48 [[ 9.99174369e-01 -3.68716413e-02 -1.70605326e-02 3.08839349e+01] [ 3.68584792e-02 9.99319906e-01 -1.08538895e-03 -1.22576792e-01] [ 1.70889499e-02 4.55667535e-04 9.99853869e-01 -1.47979182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.527719421 meters Centerline goodness : 0.992383 Centerline is valid? [True, True] Translation: X:30.91, Y:-0.12, Z:-1.48 [[ 9.99237787e-01 -3.76053878e-02 -1.04728000e-02 3.09117295e+01] [ 3.76003789e-02 9.99292628e-01 -6.74833310e-04 -1.20512365e-01] [ 1.04907692e-02 2.80537695e-04 9.99944931e-01 -1.48137301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.557719421 meters Centerline goodness : 0.991470 Centerline is valid? [True, True] Translation: X:30.94, Y:-0.12, Z:-1.48 [[ 9.99251584e-01 -3.75721230e-02 -9.19818983e-03 3.09397906e+01] [ 3.75682218e-02 9.99293887e-01 -5.96611536e-04 -1.20758987e-01] [ 9.21411083e-03 2.50605388e-04 9.99957518e-01 -1.48225259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.587719421 meters Centerline goodness : 0.990721 Centerline is valid? [True, True] Translation: X:30.97, Y:-0.12, Z:-1.48 [[ 9.99312595e-01 -3.56381539e-02 -1.02107384e-02 3.09683751e+01] [ 3.56332177e-02 9.99364714e-01 -6.65011209e-04 -1.21911796e-01] [ 1.02279514e-02 3.00712613e-04 9.99947648e-01 -1.48302773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.617719421 meters Centerline goodness : 0.990643 Centerline is valid? [True, True] Translation: X:31.00, Y:-0.13, Z:-1.48 [[ 9.99483577e-01 -3.00638777e-02 -1.13464554e-02 3.09953700e+01] [ 3.00574575e-02 9.99547902e-01 -7.35974778e-04 -1.25296143e-01] [ 1.13634519e-02 3.94549103e-04 9.99935356e-01 -1.48418665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.647719421 meters Centerline goodness : 0.990601 Centerline is valid? [True, True] Translation: X:31.02, Y:-0.12, Z:-1.49 [[ 9.99556080e-01 -2.75570056e-02 -1.13249846e-02 3.10236173e+01] [ 2.75503625e-02 9.99620141e-01 -7.42201474e-04 -1.24487322e-01] [ 1.13411356e-02 4.29864563e-04 9.99935595e-01 -1.48542586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67771942099999 meters Centerline goodness : 0.990318 Centerline is valid? [True, True] Translation: X:31.05, Y:-0.12, Z:-1.49 [[ 9.99656812e-01 -2.29790131e-02 -1.25786490e-02 3.10512238e+01] [ 2.29704084e-02 9.99735802e-01 -8.28138783e-04 -1.23932548e-01] [ 1.25943556e-02 5.38917871e-04 9.99920543e-01 -1.48731115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.707719421 meters Centerline goodness : 0.989923 Centerline is valid? [True, True] Translation: X:31.08, Y:-0.12, Z:-1.49 [[ 9.99702430e-01 -2.11453416e-02 -1.21625085e-02 3.10793922e+01] [ 2.11371089e-02 9.99776262e-01 -8.05052986e-04 -1.24412435e-01] [ 1.21768104e-02 5.47733160e-04 9.99925710e-01 -1.48820684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.737719421 meters Centerline goodness : 0.988801 Centerline is valid? [True, True] Translation: X:31.11, Y:-0.13, Z:-1.49 [[ 9.99734469e-01 -1.79333992e-02 -1.44701581e-02 3.11064865e+01] [ 1.79214545e-02 9.99838942e-01 -9.54726740e-04 -1.30231825e-01] [ 1.44849491e-02 6.95146950e-04 9.99894846e-01 -1.48877779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.767719421 meters Centerline goodness : 0.987551 Centerline is valid? [True, True] Translation: X:31.13, Y:-0.13, Z:-1.49 [[ 9.99678536e-01 -1.79039905e-02 -1.79519382e-02 3.11341518e+01] [ 1.78854358e-02 9.99839330e-01 -1.19360782e-03 -1.31917222e-01] [ 1.79704242e-02 8.72145877e-04 9.99838139e-01 -1.48990792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.797719421 meters Centerline goodness : 0.986500 Centerline is valid? [True, True] Translation: X:31.16, Y:-0.14, Z:-1.49 [[ 9.99593790e-01 -1.96715219e-02 -2.06224685e-02 3.11614107e+01] [ 1.96474487e-02 9.99806033e-01 -1.36930641e-03 -1.36767432e-01] [ 2.06454047e-02 9.63571287e-04 9.99786397e-01 -1.49243343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.827719421 meters Centerline goodness : 0.985134 Centerline is valid? [True, True] Translation: X:31.19, Y:-0.15, Z:-1.49 [[ 9.99566955e-01 -2.56464570e-02 -1.44278082e-02 3.11903260e+01] [ 2.56351591e-02 9.99670897e-01 -9.67483120e-04 -1.45561356e-01] [ 1.44478724e-02 5.97204998e-04 9.99895446e-01 -1.49335844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.857719421 meters Centerline goodness : 0.986002 Centerline is valid? [True, True] Translation: X:31.22, Y:-0.15, Z:-1.49 [[ 9.99464734e-01 -3.08609168e-02 -1.08558048e-02 3.12190216e+01] [ 3.08547709e-02 9.99523609e-01 -7.33205605e-04 -1.49089404e-01] [ 1.08732606e-02 3.97859777e-04 9.99940805e-01 -1.49407185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.887719421 meters Centerline goodness : 0.987060 Centerline is valid? [True, True] Translation: X:31.25, Y:-0.15, Z:-1.49 [[ 9.99294399e-01 -3.61762614e-02 -1.00986618e-02 3.12476337e+01] [ 3.61711750e-02 9.99345374e-01 -6.85923467e-04 -1.51323798e-01] [ 1.01168651e-02 3.20159016e-04 9.99948772e-01 -1.49412055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.917719421 meters Centerline goodness : 0.986166 Centerline is valid? [True, True] Translation: X:31.28, Y:-0.16, Z:-1.50 [[ 9.98777353e-01 -4.77431664e-02 -1.28214193e-02 3.12763312e+01] [ 4.77358886e-02 9.98859611e-01 -8.73231262e-04 -1.55126714e-01] [ 1.28484888e-02 2.60121762e-04 9.99917421e-01 -1.49511800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.947719421 meters Centerline goodness : 0.985513 Centerline is valid? [True, True] Translation: X:31.30, Y:-0.16, Z:-1.50 [[ 9.98504940e-01 -5.29272666e-02 -1.36597421e-02 3.13046350e+01] [ 5.29194276e-02 9.98598348e-01 -9.34943510e-04 -1.57824867e-01] [ 1.36900799e-02 2.10679981e-04 9.99906264e-01 -1.49687192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.977719421 meters Centerline goodness : 0.985391 Centerline is valid? [True, True] Translation: X:31.33, Y:-0.17, Z:-1.50 [[ 9.97987625e-01 -6.17606901e-02 -1.43637841e-02 3.13323381e+01] [ 6.17529683e-02 9.98090982e-01 -9.80915750e-04 -1.65212170e-01] [ 1.43969454e-02 9.19354752e-05 9.99896354e-01 -1.49783928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.007719421 meters Centerline goodness : 0.985884 Centerline is valid? [True, True] Translation: X:31.36, Y:-0.17, Z:-1.50 [[ 9.97772631e-01 -6.50635670e-02 -1.47142697e-02 3.13607598e+01] [ 6.50556867e-02 9.97881120e-01 -1.01408526e-03 -1.65409234e-01] [ 1.47490719e-02 5.45795980e-05 9.99891225e-01 -1.49797674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03771942099999 meters Centerline goodness : 0.984693 Centerline is valid? [True, True] Translation: X:31.39, Y:-0.16, Z:-1.50 [[ 9.97589120e-01 -6.73344623e-02 -1.67933721e-02 3.13881005e+01] [ 6.73245074e-02 9.97730459e-01 -1.15807366e-03 -1.63971559e-01] [ 1.68332371e-02 2.46761815e-05 9.99858311e-01 -1.49762154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06771942099999 meters Centerline goodness : 0.985004 Centerline is valid? [True, True] Translation: X:31.42, Y:-0.16, Z:-1.50 [[ 9.97663684e-01 -6.61311938e-02 -1.71417086e-02 3.14164220e+01] [ 6.61205060e-02 9.97810935e-01 -1.19012192e-03 -1.61762462e-01] [ 1.71828884e-02 5.39229778e-05 9.99852362e-01 -1.49876760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.097719421 meters Centerline goodness : 0.985483 Centerline is valid? [True, True] Translation: X:31.44, Y:-0.16, Z:-1.50 [[ 9.98011187e-01 -6.08483562e-02 -1.64665661e-02 3.14434323e+01] [ 6.08377949e-02 9.98147012e-01 -1.14200984e-03 -1.58256826e-01] [ 1.65055432e-02 1.37949023e-04 9.99863765e-01 -1.49881180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.127719421 meters Centerline goodness : 0.985062 Centerline is valid? [True, True] Translation: X:31.47, Y:-0.15, Z:-1.50 [[ 9.98179979e-01 -5.82969997e-02 -1.54333603e-02 3.14713226e+01] [ 5.82872747e-02 9.98299268e-01 -1.07957184e-03 -1.53750024e-01] [ 1.54700480e-02 1.78038482e-04 9.99880316e-01 -1.49900516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.157719421 meters Centerline goodness : 0.984891 Centerline is valid? [True, True] Translation: X:31.50, Y:-0.15, Z:-1.50 [[ 9.98374433e-01 -5.50226382e-02 -1.48660966e-02 3.14983039e+01] [ 5.50132742e-02 9.98485083e-01 -1.03840497e-03 -1.47507976e-01] [ 1.49007115e-02 2.18884326e-04 9.99888954e-01 -1.50005840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.187719421 meters Centerline goodness : 0.985993 Centerline is valid? [True, True] Translation: X:31.53, Y:-0.14, Z:-1.50 [[ 9.98390480e-01 -5.46473952e-02 -1.51694195e-02 3.15257938e+01] [ 5.46374624e-02 9.98505686e-01 -1.06876159e-03 -1.44219221e-01] [ 1.52051567e-02 2.38222805e-04 9.99884367e-01 -1.50030586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.217719421 meters Centerline goodness : 0.983972 Centerline is valid? [True, True] Translation: X:31.55, Y:-0.14, Z:-1.50 [[ 9.98500769e-01 -5.24677763e-02 -1.55995453e-02 3.15527855e+01] [ 5.24570350e-02 9.98622579e-01 -1.09723007e-03 -1.38653536e-01] [ 1.56356274e-02 2.77279173e-04 9.99877718e-01 -1.50028404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.247719421 meters Centerline goodness : 0.985049 Centerline is valid? [True, True] Translation: X:31.58, Y:-0.13, Z:-1.50 [[ 9.98548657e-01 -5.19795853e-02 -1.40961837e-02 3.15801082e+01] [ 5.19706351e-02 9.98648112e-01 -1.00075084e-03 -1.34532018e-01] [ 1.41291458e-02 2.66710791e-04 9.99900143e-01 -1.49995550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.277719421 meters Centerline goodness : 0.985276 Centerline is valid? [True, True] Translation: X:31.61, Y:-0.13, Z:-1.50 [[ 9.98490036e-01 -5.34277601e-02 -1.27719154e-02 3.16074653e+01] [ 5.34205493e-02 9.98571693e-01 -9.05313157e-04 -1.32435931e-01] [ 1.28020421e-02 2.21663429e-04 9.99918026e-01 -1.49960214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.307719421 meters Centerline goodness : 0.986430 Centerline is valid? [True, True] Translation: X:31.64, Y:-0.13, Z:-1.50 [[ 9.98436489e-01 -5.48970354e-02 -1.05305381e-02 3.16353297e+01] [ 5.48921286e-02 9.98492005e-01 -7.54635343e-04 -1.30427432e-01] [ 1.05560854e-02 1.75411810e-04 9.99944268e-01 -1.50087473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.337719421 meters Centerline goodness : 0.986894 Centerline is valid? [True, True] Translation: X:31.66, Y:-0.13, Z:-1.50 [[ 9.98213445e-01 -5.91979940e-02 -8.09419391e-03 3.16623614e+01] [ 5.91952256e-02 9.98246256e-01 -5.81378105e-04 -1.26842634e-01] [ 8.11441518e-03 1.01201806e-04 9.99967072e-01 -1.50110846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.367719421 meters Centerline goodness : 0.985968 Centerline is valid? [True, True] Translation: X:31.69, Y:-0.13, Z:-1.50 [[ 9.98054038e-01 -6.21248548e-02 -5.35156269e-03 3.16892470e+01] [ 6.21236834e-02 9.98068384e-01 -3.84997829e-04 -1.25393286e-01] [ 5.36514346e-03 5.17898518e-05 9.99985606e-01 -1.50060569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.397719421 meters Centerline goodness : 0.986605 Centerline is valid? [True, True] Translation: X:31.72, Y:-0.12, Z:-1.50 [[ 9.98036157e-01 -6.23160032e-02 -6.36752205e-03 3.17172102e+01] [ 6.23143131e-02 9.98056467e-01 -4.63672271e-04 -1.24186159e-01] [ 6.38404076e-03 6.59739284e-05 9.99979620e-01 -1.50047324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42771942099999 meters Centerline goodness : 0.987416 Centerline is valid? [True, True] Translation: X:31.74, Y:-0.12, Z:-1.50 [[ 9.98262709e-01 -5.83507115e-02 -8.17061117e-03 3.17442841e+01] [ 5.83478346e-02 9.98296139e-01 -5.90236954e-04 -1.21422617e-01] [ 8.19113034e-03 1.12474071e-04 9.99966446e-01 -1.50184494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.457719421 meters Centerline goodness : 0.986535 Centerline is valid? [True, True] Translation: X:31.77, Y:-0.12, Z:-1.50 [[ 9.98471096e-01 -5.44436975e-02 -9.55790177e-03 3.17723557e+01] [ 5.44395158e-02 9.98516827e-01 -6.97333061e-04 -1.16889500e-01] [ 9.58169114e-03 1.75939362e-04 9.99954079e-01 -1.50209990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.487719421 meters Centerline goodness : 0.986551 Centerline is valid? [True, True] Translation: X:31.80, Y:-0.11, Z:-1.50 [[ 9.98690172e-01 -5.01880430e-02 -9.95497733e-03 3.17987000e+01] [ 5.01832966e-02 9.98739761e-01 -7.26169571e-04 -1.11800511e-01] [ 9.97887670e-03 2.25644834e-04 9.99950184e-01 -1.50307967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.517719421 meters Centerline goodness : 0.985011 Centerline is valid? [True, True] Translation: X:31.83, Y:-0.11, Z:-1.50 [[ 9.99091693e-01 -3.99889708e-02 -1.47197858e-02 3.18260619e+01] [ 3.99774145e-02 9.99200001e-01 -1.07861235e-03 -1.06813591e-01] [ 1.47511426e-02 4.89173662e-04 9.99891076e-01 -1.50375810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.547719421 meters Centerline goodness : 0.984048 Centerline is valid? [True, True] Translation: X:31.85, Y:-0.11, Z:-1.50 [[ 9.99183185e-01 -3.66166685e-02 -1.70933593e-02 3.18536093e+01] [ 3.66005125e-02 9.99329186e-01 -1.25714363e-03 -1.05182979e-01] [ 1.71279252e-02 6.30491065e-04 9.99853108e-01 -1.50476181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.577719421 meters Centerline goodness : 0.986103 Centerline is valid? [True, True] Translation: X:31.88, Y:-0.11, Z:-1.51 [[ 9.99264012e-01 -3.32504530e-02 -1.91269787e-02 3.18812563e+01] [ 3.32294983e-02 9.99446750e-01 -1.41242444e-03 -1.05768267e-01] [ 1.91633604e-02 7.75805010e-04 9.99816065e-01 -1.50537977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.607719421 meters Centerline goodness : 0.985181 Centerline is valid? [True, True] Translation: X:31.91, Y:-0.10, Z:-1.51 [[ 9.99300895e-01 -3.44947929e-02 -1.44163573e-02 3.19076113e+01] [ 3.44830202e-02 9.99404717e-01 -1.06446760e-03 -1.02662645e-01] [ 1.44444941e-02 5.66603886e-04 9.99895512e-01 -1.50722777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.637719421 meters Centerline goodness : 0.985358 Centerline is valid? [True, True] Translation: X:31.94, Y:-0.10, Z:-1.51 [[ 9.99256393e-01 -3.61764339e-02 -1.33389093e-02 3.19358960e+01] [ 3.61664017e-02 9.99345289e-01 -9.92633569e-04 -9.98009317e-02] [ 1.33660861e-02 5.09475086e-04 9.99910540e-01 -1.50858349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.667719421 meters Centerline goodness : 0.985821 Centerline is valid? [True, True] Translation: X:31.96, Y:-0.10, Z:-1.51 [[ 9.99162020e-01 -3.86514314e-02 -1.34656875e-02 3.19637275e+01] [ 3.86413764e-02 9.99252637e-01 -1.00618769e-03 -9.85998485e-02] [ 1.34945143e-02 4.85011822e-04 9.99908827e-01 -1.50937542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.697719421 meters Centerline goodness : 0.986108 Centerline is valid? [True, True] Translation: X:31.99, Y:-0.10, Z:-1.51 [[ 9.98952596e-01 -4.38050323e-02 -1.32223140e-02 3.19922394e+01] [ 4.37957210e-02 9.99040014e-01 -9.93085993e-04 -1.01184697e-01] [ 1.32531229e-02 4.12965057e-04 9.99912088e-01 -1.50951676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.727719421 meters Centerline goodness : 0.985619 Centerline is valid? [True, True] Translation: X:32.02, Y:-0.10, Z:-1.51 [[ 9.98760492e-01 -4.79883766e-02 -1.32134753e-02 3.20208414e+01] [ 4.79793822e-02 9.98847829e-01 -9.97045886e-04 -1.01664002e-01] [ 1.32460977e-02 3.61835657e-04 9.99912201e-01 -1.50932574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.757719421 meters Centerline goodness : 0.985643 Centerline is valid? [True, True] Translation: X:32.05, Y:-0.10, Z:-1.51 [[ 9.98293179e-01 -5.71928970e-02 -1.18195384e-02 3.20476446e+01] [ 5.71862897e-02 9.98363123e-01 -8.96505947e-04 -1.04086522e-01] [ 1.18514650e-02 2.19060225e-04 9.99929745e-01 -1.51066679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78771942099999 meters Centerline goodness : 0.984984 Centerline is valid? [True, True] Translation: X:32.08, Y:-0.10, Z:-1.51 [[ 9.97675745e-01 -6.70485268e-02 -1.21491606e-02 3.20756545e+01] [ 6.70422250e-02 9.97749710e-01 -9.25686722e-04 -1.01669617e-01] [ 1.21838874e-02 1.09028433e-04 9.99925768e-01 -1.51104504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81771942099999 meters Centerline goodness : 0.984670 Centerline is valid? [True, True] Translation: X:32.10, Y:-0.10, Z:-1.51 [[ 9.97313349e-01 -7.21229444e-02 -1.28204902e-02 3.21033485e+01] [ 7.21162948e-02 9.97395748e-01 -9.80821084e-04 -1.01031060e-01] [ 1.28578421e-02 5.36197099e-05 9.99917333e-01 -1.51189655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.847719421 meters Centerline goodness : 0.984734 Centerline is valid? [True, True] Translation: X:32.13, Y:-0.10, Z:-1.51 [[ 9.96565610e-01 -8.13446761e-02 -1.54928443e-02 3.21312241e+01] [ 8.13360141e-02 9.96686028e-01 -1.18942435e-03 -1.01334039e-01] [ 1.55382548e-02 -7.47868037e-05 9.99879271e-01 -1.51148440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.877719421 meters Centerline goodness : 0.983963 Centerline is valid? [True, True] Translation: X:32.16, Y:-0.10, Z:-1.51 [[ 9.96310686e-01 -8.45356424e-02 -1.47899091e-02 3.21583070e+01] [ 8.45281217e-02 9.96420449e-01 -1.13400644e-03 -9.92804658e-02] [ 1.48328318e-02 -1.20340505e-04 9.99889980e-01 -1.51221961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.907719421 meters Centerline goodness : 0.983963 Centerline is valid? [True, True] Translation: X:32.19, Y:-0.10, Z:-1.51 [[ 9.96284002e-01 -8.48496544e-02 -1.47892979e-02 3.21867189e+01] [ 8.48420500e-02 9.96393759e-01 -1.14197656e-03 -9.68489660e-02] [ 1.48328605e-02 -1.17021379e-04 9.99889980e-01 -1.51279846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.937719421 meters Centerline goodness : 0.984947 Centerline is valid? [True, True] Translation: X:32.21, Y:-0.10, Z:-1.51 [[ 9.95900758e-01 -8.94272311e-02 -1.35812857e-02 3.22148371e+01] [ 8.94211764e-02 9.95993345e-01 -1.05363329e-03 -9.52204874e-02] [ 1.36210937e-02 -1.65140348e-04 9.99907215e-01 -1.51368797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.967719421 meters Centerline goodness : 0.983855 Centerline is valid? [True, True] Translation: X:32.24, Y:-0.09, Z:-1.51 [[ 9.95832541e-01 -9.01110600e-02 -1.40551754e-02 3.22415800e+01] [ 9.01046659e-02 9.95931706e-01 -1.08880735e-03 -9.43691268e-02] [ 1.40961084e-02 -1.82167096e-04 9.99900628e-01 -1.51310526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.997719421 meters Centerline goodness : 0.983864 Centerline is valid? [True, True] Translation: X:32.27, Y:-0.09, Z:-1.51 [[ 9.95838707e-01 -9.01954496e-02 -1.30403357e-02 3.22699977e+01] [ 9.01898415e-02 9.95924071e-01 -1.01870172e-03 -9.30189478e-02] [ 1.30790665e-02 -1.61643210e-04 9.99914452e-01 -1.51329232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.027719421 meters Centerline goodness : 0.984664 Centerline is valid? [True, True] Translation: X:32.30, Y:-0.09, Z:-1.51 [[ 9.96076160e-01 -8.77400656e-02 -1.15742988e-02 3.22979604e+01] [ 8.77354278e-02 9.96143398e-01 -9.08825790e-04 -8.83981014e-02] [ 1.16094017e-02 -1.10216352e-04 9.99932603e-01 -1.51314570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.057719421 meters Centerline goodness : 0.984897 Centerline is valid? [True, True] Translation: X:32.32, Y:-0.08, Z:-1.51 [[ 9.96427328e-01 -8.32850961e-02 -1.40061615e-02 3.23244685e+01] [ 8.32779104e-02 9.96525758e-01 -1.09650700e-03 -8.30440248e-02] [ 1.40488234e-02 -7.38143218e-05 9.99901308e-01 -1.51383484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.087719421 meters Centerline goodness : 0.984526 Centerline is valid? [True, True] Translation: X:32.35, Y:-0.08, Z:-1.51 [[ 9.96619841e-01 -8.09406932e-02 -1.40533662e-02 3.23526744e+01] [ 8.09331073e-02 9.96718919e-01 -1.10861374e-03 -8.04513029e-02] [ 1.40969880e-02 -3.25161442e-05 9.99900632e-01 -1.51424150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.117719421 meters Centerline goodness : 0.984840 Centerline is valid? [True, True] Translation: X:32.38, Y:-0.07, Z:-1.52 [[ 9.97007490e-01 -7.65333457e-02 -1.08955378e-02 3.23805591e+01] [ 7.65284665e-02 9.97067022e-01 -8.64642308e-04 -7.34299631e-02] [ 1.09297554e-02 2.82360608e-05 9.99940268e-01 -1.51521066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.147719421 meters Centerline goodness : 0.983986 Centerline is valid? [True, True] Translation: X:32.41, Y:-0.07, Z:-1.51 [[ 9.97090297e-01 -7.52375766e-02 -1.22575020e-02 3.24086345e+01] [ 7.52312630e-02 9.97165635e-01 -9.76011199e-04 -6.89954236e-02] [ 1.22961925e-02 5.10239409e-05 9.99924398e-01 -1.51405985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17771942099999 meters Centerline goodness : 0.984150 Centerline is valid? [True, True] Translation: X:32.44, Y:-0.07, Z:-1.52 [[ 9.97184047e-01 -7.35735094e-02 -1.45229022e-02 3.24363301e+01] [ 7.35644121e-02 9.97289793e-01 -1.16035650e-03 -6.95053769e-02] [ 1.45689136e-02 8.87202255e-05 9.99893864e-01 -1.51557227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.207719421 meters Centerline goodness : 0.984693 Centerline is valid? [True, True] Translation: X:32.46, Y:-0.07, Z:-1.52 [[ 9.97270650e-01 -7.22953284e-02 -1.49878587e-02 3.24643655e+01] [ 7.22854197e-02 9.97383262e-01 -1.20250018e-03 -6.85840710e-02] [ 1.50355746e-02 1.15814476e-04 9.99886953e-01 -1.51674190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.237719421 meters Centerline goodness : 0.984982 Centerline is valid? [True, True] Translation: X:32.49, Y:-0.06, Z:-1.52 [[ 9.97393698e-01 -7.05617123e-02 -1.50617630e-02 3.24915447e+01] [ 7.05514310e-02 9.97507405e-01 -1.21352669e-03 -6.11438740e-02] [ 1.51098487e-02 1.47734935e-04 9.99885829e-01 -1.51788611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.267719421 meters Centerline goodness : 0.983919 Centerline is valid? [True, True] Translation: X:32.52, Y:-0.06, Z:-1.52 [[ 9.97525762e-01 -6.84738291e-02 -1.59275883e-02 3.25181881e+01] [ 6.84620969e-02 9.97652895e-01 -1.28132850e-03 -5.65557377e-02] [ 1.59779420e-02 1.87722097e-04 9.99872327e-01 -1.51928975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.297719421 meters Centerline goodness : 0.983986 Centerline is valid? [True, True] Translation: X:32.54, Y:-0.06, Z:-1.52 [[ 9.97741062e-01 -6.49978758e-02 -1.69720211e-02 3.25449192e+01] [ 6.49840128e-02 9.97885368e-01 -1.36761729e-03 -5.52410579e-02] [ 1.70250237e-02 2.61617886e-04 9.99855030e-01 -1.51925043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.327719421 meters Centerline goodness : 0.983669 Centerline is valid? [True, True] Translation: X:32.57, Y:-0.05, Z:-1.52 [[ 9.97761639e-01 -6.44976884e-02 -1.76567006e-02 3.25726960e+01] [ 6.44824354e-02 9.97917814e-01 -1.43241559e-03 -5.35615906e-02] [ 1.77123236e-02 2.90662271e-04 9.99843082e-01 -1.51917914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.357719421 meters Centerline goodness : 0.984179 Centerline is valid? [True, True] Translation: X:32.60, Y:-0.05, Z:-1.52 [[ 9.97802294e-01 -6.39147288e-02 -1.74782376e-02 3.26011597e+01] [ 6.38995900e-02 9.97955317e-01 -1.42382634e-03 -5.19096429e-02] [ 1.75335036e-02 3.03844974e-04 9.99846230e-01 -1.51956632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.387719421 meters Centerline goodness : 0.983158 Centerline is valid? [True, True] Translation: X:32.63, Y:-0.05, Z:-1.52 [[ 9.97860971e-01 -6.33282476e-02 -1.62177691e-02 3.26295354e+01] [ 6.33150421e-02 9.97992708e-01 -1.32693840e-03 -5.02922812e-02] [ 1.62692480e-02 2.97271303e-04 9.99867603e-01 -1.52003981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.417719421 meters Centerline goodness : 0.983932 Centerline is valid? [True, True] Translation: X:32.66, Y:-0.05, Z:-1.52 [[ 9.97932444e-01 -6.26980536e-02 -1.41347823e-02 3.26573782e+01] [ 6.26878736e-02 9.98032504e-01 -1.16256028e-03 -4.82017886e-02] [ 1.41798625e-02 2.74077172e-04 9.99899423e-01 -1.52056175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.447719421 meters Centerline goodness : 0.985432 Centerline is valid? [True, True] Translation: X:32.69, Y:-0.05, Z:-1.52 [[ 9.97934702e-01 -6.30062572e-02 -1.25116987e-02 3.26850551e+01] [ 6.29982423e-02 9.98013102e-01 -1.03408048e-03 -4.52942445e-02] [ 1.25519927e-02 2.43729770e-04 9.99921191e-01 -1.52148506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.477719421 meters Centerline goodness : 0.984144 Centerline is valid? [True, True] Translation: X:32.71, Y:-0.04, Z:-1.52 [[ 9.97972165e-01 -6.27207081e-02 -1.08476011e-02 3.27121598e+01] [ 6.27146817e-02 9.98031095e-01 -8.95159876e-04 -4.33201622e-02] [ 1.08823882e-02 2.13040791e-04 9.99940762e-01 -1.52225574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.507719421 meters Centerline goodness : 0.986545 Centerline is valid? [True, True] Translation: X:32.74, Y:-0.04, Z:-1.52 [[ 9.97886429e-01 -6.46385500e-02 -6.67329534e-03 3.27399283e+01] [ 6.46362677e-02 9.97908734e-01 -5.57344536e-04 -4.35337746e-02] [ 6.69536565e-03 1.24829645e-04 9.99977578e-01 -1.52340110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53771942099999 meters Centerline goodness : 0.986726 Centerline is valid? [True, True] Translation: X:32.77, Y:-0.04, Z:-1.52 [[ 9.97732876e-01 -6.70278199e-02 -6.03159551e-03 3.27683730e+01] [ 6.70259808e-02 9.97751102e-01 -5.06760275e-04 -4.25339070e-02] [ 6.05199810e-03 1.01337782e-04 9.99981681e-01 -1.52315362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56771942099999 meters Centerline goodness : 0.986048 Centerline is valid? [True, True] Translation: X:32.80, Y:-0.04, Z:-1.52 [[ 9.97205511e-01 -7.41570830e-02 -9.04968598e-03 3.27955680e+01] [ 7.41532898e-02 9.97246570e-01 -7.54431977e-04 -4.10435293e-02] [ 9.08071478e-03 8.12597374e-05 9.99958766e-01 -1.52383051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.597719421 meters Centerline goodness : 0.985307 Centerline is valid? [True, True] Translation: X:32.82, Y:-0.04, Z:-1.53 [[ 9.96448140e-01 -8.33361234e-02 -1.20911430e-02 3.28237076e+01] [ 8.33299393e-02 9.96521495e-01 -1.01523723e-03 -3.94444279e-02] [ 1.21336898e-02 4.07704523e-06 9.99926384e-01 -1.52598132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.627719421 meters Centerline goodness : 0.985365 Centerline is valid? [True, True] Translation: X:32.85, Y:-0.04, Z:-1.53 [[ 9.96037396e-01 -8.78418580e-02 -1.39037041e-02 3.28514366e+01] [ 8.78340623e-02 9.96134431e-01 -1.17152144e-03 -3.69198574e-02] [ 1.39528670e-02 -5.43396475e-05 9.99902653e-01 -1.52641303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.657719421 meters Centerline goodness : 0.984756 Centerline is valid? [True, True] Translation: X:32.88, Y:-0.03, Z:-1.53 [[ 9.95797209e-01 -9.02928477e-02 -1.53336521e-02 3.28794194e+01] [ 9.02835848e-02 9.95915254e-01 -1.29666348e-03 -3.41912500e-02] [ 1.53880975e-02 -9.31632034e-05 9.99881592e-01 -1.52709525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.687719421 meters Centerline goodness : 0.984775 Centerline is valid? [True, True] Translation: X:32.91, Y:-0.03, Z:-1.53 [[ 9.95896792e-01 -8.89011903e-02 -1.69161815e-02 3.29058245e+01] [ 8.88897532e-02 9.96040447e-01 -1.42829077e-03 -2.98749308e-02] [ 1.69761778e-02 -8.12450044e-05 9.99855891e-01 -1.52586159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.717719421 meters Centerline goodness : 0.985437 Centerline is valid? [True, True] Translation: X:32.93, Y:-0.02, Z:-1.52 [[ 9.96554734e-01 -8.14300691e-02 -1.57418496e-02 3.29335847e+01] [ 8.14190789e-02 9.96679056e-01 -1.33884483e-03 -2.40293939e-02] [ 1.57985940e-02 5.25452603e-05 9.99875193e-01 -1.52444765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.747719421 meters Centerline goodness : 0.987030 Centerline is valid? [True, True] Translation: X:32.96, Y:-0.02, Z:-1.52 [[ 9.96890038e-01 -7.70889033e-02 -1.63570394e-02 3.29610826e+01] [ 7.70763628e-02 9.97024214e-01 -1.39664858e-03 -1.90738480e-02] [ 1.64160305e-02 1.31563949e-04 9.99865239e-01 -1.52463066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.777719421 meters Centerline goodness : 0.986884 Centerline is valid? [True, True] Translation: X:32.99, Y:-0.01, Z:-1.52 [[ 9.97158276e-01 -7.34133169e-02 -1.69073227e-02 3.29891187e+01] [ 7.33992955e-02 9.97301581e-01 -1.44919522e-03 -1.28641404e-02] [ 1.69680899e-02 2.04091427e-04 9.99856011e-01 -1.52425532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.807719421 meters Centerline goodness : 0.986014 Centerline is valid? [True, True] Translation: X:33.02, Y:-0.01, Z:-1.53 [[ 9.97666227e-01 -6.60232818e-02 -1.74076384e-02 3.30170056e+01] [ 6.60071937e-02 9.97818023e-01 -1.49776665e-03 -6.62603382e-03] [ 1.74685428e-02 3.45241838e-04 9.99847354e-01 -1.52518962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.837719421 meters Centerline goodness : 0.985999 Centerline is valid? [True, True] Translation: X:33.04, Y:-0.00, Z:-1.53 [[ 9.97789245e-01 -6.39554962e-02 -1.80642290e-02 3.30445058e+01] [ 6.39377262e-02 9.97952671e-01 -1.56013758e-03 -4.44774817e-03] [ 1.81270249e-02 4.01702767e-04 9.99835611e-01 -1.52588132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.867719421 meters Centerline goodness : 0.986819 Centerline is valid? [True, True] Translation: X:33.07, Y:-0.00, Z:-1.53 [[ 9.97856896e-01 -6.33663800e-02 -1.63192379e-02 3.30708355e+01] [ 6.33518127e-02 9.97990262e-01 -1.40858781e-03 -1.33954820e-03] [ 1.63756976e-02 3.71715761e-04 9.99865840e-01 -1.52779911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.897719421 meters Centerline goodness : 0.987183 Centerline is valid? [True, True] Translation: X:33.10, Y:0.00, Z:-1.53 [[ 9.97872263e-01 -6.35371943e-02 -1.46277798e-02 3.30989694e+01] [ 6.35253724e-02 9.97979413e-01 -1.27187941e-03 2.56072139e-03] [ 1.46790348e-02 3.39938020e-04 9.99892199e-01 -1.52836780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92771942099999 meters Centerline goodness : 0.987400 Centerline is valid? [True, True] Translation: X:33.13, Y:0.01, Z:-1.53 [[ 9.97823762e-01 -6.48897211e-02 -1.17074595e-02 3.31271164e+01] [ 6.48821756e-02 9.97892407e-01 -1.02357348e-03 7.03028684e-03] [ 1.17492044e-02 2.61740493e-04 9.99930941e-01 -1.52908112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.957719421 meters Centerline goodness : 0.987016 Centerline is valid? [True, True] Translation: X:33.16, Y:0.01, Z:-1.53 [[ 9.97767793e-01 -6.58441773e-02 -1.11344570e-02 3.31551209e+01] [ 6.58373628e-02 9.97829888e-01 -9.77854995e-04 9.89017260e-03] [ 1.11746800e-02 2.42608937e-04 9.99937532e-01 -1.52924149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.987719421 meters Centerline goodness : 0.987143 Centerline is valid? [True, True] Translation: X:33.18, Y:0.01, Z:-1.53 [[ 9.97710285e-01 -6.65784677e-02 -1.18951292e-02 3.31824964e+01] [ 6.65707753e-02 9.97781162e-01 -1.04190728e-03 1.09917397e-02] [ 1.19381044e-02 2.47653640e-04 9.99928708e-01 -1.52927567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.017719421 meters Centerline goodness : 0.987792 Centerline is valid? [True, True] Translation: X:33.21, Y:0.01, Z:-1.53 [[ 9.97639182e-01 -6.70597638e-02 -1.48003611e-02 3.32112238e+01] [ 6.70477850e-02 9.97748913e-01 -1.30463486e-03 1.00398010e-02] [ 1.48545327e-02 3.09223428e-04 9.99889618e-01 -1.52864247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.047719421 meters Centerline goodness : 0.988058 Centerline is valid? [True, True] Translation: X:33.24, Y:0.01, Z:-1.53 [[ 9.97604734e-01 -6.76949747e-02 -1.42191715e-02 3.32390993e+01] [ 6.76839098e-02 9.97706021e-01 -1.25851928e-03 1.28722862e-02] [ 1.42717484e-02 2.93095671e-04 9.99898110e-01 -1.52852556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.077719421 meters Centerline goodness : 0.988701 Centerline is valid? [True, True] Translation: X:33.27, Y:0.02, Z:-1.53 [[ 9.97638165e-01 -6.73335816e-02 -1.35749949e-02 3.32667799e+01] [ 6.73233928e-02 9.97730477e-01 -1.20666155e-03 1.66745738e-02] [ 1.36254350e-02 2.89896904e-04 9.99907127e-01 -1.52919675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.107719421 meters Centerline goodness : 0.987903 Centerline is valid? [True, True] Translation: X:33.29, Y:0.02, Z:-1.53 [[ 9.97456759e-01 -7.06967602e-02 -9.05441898e-03 3.32930947e+01] [ 7.06923687e-02 9.97497840e-01 -8.04542183e-04 2.33223849e-02] [ 9.08864191e-03 1.62417713e-04 9.99958684e-01 -1.53072924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.137719421 meters Centerline goodness : 0.988028 Centerline is valid? [True, True] Translation: X:33.32, Y:0.03, Z:-1.53 [[ 9.97007137e-01 -7.68597516e-02 -8.32746772e-03 3.33209747e+01] [ 7.68561927e-02 9.97041909e-01 -7.47024111e-04 2.59196626e-02] [ 8.36025040e-03 1.04770906e-04 9.99965047e-01 -1.53124336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.167719421 meters Centerline goodness : 0.987982 Centerline is valid? [True, True] Translation: X:33.35, Y:0.03, Z:-1.53 [[ 9.96599271e-01 -8.17930794e-02 -9.98927179e-03 3.33493988e+01] [ 8.17881853e-02 9.96649330e-01 -8.98155152e-04 2.76466470e-02] [ 1.00292639e-02 7.80963580e-05 9.99949703e-01 -1.53136102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.197719421 meters Centerline goodness : 0.988149 Centerline is valid? [True, True] Translation: X:33.38, Y:0.03, Z:-1.53 [[ 9.95475616e-01 -9.41961837e-02 -1.24650330e-02 3.33762413e+01] [ 9.41895475e-02 9.95553653e-01 -1.11968880e-03 3.09391136e-02] [ 1.25150795e-02 -5.94529198e-05 9.99921682e-01 -1.53124495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.227719421 meters Centerline goodness : 0.987875 Centerline is valid? [True, True] Translation: X:33.40, Y:0.04, Z:-1.53 [[ 9.94867993e-01 -1.00494924e-01 -1.17663375e-02 3.34039113e+01] [ 1.00489372e-01 9.94937563e-01 -1.06358073e-03 3.61042301e-02] [ 1.18136557e-02 -1.24269444e-04 9.99930209e-01 -1.53242877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.257719421 meters Centerline goodness : 0.986948 Centerline is valid? [True, True] Translation: X:33.43, Y:0.04, Z:-1.53 [[ 9.94042619e-01 -1.08309019e-01 -1.21830863e-02 3.34313423e+01] [ 1.08303604e-01 9.94117250e-01 -1.10525288e-03 4.47957781e-02] [ 1.22311251e-02 -2.20803693e-04 9.99925173e-01 -1.53283303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28771942099999 meters Centerline goodness : 0.988360 Centerline is valid? [True, True] Translation: X:33.46, Y:0.05, Z:-1.53 [[ 9.93796102e-01 -1.10366052e-01 -1.37346832e-02 3.34587385e+01] [ 1.10359312e-01 9.93890970e-01 -1.24997074e-03 5.02421682e-02] [ 1.37887319e-02 -2.73534131e-04 9.99904894e-01 -1.53325398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31771942099999 meters Centerline goodness : 0.987677 Centerline is valid? [True, True] Translation: X:33.49, Y:0.05, Z:-1.53 [[ 9.93780566e-01 -1.10154991e-01 -1.63114952e-02 3.34850541e+01] [ 1.10145504e-01 9.93914369e-01 -1.48159393e-03 5.49317742e-02] [ 1.63754344e-02 -3.24258613e-04 9.99865861e-01 -1.53260085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.347719421 meters Centerline goodness : 0.988140 Centerline is valid? [True, True] Translation: X:33.51, Y:0.06, Z:-1.53 [[ 9.94148259e-01 -1.06506928e-01 -1.80419919e-02 3.35123307e+01] [ 1.06494540e-01 9.94311920e-01 -1.64876933e-03 6.22143588e-02] [ 1.81149730e-02 -2.82252469e-04 9.99835871e-01 -1.53302326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.377719421 meters Centerline goodness : 0.987782 Centerline is valid? [True, True] Translation: X:33.54, Y:0.07, Z:-1.53 [[ 9.94403552e-01 -1.04021610e-01 -1.84683527e-02 3.35402606e+01] [ 1.04008084e-01 9.94575009e-01 -1.69403045e-03 6.73359179e-02] [ 1.85443778e-02 -2.36308081e-04 9.99828010e-01 -1.53274841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.407719421 meters Centerline goodness : 0.987749 Centerline is valid? [True, True] Translation: X:33.57, Y:0.08, Z:-1.53 [[ 9.95223390e-01 -9.65262658e-02 -1.45974266e-02 3.35664628e+01] [ 9.65170137e-02 9.95330435e-01 -1.33863041e-03 7.59762209e-02] [ 1.46584759e-02 -7.66637233e-05 9.99892556e-01 -1.53335313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.437719421 meters Centerline goodness : 0.988281 Centerline is valid? [True, True] Translation: X:33.59, Y:0.08, Z:-1.53 [[ 9.95676261e-01 -9.19277615e-02 -1.33443023e-02 3.35937336e+01] [ 9.19195000e-02 9.95765679e-01 -1.23242413e-03 8.41614748e-02] [ 1.34010923e-02 4.93853529e-07 9.99910201e-01 -1.53332384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.467719421 meters Centerline goodness : 0.986906 Centerline is valid? [True, True] Translation: X:33.62, Y:0.09, Z:-1.53 [[ 9.96737528e-01 -7.97409433e-02 -1.24772802e-02 3.36205617e+01] [ 7.97327042e-02 9.96815608e-01 -1.15718044e-03 9.43846208e-02] [ 1.25298223e-02 1.58557884e-04 9.99921486e-01 -1.53437316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.497719421 meters Centerline goodness : 0.986757 Centerline is valid? [True, True] Translation: X:33.65, Y:0.10, Z:-1.54 [[ 9.97558298e-01 -6.82139939e-02 -1.49764226e-02 3.36475149e+01] [ 6.82008712e-02 9.97670647e-01 -1.38580385e-03 9.71861149e-02] [ 1.50360685e-02 3.61015056e-04 9.99886887e-01 -1.53527700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.527719421 meters Centerline goodness : 0.987091 Centerline is valid? [True, True] Translation: X:33.68, Y:0.10, Z:-1.54 [[ 9.97814382e-01 -6.41290827e-02 -1.59348649e-02 3.36753879e+01] [ 6.41135698e-02 9.97941507e-01 -1.48299970e-03 9.96192212e-02] [ 1.59971665e-02 4.58117357e-04 9.99871932e-01 -1.53590013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.557719421 meters Centerline goodness : 0.985837 Centerline is valid? [True, True] Translation: X:33.70, Y:0.10, Z:-1.54 [[ 9.97998020e-01 -6.05988888e-02 -1.81032159e-02 3.37031459e+01] [ 6.05781901e-02 9.98162024e-01 -1.69007354e-03 1.04764911e-01] [ 1.81723592e-02 5.90030000e-04 9.99834695e-01 -1.53659777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.587719421 meters Centerline goodness : 0.985143 Centerline is valid? [True, True] Translation: X:33.73, Y:0.11, Z:-1.54 [[ 9.98034544e-01 -5.99738934e-02 -1.81708982e-02 3.37298643e+01] [ 5.99529582e-02 9.98199764e-01 -1.69517666e-03 1.07840735e-01] [ 1.82398527e-02 6.02445762e-04 9.99833459e-01 -1.53842638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.617719421 meters Centerline goodness : 0.983275 Centerline is valid? [True, True] Translation: X:33.76, Y:0.11, Z:-1.54 [[ 9.97914093e-01 -6.13918908e-02 -1.99624102e-02 3.37576665e+01] [ 6.13666917e-02 9.98113531e-01 -1.87303716e-03 1.09631337e-01] [ 2.00397411e-02 6.44103100e-04 9.99798977e-01 -1.53930494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.647719421 meters Centerline goodness : 0.984335 Centerline is valid? [True, True] Translation: X:33.78, Y:0.11, Z:-1.54 [[ 9.97819461e-01 -6.28952431e-02 -2.00127723e-02 3.37844980e+01] [ 6.28702383e-02 9.98019945e-01 -1.87678925e-03 1.11640155e-01] [ 2.00911870e-02 6.14489075e-04 9.99797963e-01 -1.53955486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67771942099999 meters Centerline goodness : 0.983659 Centerline is valid? [True, True] Translation: X:33.81, Y:0.11, Z:-1.54 [[ 9.97635466e-01 -6.55569224e-02 -2.06341092e-02 3.38111767e+01] [ 6.55308545e-02 9.97848662e-01 -1.93770213e-03 1.11657761e-01] [ 2.07167480e-02 5.80949560e-04 9.99785216e-01 -1.53933936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.707719421 meters Centerline goodness : 0.983001 Centerline is valid? [True, True] Translation: X:33.84, Y:0.11, Z:-1.54 [[ 9.97377296e-01 -6.88409051e-02 -2.23485906e-02 3.38390049e+01] [ 6.88108932e-02 9.97627490e-01 -2.11005476e-03 1.11260093e-01] [ 2.24408265e-02 5.66694222e-04 9.99748012e-01 -1.54073330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.737719421 meters Centerline goodness : 0.983056 Centerline is valid? [True, True] Translation: X:33.87, Y:0.11, Z:-1.54 [[ 9.97356315e-01 -6.93431071e-02 -2.17236048e-02 3.38665327e+01] [ 6.93147004e-02 9.97592719e-01 -2.05880310e-03 1.12231721e-01] [ 2.18140738e-02 5.47595117e-04 9.99761895e-01 -1.54212304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.767719421 meters Centerline goodness : 0.982582 Centerline is valid? [True, True] Translation: X:33.89, Y:0.11, Z:-1.54 [[ 9.97284501e-01 -7.12041775e-02 -1.88039873e-02 3.38945910e+01] [ 7.11830870e-02 9.97461662e-01 -1.78940314e-03 1.10832577e-01] [ 1.88836694e-02 4.46018154e-04 9.99821588e-01 -1.54319346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.797719421 meters Centerline goodness : 0.983510 Centerline is valid? [True, True] Translation: X:33.92, Y:0.11, Z:-1.54 [[ 9.97254933e-01 -7.17889604e-02 -1.81368285e-02 3.39218013e+01] [ 7.17693949e-02 9.97419755e-01 -1.72820803e-03 1.11100426e-01] [ 1.82140973e-02 4.21794773e-04 9.99834021e-01 -1.54407753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.827719421 meters Centerline goodness : 0.983510 Centerline is valid? [True, True] Translation: X:33.95, Y:0.11, Z:-1.54 [[ 9.97232430e-01 -7.21010547e-02 -1.81361304e-02 3.39501493e+01] [ 7.20814076e-02 9.97397242e-01 -1.73553498e-03 1.14055437e-01] [ 1.82140603e-02 4.23453962e-04 9.99834021e-01 -1.54465611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.857719421 meters Centerline goodness : 0.982240 Centerline is valid? [True, True] Translation: X:33.98, Y:0.12, Z:-1.55 [[ 9.97096427e-01 -7.40610021e-02 -1.77110968e-02 3.39785948e+01] [ 7.40424560e-02 9.97253639e-01 -1.70150019e-03 1.15136588e-01] [ 1.77884706e-02 3.85186651e-04 9.99841698e-01 -1.54560745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.887719421 meters Centerline goodness : 0.982211 Centerline is valid? [True, True] Translation: X:34.01, Y:0.12, Z:-1.55 [[ 9.96965609e-01 -7.58151427e-02 -1.76532678e-02 3.40053528e+01] [ 7.57970148e-02 9.97121828e-01 -1.69467880e-03 1.16195172e-01] [ 1.77309410e-02 3.51471476e-04 9.99842733e-01 -1.54589171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.917719421 meters Centerline goodness : 0.980970 Centerline is valid? [True, True] Translation: X:34.03, Y:0.11, Z:-1.55 [[ 9.96502592e-01 -8.13713950e-02 -1.90073512e-02 3.40343418e+01] [ 8.13512112e-02 9.96683810e-01 -1.83397920e-03 1.10939627e-01] [ 1.90935527e-02 2.81293989e-04 9.99817662e-01 -1.54715420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.947719421 meters Centerline goodness : 0.981757 Centerline is valid? [True, True] Translation: X:34.06, Y:0.11, Z:-1.55 [[ 9.96084059e-01 -8.60135463e-02 -2.04503480e-02 3.40624985e+01] [ 8.59910059e-02 9.96293945e-01 -1.98065860e-03 1.09511090e-01] [ 2.05449213e-02 2.14356466e-04 9.99788908e-01 -1.54782931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.977719421 meters Centerline goodness : 0.981475 Centerline is valid? [True, True] Translation: X:34.09, Y:0.11, Z:-1.55 [[ 9.95208542e-01 -9.54761290e-02 -2.10776267e-02 3.40909973e+01] [ 9.54541535e-02 9.95431719e-01 -2.04853874e-03 1.06017426e-01] [ 2.11769247e-02 2.67762404e-05 9.99775743e-01 -1.54849973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.007719421 meters Centerline goodness : 0.981542 Centerline is valid? [True, True] Translation: X:34.12, Y:0.11, Z:-1.55 [[ 9.94785828e-01 -1.00117104e-01 -1.94350849e-02 3.41192552e+01] [ 1.00099159e-01 9.94975659e-01 -1.89640304e-03 1.08938116e-01] [ 1.95272987e-02 -5.89207753e-05 9.99809322e-01 -1.54963424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03771942099999 meters Centerline goodness : 0.981120 Centerline is valid? [True, True] Translation: X:34.15, Y:0.11, Z:-1.55 [[ 9.94088435e-01 -1.06828047e-01 -1.93894836e-02 3.41456063e+01] [ 1.06811482e-01 9.94277492e-01 -1.89088745e-03 1.13173604e-01] [ 1.94805269e-02 -1.91310135e-04 9.99810218e-01 -1.54921468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06771942099999 meters Centerline goodness : 0.981701 Centerline is valid? [True, True] Translation: X:34.17, Y:0.12, Z:-1.55 [[ 9.93829437e-01 -1.09217285e-01 -1.93554773e-02 3.41731775e+01] [ 1.09201024e-01 9.94017874e-01 -1.89824964e-03 1.15866795e-01] [ 1.94470121e-02 -2.27101567e-04 9.99810863e-01 -1.54892943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.097719421 meters Centerline goodness : 0.981917 Centerline is valid? [True, True] Translation: X:34.20, Y:0.12, Z:-1.55 [[ 9.93702058e-01 -1.10916526e-01 -1.59293386e-02 3.42007551e+01] [ 1.10905622e-01 9.93829704e-01 -1.56899702e-03 1.18081436e-01] [ 1.60050776e-02 -2.07537641e-04 9.99871889e-01 -1.55024704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.127719421 meters Centerline goodness : 0.982331 Centerline is valid? [True, True] Translation: X:34.23, Y:0.12, Z:-1.55 [[ 9.93571297e-01 -1.12242399e-01 -1.47553741e-02 3.42282208e+01] [ 1.12233105e-01 9.93680835e-01 -1.45908707e-03 1.23435003e-01] [ 1.48259038e-02 -2.06334410e-04 9.99890069e-01 -1.55016186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.157719421 meters Centerline goodness : 0.982557 Centerline is valid? [True, True] Translation: X:34.26, Y:0.13, Z:-1.55 [[ 9.93239860e-01 -1.15448655e-01 -1.20908521e-02 3.42551646e+01] [ 1.15442584e-01 9.93313428e-01 -1.20124097e-03 1.32782686e-01] [ 1.21486874e-02 -2.02678796e-04 9.99926181e-01 -1.55070463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.187719421 meters Centerline goodness : 0.982873 Centerline is valid? [True, True] Translation: X:34.28, Y:0.14, Z:-1.55 [[ 9.92718110e-01 -1.19942406e-01 -1.11612306e-02 3.42826977e+01] [ 1.19937468e-01 9.92780824e-01 -1.11321546e-03 1.43295299e-01] [ 1.12141774e-02 -2.33540582e-04 9.99937092e-01 -1.55133524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.217719421 meters Centerline goodness : 0.983889 Centerline is valid? [True, True] Translation: X:34.31, Y:0.15, Z:-1.55 [[ 9.92332934e-01 -1.23037282e-01 -1.17121798e-02 3.43105724e+01] [ 1.23032014e-01 9.92402010e-01 -1.17197862e-03 1.50614483e-01] [ 1.17673878e-02 -2.77980077e-04 9.99930723e-01 -1.55085295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.247719421 meters Centerline goodness : 0.982774 Centerline is valid? [True, True] Translation: X:34.34, Y:0.16, Z:-1.55 [[ 9.91860325e-01 -1.26767895e-01 -1.19581196e-02 3.43378868e+01] [ 1.26762626e-01 9.91932354e-01 -1.20061128e-03 1.56229461e-01] [ 1.20138447e-02 -3.25003942e-04 9.99927778e-01 -1.55224388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.277719421 meters Centerline goodness : 0.982575 Centerline is valid? [True, True] Translation: X:34.37, Y:0.16, Z:-1.55 [[ 9.90761963e-01 -1.34756290e-01 -1.52142982e-02 3.43653775e+01] [ 1.34748650e-01 9.90878629e-01 -1.53087256e-03 1.59243877e-01] [ 1.52818176e-02 -5.33375841e-04 9.99883084e-01 -1.55219325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.307719421 meters Centerline goodness : 0.983101 Centerline is valid? [True, True] Translation: X:34.39, Y:0.16, Z:-1.55 [[ 9.90266341e-01 -1.38299895e-01 -1.56752306e-02 3.43917054e+01] [ 1.38292257e-01 9.90390211e-01 -1.57539918e-03 1.64334445e-01] [ 1.57424725e-02 -6.07698235e-04 9.99875895e-01 -1.55287053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.337719421 meters Centerline goodness : 0.984383 Centerline is valid? [True, True] Translation: X:34.42, Y:0.18, Z:-1.55 [[ 9.89614218e-01 -1.43033865e-01 -1.43182791e-02 3.44185435e+01] [ 1.43027855e-01 9.89717604e-01 -1.44820370e-03 1.78119464e-01] [ 1.43781951e-02 -6.14749771e-04 9.99896439e-01 -1.55323133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.367719421 meters Centerline goodness : 0.983657 Centerline is valid? [True, True] Translation: X:34.45, Y:0.19, Z:-1.55 [[ 9.89582217e-01 -1.43322489e-01 -1.36271922e-02 3.44450139e+01] [ 1.43317094e-01 9.89675864e-01 -1.37669902e-03 1.85880328e-01] [ 1.36838151e-02 -5.90652718e-04 9.99906198e-01 -1.55318159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.397719421 meters Centerline goodness : 0.982550 Centerline is valid? [True, True] Translation: X:34.47, Y:0.19, Z:-1.55 [[ 9.89897621e-01 -1.40959624e-01 -1.52671248e-02 3.44722928e+01] [ 1.40952433e-01 9.90015154e-01 -1.55138709e-03 1.94268805e-01] [ 1.53333678e-02 -6.16223997e-04 9.99882247e-01 -1.55341007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42771942099999 meters Centerline goodness : 0.981819 Centerline is valid? [True, True] Translation: X:34.50, Y:0.20, Z:-1.55 [[ 9.90244386e-01 -1.38404872e-01 -1.61290987e-02 3.44994433e+01] [ 1.38396540e-01 9.90375544e-01 -1.63701359e-03 1.98494217e-01] [ 1.62004355e-02 -6.11167931e-04 9.99868578e-01 -1.55448942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.457719421 meters Centerline goodness : 0.983726 Centerline is valid? [True, True] Translation: X:34.53, Y:0.21, Z:-1.56 [[ 9.90790158e-01 -1.34396567e-01 -1.65053188e-02 3.45265518e+01] [ 1.34387128e-01 9.90927475e-01 -1.68470245e-03 2.07630957e-01] [ 1.65819921e-02 -5.48915781e-04 9.99862359e-01 -1.55592961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.487719421 meters Centerline goodness : 0.983678 Centerline is valid? [True, True] Translation: X:34.55, Y:0.21, Z:-1.56 [[ 9.91161808e-01 -1.31505073e-01 -1.74552855e-02 3.45529590e+01] [ 1.31494100e-01 9.91315355e-01 -1.77990287e-03 2.14991436e-01] [ 1.75377588e-02 -5.31095308e-04 9.99846061e-01 -1.55571021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.517719421 meters Centerline goodness : 0.983419 Centerline is valid? [True, True] Translation: X:34.58, Y:0.23, Z:-1.56 [[ 9.92248058e-01 -1.23259055e-01 -1.58428985e-02 3.45802879e+01] [ 1.23248802e-01 9.92374471e-01 -1.62562395e-03 2.26813338e-01] [ 1.59224609e-02 -3.39596055e-04 9.99873172e-01 -1.55539693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.547719421 meters Centerline goodness : 0.983691 Centerline is valid? [True, True] Translation: X:34.61, Y:0.23, Z:-1.56 [[ 9.92850497e-01 -1.18424526e-01 -1.49506720e-02 3.46070093e+01] [ 1.18414868e-01 9.92963025e-01 -1.53269978e-03 2.33183530e-01] [ 1.50269737e-02 -2.48640118e-04 9.99887058e-01 -1.55546090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.577719421 meters Centerline goodness : 0.983503 Centerline is valid? [True, True] Translation: X:34.63, Y:0.24, Z:-1.56 [[ 9.94062957e-01 -1.07757285e-01 -1.50732980e-02 3.46346301e+01] [ 1.07746103e-01 9.94177228e-01 -1.55436338e-03 2.41653811e-01] [ 1.51530236e-02 -7.89540575e-05 9.99885183e-01 -1.55534160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.607719421 meters Centerline goodness : 0.983797 Centerline is valid? [True, True] Translation: X:34.66, Y:0.25, Z:-1.56 [[ 9.94710544e-01 -1.01531946e-01 -1.55626757e-02 3.46618713e+01] [ 1.01519172e-01 9.94832279e-01 -1.61064594e-03 2.46765447e-01] [ 1.56457842e-02 2.22165396e-05 9.99877597e-01 -1.55691922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.637719421 meters Centerline goodness : 0.983940 Centerline is valid? [True, True] Translation: X:34.69, Y:0.25, Z:-1.56 [[ 9.95765653e-01 -9.05495175e-02 -1.58602837e-02 3.46883235e+01] [ 9.05348853e-02 9.95891935e-01 -1.63962458e-03 2.53782874e-01] [ 1.59435958e-02 1.96772870e-04 9.99872873e-01 -1.55996645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.667719421 meters Centerline goodness : 0.984766 Centerline is valid? [True, True] Translation: X:34.72, Y:0.26, Z:-1.56 [[ 9.96066732e-01 -8.70819236e-02 -1.63647262e-02 3.47153249e+01] [ 8.70657209e-02 9.96201117e-01 -1.70131312e-03 2.60563060e-01] [ 1.64507122e-02 2.69814709e-04 9.99864641e-01 -1.56058615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.697719421 meters Centerline goodness : 0.984489 Centerline is valid? [True, True] Translation: X:34.74, Y:0.27, Z:-1.56 [[ 9.96480083e-01 -8.24358460e-02 -1.52241563e-02 3.47419848e+01] [ 8.24211824e-02 9.96596319e-01 -1.58918286e-03 2.71848657e-01] [ 1.53033438e-02 3.28796106e-04 9.99882843e-01 -1.56004171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.727719421 meters Centerline goodness : 0.984950 Centerline is valid? [True, True] Translation: X:34.77, Y:0.28, Z:-1.56 [[ 9.96566001e-01 -8.16560187e-02 -1.37295522e-02 3.47690236e+01] [ 8.16440374e-02 9.96660524e-01 -1.43184520e-03 2.76731433e-01] [ 1.38006214e-02 3.05992169e-04 9.99904720e-01 -1.55974857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.757719421 meters Centerline goodness : 0.984468 Centerline is valid? [True, True] Translation: X:34.80, Y:0.28, Z:-1.56 [[ 9.96385362e-01 -8.37896184e-02 -1.39824734e-02 3.47959655e+01] [ 8.37773734e-02 9.96483427e-01 -1.46021960e-03 2.77776778e-01] [ 1.40556543e-02 2.83526537e-04 9.99901174e-01 -1.56120231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78771942099999 meters Centerline goodness : 0.984374 Centerline is valid? [True, True] Translation: X:34.82, Y:0.28, Z:-1.56 [[ 9.95719982e-01 -9.10720952e-02 -1.57350160e-02 3.48242387e+01] [ 9.10573516e-02 9.95844279e-01 -1.65240254e-03 2.77078821e-01] [ 1.58201134e-02 2.12541352e-04 9.99874832e-01 -1.56341027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81771942099999 meters Centerline goodness : 0.984716 Centerline is valid? [True, True] Translation: X:34.85, Y:0.28, Z:-1.56 [[ 9.95281437e-01 -9.58146676e-02 -1.53104923e-02 3.48522087e+01] [ 9.58011811e-02 9.95399181e-01 -1.61356994e-03 2.79378658e-01] [ 1.53946552e-02 1.39192960e-04 9.99881486e-01 -1.56498118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.847719421 meters Centerline goodness : 0.983434 Centerline is valid? [True, True] Translation: X:34.88, Y:0.28, Z:-1.57 [[ 9.94829256e-01 -1.00617035e-01 -1.38189615e-02 3.48795801e+01] [ 1.00606434e-01 9.94925227e-01 -1.46195190e-03 2.82295710e-01] [ 1.38959307e-02 6.41160860e-05 9.99903445e-01 -1.56564019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.877719421 meters Centerline goodness : 0.984901 Centerline is valid? [True, True] Translation: X:34.91, Y:0.28, Z:-1.57 [[ 9.94295650e-01 -1.05839320e-01 -1.31984768e-02 3.49065031e+01] [ 1.05830132e-01 9.94383245e-01 -1.39460045e-03 2.84852316e-01] [ 1.32719478e-02 -1.01513773e-05 9.99911924e-01 -1.56528144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.907719421 meters Centerline goodness : 0.984576 Centerline is valid? [True, True] Translation: X:34.93, Y:0.29, Z:-1.56 [[ 9.94102815e-01 -1.07448474e-01 -1.46430196e-02 3.49340247e+01] [ 1.07437210e-01 9.94210654e-01 -1.55594629e-03 2.86370757e-01] [ 1.47254302e-02 -2.64345891e-05 9.99891575e-01 -1.56433605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.937719421 meters Centerline goodness : 0.984033 Centerline is valid? [True, True] Translation: X:34.96, Y:0.29, Z:-1.56 [[ 9.93747864e-01 -1.10339490e-01 -1.70405412e-02 3.49623996e+01] [ 1.10324580e-01 9.93893954e-01 -1.81545183e-03 2.86790590e-01] [ 1.71368069e-02 -7.58891739e-05 9.99853151e-01 -1.56376506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.967719421 meters Centerline goodness : 0.984694 Centerline is valid? [True, True] Translation: X:34.99, Y:0.29, Z:-1.56 [[ 9.93465019e-01 -1.12854533e-01 -1.70619650e-02 3.49896893e+01] [ 1.12839847e-01 9.93611514e-01 -1.82413834e-03 2.91906541e-01] [ 1.71588272e-02 -1.13051887e-04 9.99852770e-01 -1.56451019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.997719421 meters Centerline goodness : 0.984418 Centerline is valid? [True, True] Translation: X:35.02, Y:0.30, Z:-1.57 [[ 9.93398320e-01 -1.13421724e-01 -1.71840348e-02 3.50167107e+01] [ 1.13406938e-01 9.93546927e-01 -1.83569753e-03 2.96615594e-01] [ 1.72813530e-02 -1.25209924e-04 9.99850658e-01 -1.56582283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.027719421 meters Centerline goodness : 0.984335 Centerline is valid? [True, True] Translation: X:35.04, Y:0.30, Z:-1.57 [[ 9.93279214e-01 -1.14329528e-01 -1.80322411e-02 3.50444433e+01] [ 1.14313206e-01 9.93442872e-01 -1.93670780e-03 3.01458859e-01] [ 1.81354243e-02 -1.37631694e-04 9.99835530e-01 -1.56625616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.057719421 meters Centerline goodness : 0.983329 Centerline is valid? [True, True] Translation: X:35.07, Y:0.31, Z:-1.57 [[ 9.93062641e-01 -1.16440377e-01 -1.63777091e-02 3.50718003e+01] [ 1.16427089e-01 9.93197672e-01 -1.76568723e-03 3.05299928e-01] [ 1.64718999e-02 -1.53370985e-04 9.99864317e-01 -1.56802670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.087719421 meters Centerline goodness : 0.984759 Centerline is valid? [True, True] Translation: X:35.10, Y:0.31, Z:-1.57 [[ 9.92844871e-01 -1.18447604e-01 -1.51402824e-02 3.50987259e+01] [ 1.18436501e-01 9.92960289e-01 -1.63103354e-03 3.08102885e-01] [ 1.52268912e-02 -1.73798789e-04 9.99884049e-01 -1.56938144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.117719421 meters Centerline goodness : 0.984109 Centerline is valid? [True, True] Translation: X:35.13, Y:0.31, Z:-1.57 [[ 9.92180343e-01 -1.23883457e-01 -1.52005460e-02 3.51269719e+01] [ 1.23872763e-01 9.92296743e-01 -1.64665145e-03 3.11236303e-01] [ 1.52874451e-02 -2.49158422e-04 9.99883109e-01 -1.56976006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.147719421 meters Centerline goodness : 0.984955 Centerline is valid? [True, True] Translation: X:35.15, Y:0.32, Z:-1.57 [[ 9.91786338e-01 -1.26826662e-01 -1.65788438e-02 3.51545820e+01] [ 1.26814267e-01 9.91924845e-01 -1.80105605e-03 3.18750268e-01] [ 1.66733890e-02 -3.16171138e-04 9.99860939e-01 -1.56913410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17771942099999 meters Centerline goodness : 0.986231 Centerline is valid? [True, True] Translation: X:35.18, Y:0.33, Z:-1.57 [[ 9.91915717e-01 -1.25911622e-01 -1.57947434e-02 3.51821406e+01] [ 1.25900166e-01 9.92041423e-01 -1.72154414e-03 3.25500105e-01] [ 1.58858021e-02 -2.80934130e-04 9.99873773e-01 -1.56975962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.207719421 meters Centerline goodness : 0.986119 Centerline is valid? [True, True] Translation: X:35.21, Y:0.33, Z:-1.57 [[ 9.92907108e-01 -1.18262411e-01 -1.22260697e-02 3.52087044e+01] [ 1.18254974e-01 9.92982370e-01 -1.33202743e-03 3.34005478e-01] [ 1.22978005e-02 -1.23214047e-04 9.99924372e-01 -1.57010525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.237719421 meters Centerline goodness : 0.985281 Centerline is valid? [True, True] Translation: X:35.24, Y:0.34, Z:-1.57 [[ 9.93474804e-01 -1.13492898e-01 -1.12772210e-02 3.52361865e+01] [ 1.13486171e-01 9.93538806e-01 -1.23672955e-03 3.39216802e-01] [ 1.13447168e-02 -5.11489916e-05 9.99935645e-01 -1.57101075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.267719421 meters Centerline goodness : 0.985374 Centerline is valid? [True, True] Translation: X:35.26, Y:0.34, Z:-1.57 [[ 9.94101026e-01 -1.07866906e-01 -1.13084409e-02 3.52630687e+01] [ 1.07859804e-01 9.94165344e-01 -1.23787795e-03 3.43874839e-01] [ 1.13759861e-02 1.08495302e-05 9.99935291e-01 -1.57146793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.297719421 meters Centerline goodness : 0.985710 Centerline is valid? [True, True] Translation: X:35.29, Y:0.35, Z:-1.57 [[ 9.95287603e-01 -9.64211865e-02 -1.02733204e-02 3.52899624e+01] [ 9.64146960e-02 9.95340614e-01 -1.12634271e-03 3.49824255e-01] [ 1.03340564e-02 1.30535870e-04 9.99946594e-01 -1.57278881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.327719421 meters Centerline goodness : 0.987624 Centerline is valid? [True, True] Translation: X:35.32, Y:0.36, Z:-1.57 [[ 9.96044073e-01 -8.85409411e-02 -7.53036906e-03 3.53174489e+01] [ 8.85371728e-02 9.96072525e-01 -8.32974209e-04 3.55393189e-01] [ 7.57454604e-03 1.62961438e-04 9.99971299e-01 -1.57380812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.357719421 meters Centerline goodness : 0.987351 Centerline is valid? [True, True] Translation: X:35.35, Y:0.36, Z:-1.57 [[ 9.96263422e-01 -8.60094489e-02 -7.84661024e-03 3.53457342e+01] [ 8.60052582e-02 9.96294303e-01 -8.70580121e-04 3.58399963e-01] [ 7.89241119e-03 1.92477391e-04 9.99968836e-01 -1.57436127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.387719421 meters Centerline goodness : 0.985240 Centerline is valid? [True, True] Translation: X:35.37, Y:0.36, Z:-1.57 [[ 9.96419854e-01 -8.36576172e-02 -1.22015203e-02 3.53725784e+01] [ 8.36473823e-02 9.96494505e-01 -1.34764994e-03 3.57406813e-01] [ 1.22714892e-02 3.22199921e-04 9.99924651e-01 -1.57476138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.417719421 meters Centerline goodness : 0.986273 Centerline is valid? [True, True] Translation: X:35.40, Y:0.36, Z:-1.57 [[ 9.96401172e-01 -8.35614503e-02 -1.42193331e-02 3.54006220e+01] [ 8.35474189e-02 9.96502552e-01 -1.57900612e-03 3.58004071e-01] [ 1.43015458e-02 3.85334972e-04 9.99897653e-01 -1.57473717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.447719421 meters Centerline goodness : 0.985725 Centerline is valid? [True, True] Translation: X:35.43, Y:0.36, Z:-1.58 [[ 9.96408458e-01 -8.30286800e-02 -1.66259981e-02 3.54285371e+01] [ 8.30093442e-02 9.96547050e-01 -1.85092468e-03 3.57847963e-01] [ 1.67222692e-02 4.64163806e-04 9.99860065e-01 -1.57541862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.477719421 meters Centerline goodness : 0.983739 Centerline is valid? [True, True] Translation: X:35.46, Y:0.36, Z:-1.58 [[ 9.96456476e-01 -8.23455707e-02 -1.71376473e-02 3.54562723e+01] [ 8.23248233e-02 9.96603713e-01 -1.91381028e-03 3.59520289e-01] [ 1.72370367e-02 4.96174854e-04 9.99851308e-01 -1.57740645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.507719421 meters Centerline goodness : 0.984271 Centerline is valid? [True, True] Translation: X:35.48, Y:0.36, Z:-1.58 [[ 9.96508192e-01 -8.13326684e-02 -1.88790913e-02 3.54834381e+01] [ 8.13073442e-02 9.96686851e-01 -2.10637852e-03 3.57156130e-01] [ 1.89878594e-02 5.64014678e-04 9.99819555e-01 -1.57835947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53771942099999 meters Centerline goodness : 0.984386 Centerline is valid? [True, True] Translation: X:35.51, Y:0.36, Z:-1.58 [[ 9.96510306e-01 -8.13178923e-02 -1.88310934e-02 3.55103380e+01] [ 8.12926407e-02 9.96688056e-01 -2.10384314e-03 3.56945974e-01] [ 1.89398059e-02 5.65672062e-04 9.99820466e-01 -1.57742272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56771942099999 meters Centerline goodness : 0.986265 Centerline is valid? [True, True] Translation: X:35.54, Y:0.36, Z:-1.58 [[ 9.96354330e-01 -8.38617699e-02 -1.56605134e-02 3.55372395e+01] [ 8.38445762e-02 9.96477303e-01 -1.75242081e-03 3.57203615e-01] [ 1.57523073e-02 4.32982947e-04 9.99875831e-01 -1.57793148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.597719421 meters Centerline goodness : 0.986560 Centerline is valid? [True, True] Translation: X:35.56, Y:0.36, Z:-1.58 [[ 9.96223597e-01 -8.55443466e-02 -1.48562862e-02 3.55646995e+01] [ 8.55289221e-02 9.96334286e-01 -1.67168501e-03 3.59361064e-01] [ 1.49448305e-02 3.94729915e-04 9.99888242e-01 -1.57892813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.627719421 meters Centerline goodness : 0.985135 Centerline is valid? [True, True] Translation: X:35.59, Y:0.36, Z:-1.58 [[ 9.95853478e-01 -8.95246776e-02 -1.61611607e-02 3.55921352e+01] [ 8.95069834e-02 9.95984538e-01 -1.81632845e-03 3.58285236e-01] [ 1.62588724e-02 3.62260258e-04 9.99867750e-01 -1.57990174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.657719421 meters Centerline goodness : 0.985164 Centerline is valid? [True, True] Translation: X:35.62, Y:0.36, Z:-1.58 [[ 9.95517397e-01 -9.28707719e-02 -1.78922287e-02 3.56200982e+01] [ 9.28494432e-02 9.95678109e-01 -2.02090671e-03 3.59530124e-01] [ 1.80025836e-02 3.50564313e-04 9.99837879e-01 -1.57999675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.687719421 meters Centerline goodness : 0.985175 Centerline is valid? [True, True] Translation: X:35.65, Y:0.36, Z:-1.58 [[ 9.95239423e-01 -9.60554400e-02 -1.64876928e-02 3.56470341e+01] [ 9.60377816e-02 9.95375949e-01 -1.86129609e-03 3.60235698e-01] [ 1.65902405e-02 2.68993804e-04 9.99862336e-01 -1.58094428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.717719421 meters Centerline goodness : 0.985175 Centerline is valid? [True, True] Translation: X:35.68, Y:0.36, Z:-1.58 [[ 9.95209657e-01 -9.63635101e-02 -1.64867518e-02 3.56753076e+01] [ 9.63457559e-02 9.95346171e-01 -1.86962998e-03 3.63700680e-01] [ 1.65901894e-02 2.72245253e-04 9.99862336e-01 -1.58152279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.747719421 meters Centerline goodness : 0.984703 Centerline is valid? [True, True] Translation: X:35.70, Y:0.36, Z:-1.58 [[ 9.94473901e-01 -1.04070861e-01 -1.38172038e-02 3.57034292e+01] [ 1.04059052e-01 9.94569877e-01 -1.57286905e-03 3.61972639e-01] [ 1.39058645e-02 1.26372101e-04 9.99903301e-01 -1.58171784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.777719421 meters Centerline goodness : 0.985908 Centerline is valid? [True, True] Translation: X:35.73, Y:0.36, Z:-1.58 [[ 9.93562182e-01 -1.12672774e-01 -1.17913619e-02 3.57323828e+01] [ 1.12664715e-01 9.93632148e-01 -1.34768056e-03 3.58542259e-01] [ 1.18681232e-02 1.05340158e-05 9.99929571e-01 -1.58279932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.807719421 meters Centerline goodness : 0.984909 Centerline is valid? [True, True] Translation: X:35.76, Y:0.36, Z:-1.58 [[ 9.93147035e-01 -1.16258741e-01 -1.19529264e-02 3.57605712e+01] [ 1.16250668e-01 9.93218961e-01 -1.37031226e-03 3.59808356e-01] [ 1.20311839e-02 -2.86141224e-05 9.99927622e-01 -1.58235285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.837719421 meters Centerline goodness : 0.984878 Centerline is valid? [True, True] Translation: X:35.79, Y:0.36, Z:-1.58 [[ 9.92929033e-01 -1.17865637e-01 -1.41289495e-02 3.57870407e+01] [ 1.17854523e-01 9.93029551e-01 -1.61958899e-03 3.62542780e-01] [ 1.42213582e-02 -5.70236802e-05 9.99898870e-01 -1.58332863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.867719421 meters Centerline goodness : 0.984058 Centerline is valid? [True, True] Translation: X:35.81, Y:0.37, Z:-1.58 [[ 9.92997217e-01 -1.17084291e-01 -1.57415312e-02 3.58145324e+01] [ 1.17070285e-01 9.93121980e-01 -1.81151414e-03 3.66609636e-01] [ 1.58453605e-02 -4.40370529e-05 9.99874453e-01 -1.58443869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89771942099999 meters Centerline goodness : 0.983994 Centerline is valid? [True, True] Translation: X:35.84, Y:0.37, Z:-1.58 [[ 9.93145361e-01 -1.15351004e-01 -1.88795681e-02 3.58411537e+01] [ 1.15330528e-01 9.93324794e-01 -2.17345505e-03 3.70837427e-01] [ 1.90042533e-02 -1.88337591e-05 9.99819403e-01 -1.58459643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92771942099999 meters Centerline goodness : 0.981223 Centerline is valid? [True, True] Translation: X:35.87, Y:0.37, Z:-1.59 [[ 9.93718404e-01 -1.09969600e-01 -2.07465783e-02 3.58688105e+01] [ 1.09943509e-01 9.93934946e-01 -2.39749671e-03 3.73140686e-01] [ 2.08844009e-02 1.01484989e-04 9.99781892e-01 -1.58509057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.957719421 meters Centerline goodness : 0.982132 Centerline is valid? [True, True] Translation: X:35.90, Y:0.37, Z:-1.58 [[ 9.94307839e-01 -1.05022221e-01 -1.79514600e-02 3.58964275e+01] [ 1.05001887e-01 9.94469860e-01 -2.07415688e-03 3.72627968e-01] [ 1.80700185e-02 1.77413259e-04 9.99836708e-01 -1.58468891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.987719421 meters Centerline goodness : 0.981574 Centerline is valid? [True, True] Translation: X:35.92, Y:0.38, Z:-1.59 [[ 9.94593460e-01 -1.02753669e-01 -1.50177698e-02 3.59242425e+01] [ 1.02739029e-01 9.94706814e-01 -1.74518218e-03 3.75306070e-01] [ 1.51176019e-02 1.92835693e-04 9.99885704e-01 -1.58545451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.017719421 meters Centerline goodness : 0.982687 Centerline is valid? [True, True] Translation: X:35.95, Y:0.38, Z:-1.59 [[ 9.94930279e-01 -9.98947729e-02 -1.16092264e-02 3.59510421e+01] [ 9.98858379e-02 9.94997991e-01 -1.34838777e-03 3.78952908e-01] [ 1.16858539e-02 1.81954512e-04 9.99931702e-01 -1.58639330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.047719421 meters Centerline goodness : 0.984152 Centerline is valid? [True, True] Translation: X:35.98, Y:0.39, Z:-1.59 [[ 9.95481709e-01 -9.42445640e-02 -1.15813829e-02 3.59785193e+01] [ 9.42351976e-02 9.95549043e-01 -1.35302338e-03 3.86059459e-01] [ 1.16573497e-02 2.55536127e-04 9.99932018e-01 -1.58626541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.077719421 meters Centerline goodness : 0.981270 Centerline is valid? [True, True] Translation: X:36.01, Y:0.39, Z:-1.59 [[ 9.96035261e-01 -8.75468143e-02 -1.57896933e-02 3.60050115e+01] [ 8.75286279e-02 9.96160304e-01 -1.84053087e-03 3.87766260e-01] [ 1.58901983e-02 4.51183458e-04 9.99873641e-01 -1.58765911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.107719421 meters Centerline goodness : 0.981387 Centerline is valid? [True, True] Translation: X:36.03, Y:0.39, Z:-1.59 [[ 9.96257855e-01 -8.49433817e-02 -1.59658344e-02 3.60330795e+01] [ 8.49243058e-02 9.96385650e-01 -1.87023671e-03 3.88328853e-01] [ 1.60669925e-02 5.07350617e-04 9.99870789e-01 -1.58901348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.137719421 meters Centerline goodness : 0.980127 Centerline is valid? [True, True] Translation: X:36.06, Y:0.39, Z:-1.59 [[ 9.96657052e-01 -8.00869589e-02 -1.61493013e-02 3.60615138e+01] [ 8.00667192e-02 9.96787701e-01 -1.89701257e-03 3.89035166e-01] [ 1.62493508e-02 5.97649388e-04 9.99867792e-01 -1.58779096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.167719421 meters Centerline goodness : 0.980784 Centerline is valid? [True, True] Translation: X:36.09, Y:0.39, Z:-1.59 [[ 9.96801779e-01 -7.81150962e-02 -1.68595827e-02 3.60889255e+01] [ 7.80926574e-02 9.96944127e-01 -1.98620404e-03 3.92260502e-01] [ 1.69632144e-02 6.63242105e-04 9.99855894e-01 -1.58818587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.197719421 meters Centerline goodness : 0.980326 Centerline is valid? [True, True] Translation: X:36.12, Y:0.40, Z:-1.59 [[ 9.96867048e-01 -7.71105718e-02 -1.76081831e-02 3.61161882e+01] [ 7.70859683e-02 9.97022295e-01 -2.07276196e-03 3.95222052e-01] [ 1.77155830e-02 7.08924251e-04 9.99842815e-01 -1.58835328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.227719421 meters Centerline goodness : 0.979516 Centerline is valid? [True, True] Translation: X:36.14, Y:0.40, Z:-1.59 [[ 9.96869065e-01 -7.73279567e-02 -1.65061921e-02 3.61445603e+01] [ 7.73062079e-02 9.97005485e-01 -1.95259126e-03 3.95590579e-01] [ 1.66077539e-02 6.70446705e-04 9.99861857e-01 -1.59042708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.257719421 meters Centerline goodness : 0.979575 Centerline is valid? [True, True] Translation: X:36.17, Y:0.40, Z:-1.59 [[ 9.96728650e-01 -7.93570370e-02 -1.53120478e-02 3.61718708e+01] [ 7.93385782e-02 9.96846083e-01 -1.81017980e-03 3.96638858e-01] [ 1.54074054e-02 5.89421972e-04 9.99881125e-01 -1.59180726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28771942099999 meters Centerline goodness : 0.978635 Centerline is valid? [True, True] Translation: X:36.20, Y:0.40, Z:-1.59 [[ 9.96479814e-01 -8.25778835e-02 -1.44524836e-02 3.61997419e+01] [ 8.25616476e-02 9.96584479e-01 -1.71747745e-03 3.98894963e-01] [ 1.45449465e-02 5.18210755e-04 9.99894082e-01 -1.59234839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31771942099999 meters Centerline goodness : 0.977956 Centerline is valid? [True, True] Translation: X:36.23, Y:0.40, Z:-1.59 [[ 9.96210790e-01 -8.61231790e-02 -1.21186026e-02 3.62282088e+01] [ 8.61119577e-02 9.96284418e-01 -1.44569900e-03 3.95992537e-01] [ 1.21980831e-02 3.96664350e-04 9.99925522e-01 -1.59205313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.347719421 meters Centerline goodness : 0.976966 Centerline is valid? [True, True] Translation: X:36.26, Y:0.40, Z:-1.59 [[ 9.96170223e-01 -8.65925933e-02 -1.21082337e-02 3.62554074e+01] [ 8.65814524e-02 9.96243731e-01 -1.44228003e-03 3.95191847e-01] [ 1.21876427e-02 3.88407960e-04 9.99925652e-01 -1.59181356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.377719421 meters Centerline goodness : 0.976913 Centerline is valid? [True, True] Translation: X:36.28, Y:0.40, Z:-1.59 [[ 9.96122365e-01 -8.71085798e-02 -1.23421939e-02 3.62834903e+01] [ 8.70969494e-02 9.96198744e-01 -1.47774473e-03 3.95577168e-01] [ 1.24240023e-02 3.97047133e-04 9.99922740e-01 -1.59215074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.407719421 meters Centerline goodness : 0.976849 Centerline is valid? [True, True] Translation: X:36.31, Y:0.40, Z:-1.59 [[ 9.96153219e-01 -8.64958206e-02 -1.40440976e-02 3.63107409e+01] [ 8.64807380e-02 9.96252108e-01 -1.67885509e-03 3.95736619e-01] [ 1.41366758e-02 4.57852976e-04 9.99899967e-01 -1.59474707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.437719421 meters Centerline goodness : 0.976344 Centerline is valid? [True, True] Translation: X:36.34, Y:0.40, Z:-1.60 [[ 9.96100273e-01 -8.72097141e-02 -1.33683380e-02 3.63381816e+01] [ 8.71959918e-02 9.96189880e-01 -1.60703065e-03 3.98110097e-01] [ 1.34575517e-02 4.35098184e-04 9.99909348e-01 -1.59634473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.467719421 meters Centerline goodness : 0.974062 Centerline is valid? [True, True] Translation: X:36.37, Y:0.39, Z:-1.60 [[ 9.95900933e-01 -8.94606484e-02 -1.33462835e-02 3.63653333e+01] [ 8.94471998e-02 9.95990276e-01 -1.60240607e-03 3.94748708e-01] [ 1.34361208e-02 4.02050020e-04 9.99909650e-01 -1.59756887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.497719421 meters Centerline goodness : 0.974548 Centerline is valid? [True, True] Translation: X:36.39, Y:0.39, Z:-1.60 [[ 9.95695195e-01 -9.15251997e-02 -1.46361027e-02 3.63924662e+01] [ 9.15092216e-02 9.95802675e-01 -1.75910350e-03 3.93866363e-01] [ 1.47356725e-02 4.12192532e-04 9.99891339e-01 -1.59809598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.527719421 meters Centerline goodness : 0.973472 Centerline is valid? [True, True] Translation: X:36.42, Y:0.39, Z:-1.60 [[ 9.95101068e-01 -9.76403288e-02 -1.54993525e-02 3.64209840e+01] [ 9.76230125e-02 9.95221706e-01 -1.87172881e-03 3.91059784e-01] [ 1.56080482e-02 3.49465855e-04 9.99878126e-01 -1.59852594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.557719421 meters Centerline goodness : 0.974085 Centerline is valid? [True, True] Translation: X:36.45, Y:0.39, Z:-1.60 [[ 9.94712069e-01 -1.01589071e-01 -1.50850862e-02 3.64474924e+01] [ 1.01573145e-01 9.94826409e-01 -1.82022007e-03 3.93500617e-01] [ 1.51919566e-02 2.78355222e-04 9.99884557e-01 -1.59871512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.587719421 meters Centerline goodness : 0.972688 Centerline is valid? [True, True] Translation: X:36.48, Y:0.39, Z:-1.60 [[ 9.94087730e-01 -1.07560320e-01 -1.48445925e-02 3.64757152e+01] [ 1.07545429e-01 9.94198542e-01 -1.80011616e-03 3.94912764e-01] [ 1.49520932e-02 1.93005318e-04 9.99888193e-01 -1.59891429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.617719421 meters Centerline goodness : 0.973136 Centerline is valid? [True, True] Translation: X:36.50, Y:0.40, Z:-1.60 [[ 9.93797930e-01 -1.10265705e-01 -1.43926485e-02 3.65028935e+01] [ 1.10252012e-01 9.93902135e-01 -1.74376607e-03 3.95725869e-01] [ 1.44971617e-02 1.46132644e-04 9.99894900e-01 -1.59999719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64771942099999 meters Centerline goodness : 0.971642 Centerline is valid? [True, True] Translation: X:36.53, Y:0.40, Z:-1.60 [[ 9.93139756e-01 -1.16187906e-01 -1.31831828e-02 3.65305973e+01] [ 1.16176824e-01 9.93227248e-01 -1.60588570e-03 3.96226733e-01] [ 1.32804808e-02 6.32886245e-05 9.99911809e-01 -1.60004150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67771942099999 meters Centerline goodness : 0.973972 Centerline is valid? [True, True] Translation: X:36.56, Y:0.40, Z:-1.60 [[ 9.92560334e-01 -1.21189245e-01 -1.17111385e-02 3.65585257e+01] [ 1.21180788e-01 9.92629421e-01 -1.43167900e-03 4.00204719e-01] [ 1.17983248e-02 1.86279545e-06 9.99930397e-01 -1.59911817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.707719421 meters Centerline goodness : 0.974365 Centerline is valid? [True, True] Translation: X:36.59, Y:0.40, Z:-1.60 [[ 9.92378899e-01 -1.22831211e-01 -9.82922332e-03 3.65851597e+01] [ 1.22825348e-01 9.92427576e-01 -1.20022012e-03 4.04816615e-01] [ 9.90221677e-03 -1.62046475e-05 9.99950972e-01 -1.60005044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.737719421 meters Centerline goodness : 0.974218 Centerline is valid? [True, True] Translation: X:36.61, Y:0.41, Z:-1.60 [[ 9.92176900e-01 -1.24547727e-01 -8.53597446e-03 3.66131940e+01] [ 1.24543304e-01 9.92213618e-01 -1.04988489e-03 4.09814038e-01] [ 8.60027088e-03 -2.14269207e-05 9.99963017e-01 -1.60037270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.767719421 meters Centerline goodness : 0.975482 Centerline is valid? [True, True] Translation: X:36.64, Y:0.42, Z:-1.60 [[ 9.91707745e-01 -1.28352463e-01 -6.43383077e-03 3.66396231e+01] [ 1.28350038e-01 9.91728614e-01 -7.90025470e-04 4.15704841e-01] [ 6.48201578e-03 -4.23080479e-05 9.99978991e-01 -1.60234848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.797719421 meters Centerline goodness : 0.973788 Centerline is valid? [True, True] Translation: X:36.67, Y:0.42, Z:-1.60 [[ 9.90909008e-01 -1.34280706e-01 -8.24802636e-03 3.66676123e+01] [ 1.34276877e-01 9.90943330e-01 -1.01869888e-03 4.19660418e-01] [ 8.31011830e-03 -9.80813306e-05 9.99965466e-01 -1.60334487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.827719421 meters Centerline goodness : 0.973816 Centerline is valid? [True, True] Translation: X:36.70, Y:0.42, Z:-1.60 [[ 9.90531929e-01 -1.36988640e-01 -8.97835836e-03 3.66955218e+01] [ 1.36984191e-01 9.90572610e-01 -1.11156650e-03 4.22170589e-01] [ 9.04598785e-03 -1.28851041e-04 9.99959076e-01 -1.60399787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.857719421 meters Centerline goodness : 0.974487 Centerline is valid? [True, True] Translation: X:36.72, Y:0.43, Z:-1.60 [[ 9.90120615e-01 -1.39838002e-01 -1.03199777e-02 3.67232847e+01] [ 1.39832252e-01 9.90174380e-01 -1.28018290e-03 4.27276818e-01] [ 1.03975958e-02 -1.75530244e-04 9.99945928e-01 -1.60357422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.887719421 meters Centerline goodness : 0.974632 Centerline is valid? [True, True] Translation: X:36.75, Y:0.43, Z:-1.60 [[ 9.90146173e-01 -1.39694145e-01 -9.80312254e-03 3.67508872e+01] [ 1.39688912e-01 9.90194688e-01 -1.21986705e-03 4.34096184e-01] [ 9.87740815e-03 -1.61540833e-04 9.99951204e-01 -1.60431000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.917719421 meters Centerline goodness : 0.975360 Centerline is valid? [True, True] Translation: X:36.78, Y:0.44, Z:-1.61 [[ 9.90456338e-01 -1.37586968e-01 -8.12820554e-03 3.67767957e+01] [ 1.37583313e-01 9.90489683e-01 -1.00988029e-03 4.40952270e-01] [ 8.18985009e-03 -1.18063111e-04 9.99966456e-01 -1.60516550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.947719421 meters Centerline goodness : 0.976703 Centerline is valid? [True, True] Translation: X:36.80, Y:0.45, Z:-1.61 [[ 9.91255395e-01 -1.31786002e-01 -6.72247388e-03 3.68039609e+01] [ 1.31783320e-01 9.91278189e-01 -8.42316985e-04 4.49945954e-01] [ 6.77484731e-03 -5.09586668e-05 9.99977049e-01 -1.60500792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.977719421 meters Centerline goodness : 0.977403 Centerline is valid? [True, True] Translation: X:36.83, Y:0.46, Z:-1.60 [[ 9.91746103e-01 -1.28023850e-01 -7.03993811e-03 3.68300491e+01] [ 1.28020838e-01 9.91771089e-01 -8.78717775e-04 4.55694139e-01] [ 7.09450392e-03 -2.97938479e-05 9.99974833e-01 -1.60498211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.007719421 meters Centerline goodness : 0.976316 Centerline is valid? [True, True] Translation: X:36.86, Y:0.47, Z:-1.61 [[ 9.92806135e-01 -1.19345858e-01 -9.62003294e-03 3.68562782e+01] [ 1.19339766e-01 9.92852740e-01 -1.20686581e-03 4.67983666e-01] [ 9.69531050e-03 5.01312975e-05 9.99952998e-01 -1.60606447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03771942099999 meters Centerline goodness : 0.976343 Centerline is valid? [True, True] Translation: X:36.88, Y:0.48, Z:-1.61 [[ 9.93326540e-01 -1.14770575e-01 -1.14061514e-02 3.68832109e+01] [ 1.14761676e-01 9.93392018e-01 -1.43380445e-03 4.75196190e-01] [ 1.14953383e-02 1.15246954e-04 9.99933920e-01 -1.60688381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06771942099999 meters Centerline goodness : 0.976696 Centerline is valid? [True, True] Translation: X:36.91, Y:0.48, Z:-1.61 [[ 9.94224997e-01 -1.06325527e-01 -1.45443545e-02 3.69089535e+01] [ 1.06310208e-01 9.94331338e-01 -1.82454584e-03 4.84319425e-01] [ 1.46559032e-02 2.67795729e-04 9.99892561e-01 -1.60845494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.097719421 meters Centerline goodness : 0.975657 Centerline is valid? [True, True] Translation: X:36.94, Y:0.49, Z:-1.61 [[ 9.94510106e-01 -1.03474266e-01 -1.55796482e-02 3.69361455e+01] [ 1.03456196e-01 9.94632073e-01 -1.96351253e-03 4.90081923e-01] [ 1.56991908e-02 3.40921914e-04 9.99876702e-01 -1.60863125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.127719421 meters Centerline goodness : 0.976788 Centerline is valid? [True, True] Translation: X:36.96, Y:0.50, Z:-1.61 [[ 9.94817298e-01 -1.00007130e-01 -1.83607564e-02 3.69620966e+01] [ 9.99814873e-02 9.94986612e-01 -2.31156728e-03 4.96785956e-01] [ 1.84998800e-02 4.63851376e-04 9.99828755e-01 -1.60826622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.157719421 meters Centerline goodness : 0.977845 Centerline is valid? [True, True] Translation: X:36.99, Y:0.50, Z:-1.61 [[ 9.94795721e-01 -1.00099239e-01 -1.90161992e-02 3.69893332e+01] [ 1.00071555e-01 9.94977338e-01 -2.40423599e-03 5.02069900e-01] [ 1.91613494e-02 4.88743049e-04 9.99816285e-01 -1.60851322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.187719421 meters Centerline goodness : 0.978347 Centerline is valid? [True, True] Translation: X:37.02, Y:0.51, Z:-1.61 [[ 9.94877547e-01 -9.95414137e-02 -1.76117636e-02 3.70167784e+01] [ 9.95174639e-02 9.95033309e-01 -2.23327724e-03 5.10927528e-01] [ 1.77465950e-02 4.69159333e-04 9.99842407e-01 -1.60853942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.217719421 meters Centerline goodness : 0.981118 Centerline is valid? [True, True] Translation: X:37.04, Y:0.52, Z:-1.61 [[ 9.95071036e-01 -9.84149751e-02 -1.21707024e-02 3.70445455e+01] [ 9.84033740e-02 9.95145403e-01 -1.54984949e-03 5.17153489e-01] [ 1.22641470e-02 3.44572153e-04 9.99924733e-01 -1.61073921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.247719421 meters Centerline goodness : 0.979778 Centerline is valid? [True, True] Translation: X:37.07, Y:0.52, Z:-1.61 [[ 9.95107984e-01 -9.80825150e-02 -1.18287667e-02 3.70726074e+01] [ 9.80714774e-02 9.95178226e-01 -1.51098673e-03 5.19251677e-01] [ 1.19199324e-02 3.43530337e-04 9.99928896e-01 -1.61045009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.277719421 meters Centerline goodness : 0.980738 Centerline is valid? [True, True] Translation: X:37.10, Y:0.52, Z:-1.61 [[ 9.95172638e-01 -9.74801112e-02 -1.13599316e-02 3.70992549e+01] [ 9.74699160e-02 9.95237417e-01 -1.44901140e-03 5.20904413e-01] [ 1.14470787e-02 3.34764927e-04 9.99934424e-01 -1.61080717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.307719421 meters Centerline goodness : 0.980889 Centerline is valid? [True, True] Translation: X:37.13, Y:0.52, Z:-1.61 [[ 9.95231808e-01 -9.69548109e-02 -1.06495743e-02 3.71274792e+01] [ 9.69457377e-02 9.95288731e-01 -1.36614811e-03 5.21865097e-01] [ 1.07318559e-02 3.27203220e-04 9.99942358e-01 -1.61062484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.337719421 meters Centerline goodness : 0.980762 Centerline is valid? [True, True] Translation: X:37.16, Y:0.53, Z:-1.61 [[ 9.95110413e-01 -9.81097489e-02 -1.13904960e-02 3.71557413e+01] [ 9.80994052e-02 9.95175543e-01 -1.46464463e-03 5.25111990e-01] [ 1.14792390e-02 3.40082236e-04 9.99934054e-01 -1.61172522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.367719421 meters Centerline goodness : 0.980010 Centerline is valid? [True, True] Translation: X:37.18, Y:0.52, Z:-1.62 [[ 9.94736791e-01 -1.01733984e-01 -1.22029722e-02 3.71830160e+01] [ 1.01722381e-01 9.94811587e-01 -1.56933499e-03 5.24343779e-01] [ 1.22993129e-02 3.19759852e-04 9.99924309e-01 -1.61513076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39771942099999 meters Centerline goodness : 0.979140 Centerline is valid? [True, True] Translation: X:37.21, Y:0.52, Z:-1.62 [[ 9.94023074e-01 -1.08660903e-01 -1.05326089e-02 3.72118096e+01] [ 1.08652580e-01 9.94078852e-01 -1.36086877e-03 5.20007646e-01] [ 1.06181170e-02 2.08339823e-04 9.99943605e-01 -1.61770677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42771942099999 meters Centerline goodness : 0.980098 Centerline is valid? [True, True] Translation: X:37.24, Y:0.52, Z:-1.62 [[ 9.93546200e-01 -1.12904475e-01 -1.08870549e-02 3.72392510e+01] [ 1.12895865e-01 9.93605833e-01 -1.40415288e-03 5.20633905e-01] [ 1.09759764e-02 1.65987280e-04 9.99939748e-01 -1.61753469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.457719421 meters Centerline goodness : 0.978915 Centerline is valid? [True, True] Translation: X:37.27, Y:0.52, Z:-1.62 [[ 9.92893200e-01 -1.18446818e-01 -1.15518410e-02 3.72663391e+01] [ 1.18437482e-01 9.92960391e-01 -1.49136701e-03 5.21927090e-01] [ 1.16471682e-02 1.12597202e-04 9.99932163e-01 -1.61891334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.487719421 meters Centerline goodness : 0.978642 Centerline is valid? [True, True] Translation: X:37.29, Y:0.53, Z:-1.62 [[ 9.92723097e-01 -1.19809655e-01 -1.21036957e-02 3.72936078e+01] [ 1.19799414e-01 9.92796875e-01 -1.57025288e-03 5.25676718e-01] [ 1.22046427e-02 1.08810642e-04 9.99925515e-01 -1.61893678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.517719421 meters Centerline goodness : 0.977318 Centerline is valid? [True, True] Translation: X:37.32, Y:0.53, Z:-1.62 [[ 9.92640942e-01 -1.20290305e-01 -1.39356962e-02 3.73215862e+01] [ 1.20276725e-01 9.92738751e-01 -1.81157821e-03 5.30172402e-01] [ 1.40524209e-02 1.22106804e-04 9.99901252e-01 -1.61944780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.547719421 meters Centerline goodness : 0.975428 Centerline is valid? [True, True] Translation: X:37.35, Y:0.53, Z:-1.62 [[ 9.92673331e-01 -1.19406867e-01 -1.84839850e-02 3.73484891e+01] [ 1.19382883e-01 9.92845391e-01 -2.39952290e-03 5.33939301e-01] [ 1.86382588e-02 1.75270970e-04 9.99826277e-01 -1.61959306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.577719421 meters Centerline goodness : 0.974705 Centerline is valid? [True, True] Translation: X:37.38, Y:0.54, Z:-1.62 [[ 9.92702554e-01 -1.19098128e-01 -1.89017247e-02 3.73767638e+01] [ 1.19072805e-01 9.92882469e-01 -2.46354184e-03 5.37496315e-01] [ 1.90605944e-02 1.94882893e-04 9.99818311e-01 -1.61948925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.607719421 meters Centerline goodness : 0.975662 Centerline is valid? [True, True] Translation: X:37.40, Y:0.54, Z:-1.62 [[ 9.92791129e-01 -1.18359228e-01 -1.88909281e-02 3.74044521e+01] [ 1.18333682e-01 9.92970819e-01 -2.46836704e-03 5.41644701e-01] [ 1.90502944e-02 2.15139812e-04 9.99818504e-01 -1.62023807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.637719421 meters Centerline goodness : 0.975662 Centerline is valid? [True, True] Translation: X:37.43, Y:0.55, Z:-1.62 [[ 9.92755450e-01 -1.18658226e-01 -1.88902425e-02 3.74326760e+01] [ 1.18632634e-01 9.92935133e-01 -2.47361470e-03 5.45595268e-01] [ 1.90503002e-02 2.14695244e-04 9.99818504e-01 -1.62081651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.667719421 meters Centerline goodness : 0.974671 Centerline is valid? [True, True] Translation: X:37.46, Y:0.55, Z:-1.62 [[ 9.92822320e-01 -1.18157243e-01 -1.85123472e-02 3.74596495e+01] [ 1.18132588e-01 9.92994873e-01 -2.42355310e-03 5.50827050e-01] [ 1.86690262e-02 2.19246126e-04 9.99825695e-01 -1.62127670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.697719421 meters Centerline goodness : 0.976277 Centerline is valid? [True, True] Translation: X:37.49, Y:0.56, Z:-1.62 [[ 9.92875683e-01 -1.17927657e-01 -1.70571607e-02 3.74867826e+01] [ 1.17906532e-01 9.93022166e-01 -2.24237469e-03 5.59466029e-01] [ 1.72025767e-02 2.15248635e-04 9.99852002e-01 -1.62192429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.727719421 meters Centerline goodness : 0.976522 Centerline is valid? [True, True] Translation: X:37.51, Y:0.57, Z:-1.62 [[ 9.92860949e-01 -1.18046582e-01 -1.70920904e-02 3.75138361e+01] [ 1.18025276e-01 9.93008034e-01 -2.25349048e-03 5.65854887e-01] [ 1.72385999e-02 2.20104019e-04 9.99851380e-01 -1.62248051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.757719421 meters Centerline goodness : 0.973443 Centerline is valid? [True, True] Translation: X:37.54, Y:0.57, Z:-1.62 [[ 9.92845969e-01 -1.17728838e-01 -1.99199013e-02 3.75405394e+01] [ 1.17699877e-01 9.93045745e-01 -2.62417586e-03 5.70668137e-01] [ 2.00903144e-02 2.60832490e-04 9.99798135e-01 -1.62257739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78771942099999 meters Centerline goodness : 0.973658 Centerline is valid? [True, True] Translation: X:37.57, Y:0.57, Z:-1.62 [[ 9.92986786e-01 -1.16571319e-01 -1.97071066e-02 3.75675077e+01] [ 1.16542687e-01 9.93182283e-01 -2.59908606e-03 5.72602529e-01] [ 1.98757280e-02 2.84138954e-04 9.99802418e-01 -1.62283278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81771942099999 meters Centerline goodness : 0.974619 Centerline is valid? [True, True] Translation: X:37.60, Y:0.57, Z:-1.62 [[ 9.93696499e-01 -1.11368522e-01 -1.28187527e-02 3.75954703e+01] [ 1.11355849e-01 9.93779142e-01 -1.70041925e-03 5.73059229e-01] [ 1.29283822e-02 2.62257571e-04 9.99916391e-01 -1.62391084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.847719421 meters Centerline goodness : 0.975643 Centerline is valid? [True, True] Translation: X:37.62, Y:0.58, Z:-1.62 [[ 9.94069708e-01 -1.08218955e-01 -1.06805569e-02 3.76222492e+01] [ 1.08209989e-01 9.94127052e-01 -1.41550635e-03 5.75970938e-01] [ 1.07710152e-02 2.51369034e-04 9.99941959e-01 -1.62419924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.877719421 meters Centerline goodness : 0.977426 Centerline is valid? [True, True] Translation: X:37.65, Y:0.58, Z:-1.63 [[ 9.94712956e-01 -1.02220264e-01 -9.85664360e-03 3.76500900e+01] [ 1.02212258e-01 9.94761744e-01 -1.31390189e-03 5.80178476e-01] [ 9.93931938e-03 2.99485432e-04 9.99950559e-01 -1.62620545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.907719421 meters Centerline goodness : 0.975910 Centerline is valid? [True, True] Translation: X:37.68, Y:0.58, Z:-1.63 [[ 9.94958770e-01 -9.97086386e-02 -1.07346844e-02 3.76771577e+01] [ 9.96990292e-02 9.95016615e-01 -1.42794900e-03 5.84018804e-01] [ 1.08235682e-02 3.50512764e-04 9.99941362e-01 -1.62762096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.937719421 meters Centerline goodness : 0.974034 Centerline is valid? [True, True] Translation: X:37.71, Y:0.58, Z:-1.63 [[ 9.95348746e-01 -9.56172600e-02 -1.17564444e-02 3.77051602e+01] [ 9.56053551e-02 9.95418076e-01 -1.57179089e-03 5.82695717e-01] [ 1.18528676e-02 4.40501050e-04 9.99929655e-01 -1.62864867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.967719421 meters Centerline goodness : 0.974178 Centerline is valid? [True, True] Translation: X:37.73, Y:0.58, Z:-1.63 [[ 9.95476316e-01 -9.42885335e-02 -1.16866318e-02 3.77323500e+01] [ 9.42767040e-02 9.95544810e-01 -1.56026122e-03 5.83259836e-01] [ 1.17816804e-02 4.51425962e-04 9.99930492e-01 -1.62900143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.997719421 meters Centerline goodness : 0.976769 Centerline is valid? [True, True] Translation: X:37.76, Y:0.58, Z:-1.63 [[ 9.95755840e-01 -9.15330881e-02 -9.59166392e-03 3.77593565e+01] [ 9.15249733e-02 9.95801955e-01 -1.28251021e-03 5.84405113e-01] [ 9.66878980e-03 3.99190247e-04 9.99953176e-01 -1.62916239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.027719421 meters Centerline goodness : 0.976358 Centerline is valid? [True, True] Translation: X:37.79, Y:0.59, Z:-1.63 [[ 9.95874910e-01 -9.02069566e-02 -9.79125017e-03 3.77872328e+01] [ 9.01983666e-02 9.95922950e-01 -1.31628445e-03 5.87854440e-01] [ 9.87006877e-03 4.27699883e-04 9.99951198e-01 -1.62952008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.057719421 meters Centerline goodness : 0.976585 Centerline is valid? [True, True] Translation: X:37.82, Y:0.59, Z:-1.63 [[ 9.96296683e-01 -8.51566686e-02 -1.18853484e-02 3.78155677e+01] [ 8.51436228e-02 9.96367403e-01 -1.60027019e-03 5.87085017e-01] [ 1.19784474e-02 5.82382264e-04 9.99928086e-01 -1.63074865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.087719421 meters Centerline goodness : 0.975047 Centerline is valid? [True, True] Translation: X:37.84, Y:0.59, Z:-1.63 [[ 9.96462958e-01 -8.29774232e-02 -1.32785699e-02 3.78440583e+01] [ 8.29608989e-02 9.96551193e-01 -1.79140518e-03 5.87334635e-01] [ 1.33814208e-02 6.83466810e-04 9.99910231e-01 -1.63234551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.117719421 meters Centerline goodness : 0.975789 Centerline is valid? [True, True] Translation: X:37.87, Y:0.59, Z:-1.63 [[ 9.96563318e-01 -8.17230509e-02 -1.35239313e-02 3.78717248e+01] [ 8.17057355e-02 9.96654819e-01 -1.82887802e-03 5.87967606e-01] [ 1.36281528e-02 7.17609998e-04 9.99906875e-01 -1.63364300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14771942099999 meters Centerline goodness : 0.977444 Centerline is valid? [True, True] Translation: X:37.90, Y:0.59, Z:-1.63 [[ 9.96781524e-01 -7.95254667e-02 -1.01140696e-02 3.78999441e+01] [ 7.95156187e-02 9.96832675e-01 -1.37275333e-03 5.88735812e-01] [ 1.01912039e-02 5.64108648e-04 9.99947909e-01 -1.63499129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17771942099999 meters Centerline goodness : 0.975472 Centerline is valid? [True, True] Translation: X:37.93, Y:0.59, Z:-1.64 [[ 9.96818821e-01 -7.89027941e-02 -1.12510707e-02 3.79275077e+01] [ 7.88906007e-02 9.96882114e-01 -1.52417713e-03 5.86543140e-01] [ 1.13362530e-02 6.31724726e-04 9.99935543e-01 -1.63648377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.207719421 meters Centerline goodness : 0.973437 Centerline is valid? [True, True] Translation: X:37.96, Y:0.59, Z:-1.64 [[ 9.96710856e-01 -7.98355925e-02 -1.39193291e-02 3.79559643e+01] [ 7.98169149e-02 9.96807743e-01 -1.89313563e-03 5.85253538e-01] [ 1.40260346e-02 7.75910926e-04 9.99901329e-01 -1.63807052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.237719421 meters Centerline goodness : 0.970843 Centerline is valid? [True, True] Translation: X:37.98, Y:0.58, Z:-1.64 [[ 9.96401858e-01 -8.31014738e-02 -1.66578109e-02 3.79840778e+01] [ 8.30752226e-02 9.96540710e-01 -2.26293332e-03 5.76841165e-01] [ 1.67882398e-02 8.70939621e-04 9.99858688e-01 -1.63883365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.267719421 meters Centerline goodness : 0.972275 Centerline is valid? [True, True] Translation: X:38.01, Y:0.57, Z:-1.64 [[ 9.96241837e-01 -8.52538398e-02 -1.52965384e-02 3.80130905e+01] [ 8.52318224e-02 9.96358962e-01 -2.08674646e-03 5.74328922e-01] [ 1.54187462e-02 7.75152282e-04 9.99880824e-01 -1.63902454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.297719421 meters Centerline goodness : 0.974576 Centerline is valid? [True, True] Translation: X:38.04, Y:0.57, Z:-1.64 [[ 9.95860367e-01 -9.01427648e-02 -1.16795392e-02 3.80421572e+01] [ 9.01301954e-02 9.95928708e-01 -1.59918850e-03 5.65580515e-01] [ 1.17761436e-02 5.39889296e-04 9.99930513e-01 -1.63851189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.327719421 meters Centerline goodness : 0.975637 Centerline is valid? [True, True] Translation: X:38.07, Y:0.57, Z:-1.64 [[ 9.95513663e-01 -9.39974811e-02 -1.08175583e-02 3.80701995e+01] [ 9.39868806e-02 9.95572328e-01 -1.48529388e-03 5.65469000e-01] [ 1.09092756e-02 4.61921791e-04 9.99940385e-01 -1.63882028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.357719421 meters Centerline goodness : 0.974870 Centerline is valid? [True, True] Translation: X:38.10, Y:0.56, Z:-1.64 [[ 9.94680196e-01 -1.02215914e-01 -1.27755234e-02 3.80989955e+01] [ 1.02201761e-01 9.94762138e-01 -1.75752468e-03 5.61645046e-01] [ 1.28882539e-02 4.42494004e-04 9.99916845e-01 -1.64004053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.387719421 meters Centerline goodness : 0.976044 Centerline is valid? [True, True] Translation: X:38.13, Y:0.56, Z:-1.64 [[ 9.94242270e-01 -1.06222074e-01 -1.41131239e-02 3.81264332e+01] [ 1.06205241e-01 9.94342339e-01 -1.93896545e-03 5.61260824e-01] [ 1.42392375e-02 4.28913684e-04 9.99898525e-01 -1.64086276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.417719421 meters Centerline goodness : 0.974473 Centerline is valid? [True, True] Translation: X:38.15, Y:0.56, Z:-1.64 [[ 9.93756855e-01 -1.10601722e-01 -1.46482715e-02 3.81543454e+01] [ 1.10583935e-01 9.93864733e-01 -2.02122962e-03 5.60683346e-01] [ 1.47819519e-02 3.88747296e-04 9.99890665e-01 -1.64128683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.447719421 meters Centerline goodness : 0.975208 Centerline is valid? [True, True] Translation: X:38.18, Y:0.55, Z:-1.64 [[ 9.93008872e-01 -1.17210143e-01 -1.39700695e-02 3.81836086e+01] [ 1.17194541e-01 9.93107095e-01 -1.93316177e-03 5.54305478e-01] [ 1.41003613e-02 2.82430903e-04 9.99900545e-01 -1.64067563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.477719421 meters Centerline goodness : 0.976981 Centerline is valid? [True, True] Translation: X:38.21, Y:0.55, Z:-1.64 [[ 9.92781015e-01 -1.19318186e-01 -1.22076619e-02 3.82109166e+01] [ 1.19306447e-01 9.92856043e-01 -1.68799949e-03 5.54307836e-01] [ 1.23218600e-02 2.19361065e-04 9.99924059e-01 -1.63980357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.507719421 meters Centerline goodness : 0.980473 Centerline is valid? [True, True] Translation: X:38.24, Y:0.56, Z:-1.64 [[ 9.92596590e-01 -1.21159792e-01 -8.50382005e-03 3.82390631e+01] [ 1.21154096e-01 9.92633006e-01 -1.18366011e-03 5.55973486e-01] [ 8.58458447e-03 1.44624352e-04 9.99963141e-01 -1.63965775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53771942099999 meters Centerline goodness : 0.980536 Centerline is valid? [True, True] Translation: X:38.27, Y:0.56, Z:-1.64 [[ 9.92842264e-01 -1.19025662e-01 -9.85549383e-03 3.82664922e+01] [ 1.19017884e-01 9.92891160e-01 -1.37406926e-03 5.61909856e-01] [ 9.94898221e-03 1.91254008e-04 9.99950489e-01 -1.64122780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56771942099999 meters Centerline goodness : 0.979711 Centerline is valid? [True, True] Translation: X:38.29, Y:0.57, Z:-1.64 [[ 9.93044349e-01 -1.17262319e-01 -1.06051160e-02 3.82945428e+01] [ 1.17253179e-01 9.93100950e-01 -1.48168020e-03 5.66015124e-01] [ 1.07056961e-02 2.27890576e-04 9.99942666e-01 -1.64221411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.597719421 meters Centerline goodness : 0.977724 Centerline is valid? [True, True] Translation: X:38.32, Y:0.57, Z:-1.64 [[ 9.93296638e-01 -1.14829783e-01 -1.32630667e-02 3.83228110e+01] [ 1.14815230e-01 9.93385131e-01 -1.85608545e-03 5.66887975e-01] [ 1.33884672e-02 3.20841383e-04 9.99910319e-01 -1.64177703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.627719421 meters Centerline goodness : 0.977974 Centerline is valid? [True, True] Translation: X:38.35, Y:0.57, Z:-1.64 [[ 9.93395372e-01 -1.13821064e-01 -1.45051905e-02 3.83496321e+01] [ 1.13803586e-01 9.93501199e-01 -2.02743984e-03 5.68841072e-01] [ 1.46416895e-02 3.63306659e-04 9.99892739e-01 -1.64210458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.657719421 meters Centerline goodness : 0.978764 Centerline is valid? [True, True] Translation: X:38.38, Y:0.57, Z:-1.64 [[ 9.93559059e-01 -1.12505987e-01 -1.35202864e-02 3.83768289e+01] [ 1.12490651e-01 9.93650982e-01 -1.89190465e-03 5.72220276e-01] [ 1.36472964e-02 3.58813187e-04 9.99906807e-01 -1.64264845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.687719421 meters Centerline goodness : 0.980414 Centerline is valid? [True, True] Translation: X:38.40, Y:0.58, Z:-1.64 [[ 9.93683393e-01 -1.11518156e-01 -1.25305506e-02 3.84048154e+01] [ 1.11504801e-01 9.93762334e-01 -1.76164008e-03 5.76183172e-01] [ 1.26488441e-02 3.53295935e-04 9.99919938e-01 -1.64276365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.717719421 meters Centerline goodness : 0.980667 Centerline is valid? [True, True] Translation: X:38.43, Y:0.58, Z:-1.64 [[ 9.94352768e-01 -1.05316804e-01 -1.30745671e-02 3.84332036e+01] [ 1.05301674e-01 9.94438617e-01 -1.84216614e-03 5.77901269e-01] [ 1.31958655e-02 4.54989190e-04 9.99912827e-01 -1.64253520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.747719421 meters Centerline goodness : 0.979801 Centerline is valid? [True, True] Translation: X:38.46, Y:0.58, Z:-1.64 [[ 9.94803664e-01 -1.00934961e-01 -1.33343091e-02 3.84614109e+01] [ 1.00918774e-01 9.94892886e-01 -1.88295767e-03 5.80120156e-01] [ 1.34562656e-02 5.27491057e-04 9.99909321e-01 -1.64240086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.777719421 meters Centerline goodness : 0.981286 Centerline is valid? [True, True] Translation: X:38.49, Y:0.58, Z:-1.64 [[ 9.95741748e-01 -9.14103922e-02 -1.19378070e-02 3.84884744e+01] [ 9.13967516e-02 9.95813133e-01 -1.68438343e-03 5.81137028e-01] [ 1.20417952e-02 5.86134121e-04 9.99927323e-01 -1.64370948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.807719421 meters Centerline goodness : 0.982014 Centerline is valid? [True, True] Translation: X:38.52, Y:0.58, Z:-1.64 [[ 9.96025883e-01 -8.82705175e-02 -1.18640846e-02 3.85159720e+01] [ 8.82567334e-02 9.96096342e-01 -1.68143963e-03 5.84553033e-01] [ 1.19661928e-02 6.27672039e-04 9.99928206e-01 -1.64416542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.837719421 meters Centerline goodness : 0.981920 Centerline is valid? [True, True] Translation: X:38.54, Y:0.59, Z:-1.65 [[ 9.96328886e-01 -8.50102790e-02 -1.00996564e-02 3.85433743e+01] [ 8.50000745e-02 9.96379910e-01 -1.43614359e-03 5.87904565e-01] [ 1.01851817e-02 5.72399794e-04 9.99947966e-01 -1.64557315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.867719421 meters Centerline goodness : 0.982405 Centerline is valid? [True, True] Translation: X:38.57, Y:0.59, Z:-1.65 [[ 9.96303423e-01 -8.55223320e-02 -8.08825348e-03 3.85710336e+01] [ 8.55157704e-02 9.96336148e-01 -1.15427294e-03 5.90436466e-01] [ 8.15733543e-03 4.58332852e-04 9.99966623e-01 -1.64575333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89771942099999 meters Centerline goodness : 0.982222 Centerline is valid? [True, True] Translation: X:38.60, Y:0.59, Z:-1.64 [[ 9.95924661e-01 -8.98204171e-02 -8.14633879e-03 3.85989665e+01] [ 8.98139268e-02 9.95957887e-01 -1.15982057e-03 5.88753674e-01] [ 8.21758594e-03 4.23439234e-04 9.99966145e-01 -1.64466414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92771942099999 meters Centerline goodness : 0.982817 Centerline is valid? [True, True] Translation: X:38.63, Y:0.59, Z:-1.65 [[ 9.95678181e-01 -9.23995787e-02 -9.34227676e-03 3.86263242e+01] [ 9.23910935e-02 9.95721898e-01 -1.33672630e-03 5.92196744e-01] [ 9.42582250e-03 4.67806048e-04 9.99955467e-01 -1.64584153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.957719421 meters Centerline goodness : 0.980779 Centerline is valid? [True, True] Translation: X:38.65, Y:0.60, Z:-1.65 [[ 9.95421513e-01 -9.48589707e-02 -1.17382840e-02 3.86543790e+01] [ 9.48457174e-02 9.95490563e-01 -1.68190664e-03 5.95641975e-01] [ 1.18448949e-02 5.60880079e-04 9.99929689e-01 -1.64839432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.987719421 meters Centerline goodness : 0.981105 Centerline is valid? [True, True] Translation: X:38.68, Y:0.60, Z:-1.65 [[ 9.95269019e-01 -9.63874744e-02 -1.22079836e-02 3.86812003e+01] [ 9.63732833e-02 9.95343729e-01 -1.74681325e-03 5.97295404e-01] [ 1.23195109e-02 5.62025646e-04 9.99923954e-01 -1.64849068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.017719421 meters Centerline goodness : 0.979378 Centerline is valid? [True, True] Translation: X:38.71, Y:0.60, Z:-1.65 [[ 9.95064597e-01 -9.84630725e-02 -1.23073815e-02 3.87102007e+01] [ 9.84487105e-02 9.95140554e-01 -1.76886511e-03 5.95213132e-01] [ 1.24217423e-02 5.48489204e-04 9.99922697e-01 -1.64724853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.047719421 meters Centerline goodness : 0.979823 Centerline is valid? [True, True] Translation: X:38.74, Y:0.60, Z:-1.65 [[ 9.94920903e-01 -9.98288013e-02 -1.29076434e-02 3.87385990e+01] [ 9.98130674e-02 9.95004470e-01 -1.85908521e-03 5.96210542e-01] [ 1.30287531e-02 5.61291257e-04 9.99914965e-01 -1.64678663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.077719421 meters Centerline goodness : 0.980078 Centerline is valid? [True, True] Translation: X:38.77, Y:0.59, Z:-1.65 [[ 9.94337146e-01 -1.05468070e-01 -1.30432648e-02 3.87669192e+01] [ 1.05452427e-01 9.94422566e-01 -1.88323079e-03 5.94930935e-01] [ 1.31691376e-02 4.97122391e-04 9.99913160e-01 -1.64690851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.107719421 meters Centerline goodness : 0.981245 Centerline is valid? [True, True] Translation: X:38.79, Y:0.60, Z:-1.65 [[ 9.93876432e-01 -1.09733997e-01 -1.29648730e-02 3.87937535e+01] [ 1.09718893e-01 9.93960893e-01 -1.87270916e-03 5.97201682e-01] [ 1.30920766e-02 4.38749980e-04 9.99914199e-01 -1.64886042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.137719421 meters Centerline goodness : 0.980464 Centerline is valid? [True, True] Translation: X:38.82, Y:0.60, Z:-1.65 [[ 9.92505939e-01 -1.21266855e-01 -1.50436633e-02 3.88223093e+01] [ 1.21247743e-01 9.92619884e-01 -2.17943403e-03 5.97241747e-01] [ 1.51969325e-02 3.39090994e-04 9.99884462e-01 -1.65107826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.167719421 meters Centerline goodness : 0.977908 Centerline is valid? [True, True] Translation: X:38.85, Y:0.59, Z:-1.65 [[ 9.90792674e-01 -1.34448208e-01 -1.59234382e-02 3.88512830e+01] [ 1.34428410e-01 9.90920611e-01 -2.31213068e-03 5.90707114e-01] [ 1.60897250e-02 1.50279665e-04 9.99870541e-01 -1.64857349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.197719421 meters Centerline goodness : 0.977065 Centerline is valid? [True, True] Translation: X:38.88, Y:0.59, Z:-1.65 [[ 9.89835425e-01 -1.41224105e-01 -1.67804772e-02 3.88796701e+01] [ 1.41202995e-01 9.89977651e-01 -2.44217925e-03 5.90707460e-01] [ 1.69571920e-02 4.79018953e-05 9.99856215e-01 -1.64808635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.227719421 meters Centerline goodness : 0.977544 Centerline is valid? [True, True] Translation: X:38.91, Y:0.59, Z:-1.65 [[ 9.89109231e-01 -1.46078761e-01 -1.79978922e-02 3.89070636e+01] [ 1.46055312e-01 9.89272962e-01 -2.61762615e-03 5.91762807e-01] [ 1.81872078e-02 -3.95695689e-05 9.99834598e-01 -1.64784641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.257719421 meters Centerline goodness : 0.979173 Centerline is valid? [True, True] Translation: X:38.93, Y:0.60, Z:-1.65 [[ 9.88081490e-01 -1.52839844e-01 -1.83016470e-02 3.89337491e+01] [ 1.52816706e-01 9.88250958e-01 -2.66443774e-03 5.95494467e-01] [ 1.84938525e-02 -1.64115798e-04 9.99828961e-01 -1.64770089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28771942099999 meters Centerline goodness : 0.978626 Centerline is valid? [True, True] Translation: X:38.96, Y:0.60, Z:-1.65 [[ 9.87991854e-01 -1.53499516e-01 -1.76066591e-02 3.89605656e+01] [ 1.53478158e-01 9.88148709e-01 -2.56597305e-03 6.01257717e-01] [ 1.77918731e-02 -1.67077138e-04 9.99841698e-01 -1.64855865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31771942099999 meters Centerline goodness : 0.980702 Centerline is valid? [True, True] Translation: X:38.99, Y:0.61, Z:-1.65 [[ 9.88375089e-01 -1.51417310e-01 -1.36924027e-02 3.89873961e+01] [ 1.51404157e-01 9.88469923e-01 -1.99816027e-03 6.07431576e-01] [ 1.38370842e-02 -9.81548540e-05 9.99904258e-01 -1.64885126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.347719421 meters Centerline goodness : 0.979990 Centerline is valid? [True, True] Translation: X:39.01, Y:0.61, Z:-1.65 [[ 9.88533183e-01 -1.50481335e-01 -1.25504822e-02 3.90145608e+01] [ 1.50470149e-01 9.88612848e-01 -1.83626427e-03 6.10745414e-01] [ 1.26838915e-02 -7.32647715e-05 9.99919554e-01 -1.64724765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.377719421 meters Centerline goodness : 0.978578 Centerline is valid? [True, True] Translation: X:39.04, Y:0.61, Z:-1.65 [[ 9.88901498e-01 -1.48037660e-01 -1.25967513e-02 3.90426984e+01] [ 1.48026105e-01 9.88981724e-01 -1.84991044e-03 6.14879924e-01] [ 1.27318132e-02 -3.52688272e-05 9.99918947e-01 -1.64667726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.407719421 meters Centerline goodness : 0.979831 Centerline is valid? [True, True] Translation: X:39.07, Y:0.62, Z:-1.65 [[ 9.89094201e-01 -1.46802205e-01 -1.19069335e-02 3.90702667e+01] [ 1.46791738e-01 9.89165867e-01 -1.75307889e-03 6.20980131e-01] [ 1.20352881e-02 -1.38793038e-05 9.99927573e-01 -1.64847382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.437719421 meters Centerline goodness : 0.978160 Centerline is valid? [True, True] Translation: X:39.10, Y:0.63, Z:-1.65 [[ 9.89878546e-01 -1.41417357e-01 -1.18993437e-02 3.90974397e+01] [ 1.41406465e-01 9.89950063e-01 -1.75606030e-03 6.28623111e-01] [ 1.20280934e-02 5.56422952e-05 9.99927658e-01 -1.64995382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.467719421 meters Centerline goodness : 0.978941 Centerline is valid? [True, True] Translation: X:39.12, Y:0.63, Z:-1.65 [[ 9.91130408e-01 -1.32416209e-01 -1.12455123e-02 3.91240619e+01] [ 1.32405922e-01 9.91194191e-01 -1.65769705e-03 6.34479001e-01] [ 1.13659924e-02 1.54021529e-04 9.99935393e-01 -1.65130304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.497719421 meters Centerline goodness : 0.978910 Centerline is valid? [True, True] Translation: X:39.15, Y:0.64, Z:-1.65 [[ 9.91828403e-01 -1.27113074e-01 -1.08942608e-02 3.91514235e+01] [ 1.27103017e-01 9.91888209e-01 -1.61341410e-03 6.39808003e-01] [ 1.10109749e-02 2.15536511e-04 9.99939354e-01 -1.65177305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.527719421 meters Centerline goodness : 0.978910 Centerline is valid? [True, True] Translation: X:39.18, Y:0.64, Z:-1.65 [[ 9.91789315e-01 -1.27417737e-01 -1.08938311e-02 3.91796282e+01] [ 1.27407666e-01 9.91849119e-01 -1.61631775e-03 6.44218504e-01] [ 1.10109843e-02 2.15089075e-04 9.99939354e-01 -1.65235141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.557719421 meters Centerline goodness : 0.980255 Centerline is valid? [True, True] Translation: X:39.21, Y:0.65, Z:-1.65 [[ 9.92448400e-01 -1.22172771e-01 -1.09539205e-02 3.92069085e+01] [ 1.22162225e-01 9.92508809e-01 -1.62921217e-03 6.50592173e-01] [ 1.10709079e-02 2.78753703e-04 9.99938677e-01 -1.65255336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.587719421 meters Centerline goodness : 0.979631 Centerline is valid? [True, True] Translation: X:39.23, Y:0.66, Z:-1.65 [[ 9.93985323e-01 -1.09031492e-01 -1.02621293e-02 3.92330352e+01] [ 1.09021530e-01 9.94038216e-01 -1.52687785e-03 6.61032056e-01] [ 1.03674265e-02 3.98901133e-04 9.99946177e-01 -1.65418544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.617719421 meters Centerline goodness : 0.980617 Centerline is valid? [True, True] Translation: X:39.26, Y:0.67, Z:-1.66 [[ 9.94681482e-01 -1.02444964e-01 -1.06667062e-02 3.92605411e+01] [ 1.02433767e-01 9.94738553e-01 -1.59224967e-03 6.68586698e-01] [ 1.07737019e-02 4.91150366e-04 9.99941841e-01 -1.65604372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64771942099999 meters Centerline goodness : 0.977008 Centerline is valid? [True, True] Translation: X:39.29, Y:0.67, Z:-1.66 [[ 9.95648770e-01 -9.22021401e-02 -1.35015798e-02 3.92884544e+01] [ 9.21832246e-02 9.95740017e-01 -2.01801208e-03 6.74408515e-01] [ 1.36301283e-02 7.64612084e-04 9.99906813e-01 -1.65728276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67771942099999 meters Centerline goodness : 0.976320 Centerline is valid? [True, True] Translation: X:39.32, Y:0.68, Z:-1.66 [[ 9.95838254e-01 -9.00683757e-02 -1.39233227e-02 3.93164520e+01] [ 9.00479929e-02 9.95935244e-01 -2.08526037e-03 6.77745799e-01] [ 1.40545438e-02 8.22814778e-04 9.99900891e-01 -1.65731906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.707719421 meters Centerline goodness : 0.977666 Centerline is valid? [True, True] Translation: X:39.34, Y:0.68, Z:-1.66 [[ 9.95681878e-01 -9.19591557e-02 -1.26929581e-02 3.93430276e+01] [ 9.19423862e-02 9.95762516e-01 -1.89967059e-03 6.80886723e-01] [ 1.28138640e-02 7.24446726e-04 9.99917637e-01 -1.65650609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.737719421 meters Centerline goodness : 0.978011 Centerline is valid? [True, True] Translation: X:39.37, Y:0.69, Z:-1.66 [[ 9.95329635e-01 -9.57665993e-02 -1.21521887e-02 3.93707354e+01] [ 9.57514196e-02 9.95403602e-01 -1.82619894e-03 6.86429414e-01] [ 1.22712213e-02 6.54080599e-04 9.99924492e-01 -1.65792674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.767719421 meters Centerline goodness : 0.979819 Centerline is valid? [True, True] Translation: X:39.40, Y:0.69, Z:-1.66 [[ 9.94440956e-01 -1.04530867e-01 -1.26681652e-02 3.93975407e+01] [ 1.04515075e-01 9.94521480e-01 -1.90409619e-03 6.90814930e-01] [ 1.27977993e-02 5.69496991e-04 9.99917943e-01 -1.65943931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.797719421 meters Centerline goodness : 0.978361 Centerline is valid? [True, True] Translation: X:39.43, Y:0.69, Z:-1.66 [[ 9.93900824e-01 -1.09395658e-01 -1.39191470e-02 3.94256461e+01] [ 1.09376986e-01 9.93998125e-01 -2.09799182e-03 6.93029247e-01] [ 1.40651172e-02 5.62761448e-04 9.99900923e-01 -1.66002537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.827719421 meters Centerline goodness : 0.975519 Centerline is valid? [True, True] Translation: X:39.45, Y:0.69, Z:-1.66 [[ 9.92594931e-01 -1.20457380e-01 -1.56627816e-02 3.94544771e+01] [ 1.20435033e-01 9.92718392e-01 -2.36569515e-03 6.91321368e-01] [ 1.58336968e-02 4.61829406e-04 9.99874533e-01 -1.65978979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.857719421 meters Centerline goodness : 0.974477 Centerline is valid? [True, True] Translation: X:39.48, Y:0.69, Z:-1.66 [[ 9.92037797e-01 -1.25069323e-01 -1.47876546e-02 3.94811272e+01] [ 1.25049934e-01 9.92147938e-01 -2.23227566e-03 6.92563859e-01] [ 1.49507302e-02 3.65306603e-04 9.99888165e-01 -1.65997413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.887719421 meters Centerline goodness : 0.976891 Centerline is valid? [True, True] Translation: X:39.51, Y:0.69, Z:-1.66 [[ 9.91275924e-01 -1.31398156e-01 -1.03231184e-02 3.95088783e+01] [ 1.31388965e-01 9.91329656e-01 -1.56655829e-03 6.94047487e-01] [ 1.04394563e-02 1.96547675e-04 9.99945488e-01 -1.66039800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.917719421 meters Centerline goodness : 0.976972 Centerline is valid? [True, True] Translation: X:39.54, Y:0.70, Z:-1.66 [[ 9.90941867e-01 -1.33985700e-01 -9.05810722e-03 3.95356446e+01] [ 1.33978746e-01 9.90983255e-01 -1.37290960e-03 6.97863766e-01] [ 9.16038282e-03 1.46879752e-04 9.99958032e-01 -1.66141969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.947719421 meters Centerline goodness : 0.976997 Centerline is valid? [True, True] Translation: X:39.56, Y:0.70, Z:-1.66 [[ 9.90378368e-01 -1.38042054e-01 -9.75088804e-03 3.95620236e+01] [ 1.38034183e-01 9.90426361e-01 -1.47896612e-03 7.02867466e-01] [ 9.86169609e-03 1.18780193e-04 9.99951365e-01 -1.66150659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.977719421 meters Centerline goodness : 0.977027 Centerline is valid? [True, True] Translation: X:39.59, Y:0.71, Z:-1.66 [[ 9.90097140e-01 -1.40099972e-01 -8.92477145e-03 3.95895461e+01] [ 1.40093392e-01 9.90137358e-01 -1.36127996e-03 7.07564094e-01] [ 9.02746491e-03 9.74978863e-05 9.99959247e-01 -1.66154936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.007719421 meters Centerline goodness : 0.976678 Centerline is valid? [True, True] Translation: X:39.62, Y:0.71, Z:-1.66 [[ 9.89867637e-01 -1.41797331e-01 -7.45506950e-03 3.96165905e+01] [ 1.41792801e-01 9.89895708e-01 -1.13540374e-03 7.11426695e-01] [ 7.54073852e-03 6.68242343e-05 9.99971566e-01 -1.66093440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03771942099999 meters Centerline goodness : 0.976016 Centerline is valid? [True, True] Translation: X:39.64, Y:0.72, Z:-1.66 [[ 9.89823428e-01 -1.42081479e-01 -7.90160939e-03 3.96446723e+01] [ 1.42076346e-01 9.89854963e-01 -1.20999037e-03 7.16545226e-01] [ 7.99336449e-03 7.50450222e-05 9.99968050e-01 -1.66117085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06771942099999 meters Centerline goodness : 0.973341 Centerline is valid? [True, True] Translation: X:39.67, Y:0.72, Z:-1.66 [[ 9.89840636e-01 -1.41779580e-01 -1.06801927e-02 3.96710299e+01] [ 1.41770238e-01 9.89898248e-01 -1.63062521e-03 7.21813926e-01] [ 1.08034934e-02 9.99256271e-05 9.99941636e-01 -1.66111748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.097719421 meters Centerline goodness : 0.971726 Centerline is valid? [True, True] Translation: X:39.70, Y:0.73, Z:-1.66 [[ 9.89911367e-01 -1.41126350e-01 -1.26031237e-02 3.96971737e+01] [ 1.41113272e-01 9.89991584e-01 -1.92544376e-03 7.26389034e-01] [ 1.27487173e-02 1.27550636e-04 9.99918724e-01 -1.66215981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.127719421 meters Centerline goodness : 0.971376 Centerline is valid? [True, True] Translation: X:39.72, Y:0.73, Z:-1.66 [[ 9.89928301e-01 -1.40860660e-01 -1.41504174e-02 3.97247919e+01] [ 1.40844023e-01 9.90029419e-01 -2.17043637e-03 7.31690611e-01] [ 1.43150586e-02 1.55574678e-04 9.99897522e-01 -1.66256895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.157719421 meters Centerline goodness : 0.973133 Centerline is valid? [True, True] Translation: X:39.75, Y:0.74, Z:-1.67 [[ 9.90345836e-01 -1.37974812e-01 -1.33445619e-02 3.97508313e+01] [ 1.37959775e-01 9.90435721e-01 -2.04526898e-03 7.41176553e-01] [ 1.34991264e-02 1.84510861e-04 9.99908866e-01 -1.66553757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.187719421 meters Centerline goodness : 0.974400 Centerline is valid? [True, True] Translation: X:39.78, Y:0.75, Z:-1.67 [[ 9.90677464e-01 -1.35668014e-01 -1.23430769e-02 3.97781038e+01] [ 1.35654867e-01 9.90754332e-01 -1.90007947e-03 7.48023977e-01] [ 1.24867369e-02 2.07967453e-04 9.99922016e-01 -1.66639128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.217719421 meters Centerline goodness : 0.973228 Centerline is valid? [True, True] Translation: X:39.81, Y:0.75, Z:-1.67 [[ 9.91604985e-01 -1.28574658e-01 -1.37153445e-02 3.98057281e+01] [ 1.28557692e-01 9.91699776e-01 -2.11526496e-03 7.53703206e-01] [ 1.38734736e-02 3.34294246e-04 9.99903703e-01 -1.66585183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.247719421 meters Centerline goodness : 0.971241 Centerline is valid? [True, True] Translation: X:39.83, Y:0.76, Z:-1.67 [[ 9.92689928e-01 -1.19753073e-01 -1.50302338e-02 3.98327870e+01] [ 1.19731615e-01 9.92803578e-01 -2.32275870e-03 7.61019666e-01] [ 1.52002274e-02 5.06185004e-04 9.99884342e-01 -1.66649507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.277719421 meters Centerline goodness : 0.971675 Centerline is valid? [True, True] Translation: X:39.86, Y:0.77, Z:-1.67 [[ 9.93320678e-01 -1.14524427e-01 -1.40778901e-02 3.98589527e+01] [ 1.14505098e-01 9.93420281e-01 -2.17415806e-03 7.68242090e-01] [ 1.42342557e-02 5.47645975e-04 9.99898538e-01 -1.66695154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.307719421 meters Centerline goodness : 0.973239 Centerline is valid? [True, True] Translation: X:39.89, Y:0.78, Z:-1.67 [[ 9.93925001e-01 -1.09300730e-01 -1.29012571e-02 3.98862211e+01] [ 1.09283950e-01 9.94008559e-01 -2.00066558e-03 7.75387757e-01] [ 1.30426341e-02 5.78611212e-04 9.99914774e-01 -1.66850317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.337719421 meters Centerline goodness : 0.973411 Centerline is valid? [True, True] Translation: X:39.91, Y:0.78, Z:-1.67 [[ 9.94769787e-01 -1.01469988e-01 -1.17009996e-02 3.99129716e+01] [ 1.01455591e-01 9.94838406e-01 -1.81902819e-03 7.84261127e-01] [ 1.18251805e-02 6.22382463e-04 9.99929886e-01 -1.66893731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.367719421 meters Centerline goodness : 0.975053 Centerline is valid? [True, True] Translation: X:39.94, Y:0.79, Z:-1.67 [[ 9.95011553e-01 -9.91748592e-02 -1.07868409e-02 3.99401875e+01] [ 9.91624443e-02 9.95069839e-01 -1.68106578e-03 7.90426729e-01] [ 1.09003795e-02 6.03030363e-04 9.99940407e-01 -1.66969354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39771942099999 meters Centerline goodness : 0.975360 Centerline is valid? [True, True] Translation: X:39.97, Y:0.79, Z:-1.67 [[ 9.95184538e-01 -9.74590071e-02 -1.04631031e-02 3.99682391e+01] [ 9.74471901e-02 9.95239355e-01 -1.63454732e-03 7.94841568e-01] [ 1.05725933e-02 6.07076222e-04 9.99943924e-01 -1.67011120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42771942099999 meters Centerline goodness : 0.975025 Centerline is valid? [True, True] Translation: X:39.99, Y:0.80, Z:-1.67 [[ 9.95207171e-01 -9.72807502e-02 -9.95706498e-03 3.99945108e+01] [ 9.72700608e-02 9.95256812e-01 -1.55340294e-03 7.99342666e-01] [ 1.00609530e-02 5.77433432e-04 9.99949221e-01 -1.67083493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.457719421 meters Centerline goodness : 0.974516 Centerline is valid? [True, True] Translation: X:40.02, Y:0.80, Z:-1.67 [[ 9.95110580e-01 -9.83391659e-02 -9.18374277e-03 4.00226416e+01] [ 9.83300544e-02 9.95152816e-01 -1.43955286e-03 8.03502566e-01] [ 9.28079191e-03 5.29476358e-04 9.99956792e-01 -1.67110663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.487719421 meters Centerline goodness : 0.973449 Centerline is valid? [True, True] Translation: X:40.05, Y:0.81, Z:-1.67 [[ 9.94912754e-01 -1.00290993e-01 -9.50411357e-03 4.00504530e+01] [ 1.00281294e-01 9.94958006e-01 -1.49275483e-03 8.05730120e-01] [ 9.60590375e-03 5.32076008e-04 9.99953721e-01 -1.67090490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.517719421 meters Centerline goodness : 0.973245 Centerline is valid? [True, True] Translation: X:40.08, Y:0.81, Z:-1.67 [[ 9.94137720e-01 -1.07405186e-01 -1.24225880e-02 4.00781469e+01] [ 1.07389186e-01 9.94215148e-01 -1.94980665e-03 8.05810977e-01] [ 1.25601445e-02 6.04324723e-04 9.99920936e-01 -1.67020575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.547719421 meters Centerline goodness : 0.973477 Centerline is valid? [True, True] Translation: X:40.11, Y:0.81, Z:-1.67 [[ 9.93787741e-01 -1.10450974e-01 -1.36568229e-02 4.01063228e+01] [ 1.10431841e-01 9.93881375e-01 -2.14957285e-03 8.09054453e-01] [ 1.38106843e-02 6.28071052e-04 9.99904431e-01 -1.67192546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.577719421 meters Centerline goodness : 0.974702 Centerline is valid? [True, True] Translation: X:40.13, Y:0.81, Z:-1.67 [[ 9.92966340e-01 -1.17491856e-01 -1.46120087e-02 4.01346266e+01] [ 1.17470636e-01 9.93073681e-01 -2.30508731e-03 8.12360530e-01] [ 1.47816303e-02 5.72392144e-04 9.99890582e-01 -1.67443633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.607719421 meters Centerline goodness : 0.973175 Centerline is valid? [True, True] Translation: X:40.16, Y:0.81, Z:-1.67 [[ 9.92563516e-01 -1.20885908e-01 -1.42921209e-02 4.01618630e+01] [ 1.20865983e-01 9.92666277e-01 -2.25296289e-03 8.14653515e-01] [ 1.44596579e-02 5.08777536e-04 9.99895324e-01 -1.67426309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.637719421 meters Centerline goodness : 0.971513 Centerline is valid? [True, True] Translation: X:40.19, Y:0.81, Z:-1.67 [[ 9.91643231e-01 -1.28335446e-01 -1.31801343e-02 4.01900052e+01] [ 1.28319128e-01 9.91730747e-01 -2.07985190e-03 8.12688680e-01] [ 1.33380632e-02 3.71207715e-04 9.99910975e-01 -1.67191905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.667719421 meters Centerline goodness : 0.973183 Centerline is valid? [True, True] Translation: X:40.22, Y:0.81, Z:-1.67 [[ 9.91100802e-01 -1.32349610e-01 -1.42401412e-02 4.02177995e+01] [ 1.32330866e-01 9.91203036e-01 -2.25476858e-03 8.14517771e-01] [ 1.44132889e-02 3.50292741e-04 9.99896062e-01 -1.67144991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.697719421 meters Centerline goodness : 0.975205 Centerline is valid? [True, True] Translation: X:40.25, Y:0.82, Z:-1.67 [[ 9.90398816e-01 -1.37365718e-01 -1.55191560e-02 4.02458470e+01] [ 1.37343986e-01 9.90520351e-01 -2.46267049e-03 8.17125135e-01] [ 1.57103263e-02 3.07563203e-04 9.99876538e-01 -1.67326981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.727719421 meters Centerline goodness : 0.974392 Centerline is valid? [True, True] Translation: X:40.27, Y:0.82, Z:-1.67 [[ 9.90234390e-01 -1.38693394e-01 -1.41419411e-02 4.02719589e+01] [ 1.38675500e-01 9.90335335e-01 -2.24293949e-03 8.22716565e-01] [ 1.43163448e-02 2.59895066e-04 9.99897482e-01 -1.67497739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.757719421 meters Centerline goodness : 0.976679 Centerline is valid? [True, True] Translation: X:40.30, Y:0.83, Z:-1.68 [[ 9.90163699e-01 -1.39381171e-01 -1.21958394e-02 4.02991600e+01] [ 1.39367813e-01 9.90238779e-01 -1.94259692e-03 8.29301091e-01] [ 1.23475546e-02 2.23781480e-04 9.99923741e-01 -1.67547469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78771942099999 meters Centerline goodness : 0.978528 Centerline is valid? [True, True] Translation: X:40.33, Y:0.84, Z:-1.67 [[ 9.90607455e-01 -1.36348522e-01 -1.02932659e-02 4.03264976e+01] [ 1.36338792e-01 9.90660905e-01 -1.64448237e-03 8.37341917e-01] [ 1.04213588e-02 2.25665061e-04 9.99945671e-01 -1.67496093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81771942099999 meters Centerline goodness : 0.975037 Centerline is valid? [True, True] Translation: X:40.35, Y:0.84, Z:-1.67 [[ 9.90872391e-01 -1.34288666e-01 -1.17668847e-02 4.03529693e+01] [ 1.34275843e-01 9.90942216e-01 -1.87667712e-03 8.41025221e-01] [ 1.19123193e-02 2.79539179e-04 9.99929007e-01 -1.67341028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.847719421 meters Centerline goodness : 0.975879 Centerline is valid? [True, True] Translation: X:40.38, Y:0.84, Z:-1.67 [[ 9.91207133e-01 -1.31674814e-01 -1.30446398e-02 4.03806368e+01] [ 1.31658721e-01 9.91292903e-01 -2.08867059e-03 8.43225022e-01] [ 1.32060842e-02 3.52864593e-04 9.99912734e-01 -1.67212044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.877719421 meters Centerline goodness : 0.976951 Centerline is valid? [True, True] Translation: X:40.41, Y:0.85, Z:-1.67 [[ 9.91227554e-01 -1.31530411e-01 -1.29494296e-02 4.04077673e+01] [ 1.31514478e-01 9.91312072e-01 -2.07806707e-03 8.48512432e-01] [ 1.31102549e-02 3.56799861e-04 9.99913993e-01 -1.67246027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.907719421 meters Centerline goodness : 0.979159 Centerline is valid? [True, True] Translation: X:40.43, Y:0.86, Z:-1.68 [[ 9.90897350e-01 -1.33995023e-01 -1.29527903e-02 4.04336905e+01] [ 1.33979318e-01 9.90981952e-01 -2.07659995e-03 8.57933239e-01] [ 1.31142355e-02 3.22291368e-04 9.99913953e-01 -1.67580641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.937719421 meters Centerline goodness : 0.978248 Centerline is valid? [True, True] Translation: X:40.46, Y:0.86, Z:-1.68 [[ 9.90441561e-01 -1.37172283e-01 -1.44664495e-02 4.04607661e+01] [ 1.37153007e-01 9.90547155e-01 -2.32096826e-03 8.62593639e-01] [ 1.46480729e-02 3.14666371e-04 9.99892662e-01 -1.67686712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.967719421 meters Centerline goodness : 0.978166 Centerline is valid? [True, True] Translation: X:40.49, Y:0.86, Z:-1.68 [[ 9.89251080e-01 -1.45679213e-01 -1.26439071e-02 4.04891215e+01] [ 1.45665075e-01 9.89331864e-01 -2.03692946e-03 8.61615456e-01] [ 1.28057584e-02 1.73259006e-04 9.99917988e-01 -1.67546475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.997719421 meters Centerline goodness : 0.980303 Centerline is valid? [True, True] Translation: X:40.52, Y:0.86, Z:-1.67 [[ 9.88255599e-01 -1.52542805e-01 -9.03128351e-03 4.05169870e+01] [ 1.52535829e-01 9.88296863e-01 -1.46028507e-03 8.63866697e-01] [ 9.14834514e-03 6.55405825e-05 9.99958151e-01 -1.67447894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.027719421 meters Centerline goodness : 0.983562 Centerline is valid? [True, True] Translation: X:40.54, Y:0.87, Z:-1.67 [[ 9.86298456e-01 -1.64896165e-01 -4.96087367e-03 4.05439407e+01] [ 1.64894217e-01 9.86310932e-01 -8.02072808e-04 8.67268166e-01] [ 5.02522266e-03 -2.69362054e-05 9.99987373e-01 -1.67370578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.057719421 meters Centerline goodness : 0.983717 Centerline is valid? [True, True] Translation: X:40.57, Y:0.87, Z:-1.68 [[ 9.85456974e-01 -1.69833822e-01 -5.56999743e-03 4.05716762e+01] [ 1.69831414e-01 9.85472714e-01 -9.05908910e-04 8.73958953e-01] [ 5.64293446e-03 -5.32262877e-05 9.99984077e-01 -1.67505731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.087719421 meters Centerline goodness : 0.983438 Centerline is valid? [True, True] Translation: X:40.60, Y:0.88, Z:-1.68 [[ 9.84805848e-01 -1.73596642e-01 -4.65270675e-03 4.05978401e+01] [ 1.73595013e-01 9.84816837e-01 -7.54640599e-04 8.82326557e-01] [ 4.71306702e-03 -6.45122151e-05 9.99988891e-01 -1.67623096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.117719421 meters Centerline goodness : 0.982871 Centerline is valid? [True, True] Translation: X:40.63, Y:0.89, Z:-1.68 [[ 9.84698469e-01 -1.74249935e-01 -2.42593473e-03 4.06254012e+01] [ 1.74249480e-01 9.84701457e-01 -3.99394326e-04 8.88071989e-01] [ 2.45841589e-03 -2.94348834e-05 9.99996978e-01 -1.67596686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14771942099999 meters Centerline goodness : 0.982876 Centerline is valid? [True, True] Translation: X:40.65, Y:0.90, Z:-1.68 [[ 9.84526759e-01 -1.75192265e-01 -3.83797744e-03 4.06525453e+01] [ 1.75191142e-01 9.84534239e-01 -6.29708337e-04 8.95685332e-01] [ 3.88894023e-03 -5.24149397e-05 9.99992437e-01 -1.67512679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17771942099999 meters Centerline goodness : 0.980944 Centerline is valid? [True, True] Translation: X:40.68, Y:0.90, Z:-1.68 [[ 9.84368771e-01 -1.75983681e-01 -6.91853718e-03 4.06791661e+01] [ 1.75980093e-01 9.84393078e-01 -1.12887688e-03 9.02711522e-01] [ 7.00922402e-03 -1.06293665e-04 9.99975429e-01 -1.67535279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.207719421 meters Centerline goodness : 0.981168 Centerline is valid? [True, True] Translation: X:40.71, Y:0.92, Z:-1.68 [[ 9.84230489e-01 -1.76630551e-01 -9.59132661e-03 4.07050465e+01] [ 1.76623648e-01 9.84277210e-01 -1.56882387e-03 9.16953958e-01] [ 9.71762642e-03 -1.49970805e-04 9.99952772e-01 -1.67858934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.237719421 meters Centerline goodness : 0.982515 Centerline is valid? [True, True] Translation: X:40.73, Y:0.93, Z:-1.68 [[ 9.84176359e-01 -1.76966293e-01 -8.93449958e-03 4.07304301e+01] [ 1.76960336e-01 9.84216902e-01 -1.45921864e-03 9.27906408e-01] [ 9.05171801e-03 -1.44923562e-04 9.99959022e-01 -1.68064933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.267719421 meters Centerline goodness : 0.982752 Centerline is valid? [True, True] Translation: X:40.76, Y:0.94, Z:-1.68 [[ 9.84156332e-01 -1.77058641e-01 -9.30335337e-03 4.07553173e+01] [ 1.77052175e-01 9.84200292e-01 -1.52064685e-03 9.43723774e-01] [ 9.42560677e-03 -1.50624724e-04 9.99955567e-01 -1.68313140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.297719421 meters Centerline goodness : 0.982397 Centerline is valid? [True, True] Translation: X:40.78, Y:0.95, Z:-1.68 [[ 9.84188383e-01 -1.76768567e-01 -1.12294665e-02 4.07824673e+01] [ 1.76759043e-01 9.84252429e-01 -1.84290334e-03 9.51935280e-01] [ 1.13783970e-02 -1.71145694e-04 9.99935249e-01 -1.68276494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.327719421 meters Centerline goodness : 0.981374 Centerline is valid? [True, True] Translation: X:40.81, Y:0.96, Z:-1.68 [[ 9.84612521e-01 -1.74299283e-01 -1.25675720e-02 4.08080984e+01] [ 1.74287190e-01 9.84692710e-01 -2.05956770e-03 9.60577072e-01] [ 1.27341777e-02 -1.62490660e-04 9.99918904e-01 -1.68078458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.357719421 meters Centerline goodness : 0.982230 Centerline is valid? [True, True] Translation: X:40.83, Y:0.97, Z:-1.68 [[ 9.84890413e-01 -1.72717830e-01 -1.26263763e-02 4.08348693e+01] [ 1.72705381e-01 9.84971336e-01 -2.07794724e-03 9.69073558e-01] [ 1.27955173e-02 -1.34092821e-04 9.99918125e-01 -1.68134819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.387719421 meters Centerline goodness : 0.982986 Centerline is valid? [True, True] Translation: X:40.86, Y:0.99, Z:-1.68 [[ 9.85615080e-01 -1.68348773e-01 -1.48864069e-02 4.08595924e+01] [ 1.68331017e-01 9.85727489e-01 -2.44680211e-03 9.86836015e-01] [ 1.50858566e-02 -9.42389535e-05 9.99886198e-01 -1.68469488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.417719421 meters Centerline goodness : 0.982312 Centerline is valid? [True, True] Translation: X:40.88, Y:1.00, Z:-1.69 [[ 9.86046013e-01 -1.65737788e-01 -1.56283754e-02 4.08849833e+01] [ 1.65717856e-01 9.86169855e-01 -2.57089300e-03 9.98759302e-01] [ 1.58383268e-02 -5.48820742e-05 9.99874564e-01 -1.68649184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.447719421 meters Centerline goodness : 0.982312 Centerline is valid? [True, True] Translation: X:40.91, Y:1.00, Z:-1.69 [[ 9.85996227e-01 -1.66033836e-01 -1.56271021e-02 4.09130845e+01] [ 1.66013819e-01 9.86120055e-01 -2.57863239e-03 1.00365360e+00] [ 1.58383390e-02 -5.17930930e-05 9.99874564e-01 -1.68707076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.477719421 meters Centerline goodness : 0.981892 Centerline is valid? [True, True] Translation: X:40.94, Y:1.01, Z:-1.69 [[ 9.86524534e-01 -1.62827296e-01 -1.60192421e-02 4.09397575e+01] [ 1.62805746e-01 9.86654586e-01 -2.64902972e-03 1.01399742e+00] [ 1.62367930e-02 5.30814955e-06 9.99868175e-01 -1.68778213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.507719421 meters Centerline goodness : 0.967774 Centerline is valid? [True, True] Translation: X:40.97, Y:0.97, Z:-1.59 [[ 9.84256851e-01 -1.57677412e-01 -7.98516457e-02 4.09747159e+01] [ 1.72665059e-01 9.54315615e-01 2.43861610e-01 9.66718999e-01] [ 3.77522049e-02 -2.53810049e-01 9.66517061e-01 -1.59360027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53771942099999 meters Centerline goodness : 0.984215 Centerline is valid? [True, True] Translation: X:40.99, Y:1.11, Z:-1.71 [[ 9.89749370e-01 -1.39840826e-01 2.89953002e-02 4.09932285e+01] [ 1.42642752e-01 9.57991276e-01 -2.48808681e-01 1.10793994e+00] [ 7.01636705e-03 2.50394205e-01 9.68118543e-01 -1.70786692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56771942099999 meters Centerline goodness : 0.985266 Centerline is valid? [True, True] Translation: X:41.03, Y:1.05, Z:-1.69 [[ 9.89001892e-01 -1.47489641e-01 -1.10482057e-02 4.10323067e+01] [ 1.47478229e-01 9.89063581e-01 -1.84505197e-03 1.04530149e+00] [ 1.11995039e-02 1.95390080e-04 9.99937264e-01 -1.68521022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.597719421 meters Centerline goodness : 0.985997 Centerline is valid? [True, True] Translation: X:41.06, Y:1.06, Z:-1.69 [[ 9.89983635e-01 -1.40829348e-01 -9.97481475e-03 4.10578955e+01] [ 1.40819663e-01 9.90033854e-01 -1.67026015e-03 1.06175717e+00] [ 1.01106259e-02 2.48880156e-04 9.99948855e-01 -1.68848852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.627719421 meters Centerline goodness : 0.986327 Centerline is valid? [True, True] Translation: X:41.08, Y:1.07, Z:-1.69 [[ 9.90344476e-01 -1.38323916e-01 -9.18224028e-03 4.10843385e+01] [ 1.38315622e-01 9.90387011e-01 -1.53534738e-03 1.06998007e+00] [ 9.30634677e-03 2.50475526e-04 9.99956664e-01 -1.69032294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.657719421 meters Centerline goodness : 0.985352 Centerline is valid? [True, True] Translation: X:41.11, Y:1.07, Z:-1.69 [[ 9.90538098e-01 -1.36941449e-01 -9.01749541e-03 4.11115463e+01] [ 1.36933326e-01 9.90579108e-01 -1.51506776e-03 1.07474123e+00] [ 9.14001813e-03 2.65936697e-04 9.99958194e-01 -1.69059686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.687719421 meters Centerline goodness : 0.986557 Centerline is valid? [True, True] Translation: X:41.14, Y:1.08, Z:-1.69 [[ 9.90364029e-01 -1.38075021e-01 -1.06948208e-02 4.11396519e+01] [ 1.38063634e-01 9.90421726e-01 -1.79934870e-03 1.07824830e+00] [ 1.08408280e-02 3.05444402e-04 9.99941190e-01 -1.69013978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.717719421 meters Centerline goodness : 0.985020 Centerline is valid? [True, True] Translation: X:41.17, Y:1.08, Z:-1.69 [[ 9.89964586e-01 -1.40626463e-01 -1.39397645e-02 4.11662928e+01] [ 1.40607387e-01 9.90062659e-01 -2.34406377e-03 1.08218411e+00] [ 1.41308777e-02 3.60506251e-04 9.99900089e-01 -1.68963381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.747719421 meters Centerline goodness : 0.985711 Centerline is valid? [True, True] Translation: X:41.19, Y:1.09, Z:-1.69 [[ 9.89911148e-01 -1.41013072e-01 -1.38286985e-02 4.11935762e+01] [ 1.40994236e-01 9.90007669e-01 -2.33261957e-03 1.08837963e+00] [ 1.40194474e-02 3.59319340e-04 9.99901658e-01 -1.69050964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.777719421 meters Centerline goodness : 0.986856 Centerline is valid? [True, True] Translation: X:41.22, Y:1.10, Z:-1.69 [[ 9.90026760e-01 -1.40397180e-01 -1.16467123e-02 4.12203356e+01] [ 1.40383712e-01 9.90095214e-01 -1.96998622e-03 1.09593568e+00] [ 1.18079346e-02 3.15330366e-04 9.99930234e-01 -1.69249048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.807719421 meters Centerline goodness : 0.986660 Centerline is valid? [True, True] Translation: X:41.25, Y:1.10, Z:-1.69 [[ 9.90029578e-01 -1.40417919e-01 -1.11464071e-02 4.12480842e+01] [ 1.40405538e-01 9.90092276e-01 -1.88952896e-03 1.10090546e+00] [ 1.13012953e-02 3.05672279e-04 9.99936092e-01 -1.69349077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.837719421 meters Centerline goodness : 0.987026 Centerline is valid? [True, True] Translation: X:41.27, Y:1.10, Z:-1.69 [[ 9.89862493e-01 -1.41630141e-01 -1.06371295e-02 4.12749301e+01] [ 1.41618958e-01 9.89919606e-01 -1.80102679e-03 1.10305803e+00] [ 1.07849827e-02 2.76349674e-04 9.99941802e-01 -1.69317889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.867719421 meters Centerline goodness : 0.986797 Centerline is valid? [True, True] Translation: X:41.30, Y:1.11, Z:-1.69 [[ 9.89597379e-01 -1.43501271e-01 -1.02182775e-02 4.13027991e+01] [ 1.43490973e-01 9.89650100e-01 -1.73776888e-03 1.10533763e+00] [ 1.03618914e-02 2.53460952e-04 9.99946282e-01 -1.69305065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89771942099999 meters Centerline goodness : 0.988489 Centerline is valid? [True, True] Translation: X:41.33, Y:1.11, Z:-1.69 [[ 9.88743683e-01 -1.49451648e-01 -7.08050678e-03 4.13309827e+01] [ 1.49446821e-01 9.88769026e-01 -1.20894680e-03 1.10540051e+00] [ 7.18166489e-03 1.37179283e-04 9.99974202e-01 -1.69380873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92771942099999 meters Centerline goodness : 0.988316 Centerline is valid? [True, True] Translation: X:41.36, Y:1.11, Z:-1.69 [[ 9.88124409e-01 -1.53556739e-01 -5.52079929e-03 4.13587018e+01] [ 1.53553849e-01 9.88139828e-01 -9.46136706e-04 1.11001063e+00] [ 5.60060733e-03 8.71607915e-05 9.99984313e-01 -1.69487150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.957719421 meters Centerline goodness : 0.987498 Centerline is valid? [True, True] Translation: X:41.39, Y:1.12, Z:-1.70 [[ 9.86709442e-01 -1.62361995e-01 -6.56195410e-03 4.13865138e+01] [ 1.62358099e-01 9.86731261e-01 -1.12554127e-03 1.11644100e+00] [ 6.65763037e-03 4.51958024e-05 9.99977837e-01 -1.69618152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.987719421 meters Centerline goodness : 0.987421 Centerline is valid? [True, True] Translation: X:41.41, Y:1.12, Z:-1.70 [[ 9.85902510e-01 -1.67207465e-01 -6.15667591e-03 4.14145723e+01] [ 1.67204114e-01 9.85921733e-01 -1.05871576e-03 1.11992968e+00] [ 6.24702576e-03 1.43689811e-05 9.99980487e-01 -1.69664839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.017719421 meters Centerline goodness : 0.988444 Centerline is valid? [True, True] Translation: X:41.44, Y:1.12, Z:-1.70 [[ 9.84637548e-01 -1.74552411e-01 -4.51161565e-03 4.14419500e+01] [ 1.74550695e-01 9.84647884e-01 -7.74339395e-04 1.12224515e+00] [ 4.57751561e-03 -2.50620041e-05 9.99989523e-01 -1.69586386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.047719421 meters Centerline goodness : 0.988036 Centerline is valid? [True, True] Translation: X:41.47, Y:1.13, Z:-1.70 [[ 9.84113835e-01 -1.77496839e-01 -3.85127881e-03 4.14686971e+01] [ 1.77495588e-01 9.84121370e-01 -6.66838900e-04 1.13264907e+00] [ 3.90848758e-03 -2.73396114e-05 9.99992361e-01 -1.69657121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.077719421 meters Centerline goodness : 0.988418 Centerline is valid? [True, True] Translation: X:41.49, Y:1.14, Z:-1.70 [[ 9.84210965e-01 -1.76985506e-01 -2.21507433e-03 4.14946848e+01] [ 1.76985088e-01 9.84213458e-01 -3.84774322e-04 1.14077201e+00] [ 2.24820544e-03 -1.33360180e-05 9.99997473e-01 -1.69733931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.107719421 meters Centerline goodness : 0.988854 Centerline is valid? [True, True] Translation: X:41.52, Y:1.15, Z:-1.70 [[ 9.84281912e-01 -1.76604274e-01 -2.18889858e-04 4.15218012e+01] [ 1.76604268e-01 9.84281936e-01 -4.48725231e-05 1.15128961e+00] [ 2.23374012e-04 5.51032969e-06 9.99999975e-01 -1.69801031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.137719421 meters Centerline goodness : 0.988537 Centerline is valid? [True, True] Translation: X:41.55, Y:1.16, Z:-1.70 [[ 9.84303521e-01 -1.76476940e-01 -1.57130061e-03 4.15483709e+01] [ 1.76476726e-01 9.84304775e-01 -2.75343348e-04 1.15687730e+00] [ 1.59523044e-03 -6.27655956e-06 9.99998728e-01 -1.69892371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.167719421 meters Centerline goodness : 0.987672 Centerline is valid? [True, True] Translation: X:41.57, Y:1.17, Z:-1.70 [[ 9.84012429e-01 -1.78028972e-01 -5.02243327e-03 4.15743537e+01] [ 1.78026859e-01 9.84025245e-01 -8.68268439e-04 1.16507241e+00] [ 5.09677807e-03 -3.97410830e-05 9.99987011e-01 -1.70023248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.197719421 meters Centerline goodness : 0.987431 Centerline is valid? [True, True] Translation: X:41.60, Y:1.17, Z:-1.70 [[ 9.83953746e-01 -1.78304611e-01 -6.51857700e-03 4.16003487e+01] [ 1.78301058e-01 9.83975336e-01 -1.12686496e-03 1.17353111e+00] [ 6.61504422e-03 -5.34861791e-05 9.99978119e-01 -1.70106952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.227719421 meters Centerline goodness : 0.987687 Centerline is valid? [True, True] Translation: X:41.63, Y:1.18, Z:-1.70 [[ 9.83953375e-01 -1.78283031e-01 -7.13552045e-03 4.16259040e+01] [ 1.78278768e-01 9.83979246e-01 -1.23421869e-03 1.18406164e+00] [ 7.24124429e-03 -5.76981484e-05 9.99973780e-01 -1.70065171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.257719421 meters Centerline goodness : 0.987260 Centerline is valid? [True, True] Translation: X:41.65, Y:1.19, Z:-1.70 [[ 9.84062632e-01 -1.77667394e-01 -7.41839004e-03 4.16534570e+01] [ 1.77662722e-01 9.84090593e-01 -1.28939914e-03 1.19080354e+00] [ 7.52945203e-03 -4.91218591e-05 9.99971652e-01 -1.70042236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28771942099999 meters Centerline goodness : 0.988128 Centerline is valid? [True, True] Translation: X:41.68, Y:1.20, Z:-1.70 [[ 9.84595815e-01 -1.74703300e-01 -7.05963238e-03 4.16802218e+01] [ 1.74698973e-01 9.84621123e-01 -1.22972116e-03 1.19867028e+00] [ 7.16589951e-03 -2.25322174e-05 9.99974324e-01 -1.70072655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31771942099999 meters Centerline goodness : 0.989515 Centerline is valid? [True, True] Translation: X:41.71, Y:1.21, Z:-1.70 [[ 9.85563075e-01 -1.69194111e-01 -6.22725869e-03 4.17072655e+01] [ 1.69190617e-01 9.85582748e-01 -1.08761764e-03 1.20715726e+00] [ 6.32149723e-03 1.83220515e-05 9.99980019e-01 -1.70246062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.347719421 meters Centerline goodness : 0.987826 Centerline is valid? [True, True] Translation: X:41.73, Y:1.21, Z:-1.70 [[ 9.86248484e-01 -1.65132405e-01 -6.72439132e-03 4.17345636e+01] [ 1.65128221e-01 9.86271406e-01 -1.17658002e-03 1.21477743e+00] [ 6.82636637e-03 5.00134818e-05 9.99976699e-01 -1.70298093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.377719421 meters Centerline goodness : 0.988398 Centerline is valid? [True, True] Translation: X:41.76, Y:1.22, Z:-1.70 [[ 9.86987135e-01 -1.60654090e-01 -6.83065800e-03 4.17609099e+01] [ 1.60649687e-01 9.87010769e-01 -1.19200106e-03 1.22230979e+00] [ 6.93343285e-03 7.91466399e-05 9.99975960e-01 -1.70379341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.407719421 meters Centerline goodness : 0.987403 Centerline is valid? [True, True] Translation: X:41.79, Y:1.23, Z:-1.70 [[ 9.88579041e-01 -1.50323052e-01 -1.06985582e-02 4.17875911e+01] [ 1.50311588e-01 9.88636901e-01 -1.87226470e-03 1.23017694e+00] [ 1.08584339e-02 2.42764378e-04 9.99941016e-01 -1.70418306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.437719421 meters Centerline goodness : 0.986619 Centerline is valid? [True, True] Translation: X:41.82, Y:1.23, Z:-1.71 [[ 9.89170622e-01 -1.46261062e-01 -1.22140213e-02 4.18156198e+01] [ 1.46245775e-01 9.89245972e-01 -2.14034866e-03 1.23483063e+00] [ 1.23957210e-02 3.30920999e-04 9.99923115e-01 -1.70544091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.467719421 meters Centerline goodness : 0.987270 Centerline is valid? [True, True] Translation: X:41.84, Y:1.24, Z:-1.71 [[ 9.89644373e-01 -1.43057687e-01 -1.17691618e-02 4.18434626e+01] [ 1.43043210e-01 9.89714286e-01 -2.06715500e-03 1.23976025e+00] [ 1.19438300e-02 3.62249639e-04 9.99928604e-01 -1.70597975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.497719421 meters Centerline goodness : 0.988027 Centerline is valid? [True, True] Translation: X:41.87, Y:1.25, Z:-1.71 [[ 9.89564378e-01 -1.43760158e-01 -9.76518120e-03 4.18705849e+01] [ 1.43750181e-01 9.89612514e-01 -1.71962568e-03 1.24661570e+00] [ 9.91095918e-03 2.97933753e-04 9.99950841e-01 -1.70668096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.527719421 meters Centerline goodness : 0.988218 Centerline is valid? [True, True] Translation: X:41.90, Y:1.25, Z:-1.71 [[ 9.89534657e-01 -1.44108955e-01 -7.33294557e-03 4.18965668e+01] [ 1.44103347e-01 9.89561802e-01 -1.29017852e-03 1.25416146e+00] [ 7.44232911e-03 2.19974362e-04 9.99972281e-01 -1.70838164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.557719421 meters Centerline goodness : 0.986664 Centerline is valid? [True, True] Translation: X:41.92, Y:1.25, Z:-1.71 [[ 9.89326877e-01 -1.45430150e-01 -9.07754868e-03 4.19249203e+01] [ 1.45421552e-01 9.89368486e-01 -1.60364367e-03 1.25459311e+00] [ 9.21425873e-03 2.66456567e-04 9.99957512e-01 -1.70876093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.587719421 meters Centerline goodness : 0.986569 Centerline is valid? [True, True] Translation: X:41.95, Y:1.26, Z:-1.71 [[ 9.89055999e-01 -1.47270876e-01 -8.91743898e-03 4.19521328e+01] [ 1.47262677e-01 9.89096168e-01 -1.57278814e-03 1.25680354e+00] [ 9.05183061e-03 2.42369611e-04 9.99959002e-01 -1.70999897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.617719421 meters Centerline goodness : 0.987358 Centerline is valid? [True, True] Translation: X:41.98, Y:1.26, Z:-1.71 [[ 9.88294136e-01 -1.52466791e-01 -5.34595524e-03 4.19803743e+01] [ 1.52463882e-01 9.88308587e-01 -9.49946990e-04 1.25954422e+00] [ 5.42828883e-03 1.23761950e-04 9.99985259e-01 -1.71115337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64771942099999 meters Centerline goodness : 0.987009 Centerline is valid? [True, True] Translation: X:42.01, Y:1.26, Z:-1.71 [[ 9.87873832e-01 -1.55189453e-01 -4.63951214e-03 4.20086942e+01] [ 1.55187280e-01 9.87884722e-01 -8.26908597e-04 1.26243816e+00] [ 4.71163065e-03 9.68880954e-05 9.99988896e-01 -1.71130674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67771942099999 meters Centerline goodness : 0.987262 Centerline is valid? [True, True] Translation: X:42.04, Y:1.26, Z:-1.71 [[ 9.87257727e-01 -1.59050296e-01 -5.01834625e-03 4.20357638e+01] [ 1.59047823e-01 9.87270478e-01 -8.90613216e-04 1.26229574e+00] [ 5.09611740e-03 8.11077317e-05 9.99987011e-01 -1.71182581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.707719421 meters Centerline goodness : 0.985943 Centerline is valid? [True, True] Translation: X:42.06, Y:1.26, Z:-1.71 [[ 9.86792062e-01 -1.61929736e-01 -4.49290109e-03 4.20623897e+01] [ 1.61927780e-01 9.86802289e-01 -7.98259144e-04 1.26387376e+00] [ 4.56286697e-03 6.01902891e-05 9.99989588e-01 -1.71352153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.737719421 meters Centerline goodness : 0.986291 Centerline is valid? [True, True] Translation: X:42.09, Y:1.27, Z:-1.71 [[ 9.86529732e-01 -1.63514503e-01 -4.70052434e-03 4.20888227e+01] [ 1.63512377e-01 9.86540929e-01 -8.35609836e-04 1.26777291e+00] [ 4.77389397e-03 5.57600405e-05 9.99988603e-01 -1.71495746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.767719421 meters Centerline goodness : 0.984663 Centerline is valid? [True, True] Translation: X:42.12, Y:1.27, Z:-1.72 [[ 9.86166766e-01 -1.65652538e-01 -5.86058440e-03 4.21168454e+01] [ 1.65649242e-01 9.86184178e-01 -1.04678450e-03 1.27122248e+00] [ 5.95301812e-03 6.15027232e-05 9.99982279e-01 -1.71586460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.797719421 meters Centerline goodness : 0.985398 Centerline is valid? [True, True] Translation: X:42.15, Y:1.27, Z:-1.72 [[ 9.85891596e-01 -1.67299364e-01 -5.35574364e-03 4.21456709e+01] [ 1.67296620e-01 9.85906142e-01 -9.59443983e-04 1.26988425e+00] [ 5.44077492e-03 4.99099491e-05 9.99985198e-01 -1.71587635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.827719421 meters Centerline goodness : 0.985418 Centerline is valid? [True, True] Translation: X:42.17, Y:1.27, Z:-1.71 [[ 9.85553872e-01 -1.69362209e-01 -8.82671817e-05 4.21729511e+01] [ 1.69362208e-01 9.85553876e-01 -1.87882818e-05 1.27163049e+00] [ 9.01740879e-05 3.56773909e-06 9.99999996e-01 -1.71431497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.857719421 meters Centerline goodness : 0.986047 Centerline is valid? [True, True] Translation: X:42.20, Y:1.28, Z:-1.72 [[ 9.85060562e-01 -1.72206244e-01 8.36202664e-04 4.22004410e+01] [ 1.72206185e-01 9.85060917e-01 1.41987175e-04 1.27845809e+00] [-8.48161641e-04 4.13330426e-06 9.99999640e-01 -1.71537368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.887719421 meters Centerline goodness : 0.985049 Centerline is valid? [True, True] Translation: X:42.23, Y:1.29, Z:-1.72 [[ 9.84092749e-01 -1.77649093e-01 -1.50371510e-03 4.22276611e+01] [ 1.77648878e-01 9.84093898e-01 -2.75892789e-04 1.28680920e+00] [ 1.52880896e-03 4.37079187e-06 9.99998831e-01 -1.71690005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.917719421 meters Centerline goodness : 0.984252 Centerline is valid? [True, True] Translation: X:42.26, Y:1.29, Z:-1.72 [[ 9.83583660e-01 -1.80426720e-01 -3.06309628e-03 4.22551010e+01] [ 1.80425864e-01 9.83588430e-01 -5.55695494e-04 1.29272540e+00] [ 3.11308837e-03 -6.08878555e-06 9.99995154e-01 -1.71735721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.947719421 meters Centerline goodness : 0.984036 Centerline is valid? [True, True] Translation: X:42.28, Y:1.30, Z:-1.72 [[ 9.82847908e-01 -1.84387613e-01 -3.34644009e-03 4.22816570e+01] [ 1.84386629e-01 9.82853604e-01 -6.02787242e-04 1.29910969e+00] [ 3.40020720e-03 -2.45906282e-05 9.99994219e-01 -1.71750408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.977719421 meters Centerline goodness : 0.984139 Centerline is valid? [True, True] Translation: X:42.31, Y:1.31, Z:-1.72 [[ 9.82688504e-01 -1.85244980e-01 -2.75705748e-03 4.23070899e+01] [ 1.85244308e-01 9.82692371e-01 -4.99486388e-04 1.30772601e+00] [ 2.80186670e-03 -1.98896725e-05 9.99996075e-01 -1.71664307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.007719421 meters Centerline goodness : 0.984798 Centerline is valid? [True, True] Translation: X:42.33, Y:1.32, Z:-1.72 [[ 9.82586999e-01 -1.85777167e-01 -3.10388059e-03 4.23330395e+01] [ 1.85776317e-01 9.82591901e-01 -5.62378179e-04 1.31557276e+00] [ 3.15432495e-03 -2.40420178e-05 9.99995025e-01 -1.71797647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03771942099999 meters Centerline goodness : 0.985050 Centerline is valid? [True, True] Translation: X:42.36, Y:1.33, Z:-1.72 [[ 9.82665097e-01 -1.85281739e-01 -6.32332010e-03 4.23595050e+01] [ 1.85278203e-01 9.82685441e-01 -1.14565157e-03 1.32713395e+00] [ 6.42610292e-03 -4.57815744e-05 9.99979351e-01 -1.71896863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06771942099999 meters Centerline goodness : 0.985205 Centerline is valid? [True, True] Translation: X:42.39, Y:1.33, Z:-1.72 [[ 9.82729243e-01 -1.84948927e-01 -6.09341412e-03 4.23859684e+01] [ 1.84945655e-01 9.82748133e-01 -1.10099942e-03 1.33458115e+00] [ 6.19192001e-03 -4.49661391e-05 9.99980829e-01 -1.71981968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.097719421 meters Centerline goodness : 0.985338 Centerline is valid? [True, True] Translation: X:42.41, Y:1.34, Z:-1.72 [[ 9.83365543e-01 -1.81572556e-01 -4.85962317e-03 4.24132702e+01] [ 1.81570402e-01 9.83377551e-01 -8.84496775e-04 1.34327415e+00] [ 4.93944467e-03 -1.25800811e-05 9.99987801e-01 -1.72009457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.127719421 meters Centerline goodness : 0.983619 Centerline is valid? [True, True] Translation: X:42.44, Y:1.35, Z:-1.72 [[ 9.84051712e-01 -1.77833925e-01 -4.16221618e-03 4.24408543e+01] [ 1.77832301e-01 9.84060514e-01 -7.60058334e-04 1.35091558e+00] [ 4.23103675e-03 7.76022255e-06 9.99991049e-01 -1.72045083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.157719421 meters Centerline goodness : 0.984478 Centerline is valid? [True, True] Translation: X:42.47, Y:1.36, Z:-1.72 [[ 9.85657810e-01 -1.68698116e-01 -4.43033443e-03 4.24675381e+01] [ 1.68696179e-01 9.85667765e-01 -8.10092226e-04 1.36105985e+00] [ 4.50349887e-03 5.10932415e-05 9.99989858e-01 -1.72116415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.187719421 meters Centerline goodness : 0.983748 Centerline is valid? [True, True] Translation: X:42.49, Y:1.37, Z:-1.72 [[ 9.86439481e-01 -1.64057318e-01 -4.72724679e-03 4.24945403e+01] [ 1.64055053e-01 9.86450805e-01 -8.65550628e-04 1.36725710e+00] [ 4.80519631e-03 7.82845901e-05 9.99988452e-01 -1.72232195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.217719421 meters Centerline goodness : 0.983998 Centerline is valid? [True, True] Translation: X:42.52, Y:1.37, Z:-1.72 [[ 9.88045749e-01 -1.54070928e-01 -5.26748279e-03 4.25208519e+01] [ 1.54067996e-01 9.88059781e-01 -9.60327672e-04 1.37173202e+00] [ 5.35254647e-03 1.37297157e-04 9.99985666e-01 -1.72394044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.247719421 meters Centerline goodness : 0.984814 Centerline is valid? [True, True] Translation: X:42.55, Y:1.38, Z:-1.72 [[ 9.89301943e-01 -1.45791478e-01 -5.14892027e-03 4.25478388e+01] [ 1.45788533e-01 9.89315324e-01 -9.44766276e-04 1.37966925e+00] [ 5.23164459e-03 1.84005581e-04 9.99986298e-01 -1.72498903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.277719421 meters Centerline goodness : 0.985809 Centerline is valid? [True, True] Translation: X:42.57, Y:1.39, Z:-1.73 [[ 9.89667762e-01 -1.43308200e-01 -4.52560756e-03 4.25741350e+01] [ 1.43305910e-01 9.89678095e-01 -8.27818903e-04 1.38611651e+00] [ 4.59752790e-03 1.70719370e-04 9.99989417e-01 -1.72644533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.307719421 meters Centerline goodness : 0.985805 Centerline is valid? [True, True] Translation: X:42.60, Y:1.39, Z:-1.73 [[ 9.89915638e-01 -1.41611462e-01 -3.63649415e-03 4.26016454e+01] [ 1.41609951e-01 9.89922306e-01 -6.70974198e-04 1.38997554e+00] [ 3.69486431e-03 1.49244091e-04 9.99993163e-01 -1.72615774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.337719421 meters Centerline goodness : 0.985805 Centerline is valid? [True, True] Translation: X:42.63, Y:1.40, Z:-1.73 [[ 9.89871516e-01 -1.41919547e-01 -3.63636543e-03 4.26296363e+01] [ 1.41918036e-01 9.89878184e-01 -6.71672631e-04 1.39534742e+00] [ 3.69488228e-03 1.48803768e-04 9.99993163e-01 -1.72675244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.367719421 meters Centerline goodness : 0.985405 Centerline is valid? [True, True] Translation: X:42.66, Y:1.40, Z:-1.73 [[ 9.89686789e-01 -1.43226553e-01 -2.49281022e-03 4.26567877e+01] [ 1.43225849e-01 9.89689924e-01 -4.59337593e-04 1.39904769e+00] [ 2.53289850e-03 9.75654863e-05 9.99996787e-01 -1.72725260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39771942099999 meters Centerline goodness : 0.984848 Centerline is valid? [True, True] Translation: X:42.68, Y:1.40, Z:-1.73 [[ 9.88987529e-01 -1.47986745e-01 -1.89468451e-03 4.26839202e+01] [ 1.47986346e-01 9.88989342e-01 -3.50012985e-04 1.40154373e+00] [ 1.92562007e-03 6.57710394e-05 9.99998144e-01 -1.72923425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42771942099999 meters Centerline goodness : 0.985736 Centerline is valid? [True, True] Translation: X:42.71, Y:1.41, Z:-1.73 [[ 9.88352787e-01 -1.52159948e-01 -2.47368446e-03 4.27116380e+01] [ 1.52159270e-01 9.88355879e-01 -4.61062016e-04 1.40557146e+00] [ 2.51503575e-03 7.92979065e-05 9.99996834e-01 -1.73044808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.457719421 meters Centerline goodness : 0.984879 Centerline is valid? [True, True] Translation: X:42.74, Y:1.41, Z:-1.73 [[ 9.86882224e-01 -1.61419262e-01 -2.70151277e-03 4.27395576e+01] [ 1.61418487e-01 9.86885920e-01 -5.03816134e-04 1.40931455e+00] [ 2.74741055e-03 6.11330817e-05 9.99996224e-01 -1.73181187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.487719421 meters Centerline goodness : 0.985247 Centerline is valid? [True, True] Translation: X:42.77, Y:1.41, Z:-1.73 [[ 9.85327776e-01 -1.70657897e-01 -2.24854940e-03 4.27664918e+01] [ 1.70657390e-01 9.85330341e-01 -4.16845264e-04 1.41338772e+00] [ 2.28670188e-03 2.69976456e-05 9.99997385e-01 -1.73212629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.517719421 meters Centerline goodness : 0.984690 Centerline is valid? [True, True] Translation: X:42.79, Y:1.42, Z:-1.73 [[ 9.84728756e-01 -1.74072517e-01 -2.83487423e-03 4.27942029e+01] [ 1.74071714e-01 9.84732836e-01 -5.29575116e-04 1.41701780e+00] [ 2.88377821e-03 2.80164304e-05 9.99995842e-01 -1.73301688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.547719421 meters Centerline goodness : 0.982907 Centerline is valid? [True, True] Translation: X:42.82, Y:1.41, Z:-1.73 [[ 9.83789263e-01 -1.79220877e-01 -6.20998171e-03 4.28218987e+01] [ 1.79217182e-01 9.83808862e-01 -1.15101111e-03 1.41459559e+00] [ 6.31572026e-03 1.94169482e-05 9.99980055e-01 -1.73301539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.577719421 meters Centerline goodness : 0.983158 Centerline is valid? [True, True] Translation: X:42.85, Y:1.42, Z:-1.73 [[ 9.83335643e-01 -1.81658457e-01 -7.15676982e-03 4.28501701e+01] [ 1.81653583e-01 9.83361686e-01 -1.33059965e-03 1.41717083e+00] [ 7.27940791e-03 8.37317952e-06 9.99973505e-01 -1.73410788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.607719421 meters Centerline goodness : 0.984116 Centerline is valid? [True, True] Translation: X:42.88, Y:1.42, Z:-1.74 [[ 9.82483132e-01 -1.86092595e-01 -9.82040595e-03 4.28771915e+01] [ 1.86083629e-01 9.82532211e-01 -1.82704729e-03 1.42454635e+00] [ 9.98886514e-03 -3.23736349e-05 9.99950110e-01 -1.73530938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.637719421 meters Centerline goodness : 0.982704 Centerline is valid? [True, True] Translation: X:42.90, Y:1.43, Z:-1.74 [[ 9.82293663e-01 -1.87054835e-01 -1.04713026e-02 4.29041615e+01] [ 1.87044660e-01 9.82349473e-01 -1.95149661e-03 1.43112073e+00] [ 1.06515154e-02 -4.16584725e-05 9.99943270e-01 -1.73587355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.667719421 meters Centerline goodness : 0.982004 Centerline is valid? [True, True] Translation: X:42.93, Y:1.44, Z:-1.74 [[ 9.82278614e-01 -1.87132819e-01 -1.04896152e-02 4.29316994e+01] [ 1.87122572e-01 9.82334621e-01 -1.95862506e-03 1.43697386e+00] [ 1.06708352e-02 -3.89282769e-05 9.99943064e-01 -1.73563534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.697719421 meters Centerline goodness : 0.984798 Centerline is valid? [True, True] Translation: X:42.96, Y:1.44, Z:-1.74 [[ 9.82359236e-01 -1.86928017e-01 -5.31496645e-03 4.29578495e+01] [ 1.86925382e-01 9.82373613e-01 -9.92686910e-04 1.44231456e+00] [ 5.40684379e-03 -1.83269793e-05 9.99985383e-01 -1.73618777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.727719421 meters Centerline goodness : 0.984572 Centerline is valid? [True, True] Translation: X:42.99, Y:1.45, Z:-1.74 [[ 9.81457198e-01 -1.91661074e-01 -2.79308459e-03 4.29850390e+01] [ 1.91660346e-01 9.81461172e-01 -5.28200019e-04 1.44878631e+00] [ 2.84253946e-03 -1.69178498e-05 9.99995960e-01 -1.73656211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.757719421 meters Centerline goodness : 0.984936 Centerline is valid? [True, True] Translation: X:43.01, Y:1.46, Z:-1.74 [[ 9.80982213e-01 -1.94070614e-01 -3.23969854e-03 4.30126259e+01] [ 1.94069649e-01 9.80987562e-01 -6.12608107e-04 1.45533367e+00] [ 3.29699320e-03 -2.77695012e-05 9.99994565e-01 -1.73694259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78771942099999 meters Centerline goodness : 0.986088 Centerline is valid? [True, True] Translation: X:43.04, Y:1.47, Z:-1.74 [[ 9.79771866e-01 -2.00049662e-01 -5.21751229e-03 4.30386157e+01] [ 2.00047258e-01 9.79785755e-01 -9.83970034e-04 1.46704594e+00] [ 5.30888710e-03 -7.96828739e-05 9.99985905e-01 -1.73747075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81771942099999 meters Centerline goodness : 0.985837 Centerline is valid? [True, True] Translation: X:43.06, Y:1.48, Z:-1.74 [[ 9.79474078e-01 -2.01515605e-01 -4.68947221e-03 4.30648039e+01] [ 2.01513692e-01 9.79485301e-01 -8.81768416e-04 1.47550079e+00] [ 4.77095919e-03 -8.13235534e-05 9.99988616e-01 -1.73844859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.847719421 meters Centerline goodness : 0.985337 Centerline is valid? [True, True] Translation: X:43.09, Y:1.49, Z:-1.74 [[ 9.79741691e-01 -2.00249922e-01 -2.48763240e-03 4.30918318e+01] [ 2.00249363e-01 9.79744848e-01 -4.74160574e-04 1.48531741e+00] [ 2.53219564e-03 -3.35919208e-05 9.99996793e-01 -1.73864584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.877719421 meters Centerline goodness : 0.984319 Centerline is valid? [True, True] Translation: X:43.12, Y:1.49, Z:-1.74 [[ 9.80263860e-01 -1.97675804e-01 -2.65353685e-03 4.31182144e+01] [ 1.97675170e-01 9.80267451e-01 -5.01657031e-04 1.49290161e+00] [ 2.70034127e-03 -3.27820925e-05 9.99996354e-01 -1.73839856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.907719421 meters Centerline goodness : 0.985024 Centerline is valid? [True, True] Translation: X:43.14, Y:1.51, Z:-1.74 [[ 9.81939079e-01 -1.89080017e-01 -6.66281867e-03 4.31435410e+01] [ 1.89075849e-01 9.81961683e-01 -1.25576064e-03 1.50675453e+00] [ 6.78007187e-03 -2.66976503e-05 9.99977015e-01 -1.73888006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.937719421 meters Centerline goodness : 0.984945 Centerline is valid? [True, True] Translation: X:43.17, Y:1.52, Z:-1.74 [[ 9.82821240e-01 -1.84375224e-01 -8.25750676e-03 4.31703699e+01] [ 1.84368600e-01 9.82855929e-01 -1.56294454e-03 1.51679839e+00] [ 8.40410773e-03 1.36701321e-05 9.99964685e-01 -1.73980399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.967719421 meters Centerline goodness : 0.985522 Centerline is valid? [True, True] Translation: X:43.20, Y:1.53, Z:-1.74 [[ 9.84595721e-01 -1.74649722e-01 -8.29100726e-03 4.31959269e+01] [ 1.74642723e-01 9.84630624e-01 -1.56633791e-03 1.52720353e+00] [ 8.43714013e-03 9.42455164e-05 9.99964402e-01 -1.73951242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.997719421 meters Centerline goodness : 0.985241 Centerline is valid? [True, True] Translation: X:43.22, Y:1.53, Z:-1.74 [[ 9.85349996e-01 -1.70384661e-01 -7.37915600e-03 4.32231800e+01] [ 1.70378946e-01 9.85377619e-01 -1.40098038e-03 1.53388000e+00] [ 7.50996074e-03 1.23203196e-04 9.99971792e-01 -1.73989148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.027719421 meters Centerline goodness : 0.985857 Centerline is valid? [True, True] Translation: X:43.25, Y:1.54, Z:-1.74 [[ 9.86499141e-01 -1.63551904e-01 -8.37965268e-03 4.32502318e+01] [ 1.63544271e-01 9.86534710e-01 -1.59284891e-03 1.54090928e+00] [ 8.52733170e-03 2.00899894e-04 9.99963621e-01 -1.74185792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.057719421 meters Centerline goodness : 0.985409 Centerline is valid? [True, True] Translation: X:43.28, Y:1.55, Z:-1.74 [[ 9.86777443e-01 -1.61753731e-01 -1.02960463e-02 4.32762706e+01] [ 1.61742153e-01 9.86831121e-01 -1.95297071e-03 1.54622040e+00] [ 1.04763592e-02 2.61842743e-04 9.99945087e-01 -1.74269064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.087719421 meters Centerline goodness : 0.986066 Centerline is valid? [True, True] Translation: X:43.30, Y:1.55, Z:-1.74 [[ 9.86931750e-01 -1.60727030e-01 -1.15127450e-02 4.33042596e+01] [ 1.60712396e-01 9.86998847e-01 -2.19127927e-03 1.54926611e+00] [ 1.17152639e-02 3.12402243e-04 9.99931325e-01 -1.74403338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.117719421 meters Centerline goodness : 0.985417 Centerline is valid? [True, True] Translation: X:43.33, Y:1.55, Z:-1.74 [[ 9.86754804e-01 -1.61919954e-01 -9.84302025e-03 4.33312385e+01] [ 1.61909331e-01 9.86803863e-01 -1.87197283e-03 1.55293119e+00] [ 1.00162402e-02 2.53501356e-04 9.99949804e-01 -1.74437541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14771942099999 meters Centerline goodness : 0.984920 Centerline is valid? [True, True] Translation: X:43.36, Y:1.56, Z:-1.74 [[ 9.86568468e-01 -1.63076679e-01 -9.41569802e-03 4.33592510e+01] [ 1.63066942e-01 9.86613369e-01 -1.79787933e-03 1.55751449e+00] [ 9.58284573e-03 2.38341969e-04 9.99954055e-01 -1.74462056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17771942099999 meters Centerline goodness : 0.985688 Centerline is valid? [True, True] Translation: X:43.39, Y:1.56, Z:-1.74 [[ 9.86239049e-01 -1.65103057e-01 -8.57429129e-03 4.33856272e+01] [ 1.65095056e-01 9.86276300e-01 -1.63755175e-03 1.56121778e+00] [ 8.72698509e-03 1.99444380e-04 9.99961899e-01 -1.74473259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.207719421 meters Centerline goodness : 0.986037 Centerline is valid? [True, True] Translation: X:43.41, Y:1.57, Z:-1.74 [[ 9.85927177e-01 -1.66877455e-01 -9.97580983e-03 4.34133255e+01] [ 1.66866669e-01 9.85977620e-01 -1.90981947e-03 1.56646525e+00] [ 1.01546310e-02 2.18312759e-04 9.99948417e-01 -1.74470278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.237719421 meters Centerline goodness : 0.984112 Centerline is valid? [True, True] Translation: X:43.44, Y:1.57, Z:-1.75 [[ 9.85300724e-01 -1.70491385e-01 -1.07317773e-02 4.34413645e+01] [ 1.70479084e-01 9.85359147e-01 -2.05750715e-03 1.56955474e+00] [ 1.09254421e-02 1.97719720e-04 9.99940296e-01 -1.74591876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.267719421 meters Centerline goodness : 0.986508 Centerline is valid? [True, True] Translation: X:43.47, Y:1.57, Z:-1.75 [[ 9.84674124e-01 -1.74066792e-01 -1.08453488e-02 4.34686830e+01] [ 1.74054402e-01 9.84733835e-01 -2.08327314e-03 1.57349789e+00] [ 1.10424106e-02 1.63664453e-04 9.99939017e-01 -1.74664233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.297719421 meters Centerline goodness : 0.985963 Centerline is valid? [True, True] Translation: X:43.50, Y:1.58, Z:-1.75 [[ 9.83011296e-01 -1.83332673e-01 -8.82734858e-03 4.34956871e+01] [ 1.83324848e-01 9.83050929e-01 -1.69459765e-03 1.57733094e+00] [ 8.98840834e-03 4.75362980e-05 9.99959602e-01 -1.74771517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.327719421 meters Centerline goodness : 0.985041 Centerline is valid? [True, True] Translation: X:43.52, Y:1.58, Z:-1.75 [[ 9.82108530e-01 -1.88091219e-01 -9.19392205e-03 4.35237756e+01] [ 1.88082870e-01 9.82151563e-01 -1.77226302e-03 1.58167132e+00] [ 9.36317203e-03 1.13353858e-05 9.99956164e-01 -1.74828580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.357719421 meters Centerline goodness : 0.985919 Centerline is valid? [True, True] Translation: X:43.55, Y:1.58, Z:-1.75 [[ 9.81135856e-01 -1.93173164e-01 -7.52067567e-03 4.35513299e+01] [ 1.93167739e-01 9.81164679e-01 -1.44804292e-03 1.58207945e+00] [ 7.65874437e-03 -3.20250841e-05 9.99970671e-01 -1.74962600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.387719421 meters Centerline goodness : 0.986120 Centerline is valid? [True, True] Translation: X:43.58, Y:1.59, Z:-1.75 [[ 9.80962304e-01 -1.94055186e-01 -7.45273401e-03 4.35788993e+01] [ 1.94049833e-01 9.80990613e-01 -1.44171261e-03 1.58711832e+00] [ 7.59083392e-03 -3.19360674e-05 9.99971189e-01 -1.74969171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.417719421 meters Centerline goodness : 0.985889 Centerline is valid? [True, True] Translation: X:43.61, Y:1.59, Z:-1.75 [[ 9.81032558e-01 -1.93689909e-01 -7.70314791e-03 4.36059822e+01] [ 1.93684159e-01 9.81062801e-01 -1.49264521e-03 1.59440837e+00] [ 7.84638218e-03 -2.76441718e-05 9.99969216e-01 -1.74998949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.447719421 meters Centerline goodness : 0.985965 Centerline is valid? [True, True] Translation: X:43.63, Y:1.60, Z:-1.75 [[ 9.81370498e-01 -1.91931741e-01 -8.61117655e-03 4.36333509e+01] [ 1.91924470e-01 9.81408277e-01 -1.67074741e-03 1.59953646e+00] [ 8.77174940e-03 -1.30732696e-05 9.99961527e-01 -1.74961464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.477719421 meters Centerline goodness : 0.986483 Centerline is valid? [True, True] Translation: X:43.66, Y:1.60, Z:-1.75 [[ 9.82148919e-01 -1.87885689e-01 -9.08125802e-03 4.36610255e+01] [ 1.87877401e-01 9.82190902e-01 -1.76487886e-03 1.60285970e+00] [ 9.25112448e-03 2.72107023e-05 9.99957207e-01 -1.75099971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.507719421 meters Centerline goodness : 0.985321 Centerline is valid? [True, True] Translation: X:43.69, Y:1.61, Z:-1.75 [[ 9.82251057e-01 -1.87339302e-01 -9.31919957e-03 4.36883836e+01] [ 1.87330521e-01 9.82295263e-01 -1.81417244e-03 1.60741890e+00] [ 9.49407140e-03 3.62022776e-05 9.99954930e-01 -1.75077685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53771942099999 meters Centerline goodness : 0.985539 Centerline is valid? [True, True] Translation: X:43.72, Y:1.61, Z:-1.75 [[ 9.82002237e-01 -1.88719460e-01 -7.52144779e-03 4.37152838e+01] [ 1.88713748e-01 9.82031041e-01 -1.46858470e-03 1.61488255e+00] [ 7.66344571e-03 2.27528581e-05 9.99970635e-01 -1.75083879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56771942099999 meters Centerline goodness : 0.986705 Centerline is valid? [True, True] Translation: X:43.74, Y:1.62, Z:-1.75 [[ 9.81380865e-01 -1.91954765e-01 -6.70563784e-03 4.37410762e+01] [ 1.91950316e-01 9.81403774e-01 -1.30692017e-03 1.62258420e+00] [ 6.83180784e-03 -4.56284856e-06 9.99976663e-01 -1.75206301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.597719421 meters Centerline goodness : 0.986559 Centerline is valid? [True, True] Translation: X:43.77, Y:1.63, Z:-1.75 [[ 9.80547031e-01 -1.96171960e-01 -6.63946888e-03 4.37670500e+01] [ 1.96167689e-01 9.80569509e-01 -1.29486808e-03 1.62801686e+00] [ 6.76447754e-03 -3.27702169e-05 9.99977120e-01 -1.75183930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.627719421 meters Centerline goodness : 0.986967 Centerline is valid? [True, True] Translation: X:43.79, Y:1.63, Z:-1.75 [[ 9.79442630e-01 -2.01612306e-01 -6.67922752e-03 4.37949514e+01] [ 2.01608068e-01 9.79465402e-01 -1.30878016e-03 1.63306128e+00] [ 6.80593846e-03 -6.47110781e-05 9.99976837e-01 -1.75209092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.657719421 meters Centerline goodness : 0.986859 Centerline is valid? [True, True] Translation: X:43.82, Y:1.64, Z:-1.75 [[ 9.76939591e-01 -2.13295901e-01 -9.68988532e-03 4.38225481e+01] [ 2.13287551e-01 9.76987622e-01 -1.89918468e-03 1.63656953e+00] [ 9.87198633e-03 -2.11343204e-04 9.99951248e-01 -1.75235113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.687719421 meters Centerline goodness : 0.986453 Centerline is valid? [True, True] Translation: X:43.85, Y:1.64, Z:-1.75 [[ 9.75758880e-01 -2.18579471e-01 -1.08453974e-02 4.38501381e+01] [ 2.18569303e-01 9.75819107e-01 -2.12863722e-03 1.64205163e+00] [ 1.10484224e-02 -2.93434274e-04 9.99938921e-01 -1.75313697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.717719421 meters Centerline goodness : 0.987057 Centerline is valid? [True, True] Translation: X:43.88, Y:1.65, Z:-1.75 [[ 9.74143429e-01 -2.25660169e-01 -1.10484754e-02 4.38754750e+01] [ 2.25650099e-01 9.74206006e-01 -2.16596649e-03 1.65180592e+00] [ 1.12522635e-02 -3.83127548e-04 9.99936618e-01 -1.75428507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.747719421 meters Centerline goodness : 0.988056 Centerline is valid? [True, True] Translation: X:43.90, Y:1.66, Z:-1.75 [[ 9.73110663e-01 -2.30015936e-01 -1.21781124e-02 4.39003292e+01] [ 2.30003990e-01 9.73186747e-01 -2.39163115e-03 1.66330270e+00] [ 1.24016908e-02 -4.73692651e-04 9.99922984e-01 -1.75291681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.777719421 meters Centerline goodness : 0.987881 Centerline is valid? [True, True] Translation: X:43.93, Y:1.67, Z:-1.75 [[ 9.72756319e-01 -2.31429797e-01 -1.36159175e-02 4.39275790e+01] [ 2.31414908e-01 9.72851455e-01 -2.68070706e-03 1.67143043e+00] [ 1.38666607e-02 -5.43251582e-04 9.99903706e-01 -1.75218779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.807719421 meters Centerline goodness : 0.988780 Centerline is valid? [True, True] Translation: X:43.95, Y:1.68, Z:-1.75 [[ 9.72459510e-01 -2.32766156e-01 -1.19338807e-02 4.39525916e+01] [ 2.32754836e-01 9.72532607e-01 -2.34816443e-03 1.68208985e+00] [ 1.21526613e-02 -4.94173606e-04 9.99926032e-01 -1.75212564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.837719421 meters Centerline goodness : 0.989328 Centerline is valid? [True, True] Translation: X:43.98, Y:1.69, Z:-1.75 [[ 9.72374464e-01 -2.33189136e-01 -1.05227722e-02 4.39796983e+01] [ 2.33180274e-01 9.72431303e-01 -2.07848680e-03 1.69167408e+00] [ 1.07173537e-02 -4.32635423e-04 9.99942474e-01 -1.75231476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.867719421 meters Centerline goodness : 0.990482 Centerline is valid? [True, True] Translation: X:44.01, Y:1.71, Z:-1.75 [[ 9.73014480e-01 -2.30582407e-01 -8.63568028e-03 4.40053355e+01] [ 2.30576300e-01 9.73052746e-01 -1.70986932e-03 1.70521697e+00] [ 8.79723819e-03 -3.27455600e-04 9.99961250e-01 -1.75266056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89771942099999 meters Centerline goodness : 0.989585 Centerline is valid? [True, True] Translation: X:44.03, Y:1.71, Z:-1.75 [[ 9.73638088e-01 -2.27919044e-01 -9.04335384e-03 4.40318715e+01] [ 2.27912207e-01 9.73680035e-01 -1.79328368e-03 1.71439189e+00] [ 9.21405658e-03 -3.15081433e-04 9.99957500e-01 -1.75396007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92771942099999 meters Centerline goodness : 0.990557 Centerline is valid? [True, True] Translation: X:44.06, Y:1.73, Z:-1.75 [[ 9.74970068e-01 -2.22072825e-01 -1.08179382e-02 4.40565921e+01] [ 2.22062722e-01 9.75030031e-01 -2.14146765e-03 1.72640943e+00] [ 1.10233764e-02 -3.14393955e-04 9.99939191e-01 -1.75432258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.957719421 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:44.08, Y:1.74, Z:-1.76 [[ 9.75731156e-01 -2.18680914e-01 -1.12857787e-02 4.40829888e+01] [ 2.18669606e-01 9.75796382e-01 -2.24151367e-03 1.73642663e+00] [ 1.15027983e-02 -2.80742073e-04 9.99933801e-01 -1.75526136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.987719421 meters Centerline goodness : 0.991503 Centerline is valid? [True, True] Translation: X:44.11, Y:1.75, Z:-1.76 [[ 9.77474324e-01 -2.10715509e-01 -1.19549083e-02 4.41077994e+01] [ 2.10702222e-01 9.77547408e-01 -2.37453006e-03 1.75236282e+00] [ 1.21868399e-02 -1.97883584e-04 9.99925718e-01 -1.75613540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.017719421 meters Centerline goodness : 0.991099 Centerline is valid? [True, True] Translation: X:44.13, Y:1.76, Z:-1.76 [[ 9.78101666e-01 -2.07777457e-01 -1.20689316e-02 4.41341287e+01] [ 2.07763618e-01 9.78176111e-01 -2.40318195e-03 1.76199777e+00] [ 1.23048676e-02 -1.56928619e-04 9.99924280e-01 -1.75687768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.047719421 meters Centerline goodness : 0.990685 Centerline is valid? [True, True] Translation: X:44.16, Y:1.77, Z:-1.76 [[ 9.79079093e-01 -2.02915369e-01 -1.51486684e-02 4.41598261e+01] [ 2.02893000e-01 9.79196272e-01 -3.01533529e-03 1.77428363e+00] [ 1.54453775e-02 -1.21307036e-04 9.99880706e-01 -1.75660825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.077719421 meters Centerline goodness : 0.990341 Centerline is valid? [True, True] Translation: X:44.19, Y:1.78, Z:-1.76 [[ 9.79494860e-01 -2.00947695e-01 -1.44859733e-02 4.41850637e+01] [ 2.00926968e-01 9.79601969e-01 -2.88731500e-03 1.78362858e+00] [ 1.47706872e-02 -8.25124809e-05 9.99890904e-01 -1.75755048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.107719421 meters Centerline goodness : 0.990319 Centerline is valid? [True, True] Translation: X:44.21, Y:1.79, Z:-1.76 [[ 9.79898547e-01 -1.99055982e-01 -1.32496428e-02 4.42111772e+01] [ 1.99038462e-01 9.79988119e-01 -2.64134986e-03 1.79310797e+00] [ 1.35102690e-02 -4.89336413e-05 9.99908731e-01 -1.75840019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.137719421 meters Centerline goodness : 0.989978 Centerline is valid? [True, True] Translation: X:44.24, Y:1.81, Z:-1.76 [[ 9.80726752e-01 -1.95157190e-01 -9.41859908e-03 4.42362952e+01] [ 1.95148114e-01 9.80771977e-01 -1.88205909e-03 1.80516126e+00] [ 9.60479541e-03 7.76385142e-06 9.99953873e-01 -1.75809084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.167719421 meters Centerline goodness : 0.991163 Centerline is valid? [True, True] Translation: X:44.26, Y:1.82, Z:-1.76 [[ 9.81892448e-01 -1.89270815e-01 -7.98618607e-03 4.42622290e+01] [ 1.89264094e-01 9.81924924e-01 -1.59596955e-03 1.81501701e+00] [ 8.14390561e-03 5.55721725e-05 9.99966836e-01 -1.75780842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.197719421 meters Centerline goodness : 0.991390 Centerline is valid? [True, True] Translation: X:44.29, Y:1.82, Z:-1.76 [[ 9.82329462e-01 -1.87024458e-01 -7.11892364e-03 4.42891577e+01] [ 1.87019015e-01 9.82355255e-01 -1.42869274e-03 1.82312544e+00] [ 7.26051253e-03 7.20728865e-05 9.99973640e-01 -1.75950060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.227719421 meters Centerline goodness : 0.991189 Centerline is valid? [True, True] Translation: X:44.32, Y:1.83, Z:-1.76 [[ 9.83173961e-01 -1.82529825e-01 -7.19893071e-03 4.43164712e+01] [ 1.82524114e-01 9.83200311e-01 -1.44806930e-03 1.83000042e+00] [ 7.34230674e-03 1.09725584e-04 9.99973039e-01 -1.76025065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.257719421 meters Centerline goodness : 0.991661 Centerline is valid? [True, True] Translation: X:44.34, Y:1.84, Z:-1.76 [[ 9.83631624e-01 -1.80016270e-01 -7.93539034e-03 4.43430140e+01] [ 1.80009277e-01 9.83663623e-01 -1.59261925e-03 1.83507922e+00] [ 8.09245219e-03 1.38106776e-04 9.99967246e-01 -1.76077676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28771942099999 meters Centerline goodness : 0.991661 Centerline is valid? [True, True] Translation: X:44.37, Y:1.84, Z:-1.76 [[ 9.83582254e-01 -1.80285869e-01 -7.93443213e-03 4.43708739e+01] [ 1.80278847e-01 9.83614246e-01 -1.59739745e-03 1.84095736e+00] [ 8.09240867e-03 1.40761515e-04 9.99967246e-01 -1.76137143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31771942099999 meters Centerline goodness : 0.990393 Centerline is valid? [True, True] Translation: X:44.40, Y:1.85, Z:-1.76 [[ 9.84242853e-01 -1.76416574e-01 -1.19665335e-02 4.43984409e+01] [ 1.76400303e-01 9.84315561e-01 -2.41015730e-03 1.84705193e+00] [ 1.22040368e-02 2.61279957e-04 9.99925494e-01 -1.76230864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.347719421 meters Centerline goodness : 0.990660 Centerline is valid? [True, True] Translation: X:44.43, Y:1.85, Z:-1.76 [[ 9.84455392e-01 -1.75221720e-01 -1.20386706e-02 4.44261906e+01] [ 1.75205119e-01 9.84528958e-01 -2.42826911e-03 1.85255829e+00] [ 1.22779053e-02 2.81285898e-04 9.99924584e-01 -1.76331556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.377719421 meters Centerline goodness : 0.989611 Centerline is valid? [True, True] Translation: X:44.45, Y:1.86, Z:-1.76 [[ 9.84670234e-01 -1.74020916e-01 -1.18849197e-02 4.44537810e+01] [ 1.74004585e-01 9.84741912e-01 -2.40253543e-03 1.85533219e+00] [ 1.21216699e-02 2.97674617e-04 9.99926486e-01 -1.76372334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.407719421 meters Centerline goodness : 0.991270 Centerline is valid? [True, True] Translation: X:44.48, Y:1.86, Z:-1.76 [[ 9.85083689e-01 -1.71829434e-01 -9.20715484e-03 4.44807452e+01] [ 1.71819523e-01 9.85126683e-01 -1.86274964e-03 1.85606507e+00] [ 9.39028912e-03 2.52995329e-04 9.99955878e-01 -1.76411515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.437719421 meters Centerline goodness : 0.991424 Centerline is valid? [True, True] Translation: X:44.51, Y:1.86, Z:-1.76 [[ 9.85288631e-01 -1.70677591e-01 -8.68755057e-03 4.45085122e+01] [ 1.70668672e-01 9.85326898e-01 -1.76335452e-03 1.85877575e+00] [ 8.86104235e-03 2.54720439e-04 9.99960708e-01 -1.76446068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.467719421 meters Centerline goodness : 0.990505 Centerline is valid? [True, True] Translation: X:44.54, Y:1.86, Z:-1.76 [[ 9.85613867e-01 -1.68596938e-01 -1.18481253e-02 4.45362132e+01] [ 1.68580223e-01 9.85685008e-01 -2.40275263e-03 1.85586000e+00] [ 1.20836162e-02 3.70826700e-04 9.99926922e-01 -1.76495564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.497719421 meters Centerline goodness : 0.991788 Centerline is valid? [True, True] Translation: X:44.56, Y:1.86, Z:-1.77 [[ 9.85409619e-01 -1.69633802e-01 -1.38656124e-02 4.45637149e+01] [ 1.69610926e-01 9.85507074e-01 -2.81803564e-03 1.85877355e+00] [ 1.41426932e-02 4.25160074e-04 9.99899897e-01 -1.76564763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.527719421 meters Centerline goodness : 0.990431 Centerline is valid? [True, True] Translation: X:44.59, Y:1.86, Z:-1.77 [[ 9.84957872e-01 -1.72345248e-01 -1.24541192e-02 4.45910338e+01] [ 1.72327027e-01 9.85036546e-01 -2.52972910e-03 1.86085852e+00] [ 1.27037494e-02 3.45495250e-04 9.99919244e-01 -1.76759881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.557719421 meters Centerline goodness : 0.990326 Centerline is valid? [True, True] Translation: X:44.62, Y:1.86, Z:-1.77 [[ 9.84536356e-01 -1.74812866e-01 -1.13413196e-02 4.46194475e+01] [ 1.74797826e-01 9.84601633e-01 -2.31177341e-03 1.86367995e+00] [ 1.15708095e-02 2.93586956e-04 9.99933013e-01 -1.76878384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.587719421 meters Centerline goodness : 0.989678 Centerline is valid? [True, True] Translation: X:44.65, Y:1.86, Z:-1.77 [[ 9.83413350e-01 -1.80873890e-01 -1.35210577e-02 4.46475026e+01] [ 1.80853131e-01 9.83506262e-01 -2.75275690e-03 1.85915190e+00] [ 1.37959467e-02 2.61772275e-04 9.99904797e-01 -1.76939671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.617719421 meters Centerline goodness : 0.991656 Centerline is valid? [True, True] Translation: X:44.68, Y:1.86, Z:-1.77 [[ 9.81997648e-01 -1.88408399e-01 -1.35238419e-02 4.46767345e+01] [ 1.88388215e-01 9.82090753e-01 -2.76268109e-03 1.85801761e+00] [ 1.38021524e-02 1.65213894e-04 9.99904732e-01 -1.76897940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64771942099999 meters Centerline goodness : 0.990217 Centerline is valid? [True, True] Translation: X:44.70, Y:1.86, Z:-1.77 [[ 9.81084714e-01 -1.93109143e-01 -1.34775105e-02 4.47029923e+01] [ 1.93089526e-01 9.81177277e-01 -2.75424515e-03 1.86232001e+00] [ 1.37556970e-02 9.97816931e-05 9.99905381e-01 -1.76933164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67771942099999 meters Centerline goodness : 0.991048 Centerline is valid? [True, True] Translation: X:44.73, Y:1.87, Z:-1.77 [[ 9.80118244e-01 -1.98003791e-01 -1.27564639e-02 4.47309992e+01] [ 1.97986533e-01 9.80201254e-01 -2.61448149e-03 1.86736025e+00] [ 1.30215791e-02 3.68929587e-05 9.99915215e-01 -1.76989354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.707719421 meters Centerline goodness : 0.989531 Centerline is valid? [True, True] Translation: X:44.76, Y:1.87, Z:-1.77 [[ 9.78201110e-01 -2.07411296e-01 -1.01559100e-02 4.47582334e+01] [ 2.07400875e-01 9.78253827e-01 -2.08037626e-03 1.87039271e+00] [ 1.03665514e-02 -7.13182494e-05 9.99946263e-01 -1.76981475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.737719421 meters Centerline goodness : 0.991020 Centerline is valid? [True, True] Translation: X:44.79, Y:1.88, Z:-1.77 [[ 9.77301937e-01 -2.11712175e-01 -7.67326967e-03 4.47862634e+01] [ 2.11706301e-01 9.77332056e-01 -1.57921237e-03 1.87552006e+00] [ 7.83367091e-03 -8.11122293e-05 9.99969313e-01 -1.77002404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.767719421 meters Centerline goodness : 0.990682 Centerline is valid? [True, True] Translation: X:44.81, Y:1.88, Z:-1.77 [[ 9.75965745e-01 -2.17884924e-01 -4.12599418e-03 4.48126083e+01] [ 2.17883281e-01 9.75974464e-01 -8.49022294e-04 1.88017287e+00] [ 4.21185411e-03 -7.03684733e-05 9.99991128e-01 -1.77008662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.797719421 meters Centerline goodness : 0.992842 Centerline is valid? [True, True] Translation: X:44.84, Y:1.89, Z:-1.77 [[ 9.75363617e-01 -2.20559782e-01 -4.38159198e-03 4.48404359e+01] [ 2.20557931e-01 9.75373455e-01 -9.07111682e-04 1.88631223e+00] [ 4.47376086e-03 -8.16311328e-05 9.99989989e-01 -1.76907945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.827719421 meters Centerline goodness : 0.991869 Centerline is valid? [True, True] Translation: X:44.87, Y:1.89, Z:-1.77 [[ 9.75289535e-01 -2.20858716e-01 -5.63472639e-03 4.48677003e+01] [ 2.20855662e-01 9.75305806e-01 -1.16644610e-03 1.89381814e+00] [ 5.75320115e-03 -1.06838555e-04 9.99983444e-01 -1.76973423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.857719421 meters Centerline goodness : 0.992297 Centerline is valid? [True, True] Translation: X:44.89, Y:1.90, Z:-1.77 [[ 9.75409261e-01 -2.20303332e-01 -6.57384208e-03 4.48934129e+01] [ 2.20299175e-01 9.75431405e-01 -1.35892719e-03 1.90364914e+00] [ 6.71170821e-03 -1.22701821e-04 9.99977469e-01 -1.77119218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.887719421 meters Centerline goodness : 0.991893 Centerline is valid? [True, True] Translation: X:44.92, Y:1.91, Z:-1.77 [[ 9.75676157e-01 -2.19097915e-01 -7.22088138e-03 4.49204681e+01] [ 2.19092832e-01 9.75702869e-01 -1.49729330e-03 1.90995966e+00] [ 7.37348852e-03 -1.21169980e-04 9.99972808e-01 -1.77248116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.917719421 meters Centerline goodness : 0.991058 Centerline is valid? [True, True] Translation: X:44.95, Y:1.92, Z:-1.77 [[ 9.76014622e-01 -2.17551878e-01 -8.16322427e-03 4.49466260e+01] [ 2.17545340e-01 9.76048751e-01 -1.69135501e-03 1.91550341e+00] [ 8.33566231e-03 -1.25084179e-04 9.99965250e-01 -1.77309057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.947719421 meters Centerline goodness : 0.991115 Centerline is valid? [True, True] Translation: X:44.97, Y:1.92, Z:-1.78 [[ 9.76889039e-01 -2.13456906e-01 -1.11335241e-02 4.49737713e+01] [ 2.13444427e-01 9.76952473e-01 -2.31116764e-03 1.92471220e+00] [ 1.13702586e-02 -1.18634337e-04 9.99935349e-01 -1.77506036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.977719421 meters Centerline goodness : 0.990953 Centerline is valid? [True, True] Translation: X:45.00, Y:1.93, Z:-1.78 [[ 9.77345041e-01 -2.11324253e-01 -1.17784008e-02 4.50002419e+01] [ 2.11310087e-01 9.77416007e-01 -2.44876604e-03 1.93316990e+00] [ 1.20298811e-02 -9.56055474e-05 9.99927634e-01 -1.77567941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.007719421 meters Centerline goodness : 0.990887 Centerline is valid? [True, True] Translation: X:45.03, Y:1.94, Z:-1.78 [[ 9.78356995e-01 -2.06508804e-01 -1.31036332e-02 4.50254442e+01] [ 2.06490837e-01 9.78444742e-01 -2.72430780e-03 1.94251826e+00] [ 1.33837745e-02 -4.04345928e-05 9.99910432e-01 -1.77516427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03771942099999 meters Centerline goodness : 0.990615 Centerline is valid? [True, True] Translation: X:45.05, Y:1.95, Z:-1.78 [[ 9.79068781e-01 -2.02958399e-01 -1.52384425e-02 4.50506647e+01] [ 2.02933676e-01 9.79187361e-01 -3.16781273e-03 1.95294843e+00] [ 1.55642245e-02 9.11338875e-06 9.99878870e-01 -1.77591556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06771942099999 meters Centerline goodness : 0.989987 Centerline is valid? [True, True] Translation: X:45.08, Y:1.96, Z:-1.78 [[ 9.79253892e-01 -2.02029634e-01 -1.56793797e-02 4.50768666e+01] [ 2.02003193e-01 9.79379409e-01 -3.26866330e-03 1.96229993e+00] [ 1.60164285e-02 3.35664916e-05 9.99871728e-01 -1.77646938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.097719421 meters Centerline goodness : 0.991448 Centerline is valid? [True, True] Translation: X:45.10, Y:1.97, Z:-1.78 [[ 9.79348621e-01 -2.01506604e-01 -1.64732197e-02 4.51026199e+01] [ 2.01477375e-01 9.79487155e-01 -3.43226337e-03 1.97022556e+00] [ 1.68269308e-02 4.24013393e-05 9.99858416e-01 -1.77821399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.127719421 meters Centerline goodness : 0.991045 Centerline is valid? [True, True] Translation: X:45.13, Y:1.98, Z:-1.78 [[ 9.79265351e-01 -2.01876594e-01 -1.68882242e-02 4.51302225e+01] [ 2.01845763e-01 9.79410965e-01 -3.52839972e-03 1.97662315e+00] [ 1.72528133e-02 4.64230893e-05 9.99851158e-01 -1.77854469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.157719421 meters Centerline goodness : 0.991575 Centerline is valid? [True, True] Translation: X:45.16, Y:1.99, Z:-1.78 [[ 9.79475983e-01 -2.01001872e-01 -1.50015182e-02 4.51561255e+01] [ 2.00977353e-01 9.79590855e-01 -3.14003109e-03 1.98749054e+00] [ 1.53265021e-02 6.06196385e-05 9.99882540e-01 -1.77859172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.187719421 meters Centerline goodness : 0.991049 Centerline is valid? [True, True] Translation: X:45.18, Y:2.00, Z:-1.78 [[ 9.80623793e-01 -1.95329972e-01 -1.49391881e-02 4.51820140e+01] [ 1.95305023e-01 9.80737570e-01 -3.12528781e-03 1.99674645e+00] [ 1.52618854e-02 1.47033108e-04 9.99883520e-01 -1.77997968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.217719421 meters Centerline goodness : 0.991525 Centerline is valid? [True, True] Translation: X:45.21, Y:2.00, Z:-1.78 [[ 9.81378906e-01 -1.91530469e-01 -1.45437825e-02 4.52090822e+01] [ 1.91506273e-01 9.81486646e-01 -3.05154413e-03 2.00393693e+00] [ 1.48589920e-02 2.09495457e-04 9.99889577e-01 -1.78182658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.247719421 meters Centerline goodness : 0.991076 Centerline is valid? [True, True] Translation: X:45.24, Y:2.01, Z:-1.78 [[ 9.83190459e-01 -1.81857302e-01 -1.62616903e-02 4.52362199e+01] [ 1.81825644e-01 9.83324849e-01 -3.41699238e-03 2.01183516e+00] [ 1.66119292e-02 4.02761983e-04 9.99861931e-01 -1.78132581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.277719421 meters Centerline goodness : 0.990939 Centerline is valid? [True, True] Translation: X:45.26, Y:2.02, Z:-1.78 [[ 9.83953662e-01 -1.77667828e-01 -1.64114055e-02 4.52639522e+01] [ 1.77634903e-01 9.84090397e-01 -3.45430956e-03 2.01724445e+00] [ 1.67640262e-02 4.83642132e-04 9.99859357e-01 -1.78176819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.307719421 meters Centerline goodness : 0.990489 Centerline is valid? [True, True] Translation: X:45.29, Y:2.02, Z:-1.78 [[ 9.85123181e-01 -1.71209488e-01 -1.48199390e-02 4.52918581e+01] [ 1.71181815e-01 9.85234499e-01 -3.12547530e-03 2.01988650e+00] [ 1.51362262e-02 5.42074111e-04 9.99885294e-01 -1.78264553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.337719421 meters Centerline goodness : 0.990734 Centerline is valid? [True, True] Translation: X:45.32, Y:2.02, Z:-1.78 [[ 9.85437228e-01 -1.69552217e-01 -1.28652711e-02 4.53194744e+01] [ 1.69531151e-01 9.85521079e-01 -2.71866935e-03 2.02350899e+00] [ 1.31399523e-02 4.98013780e-04 9.99913543e-01 -1.78379249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.367719421 meters Centerline goodness : 0.991276 Centerline is valid? [True, True] Translation: X:45.35, Y:2.02, Z:-1.78 [[ 9.85271605e-01 -1.70769362e-01 -8.81414706e-03 4.53471289e+01] [ 1.70759505e-01 9.85310974e-01 -1.86464164e-03 2.02365143e+00] [ 9.00309949e-03 3.32079075e-04 9.99959416e-01 -1.78498540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39771942099999 meters Centerline goodness : 0.991904 Centerline is valid? [True, True] Translation: X:45.38, Y:2.03, Z:-1.79 [[ 9.84692553e-01 -1.74049038e-01 -9.35462496e-03 4.53752675e+01] [ 1.74038027e-01 9.84736932e-01 -1.98473503e-03 2.02561505e+00] [ 9.55728591e-03 3.26293327e-04 9.99954275e-01 -1.78600857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42771942099999 meters Centerline goodness : 0.991225 Centerline is valid? [True, True] Translation: X:45.40, Y:2.02, Z:-1.79 [[ 9.83163017e-01 -1.82488420e-01 -9.40525598e-03 4.54035400e+01] [ 1.82477702e-01 9.83207973e-01 -1.99267464e-03 2.02399231e+00] [ 9.61096271e-03 2.42874512e-04 9.99953784e-01 -1.78754079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.457719421 meters Centerline goodness : 0.991535 Centerline is valid? [True, True] Translation: X:45.43, Y:2.03, Z:-1.79 [[ 9.82144146e-01 -1.87939531e-01 -8.46224916e-03 4.54316911e+01] [ 1.87930995e-01 9.82180585e-01 -1.80001650e-03 2.02718482e+00] [ 8.64975109e-03 1.77556763e-04 9.99962574e-01 -1.78839049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.487719421 meters Centerline goodness : 0.991699 Centerline is valid? [True, True] Translation: X:45.46, Y:2.03, Z:-1.79 [[ 9.80385715e-01 -1.96943367e-01 -7.56044320e-03 4.54609705e+01] [ 1.96936793e-01 9.80414862e-01 -1.61182006e-03 2.02558471e+00] [ 7.72980814e-03 9.12759308e-05 9.99970120e-01 -1.78732251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.517719421 meters Centerline goodness : 0.991238 Centerline is valid? [True, True] Translation: X:45.49, Y:2.03, Z:-1.79 [[ 9.79586848e-01 -2.00917466e-01 -6.46361639e-03 4.54891703e+01] [ 2.00912723e-01 9.79608171e-01 -1.38166910e-03 2.02740574e+00] [ 6.60941288e-03 5.48421063e-05 9.99978156e-01 -1.78790222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.547719421 meters Centerline goodness : 0.991027 Centerline is valid? [True, True] Translation: X:45.52, Y:2.03, Z:-1.79 [[ 9.78364395e-01 -2.06799714e-01 -6.08181284e-03 4.55165033e+01] [ 2.06795646e-01 9.78383298e-01 -1.29718726e-03 2.02670152e+00] [ 6.21860206e-03 1.14294194e-05 9.99980664e-01 -1.78844666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.577719421 meters Centerline goodness : 0.991656 Centerline is valid? [True, True] Translation: X:45.54, Y:2.03, Z:-1.79 [[ 9.77858369e-01 -2.09178954e-01 -6.09711879e-03 4.55436071e+01] [ 2.09174874e-01 9.77877377e-01 -1.30658431e-03 2.03239745e+00] [ 6.23554448e-03 2.29034624e-06 9.99980559e-01 -1.78939015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.607719421 meters Centerline goodness : 0.991319 Centerline is valid? [True, True] Translation: X:45.57, Y:2.04, Z:-1.79 [[ 9.77262765e-01 -2.11963691e-01 -5.37413720e-03 4.55710358e+01] [ 2.11960547e-01 9.77277542e-01 -1.15453105e-03 2.03997276e+00] [ 5.49674226e-03 -1.08248506e-05 9.99984893e-01 -1.78991180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.637719421 meters Centerline goodness : 0.990612 Centerline is valid? [True, True] Translation: X:45.60, Y:2.05, Z:-1.79 [[ 9.76910396e-01 -2.13592028e-01 -4.95225528e-03 4.55980162e+01] [ 2.13589367e-01 9.76922948e-01 -1.06631002e-03 2.04655394e+00] [ 5.06572715e-03 -1.60597273e-05 9.99987169e-01 -1.79143028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.667719421 meters Centerline goodness : 0.990120 Centerline is valid? [True, True] Translation: X:45.62, Y:2.05, Z:-1.79 [[ 9.76229530e-01 -2.16616885e-01 -7.28210510e-03 4.56248272e+01] [ 2.16611264e-01 9.76256689e-01 -1.56143040e-03 2.04953785e+00] [ 7.44743600e-03 -5.30715211e-05 9.99972266e-01 -1.79128438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.697719421 meters Centerline goodness : 0.989482 Centerline is valid? [True, True] Translation: X:45.65, Y:2.05, Z:-1.79 [[ 9.75652946e-01 -2.19190318e-01 -7.54540806e-03 4.56525241e+01] [ 2.19184307e-01 9.75682120e-01 -1.62462094e-03 2.05361326e+00] [ 7.71802092e-03 -6.87688392e-05 9.99970213e-01 -1.79197328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.727719421 meters Centerline goodness : 0.989276 Centerline is valid? [True, True] Translation: X:45.68, Y:2.06, Z:-1.79 [[ 9.74432348e-01 -2.24546438e-01 -7.77790993e-03 4.56799956e+01] [ 2.24540200e-01 9.74463383e-01 -1.67739229e-03 2.05837011e+00] [ 7.95594089e-03 -1.11948143e-04 9.99968345e-01 -1.79398432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.757719421 meters Centerline goodness : 0.989158 Centerline is valid? [True, True] Translation: X:45.71, Y:2.07, Z:-1.79 [[ 9.73740437e-01 -2.27491742e-01 -8.77887223e-03 4.57071239e+01] [ 2.27483896e-01 9.73779998e-01 -1.89539776e-03 2.06510454e+00] [ 8.97987752e-03 -1.51426618e-04 9.99959669e-01 -1.79490964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78771942099999 meters Centerline goodness : 0.989286 Centerline is valid? [True, True] Translation: X:45.73, Y:2.07, Z:-1.80 [[ 9.72441929e-01 -2.32954432e-01 -9.43015114e-03 4.57335643e+01] [ 2.32945641e-01 9.72487627e-01 -2.03538566e-03 2.07001815e+00] [ 9.64485742e-03 -2.17418253e-04 9.99953464e-01 -1.79649177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81771942099999 meters Centerline goodness : 0.986044 Centerline is valid? [True, True] Translation: X:45.76, Y:2.07, Z:-1.80 [[ 9.71436251e-01 -2.37005214e-01 -1.18379923e-02 4.57609649e+01] [ 2.36991599e-01 9.71508326e-01 -2.56023659e-03 2.07385893e+00] [ 1.21074975e-02 -3.18398099e-04 9.99926651e-01 -1.79672750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.847719421 meters Centerline goodness : 0.986313 Centerline is valid? [True, True] Translation: X:45.79, Y:2.08, Z:-1.80 [[ 9.71120960e-01 -2.38174908e-01 -1.40283551e-02 4.57882752e+01] [ 2.38155855e-01 9.71222199e-01 -3.03781550e-03 2.07990417e+00] [ 1.43481813e-02 -3.90848584e-04 9.99896983e-01 -1.79614436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.877719421 meters Centerline goodness : 0.986006 Centerline is valid? [True, True] Translation: X:45.81, Y:2.09, Z:-1.80 [[ 9.72041433e-01 -2.34383842e-01 -1.41303506e-02 4.58141623e+01] [ 2.34364095e-01 9.72144075e-01 -3.06090485e-03 2.08728577e+00] [ 1.44541632e-02 -3.36320494e-04 9.99895477e-01 -1.79540055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.907719421 meters Centerline goodness : 0.986368 Centerline is valid? [True, True] Translation: X:45.84, Y:2.10, Z:-1.80 [[ 9.72859661e-01 -2.31066022e-01 -1.23520867e-02 4.58411327e+01] [ 2.31050574e-01 9.72938042e-01 -2.68296939e-03 2.09661748e+00] [ 1.26377582e-02 -2.43804040e-04 9.99920111e-01 -1.79605166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.937719421 meters Centerline goodness : 0.986816 Centerline is valid? [True, True] Translation: X:45.87, Y:2.11, Z:-1.80 [[ 9.74566673e-01 -2.23946575e-01 -8.22991953e-03 4.58671473e+01] [ 2.23939418e-01 9.74601417e-01 -1.79284396e-03 2.10856273e+00] [ 8.42239251e-03 -9.57574224e-05 9.99964526e-01 -1.79672506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.967719421 meters Centerline goodness : 0.987932 Centerline is valid? [True, True] Translation: X:45.89, Y:2.12, Z:-1.80 [[ 9.75578287e-01 -2.19556925e-01 -6.46242822e-03 4.58938154e+01] [ 2.19552391e-01 9.75599690e-01 -1.41153907e-03 2.11781862e+00] [ 6.61465615e-03 -4.17746991e-05 9.99978122e-01 -1.79707872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.997719421 meters Centerline goodness : 0.987940 Centerline is valid? [True, True] Translation: X:45.92, Y:2.13, Z:-1.80 [[ 9.76588447e-01 -2.15016529e-01 -6.54954113e-03 4.59207176e+01] [ 2.15011753e-01 9.76610410e-01 -1.43311363e-03 2.12812387e+00] [ 6.70449316e-03 -8.66610465e-06 9.99977525e-01 -1.79782676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.027719421 meters Centerline goodness : 0.986932 Centerline is valid? [True, True] Translation: X:45.95, Y:2.14, Z:-1.80 [[ 9.78523559e-01 -2.05867684e-01 -1.04947812e-02 4.59455400e+01] [ 2.05854969e-01 9.78579833e-01 -2.28938520e-03 2.14163077e+00] [ 1.07412917e-02 7.98144943e-05 9.99942307e-01 -1.79779379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.057719421 meters Centerline goodness : 0.985407 Centerline is valid? [True, True] Translation: X:45.97, Y:2.15, Z:-1.80 [[ 9.80543151e-01 -1.95891447e-01 -1.27149921e-02 4.59720727e+01] [ 1.95871847e-01 9.80625558e-01 -2.78110423e-03 2.15329926e+00] [ 1.30134407e-02 2.36483729e-04 9.99915294e-01 -1.79928396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.087719421 meters Centerline goodness : 0.985547 Centerline is valid? [True, True] Translation: X:46.00, Y:2.16, Z:-1.80 [[ 9.81429458e-01 -1.91445551e-01 -1.20340801e-02 4.59979362e+01] [ 1.91427682e-01 9.81503196e-01 -2.63034050e-03 2.16129323e+00] [ 1.23150551e-02 2.77837590e-04 9.99924128e-01 -1.80008967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.117719421 meters Centerline goodness : 0.987513 Centerline is valid? [True, True] Translation: X:46.02, Y:2.17, Z:-1.80 [[ 9.83019948e-01 -1.83205152e-01 -1.03756671e-02 4.60238652e+01] [ 1.83191313e-01 9.83074645e-01 -2.27686658e-03 2.17301903e+00] [ 1.06171889e-02 3.37473189e-04 9.99943579e-01 -1.80067399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14771942099999 meters Centerline goodness : 0.987513 Centerline is valid? [True, True] Translation: X:46.05, Y:2.18, Z:-1.80 [[ 9.82958517e-01 -1.83534499e-01 -1.03750129e-02 4.60516323e+01] [ 1.83520648e-01 9.83013212e-01 -2.27984936e-03 2.17935934e+00] [ 1.06172058e-02 3.36968257e-04 9.99943579e-01 -1.80126872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17771942099999 meters Centerline goodness : 0.986670 Centerline is valid? [True, True] Translation: X:46.08, Y:2.19, Z:-1.80 [[ 9.83404549e-01 -1.81203464e-01 -8.98875215e-03 4.60771040e+01] [ 1.81192983e-01 9.83445579e-01 -1.97378056e-03 2.18823295e+00] [ 9.19760444e-03 3.12325971e-04 9.99957652e-01 -1.80175330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.207719421 meters Centerline goodness : 0.987129 Centerline is valid? [True, True] Translation: X:46.10, Y:2.20, Z:-1.80 [[ 9.83838755e-01 -1.78860575e-01 -8.37842932e-03 4.61031876e+01] [ 1.78851375e-01 9.83874381e-01 -1.84078922e-03 2.19705206e+00] [ 8.57256658e-03 3.12546170e-04 9.99963206e-01 -1.80298596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.237719421 meters Centerline goodness : 0.984910 Centerline is valid? [True, True] Translation: X:46.13, Y:2.20, Z:-1.80 [[ 9.83691296e-01 -1.79662293e-01 -8.53784804e-03 4.61317965e+01] [ 1.79652704e-01 9.83728295e-01 -1.88346662e-03 2.19958786e+00] [ 8.73731063e-03 3.18902233e-04 9.99961778e-01 -1.80267531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.267719421 meters Centerline goodness : 0.985245 Centerline is valid? [True, True] Translation: X:46.16, Y:2.20, Z:-1.80 [[ 9.83259278e-01 -1.82049736e-01 -7.68673156e-03 4.61590254e+01] [ 1.82042033e-01 9.83289287e-01 -1.69599235e-03 2.20327447e+00] [ 7.86703575e-03 2.68291974e-04 9.99969018e-01 -1.80336111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.297719421 meters Centerline goodness : 0.984648 Centerline is valid? [True, True] Translation: X:46.19, Y:2.21, Z:-1.81 [[ 9.82587886e-01 -1.85701262e-01 -6.00726383e-03 4.61867873e+01] [ 1.85696592e-01 9.82606231e-01 -1.33092759e-03 2.20701175e+00] [ 6.14992980e-03 1.92224905e-04 9.99981071e-01 -1.80501154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.327719421 meters Centerline goodness : 0.986075 Centerline is valid? [True, True] Translation: X:46.21, Y:2.21, Z:-1.81 [[ 9.80937960e-01 -1.94266063e-01 -4.62773212e-03 4.62145742e+01] [ 1.94263374e-01 9.80948870e-01 -1.02800708e-03 2.21038673e+00] [ 4.73927548e-03 1.09412307e-04 9.99988764e-01 -1.80681115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.357719421 meters Centerline goodness : 0.985279 Centerline is valid? [True, True] Translation: X:46.24, Y:2.21, Z:-1.81 [[ 9.79984946e-01 -1.98982074e-01 -5.96992803e-03 4.62421592e+01] [ 1.98977682e-01 9.80003123e-01 -1.32683224e-03 2.21494378e+00] [ 6.11456395e-03 1.12393175e-04 9.99981300e-01 -1.80739959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.387719421 meters Centerline goodness : 0.984361 Centerline is valid? [True, True] Translation: X:46.27, Y:2.22, Z:-1.81 [[ 9.78761132e-01 -2.04820439e-01 -8.67377985e-03 4.62692695e+01] [ 2.04811428e-01 9.78799559e-01 -1.92421221e-03 2.21926143e+00] [ 8.88400988e-03 1.06854880e-04 9.99960531e-01 -1.80774477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.417719421 meters Centerline goodness : 0.984463 Centerline is valid? [True, True] Translation: X:46.30, Y:2.22, Z:-1.81 [[ 9.78453425e-01 -2.06252187e-01 -9.43028276e-03 4.62965368e+01] [ 2.06241552e-01 9.78498862e-01 -2.09719304e-03 2.22491942e+00] [ 9.66007161e-03 1.07089553e-04 9.99953335e-01 -1.80841213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.447719421 meters Centerline goodness : 0.983622 Centerline is valid? [True, True] Translation: X:46.32, Y:2.23, Z:-1.81 [[ 9.78691764e-01 -2.05070496e-01 -1.04174120e-02 4.63248305e+01] [ 2.05057421e-01 9.78747196e-01 -2.31953655e-03 2.22861997e+00] [ 1.06716813e-02 1.33943685e-04 9.99943047e-01 -1.80846735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.477719421 meters Centerline goodness : 0.984371 Centerline is valid? [True, True] Translation: X:46.35, Y:2.24, Z:-1.81 [[ 9.79219163e-01 -2.02687508e-01 -6.89960155e-03 4.63507186e+01] [ 2.02681701e-01 9.79243464e-01 -1.53800416e-03 2.23503107e+00] [ 7.06812395e-03 1.07620168e-04 9.99975015e-01 -1.80952608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.507719421 meters Centerline goodness : 0.984527 Centerline is valid? [True, True] Translation: X:46.38, Y:2.24, Z:-1.81 [[ 9.79246868e-01 -2.02570177e-01 -6.39488824e-03 4.63772874e+01] [ 2.02565155e-01 9.79267743e-01 -1.43024755e-03 2.24310496e+00] [ 6.55203327e-03 1.05183899e-04 9.99978530e-01 -1.80956462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53771942099999 meters Centerline goodness : 0.982396 Centerline is valid? [True, True] Translation: X:46.40, Y:2.25, Z:-1.81 [[ 9.79584702e-01 -2.00895760e-01 -7.39632114e-03 4.64036472e+01] [ 2.00889007e-01 9.79612615e-01 -1.65255616e-03 2.24941006e+00] [ 7.57752102e-03 1.32979122e-04 9.99971281e-01 -1.80996867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56771942099999 meters Centerline goodness : 0.981929 Centerline is valid? [True, True] Translation: X:46.43, Y:2.25, Z:-1.81 [[ 9.79810786e-01 -1.99764201e-01 -8.06762869e-03 4.64298872e+01] [ 1.99756136e-01 9.79843988e-01 -1.80156057e-03 2.25398113e+00] [ 8.26490478e-03 1.53630144e-04 9.99965833e-01 -1.81145194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.597719421 meters Centerline goodness : 0.980213 Centerline is valid? [True, True] Translation: X:46.46, Y:2.26, Z:-1.81 [[ 9.79960634e-01 -1.98980820e-01 -9.15365562e-03 4.64570073e+01] [ 1.98970342e-01 9.80003366e-01 -2.05069150e-03 2.25906004e+00] [ 9.37866160e-03 1.88290954e-04 9.99956002e-01 -1.81244283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.627719421 meters Centerline goodness : 0.979220 Centerline is valid? [True, True] Translation: X:46.48, Y:2.27, Z:-1.82 [[ 9.80313798e-01 -1.97115179e-01 -1.14221057e-02 4.64830518e+01] [ 1.97098783e-01 9.80380305e-01 -2.55493528e-03 2.26638794e+00] [ 1.17016240e-02 2.53355165e-04 9.99931502e-01 -1.81503884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.657719421 meters Centerline goodness : 0.978502 Centerline is valid? [True, True] Translation: X:46.51, Y:2.27, Z:-1.82 [[ 9.80411573e-01 -1.96560567e-01 -1.25335703e-02 4.65098931e+01] [ 1.96540761e-01 9.80491643e-01 -2.80500093e-03 2.27208016e+00] [ 1.28404135e-02 2.86697926e-04 9.99917517e-01 -1.81551325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.687719421 meters Centerline goodness : 0.979189 Centerline is valid? [True, True] Translation: X:46.54, Y:2.28, Z:-1.82 [[ 9.80369181e-01 -1.96735487e-01 -1.30926482e-02 4.65380840e+01] [ 1.96713784e-01 9.80456555e-01 -2.93801709e-03 2.27640857e+00] [ 1.34147850e-02 3.04837049e-04 9.99909971e-01 -1.81515815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.717719421 meters Centerline goodness : 0.978933 Centerline is valid? [True, True] Translation: X:46.57, Y:2.28, Z:-1.81 [[ 9.80010562e-01 -1.98543930e-01 -1.26335223e-02 4.65668674e+01] [ 1.98523813e-01 9.80091951e-01 -2.83959923e-03 2.27752247e+00] [ 1.29457987e-02 2.74782215e-04 9.99916162e-01 -1.81447704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.747719421 meters Centerline goodness : 0.980296 Centerline is valid? [True, True] Translation: X:46.59, Y:2.28, Z:-1.81 [[ 9.79827539e-01 -1.99471364e-01 -1.22134328e-02 4.65944669e+01] [ 1.99452573e-01 9.79903622e-01 -2.75011237e-03 2.28177128e+00] [ 1.25165557e-02 2.58635253e-04 9.99921631e-01 -1.81494048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.777719421 meters Centerline goodness : 0.979986 Centerline is valid? [True, True] Translation: X:46.62, Y:2.29, Z:-1.82 [[ 9.79730181e-01 -2.00143954e-01 -8.43619614e-03 4.66212072e+01] [ 2.00134997e-01 9.79766486e-01 -1.90148652e-03 2.28659545e+00] [ 8.64607328e-03 1.74565647e-04 9.99962607e-01 -1.81616946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.807719421 meters Centerline goodness : 0.979672 Centerline is valid? [True, True] Translation: X:46.65, Y:2.29, Z:-1.82 [[ 9.79788258e-01 -1.99918001e-01 -6.91106975e-03 4.66486572e+01] [ 1.99911948e-01 9.79812620e-01 -1.56285838e-03 2.29199801e+00] [ 7.08399688e-03 1.49664869e-04 9.99974897e-01 -1.81680779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.837719421 meters Centerline goodness : 0.978630 Centerline is valid? [True, True] Translation: X:46.68, Y:2.30, Z:-1.82 [[ 9.80295606e-01 -1.97398076e-01 -7.38411916e-03 4.66764496e+01] [ 1.97391077e-01 9.80323399e-01 -1.67216761e-03 2.29544197e+00] [ 7.56890746e-03 1.81659331e-04 9.99971339e-01 -1.81855693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.867719421 meters Centerline goodness : 0.977054 Centerline is valid? [True, True] Translation: X:46.70, Y:2.30, Z:-1.82 [[ 9.80605177e-01 -1.95836648e-01 -7.84182598e-03 4.67044412e+01] [ 1.95828687e-01 9.80636510e-01 -1.77801112e-03 2.29996027e+00] [ 8.03818059e-03 2.07872425e-04 9.99967672e-01 -1.81949625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89771942099999 meters Centerline goodness : 0.980230 Centerline is valid? [True, True] Translation: X:46.73, Y:2.30, Z:-1.82 [[ 9.81055955e-01 -1.93639732e-01 -5.73302490e-03 4.67319478e+01] [ 1.93635415e-01 9.81072691e-01 -1.30402949e-03 2.30295670e+00] [ 5.87702609e-03 1.69209238e-04 9.99982716e-01 -1.82008040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92771942099999 meters Centerline goodness : 0.981383 Centerline is valid? [True, True] Translation: X:46.76, Y:2.31, Z:-1.82 [[ 9.81455313e-01 -1.91684295e-01 -1.61236567e-03 4.67589954e+01] [ 1.91683941e-01 9.81456636e-01 -3.72516626e-04 2.31022689e+00] [ 1.65387258e-03 5.65438147e-05 9.99998631e-01 -1.82046563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.957719421 meters Centerline goodness : 0.982570 Centerline is valid? [True, True] Translation: X:46.79, Y:2.32, Z:-1.82 [[ 9.81638385e-01 -1.90751183e-01 -2.61181510e-04 4.67859416e+01] [ 1.90751172e-01 9.81638419e-01 -6.65020864e-05 2.31708030e+00] [ 2.69071157e-04 1.54603216e-05 9.99999964e-01 -1.82124219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.987719421 meters Centerline goodness : 0.981678 Centerline is valid? [True, True] Translation: X:46.81, Y:2.32, Z:-1.82 [[ 9.81774177e-01 -1.90051158e-01 1.52942154e-04 4.68133845e+01] [ 1.90051156e-01 9.81774189e-01 2.75483940e-05 2.32285189e+00] [-1.55390264e-04 2.02053131e-06 9.99999988e-01 -1.82175207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.017719421 meters Centerline goodness : 0.980663 Centerline is valid? [True, True] Translation: X:46.84, Y:2.32, Z:-1.82 [[ 9.82376208e-01 -1.86894635e-01 -2.71693086e-03 4.68418232e+01] [ 1.86893617e-01 9.82379959e-01 -6.25897109e-04 2.32451629e+00] [ 2.78603524e-03 1.07089392e-04 9.99996113e-01 -1.82189911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.047719421 meters Centerline goodness : 0.977800 Centerline is valid? [True, True] Translation: X:46.87, Y:2.33, Z:-1.83 [[ 9.83298275e-01 -1.81924552e-01 -5.28774629e-03 4.68693378e+01] [ 1.81920683e-01 9.83312466e-01 -1.20768038e-03 2.32637350e+00] [ 5.41921356e-03 2.25559614e-04 9.99985291e-01 -1.82532543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.077719421 meters Centerline goodness : 0.976996 Centerline is valid? [True, True] Translation: X:46.90, Y:2.33, Z:-1.83 [[ 9.83706005e-01 -1.79656642e-01 -6.78139495e-03 4.68964419e+01] [ 1.79650189e-01 9.83729330e-01 -1.55403189e-03 2.33196716e+00] [ 6.95024926e-03 3.10431624e-04 9.99975799e-01 -1.82569848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.107719421 meters Centerline goodness : 0.977939 Centerline is valid? [True, True] Translation: X:46.92, Y:2.34, Z:-1.83 [[ 9.84031835e-01 -1.77869434e-01 -6.61910229e-03 4.69235983e+01] [ 1.77863229e-01 9.84054045e-01 -1.51942067e-03 2.33740620e+00] [ 6.78381288e-03 3.17863409e-04 9.99976939e-01 -1.82743834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.137719421 meters Centerline goodness : 0.976593 Centerline is valid? [True, True] Translation: X:46.95, Y:2.34, Z:-1.83 [[ 9.84338559e-01 -1.76085374e-01 -8.45831254e-03 4.69521313e+01] [ 1.76075166e-01 9.84374808e-01 -1.94257863e-03 2.33894304e+00] [ 8.66820947e-03 4.22856260e-04 9.99962341e-01 -1.82875059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.167719421 meters Centerline goodness : 0.973987 Centerline is valid? [True, True] Translation: X:46.98, Y:2.33, Z:-1.83 [[ 9.84683798e-01 -1.74114250e-01 -9.05789274e-03 4.69820442e+01] [ 1.74102436e-01 9.84725344e-01 -2.08291003e-03 2.33323399e+00] [ 9.28220086e-03 4.74006564e-04 9.99956807e-01 -1.83092624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.197719421 meters Centerline goodness : 0.973746 Centerline is valid? [True, True] Translation: X:47.01, Y:2.33, Z:-1.83 [[ 9.84748069e-01 -1.73789582e-01 -8.27174250e-03 4.70102702e+01] [ 1.73779687e-01 9.84782711e-01 -1.90582544e-03 2.33456184e+00] [ 8.47708161e-03 4.39297107e-04 9.99963972e-01 -1.83268082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.227719421 meters Centerline goodness : 0.973647 Centerline is valid? [True, True] Translation: X:47.04, Y:2.34, Z:-1.83 [[ 9.84637509e-01 -1.74283812e-01 -1.06830937e-02 4.70376182e+01] [ 1.74267386e-01 9.84695304e-01 -2.45683542e-03 2.33603258e+00] [ 1.09477789e-02 5.57377498e-04 9.99939916e-01 -1.83368970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.257719421 meters Centerline goodness : 0.972662 Centerline is valid? [True, True] Translation: X:47.07, Y:2.34, Z:-1.83 [[ 9.84551348e-01 -1.74705084e-01 -1.16951856e-02 4.70656850e+01] [ 1.74685338e-01 9.84620617e-01 -2.69702715e-03 2.34055905e+00] [ 1.19865052e-02 6.12384256e-04 9.99927972e-01 -1.83404990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28771942099999 meters Centerline goodness : 0.973584 Centerline is valid? [True, True] Translation: X:47.09, Y:2.34, Z:-1.83 [[ 9.84244938e-01 -1.76489378e-01 -1.06490066e-02 4.70942752e+01] [ 1.76473131e-01 9.84302399e-01 -2.45399369e-03 2.33858193e+00] [ 1.09149465e-02 5.36067347e-04 9.99940287e-01 -1.83283244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31771942099999 meters Centerline goodness : 0.973995 Centerline is valid? [True, True] Translation: X:47.12, Y:2.34, Z:-1.83 [[ 9.83369011e-01 -1.81507662e-01 -6.35273143e-03 4.71236804e+01] [ 1.81501936e-01 9.83389486e-01 -1.47145237e-03 2.33728802e+00] [ 6.51428918e-03 2.93947614e-04 9.99978739e-01 -1.83415053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.347719421 meters Centerline goodness : 0.976707 Centerline is valid? [True, True] Translation: X:47.15, Y:2.34, Z:-1.83 [[ 9.82679936e-01 -1.85267197e-01 -4.02592306e-03 4.71508917e+01] [ 1.85264912e-01 9.82688168e-01 -9.36578759e-04 2.34210744e+00] [ 4.12974428e-03 1.74494873e-04 9.99991457e-01 -1.83478009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.377719421 meters Centerline goodness : 0.976361 Centerline is valid? [True, True] Translation: X:47.18, Y:2.34, Z:-1.84 [[ 9.81773343e-01 -1.90051788e-01 -1.19217329e-03 4.71786588e+01] [ 1.90051589e-01 9.81774066e-01 -2.78486231e-04 2.34313158e+00] [ 1.22337163e-03 4.68359293e-05 9.99999251e-01 -1.83727477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.407719421 meters Centerline goodness : 0.974289 Centerline is valid? [True, True] Translation: X:47.21, Y:2.35, Z:-1.84 [[ 9.81198378e-01 -1.92993838e-01 -1.76679429e-03 4.72066102e+01] [ 1.92993402e-01 9.81199966e-01 -4.15805292e-04 2.34710300e+00] [ 1.81382635e-03 6.70078385e-05 9.99998353e-01 -1.83806561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.437719421 meters Centerline goodness : 0.974925 Centerline is valid? [True, True] Translation: X:47.23, Y:2.35, Z:-1.84 [[ 9.80505599e-01 -1.96475286e-01 -2.49639063e-03 4.72338004e+01] [ 1.96474443e-01 9.80508774e-01 -5.81002927e-04 2.34976566e+00] [ 2.56188563e-03 7.91996660e-05 9.99996715e-01 -1.83819103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.467719421 meters Centerline goodness : 0.976740 Centerline is valid? [True, True] Translation: X:47.26, Y:2.36, Z:-1.84 [[ 9.80388482e-01 -1.97065070e-01 -1.94496140e-03 4.72604045e+01] [ 1.97064558e-01 9.80390409e-01 -4.53374462e-04 2.35538461e+00] [ 1.99616577e-03 6.12001417e-05 9.99998006e-01 -1.83827970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.497719421 meters Centerline goodness : 0.974404 Centerline is valid? [True, True] Translation: X:47.29, Y:2.36, Z:-1.84 [[ 9.80111871e-01 -1.98416220e-01 -3.42417954e-03 4.72882761e+01] [ 1.98414632e-01 9.80117846e-01 -8.00779842e-04 2.36079882e+00] [ 3.51498718e-03 1.05446506e-04 9.99993817e-01 -1.83901030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.527719421 meters Centerline goodness : 0.974401 Centerline is valid? [True, True] Translation: X:47.32, Y:2.37, Z:-1.84 [[ 9.79780116e-01 -2.00018909e-01 -4.83328583e-03 4.73160665e+01] [ 2.00015768e-01 9.79792027e-01 -1.12959759e-03 2.36578735e+00] [ 4.96155580e-03 1.40023882e-04 9.99987682e-01 -1.84038831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.557719421 meters Centerline goodness : 0.971356 Centerline is valid? [True, True] Translation: X:47.34, Y:2.37, Z:-1.84 [[ 9.79092632e-01 -2.03257494e-01 -8.00063133e-03 4.73447600e+01] [ 2.03249009e-01 9.79125298e-01 -1.86818226e-03 2.36699913e+00] [ 8.21334258e-03 2.03003089e-04 9.99966249e-01 -1.84013196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.587719421 meters Centerline goodness : 0.971081 Centerline is valid? [True, True] Translation: X:47.37, Y:2.37, Z:-1.84 [[ 9.78585312e-01 -2.05684994e-01 -8.02938743e-03 4.73713121e+01] [ 2.05676553e-01 9.78618235e-01 -1.87214186e-03 2.37118081e+00] [ 8.24277645e-03 1.80593792e-04 9.99966011e-01 -1.84121373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.617719421 meters Centerline goodness : 0.972092 Centerline is valid? [True, True] Translation: X:47.40, Y:2.38, Z:-1.84 [[ 9.77078152e-01 -2.12790340e-01 -6.20938721e-03 4.73994733e+01] [ 2.12785392e-01 9.77097877e-01 -1.45456317e-03 2.37504921e+00] [ 6.37669605e-03 9.99550055e-05 9.99979664e-01 -1.84199658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64771942099999 meters Centerline goodness : 0.971862 Centerline is valid? [True, True] Translation: X:47.43, Y:2.38, Z:-1.84 [[ 9.76224663e-01 -2.16704578e-01 -4.95308770e-03 4.74262569e+01] [ 2.16701479e-01 9.76237226e-01 -1.16062734e-03 2.37927224e+00] [ 5.08690186e-03 5.96916079e-05 9.99987060e-01 -1.84300386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67771942099999 meters Centerline goodness : 0.972713 Centerline is valid? [True, True] Translation: X:47.45, Y:2.38, Z:-1.84 [[ 9.74629357e-01 -2.23770749e-01 -4.92632402e-03 4.74543817e+01] [ 2.23767753e-01 9.74641807e-01 -1.15830750e-03 2.38266778e+00] [ 5.06059668e-03 2.65680435e-05 9.99987195e-01 -1.84241479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.707719421 meters Centerline goodness : 0.972651 Centerline is valid? [True, True] Translation: X:47.48, Y:2.39, Z:-1.84 [[ 9.73892108e-01 -2.26940175e-01 -5.68504512e-03 4.74813054e+01] [ 2.26936234e-01 9.73908700e-01 -1.33756946e-03 2.38843778e+00] [ 5.84026315e-03 1.25056108e-05 9.99982945e-01 -1.84250377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.737719421 meters Centerline goodness : 0.973222 Centerline is valid? [True, True] Translation: X:47.51, Y:2.40, Z:-1.84 [[ 9.72684834e-01 -2.32067897e-01 -5.35774963e-03 4.75086831e+01] [ 2.32064462e-01 9.72699589e-01 -1.26275849e-03 2.39502271e+00] [ 5.50452658e-03 -1.50772557e-05 9.99984850e-01 -1.84290259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.767719421 meters Centerline goodness : 0.972677 Centerline is valid? [True, True] Translation: X:47.54, Y:2.41, Z:-1.84 [[ 9.71830403e-01 -2.35655549e-01 -3.48276437e-03 4.75353270e+01] [ 2.35654106e-01 9.71836644e-01 -8.24736661e-04 2.40508567e+00] [ 3.57903180e-03 -1.92235619e-05 9.99993595e-01 -1.84357800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.797719421 meters Centerline goodness : 0.973099 Centerline is valid? [True, True] Translation: X:47.56, Y:2.41, Z:-1.84 [[ 9.71337641e-01 -2.37695342e-01 -2.02751269e-03 4.75613866e+01] [ 2.37694859e-01 9.71339757e-01 -4.79352371e-04 2.41385603e+00] [ 2.08334351e-03 -1.63163416e-05 9.99997830e-01 -1.84450495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.827719421 meters Centerline goodness : 0.974831 Centerline is valid? [True, True] Translation: X:47.59, Y:2.43, Z:-1.84 [[ 9.70184676e-01 -2.42365760e-01 -7.30180674e-04 4.75872369e+01] [ 2.42365694e-01 9.70184951e-01 -1.79044071e-04 2.42505489e+00] [ 7.51804454e-04 -3.26493146e-06 9.99999717e-01 -1.84393455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.857719421 meters Centerline goodness : 0.974654 Centerline is valid? [True, True] Translation: X:47.61, Y:2.43, Z:-1.84 [[ 9.69470857e-01 -2.45202703e-01 -1.37547707e-03 4.76134126e+01] [ 2.45202479e-01 9.69471833e-01 -3.31338262e-04 2.43458678e+00] [ 1.41473132e-03 -1.60475995e-05 9.99998999e-01 -1.84383067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.887719421 meters Centerline goodness : 0.974481 Centerline is valid? [True, True] Translation: X:47.64, Y:2.45, Z:-1.84 [[ 9.67941602e-01 -2.51164818e-01 -2.29982438e-03 4.76380622e+01] [ 2.51164227e-01 9.67944333e-01 -5.47348598e-04 2.44756038e+00] [ 2.36357669e-03 -4.78321323e-05 9.99997206e-01 -1.84485223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.917719421 meters Centerline goodness : 0.975560 Centerline is valid? [True, True] Translation: X:47.66, Y:2.46, Z:-1.85 [[ 9.67426182e-01 -2.53142857e-01 -2.29720881e-03 4.76641549e+01] [ 2.53142264e-01 9.67428908e-01 -5.49745177e-04 2.45733215e+00] [ 2.36155028e-03 -4.96827636e-05 9.99997210e-01 -1.84607179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.947719421 meters Centerline goodness : 0.976271 Centerline is valid? [True, True] Translation: X:47.69, Y:2.47, Z:-1.85 [[ 9.67237178e-01 -2.53860450e-01 -2.66708146e-03 4.76884334e+01] [ 2.53859668e-01 9.67240853e-01 -6.33481595e-04 2.47025365e+00] [ 2.74052607e-03 -6.43374644e-05 9.99996243e-01 -1.84621885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.977719421 meters Centerline goodness : 0.975760 Centerline is valid? [True, True] Translation: X:47.72, Y:2.48, Z:-1.85 [[ 9.67428848e-01 -2.53126841e-01 -2.86823049e-03 4.77150317e+01] [ 2.53125919e-01 9.67433098e-01 -6.86120490e-04 2.48051865e+00] [ 2.94849662e-03 -6.22507238e-05 9.99995651e-01 -1.84637859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.007719421 meters Centerline goodness : 0.974247 Centerline is valid? [True, True] Translation: X:47.74, Y:2.50, Z:-1.85 [[ 9.68031290e-01 -2.50791045e-01 -4.39012036e-03 4.77404253e+01] [ 2.50788871e-01 9.68041241e-01 -1.04792404e-03 2.49525920e+00] [ 4.51262753e-03 -8.65700709e-05 9.99989814e-01 -1.84716562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03771942099999 meters Centerline goodness : 0.973396 Centerline is valid? [True, True] Translation: X:47.77, Y:2.51, Z:-1.85 [[ 9.68359590e-01 -2.49463973e-01 -6.88690679e-03 4.77661385e+01] [ 2.49458639e-01 9.68384071e-01 -1.63679050e-03 2.50599874e+00] [ 7.07749109e-03 -1.32996613e-04 9.99974945e-01 -1.84759721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06771942099999 meters Centerline goodness : 0.973396 Centerline is valid? [True, True] Translation: X:47.79, Y:2.51, Z:-1.85 [[ 9.68287478e-01 -2.49743760e-01 -6.88573616e-03 4.77938054e+01] [ 2.49738398e-01 9.68311952e-01 -1.64172026e-03 2.51285551e+00] [ 7.07755002e-03 -1.29975552e-04 9.99974945e-01 -1.84819219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.097719421 meters Centerline goodness : 0.972439 Centerline is valid? [True, True] Translation: X:47.82, Y:2.53, Z:-1.85 [[ 9.68957743e-01 -2.47022140e-01 -1.00475806e-02 4.78188862e+01] [ 2.47010551e-01 9.69009823e-01 -2.39801137e-03 2.52714272e+00] [ 1.03285662e-02 -1.58286744e-04 9.99946646e-01 -1.84737471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.127719421 meters Centerline goodness : 0.973097 Centerline is valid? [True, True] Translation: X:47.84, Y:2.54, Z:-1.85 [[ 9.69453212e-01 -2.45067434e-01 -1.01203889e-02 4.78445184e+01] [ 2.45055599e-01 9.69506025e-01 -2.41260974e-03 2.53818328e+00] [ 1.04030301e-02 -1.41145691e-04 9.99945877e-01 -1.84727710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.157719421 meters Centerline goodness : 0.975771 Centerline is valid? [True, True] Translation: X:47.87, Y:2.56, Z:-1.85 [[ 9.71221364e-01 -2.37976702e-01 -9.80564257e-03 4.78673414e+01] [ 2.37965215e-01 9.71270861e-01 -2.33908209e-03 2.55776861e+00] [ 1.00805819e-02 -6.16353458e-05 9.99949188e-01 -1.84721343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.187719421 meters Centerline goodness : 0.975432 Centerline is valid? [True, True] Translation: X:47.89, Y:2.57, Z:-1.85 [[ 9.72227843e-01 -2.33838429e-01 -9.62346470e-03 4.78921360e+01] [ 2.33827121e-01 9.72275470e-01 -2.29972455e-03 2.56949473e+00] [ 9.89442264e-03 -1.43708051e-05 9.99951049e-01 -1.84742185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.217719421 meters Centerline goodness : 0.977572 Centerline is valid? [True, True] Translation: X:47.92, Y:2.58, Z:-1.85 [[ 9.74131626e-01 -2.25856102e-01 -7.52301649e-03 4.79177830e+01] [ 2.25848904e-01 9.74160673e-01 -1.80411526e-03 2.58317088e+00] [ 7.73609725e-03 5.83807036e-05 9.99970074e-01 -1.84689758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.247719421 meters Centerline goodness : 0.982277 Centerline is valid? [True, True] Translation: X:47.94, Y:2.60, Z:-1.85 [[ 9.75108789e-01 -2.21685758e-01 -4.27477842e-03 4.79415925e+01] [ 2.21683395e-01 9.75118158e-01 -1.02479782e-03 2.59899031e+00] [ 4.39559714e-03 5.16419706e-05 9.99990338e-01 -1.84621122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.277719421 meters Centerline goodness : 0.981485 Centerline is valid? [True, True] Translation: X:47.97, Y:2.61, Z:-1.85 [[ 9.75483915e-01 -2.20009503e-01 -5.19132930e-03 4.79669693e+01] [ 2.20005995e-01 9.75497726e-01 -1.24460817e-03 2.61099188e+00] [ 5.33795555e-03 7.19716865e-05 9.99985750e-01 -1.84593893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.307719421 meters Centerline goodness : 0.980807 Centerline is valid? [True, True] Translation: X:47.99, Y:2.63, Z:-1.85 [[ 9.76566393e-01 -2.15089101e-01 -7.39991227e-03 4.79920253e+01] [ 2.15081790e-01 9.76594418e-01 -1.77940733e-03 2.62549745e+00] [ 7.60944414e-03 1.46123019e-04 9.99971037e-01 -1.84789680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.337719421 meters Centerline goodness : 0.978797 Centerline is valid? [True, True] Translation: X:48.02, Y:2.63, Z:-1.85 [[ 9.76940708e-01 -2.13347806e-01 -8.34064688e-03 4.80184445e+01] [ 2.13338437e-01 9.76976295e-01 -2.00771192e-03 2.63430541e+00] [ 8.57695522e-03 1.82034938e-04 9.99963201e-01 -1.84838339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.367719421 meters Centerline goodness : 0.978277 Centerline is valid? [True, True] Translation: X:48.04, Y:2.64, Z:-1.85 [[ 9.77703322e-01 -2.09814086e-01 -8.61761214e-03 4.80448018e+01] [ 2.09803921e-01 9.77741274e-01 -2.07720093e-03 2.64383171e+00] [ 8.86162109e-03 2.22877429e-04 9.99960710e-01 -1.84952994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39771942099999 meters Centerline goodness : 0.979122 Centerline is valid? [True, True] Translation: X:48.07, Y:2.65, Z:-1.85 [[ 9.77918986e-01 -2.08797281e-01 -8.84036989e-03 4.80707446e+01] [ 2.08786546e-01 9.77958915e-01 -2.13052759e-03 2.65186299e+00] [ 9.09036692e-03 2.37733090e-04 9.99958654e-01 -1.85008653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42771942099999 meters Centerline goodness : 0.979080 Centerline is valid? [True, True] Translation: X:48.10, Y:2.66, Z:-1.85 [[ 9.78172672e-01 -2.07573442e-01 -9.56502881e-03 4.80971585e+01] [ 2.07560800e-01 9.78219399e-01 -2.30691563e-03 2.65917963e+00] [ 9.83555116e-03 2.71236796e-04 9.99951593e-01 -1.85077968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.457719421 meters Centerline goodness : 0.979106 Centerline is valid? [True, True] Translation: X:48.13, Y:2.66, Z:-1.85 [[ 9.78068888e-01 -2.08096301e-01 -8.78518994e-03 4.81252908e+01] [ 2.08085606e-01 9.78108310e-01 -2.12452669e-03 2.66291282e+00] [ 9.03497344e-03 2.49861888e-04 9.99959153e-01 -1.85119667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.487719421 meters Centerline goodness : 0.979684 Centerline is valid? [True, True] Translation: X:48.15, Y:2.67, Z:-1.85 [[ 9.77829410e-01 -2.09235234e-01 -8.38220005e-03 4.81521953e+01] [ 2.09225560e-01 9.77865311e-01 -2.02466194e-03 2.66691972e+00] [ 8.62029328e-03 2.26003490e-04 9.99962819e-01 -1.85222554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.517719421 meters Centerline goodness : 0.979553 Centerline is valid? [True, True] Translation: X:48.18, Y:2.67, Z:-1.85 [[ 9.77008827e-01 -2.13093603e-01 -6.69842224e-03 4.81799979e+01] [ 2.13087505e-01 9.77031777e-01 -1.61943970e-03 2.66637566e+00] [ 6.88966362e-03 1.54856792e-04 9.99976254e-01 -1.85323544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.547719421 meters Centerline goodness : 0.981182 Centerline is valid? [True, True] Translation: X:48.21, Y:2.67, Z:-1.85 [[ 9.76580981e-01 -2.15047200e-01 -6.65509827e-03 4.82081768e+01] [ 2.15041180e-01 9.76603645e-01 -1.61571065e-03 2.67055011e+00] [ 6.84684728e-03 1.46752105e-04 9.99976549e-01 -1.85450533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.577719421 meters Centerline goodness : 0.981196 Centerline is valid? [True, True] Translation: X:48.24, Y:2.68, Z:-1.86 [[ 9.76104139e-01 -2.17223071e-01 -5.90313009e-03 4.82350873e+01] [ 2.17218390e-01 9.76121982e-01 -1.43073811e-03 2.67541026e+00] [ 6.07296437e-03 1.14280978e-04 9.99981553e-01 -1.85613928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.607719421 meters Centerline goodness : 0.980887 Centerline is valid? [True, True] Translation: X:48.26, Y:2.68, Z:-1.86 [[ 9.75780234e-01 -2.18630074e-01 -7.33662219e-03 4.82629294e+01] [ 2.18622839e-01 9.75807805e-01 -1.78395807e-03 2.68105237e+00] [ 7.54916008e-03 1.36797855e-04 9.99971495e-01 -1.85603893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.637719421 meters Centerline goodness : 0.980398 Centerline is valid? [True, True] Translation: X:48.29, Y:2.68, Z:-1.86 [[ 9.75165063e-01 -2.21307688e-01 -8.71820904e-03 4.82910406e+01] [ 2.21297613e-01 9.75204025e-01 -2.11587964e-03 2.67889731e+00] [ 8.97029298e-03 1.34013046e-04 9.99959757e-01 -1.85639044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.667719421 meters Centerline goodness : 0.980110 Centerline is valid? [True, True] Translation: X:48.32, Y:2.68, Z:-1.86 [[ 9.74400568e-01 -2.24616576e-01 -9.53558794e-03 4.83191841e+01] [ 2.24604618e-01 9.74447217e-01 -2.32080976e-03 2.68192690e+00] [ 9.81321948e-03 1.19661255e-04 9.99951842e-01 -1.85615321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.697719421 meters Centerline goodness : 0.978594 Centerline is valid? [True, True] Translation: X:48.35, Y:2.69, Z:-1.86 [[ 9.72509309e-01 -2.32598821e-01 -1.11099838e-02 4.83464315e+01] [ 2.32583146e-01 9.72572767e-01 -2.70064597e-03 2.68556271e+00] [ 1.14334348e-02 4.24083537e-05 9.99934635e-01 -1.85768274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.727719421 meters Centerline goodness : 0.976687 Centerline is valid? [True, True] Translation: X:48.37, Y:2.69, Z:-1.86 [[ 9.70849562e-01 -2.39387159e-01 -1.20381543e-02 4.83741892e+01] [ 2.39369173e-01 9.70924192e-01 -2.93457799e-03 2.69026854e+00] [ 1.23906356e-02 -3.25292906e-05 9.99923233e-01 -1.85706273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.757719421 meters Centerline goodness : 0.978818 Centerline is valid? [True, True] Translation: X:48.40, Y:2.69, Z:-1.86 [[ 9.70371435e-01 -2.41405431e-01 -1.01338612e-02 4.84006191e+01] [ 2.41392810e-01 9.70424348e-01 -2.46898219e-03 2.69479092e+00] [ 1.04301714e-02 -5.04114494e-05 9.99945603e-01 -1.85777265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78771942099999 meters Centerline goodness : 0.980581 Centerline is valid? [True, True] Translation: X:48.43, Y:2.70, Z:-1.86 [[ 9.69437160e-01 -2.45224698e-01 -7.51269558e-03 4.84282166e+01] [ 2.45217822e-01 9.69466267e-01 -1.83742879e-03 2.69805114e+00] [ 7.73388787e-03 -6.09750986e-05 9.99970091e-01 -1.85760386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81771942099999 meters Centerline goodness : 0.981730 Centerline is valid? [True, True] Translation: X:48.46, Y:2.70, Z:-1.86 [[ 9.69463423e-01 -2.45161630e-01 -6.03708950e-03 4.84560747e+01] [ 2.45157168e-01 9.69482219e-01 -1.47986390e-03 2.70330477e+00] [ 6.21565677e-03 -4.53618381e-05 9.99980682e-01 -1.85753405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.847719421 meters Centerline goodness : 0.982108 Centerline is valid? [True, True] Translation: X:48.48, Y:2.71, Z:-1.86 [[ 9.69650588e-01 -2.44456746e-01 -4.31707293e-03 4.84832220e+01] [ 2.44454442e-01 9.69660197e-01 -1.06185562e-03 2.70915558e+00] [ 4.44567156e-03 -2.56987229e-05 9.99990118e-01 -1.85824660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.877719421 meters Centerline goodness : 0.983238 Centerline is valid? [True, True] Translation: X:48.51, Y:2.72, Z:-1.86 [[ 9.70597066e-01 -2.40634053e-01 -6.04875881e-03 4.85094120e+01] [ 2.40629456e-01 9.70615914e-01 -1.48747445e-03 2.71813701e+00] [ 6.22895857e-03 -1.17712047e-05 9.99980600e-01 -1.85817671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.907719421 meters Centerline goodness : 0.982785 Centerline is valid? [True, True] Translation: X:48.54, Y:2.73, Z:-1.86 [[ 9.71972217e-01 -2.34970183e-01 -7.68257103e-03 4.85358164e+01] [ 2.34962629e-01 9.72002578e-01 -1.88429074e-03 2.72568625e+00] [ 7.91023099e-03 2.63611622e-05 9.99968713e-01 -1.85760566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.937719421 meters Centerline goodness : 0.982966 Centerline is valid? [True, True] Translation: X:48.56, Y:2.73, Z:-1.86 [[ 9.72718228e-01 -2.31869443e-01 -7.47064411e-03 4.85636369e+01] [ 2.31862161e-01 9.72746914e-01 -1.83852822e-03 2.73133871e+00] [ 7.69334451e-03 5.62102329e-05 9.99970404e-01 -1.85799366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.967719421 meters Centerline goodness : 0.982588 Centerline is valid? [True, True] Translation: X:48.59, Y:2.74, Z:-1.86 [[ 9.73841385e-01 -2.27075086e-01 -8.35836721e-03 4.85909490e+01] [ 2.27065773e-01 9.73877248e-01 -2.05929794e-03 2.73716114e+00] [ 8.60763891e-03 1.07530441e-04 9.99962948e-01 -1.85868699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.997719421 meters Centerline goodness : 0.983252 Centerline is valid? [True, True] Translation: X:48.62, Y:2.75, Z:-1.86 [[ 9.74191587e-01 -2.25495410e-01 -1.01278097e-02 4.86173567e+01] [ 2.25481632e-01 9.74244219e-01 -2.49715603e-03 2.74540385e+00] [ 1.04300573e-02 1.49073330e-04 9.99945594e-01 -1.85927968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.027719421 meters Centerline goodness : 0.983433 Centerline is valid? [True, True] Translation: X:48.64, Y:2.75, Z:-1.86 [[ 9.75158249e-01 -2.21152925e-01 -1.25607650e-02 4.86436990e+01] [ 2.21131331e-01 9.75239111e-01 -3.10014861e-03 2.75357284e+00] [ 1.29353562e-02 2.45556807e-04 9.99916305e-01 -1.86147217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.057719421 meters Centerline goodness : 0.981081 Centerline is valid? [True, True] Translation: X:48.67, Y:2.76, Z:-1.86 [[ 9.75717630e-01 -2.18655092e-01 -1.28474316e-02 4.86706573e+01] [ 2.18632228e-01 9.75802166e-01 -3.17523188e-03 2.75997663e+00] [ 1.32308322e-02 2.89267129e-04 9.99912427e-01 -1.86184769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.087719421 meters Centerline goodness : 0.983528 Centerline is valid? [True, True] Translation: X:48.70, Y:2.77, Z:-1.86 [[ 9.76606131e-01 -2.14698608e-01 -1.20404648e-02 4.86973011e+01] [ 2.14678247e-01 9.76680298e-01 -2.97398871e-03 2.76578300e+00] [ 1.23981960e-02 3.19589738e-04 9.99923088e-01 -1.86082149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.117719421 meters Centerline goodness : 0.984336 Centerline is valid? [True, True] Translation: X:48.73, Y:2.77, Z:-1.86 [[ 9.77178630e-01 -2.12200059e-01 -9.64672204e-03 4.87255099e+01] [ 2.12186789e-01 9.77226203e-01 -2.39060982e-03 2.76964619e+00] [ 9.93431709e-03 2.89145854e-04 9.99950612e-01 -1.86186231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14771942099999 meters Centerline goodness : 0.985437 Centerline is valid? [True, True] Translation: X:48.75, Y:2.78, Z:-1.86 [[ 9.77517217e-01 -2.10725968e-01 -7.39301480e-03 4.87530993e+01] [ 2.10718101e-01 9.77545145e-01 -1.83622392e-03 2.77551603e+00] [ 7.61394578e-03 2.37098457e-04 9.99970985e-01 -1.86406227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17771942099999 meters Centerline goodness : 0.986071 Centerline is valid? [True, True] Translation: X:48.78, Y:2.78, Z:-1.86 [[ 9.78029236e-01 -2.08273895e-01 -8.98883628e-03 4.87787261e+01] [ 2.08262199e-01 9.78070494e-01 -2.22848514e-03 2.78240294e+00] [ 9.25585082e-03 3.07488804e-04 9.99957116e-01 -1.86496078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.207719421 meters Centerline goodness : 0.984865 Centerline is valid? [True, True] Translation: X:48.81, Y:2.79, Z:-1.87 [[ 9.78145497e-01 -2.07643439e-01 -1.07512479e-02 4.88066218e+01] [ 2.07626594e-01 9.78204507e-01 -2.67224581e-03 2.78823780e+00] [ 1.10717935e-02 3.81600215e-04 9.99938633e-01 -1.86599556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.237719421 meters Centerline goodness : 0.983838 Centerline is valid? [True, True] Translation: X:48.84, Y:2.79, Z:-1.87 [[ 9.78159094e-01 -2.07541720e-01 -1.14551587e-02 4.88358528e+01] [ 2.07522550e-01 9.78226081e-01 -2.85051872e-03 2.78779780e+00] [ 1.17973366e-02 4.11057058e-04 9.99930325e-01 -1.86663666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.267719421 meters Centerline goodness : 0.983709 Centerline is valid? [True, True] Translation: X:48.86, Y:2.79, Z:-1.87 [[ 9.77737317e-01 -2.09608163e-01 -9.70342625e-03 4.88633436e+01] [ 2.09594524e-01 9.77785412e-01 -2.41322195e-03 2.79028225e+00] [ 9.99369965e-03 3.25712146e-04 9.99950009e-01 -1.86760244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.297719421 meters Centerline goodness : 0.985236 Centerline is valid? [True, True] Translation: X:48.89, Y:2.79, Z:-1.87 [[ 9.76585443e-01 -2.15043846e-01 -6.08408729e-03 4.88915993e+01] [ 2.15038577e-01 9.76604380e-01 -1.51502742e-03 2.78961898e+00] [ 6.26754362e-03 1.71240247e-04 9.99980344e-01 -1.86750134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.327719421 meters Centerline goodness : 0.986314 Centerline is valid? [True, True] Translation: X:48.92, Y:2.79, Z:-1.87 [[ 9.76164956e-01 -2.16986058e-01 -4.36223202e-03 4.89198619e+01] [ 2.16983342e-01 9.76174696e-01 -1.09213292e-03 2.79313945e+00] [ 4.49527814e-03 1.19570203e-04 9.99989889e-01 -1.86743324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.357719421 meters Centerline goodness : 0.986427 Centerline is valid? [True, True] Translation: X:48.95, Y:2.79, Z:-1.87 [[ 9.75399415e-01 -2.20425259e-01 -2.94713530e-03 4.89485425e+01] [ 2.20424026e-01 9.75403865e-01 -7.40897974e-04 2.79331885e+00] [ 3.03795979e-03 7.30520230e-05 9.99995383e-01 -1.86753136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.387719421 meters Centerline goodness : 0.985616 Centerline is valid? [True, True] Translation: X:48.98, Y:2.80, Z:-1.87 [[ 9.74634742e-01 -2.23715117e-01 -6.21828691e-03 4.89769779e+01] [ 2.23709721e-01 9.74654570e-01 -1.55902977e-03 2.79583770e+00] [ 6.40946028e-03 1.28393342e-04 9.99979451e-01 -1.86900801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.417719421 meters Centerline goodness : 0.983924 Centerline is valid? [True, True] Translation: X:49.00, Y:2.80, Z:-1.87 [[ 9.74226737e-01 -2.25376771e-01 -9.35817524e-03 4.90035121e+01] [ 2.25364689e-01 9.74271667e-01 -2.33989461e-03 2.80000223e+00] [ 9.64476288e-03 1.70585642e-04 9.99953474e-01 -1.86990669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.447719421 meters Centerline goodness : 0.982414 Centerline is valid? [True, True] Translation: X:49.03, Y:2.80, Z:-1.87 [[ 9.72966972e-01 -2.30593742e-01 -1.27199802e-02 4.90317950e+01] [ 2.30571767e-01 9.73050100e-01 -3.18782780e-03 2.80318838e+00] [ 1.31122711e-02 1.68782844e-04 9.99914016e-01 -1.87082484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.477719421 meters Centerline goodness : 0.984567 Centerline is valid? [True, True] Translation: X:49.06, Y:2.81, Z:-1.87 [[ 9.72415395e-01 -2.32867955e-01 -1.34467713e-02 4.90594268e+01] [ 2.32843553e-01 9.72508351e-01 -3.37448300e-03 2.80791918e+00] [ 1.38629063e-02 1.50405219e-04 9.99903894e-01 -1.87100178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50771942099999 meters Centerline goodness : 0.983968 Centerline is valid? [True, True] Translation: X:49.09, Y:2.81, Z:-1.87 [[ 9.71432006e-01 -2.36926305e-01 -1.36302711e-02 4.90871209e+01] [ 2.36901564e-01 9.71527620e-01 -3.42526819e-03 2.81089969e+00] [ 1.40537210e-02 9.83825946e-05 9.99901237e-01 -1.86993011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53771942099999 meters Centerline goodness : 0.983317 Centerline is valid? [True, True] Translation: X:49.11, Y:2.82, Z:-1.87 [[ 9.71244454e-01 -2.37783494e-01 -1.19675041e-02 4.91137014e+01] [ 2.37764504e-01 9.71318179e-01 -3.00602304e-03 2.81600445e+00] [ 1.23390369e-02 7.41355271e-05 9.99923868e-01 -1.87063406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56771942099999 meters Centerline goodness : 0.984428 Centerline is valid? [True, True] Translation: X:49.14, Y:2.82, Z:-1.87 [[ 9.71541817e-01 -2.36721176e-01 -8.34162655e-03 4.91393878e+01] [ 2.36711893e-01 9.71577625e-01 -2.09737675e-03 2.82455028e+00] [ 8.60103120e-03 6.31270022e-05 9.99963008e-01 -1.87052108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.597719421 meters Centerline goodness : 0.983875 Centerline is valid? [True, True] Translation: X:49.17, Y:2.83, Z:-1.87 [[ 9.71984602e-01 -2.34893102e-01 -8.43588084e-03 4.91665828e+01] [ 2.34883479e-01 9.72021205e-01 -2.12800462e-03 2.83337153e+00] [ 8.69970867e-03 8.69386871e-05 9.99962153e-01 -1.87035738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.627719421 meters Centerline goodness : 0.983696 Centerline is valid? [True, True] Translation: X:49.19, Y:2.84, Z:-1.87 [[ 9.73914702e-01 -2.26787058e-01 -7.60156419e-03 4.91925989e+01] [ 2.26779014e-01 9.73944357e-01 -1.91539795e-03 2.84046008e+00] [ 7.83788801e-03 1.41558990e-04 9.99969273e-01 -1.87055306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.657719421 meters Centerline goodness : 0.985316 Centerline is valid? [True, True] Translation: X:49.22, Y:2.85, Z:-1.87 [[ 9.75849613e-01 -2.18334574e-01 -6.89538455e-03 4.92197739e+01] [ 2.18327696e-01 9.75873955e-01 -1.74401739e-03 2.84646119e+00] [ 7.10980548e-03 1.96445273e-04 9.99974706e-01 -1.87133577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.687719421 meters Centerline goodness : 0.986059 Centerline is valid? [True, True] Translation: X:49.25, Y:2.85, Z:-1.87 [[ 9.76599563e-01 -2.14934019e-01 -7.52737297e-03 4.92463023e+01] [ 2.14925749e-01 9.76628543e-01 -1.90037461e-03 2.85244289e+00] [ 7.75990245e-03 2.38078739e-04 9.99969863e-01 -1.87256473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.717719421 meters Centerline goodness : 0.984031 Centerline is valid? [True, True] Translation: X:49.27, Y:2.86, Z:-1.87 [[ 9.77648433e-01 -2.09947430e-01 -1.12079579e-02 4.92737956e+01] [ 2.09928700e-01 9.77712586e-01 -2.83556284e-03 2.85713446e+00] [ 1.15534806e-02 4.19311540e-04 9.99933168e-01 -1.87387605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.747719421 meters Centerline goodness : 0.984019 Centerline is valid? [True, True] Translation: X:49.30, Y:2.86, Z:-1.87 [[ 9.77678244e-01 -2.09675328e-01 -1.34725260e-02 4.93005750e+01] [ 2.09648185e-01 9.77770932e-01 -3.41220396e-03 2.86414644e+00] [ 1.38884993e-02 5.11546956e-04 9.99903419e-01 -1.87376275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.777719421 meters Centerline goodness : 0.984947 Centerline is valid? [True, True] Translation: X:49.33, Y:2.87, Z:-1.87 [[ 9.77983524e-01 -2.08262048e-01 -1.32342802e-02 4.93271588e+01] [ 2.08235661e-01 9.78072922e-01 -3.35674097e-03 2.87191304e+00] [ 1.36431728e-02 5.26988276e-04 9.99906789e-01 -1.87453983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.807719421 meters Centerline goodness : 0.982981 Centerline is valid? [True, True] Translation: X:49.35, Y:2.88, Z:-1.88 [[ 9.78054643e-01 -2.07984281e-01 -1.23147981e-02 4.93539328e+01] [ 2.07961433e-01 9.78132044e-01 -3.12185225e-03 2.87765214e+00] [ 1.26947948e-02 4.92339019e-04 9.99919297e-01 -1.87584217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.837719421 meters Centerline goodness : 0.983910 Centerline is valid? [True, True] Translation: X:49.38, Y:2.88, Z:-1.88 [[ 9.78228232e-01 -2.07085933e-01 -1.35993856e-02 4.93827356e+01] [ 2.07057868e-01 9.78322594e-01 -3.45570221e-03 2.87779547e+00] [ 1.40202135e-02 5.64605668e-04 9.99901553e-01 -1.87610892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.867719421 meters Centerline goodness : 0.984666 Centerline is valid? [True, True] Translation: X:49.41, Y:2.88, Z:-1.88 [[ 9.78136569e-01 -2.07533722e-01 -1.33643626e-02 4.94102501e+01] [ 2.07506647e-01 9.78227710e-01 -3.39695025e-03 2.87878366e+00] [ 1.37783715e-02 5.49487194e-04 9.99904923e-01 -1.87656883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89771942099999 meters Centerline goodness : 0.983297 Centerline is valid? [True, True] Translation: X:49.44, Y:2.88, Z:-1.88 [[ 9.78073102e-01 -2.07798460e-01 -1.38854764e-02 4.94377640e+01] [ 2.07769151e-01 9.78171493e-01 -3.53691991e-03 2.88339216e+00] [ 1.43173437e-02 5.74392589e-04 9.99897337e-01 -1.87638611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92771942099999 meters Centerline goodness : 0.984145 Centerline is valid? [True, True] Translation: X:49.47, Y:2.89, Z:-1.88 [[ 9.78009321e-01 -2.08120882e-01 -1.35449646e-02 4.94650881e+01] [ 2.08093050e-01 9.78102955e-01 -3.44832787e-03 2.88662659e+00] [ 1.39660390e-02 5.53883800e-04 9.99902317e-01 -1.87725592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.957719421 meters Centerline goodness : 0.984145 Centerline is valid? [True, True] Translation: X:49.49, Y:2.89, Z:-1.88 [[ 9.77947867e-01 -2.08409575e-01 -1.35431873e-02 4.94926617e+01] [ 2.08381674e-01 9.78041481e-01 -3.45530939e-03 2.89391028e+00] [ 1.39659185e-02 5.56960408e-04 9.99902317e-01 -1.87785106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.987719421 meters Centerline goodness : 0.983982 Centerline is valid? [True, True] Translation: X:49.52, Y:2.89, Z:-1.88 [[ 9.77845844e-01 -2.08863973e-01 -1.39048802e-02 4.95202819e+01] [ 2.08834630e-01 9.77944540e-01 -3.54601559e-03 2.89402468e+00] [ 1.43388365e-02 5.63636106e-04 9.99897035e-01 -1.87941935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.017719421 meters Centerline goodness : 0.983937 Centerline is valid? [True, True] Translation: X:49.55, Y:2.90, Z:-1.88 [[ 9.77607339e-01 -2.09979437e-01 -1.38753843e-02 4.95476920e+01] [ 2.09950198e-01 9.77705645e-01 -3.54771301e-03 2.89855392e+00] [ 1.43109883e-02 5.55130596e-04 9.99897438e-01 -1.87998004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.047719421 meters Centerline goodness : 0.984917 Centerline is valid? [True, True] Translation: X:49.58, Y:2.90, Z:-1.88 [[ 9.76919694e-01 -2.13383104e-01 -9.77559328e-03 4.95763543e+01] [ 2.13368705e-01 9.76968536e-01 -2.50505295e-03 2.89926740e+00] [ 1.00849830e-02 3.61429883e-04 9.99949080e-01 -1.88013831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.077719421 meters Centerline goodness : 0.985171 Centerline is valid? [True, True] Translation: X:49.60, Y:2.90, Z:-1.88 [[ 9.75649210e-01 -2.19204580e-01 -7.61389748e-03 4.96042631e+01] [ 2.19196033e-01 9.75678891e-01 -1.94976457e-03 2.89793013e+00] [ 7.85611637e-03 2.33350140e-04 9.99969113e-01 -1.87852138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.107719421 meters Centerline goodness : 0.984135 Centerline is valid? [True, True] Translation: X:49.63, Y:2.90, Z:-1.88 [[ 9.74842997e-01 -2.22717658e-01 -8.83037557e-03 4.96325588e+01] [ 2.22706246e-01 9.74882960e-01 -2.26773834e-03 2.90226069e+00] [ 9.11364805e-03 2.44109052e-04 9.99958440e-01 -1.87900184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.137719421 meters Centerline goodness : 0.985207 Centerline is valid? [True, True] Translation: X:49.66, Y:2.90, Z:-1.88 [[ 9.73963454e-01 -2.26524591e-01 -9.04437548e-03 4.96613224e+01] [ 2.26512756e-01 9.74005422e-01 -2.32565264e-03 2.90387109e+00] [ 9.33608827e-03 2.16434262e-04 9.99956394e-01 -1.87874065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.167719421 meters Centerline goodness : 0.984904 Centerline is valid? [True, True] Translation: X:49.69, Y:2.91, Z:-1.88 [[ 9.73809285e-01 -2.27141384e-01 -1.01128113e-02 4.96892048e+01] [ 2.27126593e-01 9.73861764e-01 -2.60301467e-03 2.90873107e+00] [ 1.04397326e-02 2.37951478e-04 9.99945476e-01 -1.87922231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.197719421 meters Centerline goodness : 0.985140 Centerline is valid? [True, True] Translation: X:49.72, Y:2.91, Z:-1.88 [[ 9.74368302e-01 -2.24551629e-01 -1.35269190e-02 4.97170381e+01] [ 2.24524975e-01 9.74462130e-01 -3.47750805e-03 2.91035126e+00] [ 1.39623504e-02 3.51242460e-04 9.99902460e-01 -1.87890487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.227719421 meters Centerline goodness : 0.985672 Centerline is valid? [True, True] Translation: X:49.74, Y:2.92, Z:-1.88 [[ 9.74846487e-01 -2.22432989e-01 -1.40674351e-02 4.97449389e+01] [ 2.22403816e-01 9.74947897e-01 -3.62510640e-03 2.91574704e+00] [ 1.45213595e-02 4.05270999e-04 9.99894477e-01 -1.87933109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25771942099999 meters Centerline goodness : 0.985720 Centerline is valid? [True, True] Translation: X:49.77, Y:2.92, Z:-1.88 [[ 9.76139596e-01 -2.16881778e-01 -1.06669618e-02 4.97717235e+01] [ 2.16864680e-01 9.76197807e-01 -2.74816800e-03 2.91989815e+00] [ 1.10090923e-02 3.69308345e-04 9.99939330e-01 -1.88018058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28771942099999 meters Centerline goodness : 0.986434 Centerline is valid? [True, True] Translation: X:49.80, Y:2.93, Z:-1.88 [[ 9.76612973e-01 -2.14844388e-01 -8.30602496e-03 4.97997060e+01] [ 2.14833886e-01 9.76648243e-01 -2.14718515e-03 2.92526087e+00] [ 8.57337536e-03 3.12553255e-04 9.99963199e-01 -1.88002236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31771942099999 meters Centerline goodness : 0.985108 Centerline is valid? [True, True] Translation: X:49.83, Y:2.93, Z:-1.88 [[ 9.77450368e-01 -2.10996026e-01 -8.45306234e-03 4.98279606e+01] [ 2.10984981e-01 9.77486855e-01 -2.18786755e-03 2.92655358e+00] [ 8.72438868e-03 3.55062743e-04 9.99961879e-01 -1.87953711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.347719421 meters Centerline goodness : 0.985771 Centerline is valid? [True, True] Translation: X:49.86, Y:2.93, Z:-1.88 [[ 9.77658982e-01 -2.09924224e-01 -1.07114342e-02 4.98555547e+01] [ 2.09906399e-01 9.77717548e-01 -2.77470811e-03 2.93099003e+00] [ 1.10552357e-02 4.64319717e-04 9.99938781e-01 -1.88019467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.377719421 meters Centerline goodness : 0.984705 Centerline is valid? [True, True] Translation: X:49.88, Y:2.93, Z:-1.88 [[ 9.78206540e-01 -2.07029756e-01 -1.58317626e-02 4.98828028e+01] [ 2.06990519e-01 9.78334374e-01 -4.09604304e-03 2.93455403e+00] [ 1.63367603e-02 7.29751340e-04 9.99866280e-01 -1.88231806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.407719421 meters Centerline goodness : 0.984855 Centerline is valid? [True, True] Translation: X:49.91, Y:2.94, Z:-1.88 [[ 9.78182050e-01 -2.07137039e-01 -1.59412827e-02 4.99104911e+01] [ 2.07097112e-01 9.78311656e-01 -4.13407370e-03 2.94124493e+00] [ 1.64518624e-02 7.42483076e-04 9.99864383e-01 -1.88383993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.437719421 meters Centerline goodness : 0.984354 Centerline is valid? [True, True] Translation: X:49.94, Y:2.94, Z:-1.88 [[ 9.78033921e-01 -2.07846088e-01 -1.58004336e-02 4.99375208e+01] [ 2.07806981e-01 9.78161276e-01 -4.09593370e-03 2.94391143e+00] [ 1.63066961e-02 7.22521674e-04 9.99866776e-01 -1.88404082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.467719421 meters Centerline goodness : 0.985099 Centerline is valid? [True, True] Translation: X:49.96, Y:2.95, Z:-1.88 [[ 9.77723736e-01 -2.09232871e-01 -1.66703986e-02 4.99647230e+01] [ 2.09189449e-01 9.77865560e-01 -4.32680789e-03 2.94764663e+00] [ 1.72067191e-02 7.43151281e-04 9.99851677e-01 -1.88391964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.497719421 meters Centerline goodness : 0.985194 Centerline is valid? [True, True] Translation: X:49.99, Y:2.95, Z:-1.88 [[ 9.77175856e-01 -2.11975519e-01 -1.39185310e-02 4.99930859e+01] [ 2.11945406e-01 9.77274799e-01 -3.62103576e-03 2.95064393e+00] [ 1.43698005e-02 5.88420010e-04 9.99896576e-01 -1.88482537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.527719421 meters Centerline goodness : 0.986607 Centerline is valid? [True, True] Translation: X:50.02, Y:2.95, Z:-1.88 [[ 9.76292657e-01 -2.16154277e-01 -1.14007451e-02 5.00199725e+01] [ 2.16134370e-01 9.76359126e-01 -2.96497396e-03 2.95427095e+00] [ 1.17721133e-02 4.30589438e-04 9.99930614e-01 -1.88466529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.557719421 meters Centerline goodness : 0.986304 Centerline is valid? [True, True] Translation: X:50.05, Y:2.96, Z:-1.88 [[ 9.75680676e-01 -2.18916660e-01 -1.10776582e-02 5.00472301e+01] [ 2.18897959e-01 9.75743481e-01 -2.88827433e-03 2.95966105e+00] [ 1.14412442e-02 3.93156672e-04 9.99934470e-01 -1.88485059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.587719421 meters Centerline goodness : 0.987613 Centerline is valid? [True, True] Translation: X:50.08, Y:2.96, Z:-1.88 [[ 9.74635636e-01 -2.23569548e-01 -1.01012096e-02 5.00754320e+01] [ 2.23554200e-01 9.74687929e-01 -2.63830426e-03 2.96113275e+00] [ 1.04353716e-02 3.13217515e-04 9.99945501e-01 -1.88459183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.617719421 meters Centerline goodness : 0.987312 Centerline is valid? [True, True] Translation: X:50.10, Y:2.97, Z:-1.89 [[ 9.74035003e-01 -2.26177336e-01 -9.98123194e-03 5.01028739e+01] [ 2.26162450e-01 9.74086101e-01 -2.61048975e-03 2.96556086e+00] [ 1.03130129e-02 2.85328521e-04 9.99946779e-01 -1.88591335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64771942099999 meters Centerline goodness : 0.987031 Centerline is valid? [True, True] Translation: X:50.13, Y:2.97, Z:-1.89 [[ 9.72782189e-01 -2.31446059e-01 -1.12931503e-02 5.01298465e+01] [ 2.31427395e-01 9.72847704e-01 -2.95038333e-03 2.97013005e+00] [ 1.16693700e-02 2.56535982e-04 9.99931878e-01 -1.88643114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67771942099999 meters Centerline goodness : 0.987437 Centerline is valid? [True, True] Translation: X:50.16, Y:2.98, Z:-1.89 [[ 9.72289645e-01 -2.33495389e-01 -1.15217283e-02 5.01555020e+01] [ 2.33476086e-01 9.72357880e-01 -3.01175168e-03 2.97696508e+00] [ 1.19064734e-02 2.38246952e-04 9.99929087e-01 -1.88708245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.707719421 meters Centerline goodness : 0.986050 Centerline is valid? [True, True] Translation: X:50.18, Y:2.98, Z:-1.89 [[ 9.71461055e-01 -2.36761646e-01 -1.43993866e-02 5.01834770e+01] [ 2.36731745e-01 9.71567732e-01 -3.77132312e-03 2.98216838e+00] [ 1.48828840e-02 2.54901631e-04 9.99889211e-01 -1.88634228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.737719421 meters Centerline goodness : 0.987609 Centerline is valid? [True, True] Translation: X:50.21, Y:2.99, Z:-1.89 [[ 9.71185629e-01 -2.37902128e-01 -1.41792326e-02 5.02096351e+01] [ 2.37873275e-01 9.71289104e-01 -3.71241176e-03 2.98728356e+00] [ 1.46553248e-02 2.32580463e-04 9.99892578e-01 -1.88586106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.767719421 meters Centerline goodness : 0.988110 Centerline is valid? [True, True] Translation: X:50.24, Y:2.99, Z:-1.88 [[ 9.70871896e-01 -2.39324676e-01 -1.14656272e-02 5.02368776e+01] [ 2.39305810e-01 9.70939580e-01 -3.01025689e-03 2.99403861e+00] [ 1.18528600e-02 1.78782620e-04 9.99929736e-01 -1.88495159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.797719421 meters Centerline goodness : 0.988409 Centerline is valid? [True, True] Translation: X:50.26, Y:3.00, Z:-1.89 [[ 9.70893050e-01 -2.39347854e-01 -8.90456227e-03 5.02634694e+01] [ 2.39336434e-01 9.70933872e-01 -2.34239156e-03 3.00146674e+00] [ 9.20638752e-03 1.43025504e-04 9.99957610e-01 -1.88540966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.827719421 meters Centerline goodness : 0.988372 Centerline is valid? [True, True] Translation: X:50.29, Y:3.01, Z:-1.89 [[ 9.71316985e-01 -2.37664432e-01 -7.67675890e-03 5.02884282e+01] [ 2.37655906e-01 9.71347312e-01 -2.01757743e-03 3.01113975e+00] [ 7.93630551e-03 1.35280136e-04 9.99968498e-01 -1.88528515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.857719421 meters Centerline goodness : 0.986856 Centerline is valid? [True, True] Translation: X:50.31, Y:3.02, Z:-1.89 [[ 9.71710592e-01 -2.36043915e-01 -7.86100920e-03 5.03142837e+01] [ 2.36034871e-01 9.71742376e-01 -2.07230207e-03 3.02116808e+00] [ 8.12803005e-03 1.58205578e-04 9.99966955e-01 -1.88633747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.887719421 meters Centerline goodness : 0.987625 Centerline is valid? [True, True] Translation: X:50.34, Y:3.03, Z:-1.89 [[ 9.72836426e-01 -2.31322759e-01 -8.89205644e-03 5.03397502e+01] [ 2.31310999e-01 9.72877038e-01 -2.34308026e-03 3.03141840e+00] [ 9.19288532e-03 2.22603363e-04 9.99957720e-01 -1.88747931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.917719421 meters Centerline goodness : 0.987300 Centerline is valid? [True, True] Translation: X:50.37, Y:3.04, Z:-1.89 [[ 9.73715026e-01 -2.27576987e-01 -9.36822181e-03 5.03659643e+01] [ 2.27563767e-01 9.73760053e-01 -2.46794033e-03 3.03838863e+00] [ 9.68404659e-03 2.71202744e-04 9.99953072e-01 -1.88718907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.947719421 meters Centerline goodness : 0.988789 Centerline is valid? [True, True] Translation: X:50.39, Y:3.05, Z:-1.89 [[ 9.74028605e-01 -2.26156625e-01 -1.10207951e-02 5.03933329e+01] [ 2.26138151e-01 9.74090891e-01 -2.91087890e-03 3.04639018e+00] [ 1.13935706e-02 3.43057096e-04 9.99935032e-01 -1.88729941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.977719421 meters Centerline goodness : 0.987262 Centerline is valid? [True, True] Translation: X:50.42, Y:3.06, Z:-1.89 [[ 9.75078723e-01 -2.21426751e-01 -1.38447810e-02 5.04185698e+01] [ 2.21397173e-01 9.75176880e-01 -3.65306775e-03 3.05788959e+00] [ 1.43099972e-02 4.96833273e-04 9.99897483e-01 -1.88879237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00771942099999 meters Centerline goodness : 0.986975 Centerline is valid? [True, True] Translation: X:50.44, Y:3.07, Z:-1.89 [[ 9.75698043e-01 -2.18720494e-01 -1.32164231e-02 5.04444068e+01] [ 2.18693266e-01 9.75787416e-01 -3.48913128e-03 3.06651505e+00] [ 1.36595639e-02 5.13995814e-04 9.99906572e-01 -1.89062039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03771942099999 meters Centerline goodness : 0.986984 Centerline is valid? [True, True] Translation: X:50.47, Y:3.08, Z:-1.89 [[ 9.76524281e-01 -2.15099331e-01 -1.15155161e-02 5.04708687e+01] [ 2.15078321e-01 9.76592048e-01 -3.04749196e-03 3.07606761e+00] [ 1.19014750e-02 4.99212017e-04 9.99929050e-01 -1.89059444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06771942099999 meters Centerline goodness : 0.987324 Centerline is valid? [True, True] Translation: X:50.50, Y:3.08, Z:-1.89 [[ 9.76749178e-01 -2.14126883e-01 -1.05224536e-02 5.04978084e+01] [ 2.14109240e-01 9.76805741e-01 -2.78879415e-03 3.08467533e+00] [ 1.08755489e-02 4.70997854e-04 9.99940749e-01 -1.89037135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.097719421 meters Centerline goodness : 0.987559 Centerline is valid? [True, True] Translation: X:50.53, Y:3.09, Z:-1.89 [[ 9.76921787e-01 -2.13312959e-01 -1.10183506e-02 5.05250992e+01] [ 2.13293509e-01 9.76983789e-01 -2.92478918e-03 3.09115787e+00] [ 1.13886453e-02 5.07147618e-04 9.99935019e-01 -1.88975697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.127719421 meters Centerline goodness : 0.988895 Centerline is valid? [True, True] Translation: X:50.55, Y:3.10, Z:-1.89 [[ 9.76848712e-01 -2.13614955e-01 -1.16294482e-02 5.05524649e+01] [ 2.13593343e-01 9.76917791e-01 -3.08424864e-03 3.09533095e+00] [ 1.20198565e-02 5.28871596e-04 9.99927619e-01 -1.89017684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.157719421 meters Centerline goodness : 0.988368 Centerline is valid? [True, True] Translation: X:50.58, Y:3.10, Z:-1.89 [[ 9.76532791e-01 -2.14958772e-01 -1.32828625e-02 5.05806142e+01] [ 2.14930585e-01 9.76622944e-01 -3.53116704e-03 3.09714525e+00] [ 1.37314036e-02 5.93406995e-04 9.99905544e-01 -1.89042218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.187719421 meters Centerline goodness : 0.987531 Centerline is valid? [True, True] Translation: X:50.61, Y:3.10, Z:-1.89 [[ 9.76552435e-01 -2.14861789e-01 -1.34071835e-02 5.06067986e+01] [ 2.14833093e-01 9.76644282e-01 -3.56209381e-03 3.10377163e+00] [ 1.38594070e-02 5.98264683e-04 9.99903775e-01 -1.89204673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.217719421 meters Centerline goodness : 0.988092 Centerline is valid? [True, True] Translation: X:50.63, Y:3.11, Z:-1.89 [[ 9.76918847e-01 -2.13197658e-01 -1.32787641e-02 5.06332958e+01] [ 2.13169243e-01 9.77008889e-01 -3.53613706e-03 3.11255377e+00] [ 1.37273667e-02 6.23894848e-04 9.99905581e-01 -1.89376130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.247719421 meters Centerline goodness : 0.987875 Centerline is valid? [True, True] Translation: X:50.66, Y:3.12, Z:-1.89 [[ 9.77365530e-01 -2.11128567e-01 -1.34665780e-02 5.06610747e+01] [ 2.11099078e-01 9.77458072e-01 -3.59106574e-03 3.11874813e+00] [ 1.39211920e-02 6.67001663e-04 9.99902873e-01 -1.89424941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.277719421 meters Centerline goodness : 0.988738 Centerline is valid? [True, True] Translation: X:50.69, Y:3.12, Z:-1.89 [[ 9.78133399e-01 -2.07562791e-01 -1.31430804e-02 5.06889864e+01] [ 2.07534407e-01 9.78221447e-01 -3.50293998e-03 3.11961378e+00] [ 1.35839231e-02 6.98701201e-04 9.99907490e-01 -1.89258570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.307719421 meters Centerline goodness : 0.989706 Centerline is valid? [True, True] Translation: X:50.72, Y:3.12, Z:-1.89 [[ 9.78397871e-01 -2.06314368e-01 -1.31144081e-02 5.07160411e+01] [ 2.06285931e-01 9.78485495e-01 -3.50005791e-03 3.12449356e+00] [ 1.35543703e-02 7.19131337e-04 9.99907877e-01 -1.89112415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.337719421 meters Centerline goodness : 0.990553 Centerline is valid? [True, True] Translation: X:50.74, Y:3.13, Z:-1.89 [[ 9.78944238e-01 -2.03764137e-01 -1.21801555e-02 5.07418706e+01] [ 2.03739372e-01 9.79019755e-01 -3.25380010e-03 3.13091527e+00] [ 1.25876206e-02 7.03711625e-04 9.99920525e-01 -1.89110942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.367719421 meters Centerline goodness : 0.990232 Centerline is valid? [True, True] Translation: X:50.77, Y:3.14, Z:-1.89 [[ 9.78655656e-01 -2.05194038e-01 -1.13363727e-02 5.07696907e+01] [ 2.05172608e-01 9.78721100e-01 -3.03459707e-03 3.13666076e+00] [ 1.17178284e-02 6.43912437e-04 9.99931137e-01 -1.89204818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39771942099999 meters Centerline goodness : 0.990599 Centerline is valid? [True, True] Translation: X:50.80, Y:3.14, Z:-1.89 [[ 9.78101851e-01 -2.07806907e-01 -1.15350761e-02 5.07973723e+01] [ 2.07784856e-01 9.78169666e-01 -3.09149494e-03 3.14307451e+00] [ 1.19256955e-02 6.26982810e-04 9.99928690e-01 -1.89339842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42771942099999 meters Centerline goodness : 0.990541 Centerline is valid? [True, True] Translation: X:50.82, Y:3.15, Z:-1.89 [[ 9.76621859e-01 -2.14536135e-01 -1.35643198e-02 5.08242325e+01] [ 2.14506293e-01 9.76715842e-01 -3.63506076e-03 3.14740449e+00] [ 1.40283379e-02 6.40447850e-04 9.99901393e-01 -1.89469379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.457719421 meters Centerline goodness : 0.991128 Centerline is valid? [True, True] Translation: X:50.85, Y:3.15, Z:-1.90 [[ 9.75814781e-01 -2.18128727e-01 -1.43307928e-02 5.08518629e+01] [ 2.18095706e-01 9.75919804e-01 -3.84698919e-03 3.15328366e+00] [ 1.48248433e-02 6.28464541e-04 9.99889908e-01 -1.89525580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.487719421 meters Centerline goodness : 0.990615 Centerline is valid? [True, True] Translation: X:50.88, Y:3.16, Z:-1.89 [[ 9.74414319e-01 -2.24299443e-01 -1.43699339e-02 5.08792129e+01] [ 2.24266842e-01 9.74520122e-01 -3.86212806e-03 3.15820722e+00] [ 1.48700629e-02 5.40613185e-04 9.99889288e-01 -1.89495510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.517719421 meters Centerline goodness : 0.990094 Centerline is valid? [True, True] Translation: X:50.90, Y:3.16, Z:-1.89 [[ 9.73643116e-01 -2.27539088e-01 -1.56539249e-02 5.09048892e+01] [ 2.27500852e-01 9.73768802e-01 -4.20513241e-03 3.16498288e+00] [ 1.62001357e-02 5.33016979e-04 9.99868627e-01 -1.89458193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.547719421 meters Centerline goodness : 0.991849 Centerline is valid? [True, True] Translation: X:50.93, Y:3.17, Z:-1.89 [[ 9.71725993e-01 -2.35600120e-01 -1.55299334e-02 5.09312177e+01] [ 2.35563478e-01 9.71850002e-01 -4.17399658e-03 3.17078496e+00] [ 1.60761599e-02 3.97695830e-04 9.99870691e-01 -1.89402248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.577719421 meters Centerline goodness : 0.992017 Centerline is valid? [True, True] Translation: X:50.96, Y:3.18, Z:-1.89 [[ 9.70609506e-01 -2.40256517e-01 -1.39281400e-02 5.09578971e+01] [ 2.40227383e-01 9.70709389e-01 -3.75319991e-03 3.17817415e+00] [ 1.44219070e-02 2.96970893e-04 9.99895955e-01 -1.89458777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.607719421 meters Centerline goodness : 0.991947 Centerline is valid? [True, True] Translation: X:50.98, Y:3.19, Z:-1.90 [[ 9.68017780e-01 -2.50604857e-01 -1.17805991e-02 5.09833499e+01] [ 2.50584759e-01 9.68089454e-01 -3.17614430e-03 3.18662075e+00] [ 1.22006309e-02 1.22525564e-04 9.99925562e-01 -1.89515053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.637719421 meters Centerline goodness : 0.991808 Centerline is valid? [True, True] Translation: X:51.01, Y:3.19, Z:-1.90 [[ 9.65408939e-01 -2.60600017e-01 -8.55641783e-03 5.10099348e+01] [ 2.60589749e-01 9.65446856e-01 -2.31331566e-03 3.19414686e+00] [ 8.86361679e-03 3.58083750e-06 9.99960717e-01 -1.89578037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.667719421 meters Centerline goodness : 0.992117 Centerline is valid? [True, True] Translation: X:51.04, Y:3.20, Z:-1.90 [[ 9.64056606e-01 -2.65596677e-01 -7.29827981e-03 5.10360700e+01] [ 2.65589364e-01 9.64084231e-01 -1.97132368e-03 3.20124081e+00] [ 7.55973349e-03 -3.78778702e-05 9.99971424e-01 -1.89586192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.697719421 meters Centerline goodness : 0.993089 Centerline is valid? [True, True] Translation: X:51.06, Y:3.21, Z:-1.89 [[ 9.61623497e-01 -2.74295045e-01 -6.51759847e-03 5.10631970e+01] [ 2.74289369e-01 9.61645579e-01 -1.76686335e-03 3.20712989e+00] [ 6.75226162e-03 -8.86506527e-05 9.99977199e-01 -1.89434679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.727719421 meters Centerline goodness : 0.993131 Centerline is valid? [True, True] Translation: X:51.09, Y:3.22, Z:-1.90 [[ 9.60386462e-01 -2.78610766e-01 -5.82114612e-03 5.10897606e+01] [ 2.78606300e-01 9.60404098e-01 -1.58078107e-03 3.21640225e+00] [ 6.03107521e-03 -1.03647246e-04 9.99981808e-01 -1.89524967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75771942099999 meters Centerline goodness : 0.991628 Centerline is valid? [True, True] Translation: X:51.11, Y:3.23, Z:-1.90 [[ 9.58731524e-01 -2.84208480e-01 -7.70748303e-03 5.11148618e+01] [ 2.84200830e-01 9.58762487e-01 -2.09343775e-03 3.23214666e+00] [ 7.98461835e-03 -1.83428309e-04 9.99968106e-01 -1.89836420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78771942099999 meters Centerline goodness : 0.989985 Centerline is valid? [True, True] Translation: X:51.14, Y:3.24, Z:-1.90 [[ 9.58280930e-01 -2.85687339e-01 -8.96680081e-03 5.11408824e+01] [ 2.85677024e-01 9.58322855e-01 -2.43808667e-03 3.24388976e+00] [ 9.28962064e-03 -2.25237009e-04 9.99956825e-01 -1.90049798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81771942099999 meters Centerline goodness : 0.991228 Centerline is valid? [True, True] Translation: X:51.16, Y:3.26, Z:-1.90 [[ 9.58069551e-01 -2.86407222e-01 -8.58133742e-03 5.11649007e+01] [ 2.86397826e-01 9.58107955e-01 -2.33079349e-03 3.25686644e+00] [ 8.88940373e-03 -2.24614103e-04 9.99960463e-01 -1.89950773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.847719421 meters Centerline goodness : 0.991620 Centerline is valid? [True, True] Translation: X:51.19, Y:3.27, Z:-1.90 [[ 9.58255977e-01 -2.85789368e-01 -8.36179426e-03 5.11911601e+01] [ 2.85780357e-01 9.58292437e-01 -2.27869856e-03 3.26785090e+00] [ 8.66427202e-03 -2.06060034e-04 9.99962443e-01 -1.89860240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.877719421 meters Centerline goodness : 0.991620 Centerline is valid? [True, True] Translation: X:51.22, Y:3.28, Z:-1.90 [[ 9.58162542e-01 -2.86102487e-01 -8.36116547e-03 5.12186442e+01] [ 2.86093469e-01 9.58199000e-01 -2.28100756e-03 3.27558437e+00] [ 8.66426233e-03 -2.06498823e-04 9.99962443e-01 -1.89919703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.907719421 meters Centerline goodness : 0.991249 Centerline is valid? [True, True] Translation: X:51.24, Y:3.29, Z:-1.90 [[ 9.58266109e-01 -2.85734585e-01 -9.04491544e-03 5.12412961e+01] [ 2.85724042e-01 9.58308769e-01 -2.46462030e-03 3.29354637e+00] [ 9.37204904e-03 -2.22587699e-04 9.99956057e-01 -1.90116021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.937719421 meters Centerline goodness : 0.990303 Centerline is valid? [True, True] Translation: X:51.27, Y:3.31, Z:-1.90 [[ 9.58022794e-01 -2.86559576e-01 -8.71406267e-03 5.12657798e+01] [ 2.86549759e-01 9.58062400e-01 -2.38161847e-03 3.30879502e+00] [ 9.03109138e-03 -2.15367782e-04 9.99959196e-01 -1.90345084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.967719421 meters Centerline goodness : 0.988616 Centerline is valid? [True, True] Translation: X:51.29, Y:3.33, Z:-1.91 [[ 9.57738446e-01 -2.87502449e-01 -8.91123753e-03 5.12880845e+01] [ 2.87492251e-01 9.57779874e-01 -2.43265153e-03 3.33017764e+00] [ 9.23439723e-03 -2.32067842e-04 9.99957335e-01 -1.90586265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.997719421 meters Centerline goodness : 0.987907 Centerline is valid? [True, True] Translation: X:51.31, Y:3.34, Z:-1.91 [[ 9.57366897e-01 -2.88694117e-01 -1.02142995e-02 5.13135459e+01] [ 2.88680709e-01 9.57421346e-01 -2.79554647e-03 3.34328998e+00] [ 1.05864462e-02 -2.72307588e-04 9.99943925e-01 -1.90758990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.027719421 meters Centerline goodness : 0.988364 Centerline is valid? [True, True] Translation: X:51.34, Y:3.36, Z:-1.91 [[ 9.56518092e-01 -2.91486852e-01 -1.04189689e-02 5.13383511e+01] [ 2.91473027e-01 9.56574786e-01 -2.85539646e-03 3.36001366e+00] [ 1.07988334e-02 -3.05610011e-04 9.99941644e-01 -1.90846852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.057719421 meters Centerline goodness : 0.988614 Centerline is valid? [True, True] Translation: X:51.36, Y:3.37, Z:-1.91 [[ 9.56168914e-01 -2.92711389e-01 -7.81353347e-03 5.13633908e+01] [ 2.92703663e-01 9.56200808e-01 -2.14028326e-03 3.37264132e+00] [ 8.09779230e-03 -2.40577550e-04 9.99967183e-01 -1.90924903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.087719421 meters Centerline goodness : 0.988253 Centerline is valid? [True, True] Translation: X:51.39, Y:3.40, Z:-1.91 [[ 9.56029563e-01 -2.93227498e-01 -5.01089349e-03 5.13858296e+01] [ 2.93224291e-01 9.56042683e-01 -1.37952037e-03 3.39502009e+00] [ 5.19514137e-03 -1.50453434e-04 9.99986494e-01 -1.90930936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.117719421 meters Centerline goodness : 0.986536 Centerline is valid? [True, True] Translation: X:51.41, Y:3.42, Z:-1.91 [[ 9.56887291e-01 -2.90418578e-01 -4.87454598e-03 5.14084367e+01] [ 2.90415498e-01 9.56899698e-01 -1.34382817e-03 3.41883929e+00] [ 5.05472425e-03 -1.29751596e-04 9.99987216e-01 -1.91047893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14771942099999 meters Centerline goodness : 0.986868 Centerline is valid? [True, True] Translation: X:51.43, Y:3.43, Z:-1.91 [[ 9.57768400e-01 -2.87513440e-01 -3.96399442e-03 5.14334782e+01] [ 2.87511367e-01 9.57776599e-01 -1.09545355e-03 3.43254035e+00] [ 4.11157872e-03 -9.05026588e-05 9.99991543e-01 -1.91058703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17771942099999 meters Centerline goodness : 0.986133 Centerline is valid? [True, True] Translation: X:51.46, Y:3.45, Z:-1.91 [[ 9.58831121e-01 -2.83964430e-01 -2.66156217e-03 5.14587068e+01] [ 2.83963472e-01 9.58834814e-01 -7.39209206e-04 3.44537439e+00] [ 2.76190758e-03 -4.70096415e-05 9.99996185e-01 -1.91100419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.207719421 meters Centerline goodness : 0.988463 Centerline is valid? [True, True] Translation: X:51.48, Y:3.46, Z:-1.91 [[ 9.61976525e-01 -2.73130329e-01 -9.94484958e-04 5.14815878e+01] [ 2.73130189e-01 9.61977039e-01 -2.76775531e-04 3.46310050e+00] [ 1.03226749e-03 -5.37230039e-06 9.99999467e-01 -1.91216149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.237719421 meters Centerline goodness : 0.987300 Centerline is valid? [True, True] Translation: X:51.51, Y:3.48, Z:-1.91 [[ 9.65141439e-01 -2.61691432e-01 -4.42679100e-03 5.15054393e+01] [ 2.61688559e-01 9.65151591e-01 -1.22669446e-03 3.48105378e+00] [ 4.59353981e-03 2.54931006e-05 9.99989449e-01 -1.91432498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.267719421 meters Centerline goodness : 0.986530 Centerline is valid? [True, True] Translation: X:51.53, Y:3.49, Z:-1.91 [[ 9.66548185e-01 -2.56396137e-01 -6.75474340e-03 5.15302140e+01] [ 2.56389364e-01 9.66571785e-01 -1.86490550e-03 3.49323665e+00] [ 7.00709895e-03 7.06766580e-05 9.99975447e-01 -1.91487351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.297719421 meters Centerline goodness : 0.985235 Centerline is valid? [True, True] Translation: X:51.55, Y:3.51, Z:-1.92 [[ 9.68558361e-01 -2.48675180e-01 -7.44014310e-03 5.15537432e+01] [ 2.48666732e-01 9.68586927e-01 -2.05462995e-03 3.50844631e+00] [ 7.71736082e-03 1.39912946e-04 9.99970211e-01 -1.91666471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.327719421 meters Centerline goodness : 0.985599 Centerline is valid? [True, True] Translation: X:51.58, Y:3.52, Z:-1.92 [[ 9.69074449e-01 -2.46641385e-01 -7.92084986e-03 5.15791577e+01] [ 2.46631686e-01 9.69106804e-01 -2.19413748e-03 3.52008653e+00] [ 8.21731459e-03 1.72750016e-04 9.99966222e-01 -1.91679413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.357719421 meters Centerline goodness : 0.985471 Centerline is valid? [True, True] Translation: X:51.60, Y:3.53, Z:-1.92 [[ 9.69799022e-01 -2.43734902e-01 -9.11884967e-03 5.16040960e+01] [ 2.43721953e-01 9.69841867e-01 -2.52230472e-03 3.53232354e+00] [ 9.45861588e-03 2.23664795e-04 9.99955241e-01 -1.91599752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.387719421 meters Centerline goodness : 0.986122 Centerline is valid? [True, True] Translation: X:51.63, Y:3.54, Z:-1.92 [[ 9.69764066e-01 -2.43896080e-01 -8.50642104e-03 5.16307828e+01] [ 2.43884756e-01 9.69801349e-01 -2.35999228e-03 3.54129523e+00] [ 8.82513146e-03 2.14049292e-04 9.99961035e-01 -1.91689068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.417719421 meters Centerline goodness : 0.985899 Centerline is valid? [True, True] Translation: X:51.66, Y:3.55, Z:-1.92 [[ 9.69550294e-01 -2.44696548e-01 -9.78913552e-03 5.16575376e+01] [ 2.44681568e-01 9.69599681e-01 -2.71820168e-03 3.55118919e+00] [ 1.01566772e-02 2.40212211e-04 9.99948391e-01 -1.91842802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.447719421 meters Centerline goodness : 0.984859 Centerline is valid? [True, True] Translation: X:51.68, Y:3.56, Z:-1.92 [[ 9.69249626e-01 -2.45842122e-01 -1.08080624e-02 5.16838496e+01] [ 2.45823893e-01 9.69309850e-01 -3.00458126e-03 3.56040729e+00] [ 1.12150140e-02 2.55309280e-04 9.99937077e-01 -1.91879037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.477719421 meters Centerline goodness : 0.984820 Centerline is valid? [True, True] Translation: X:51.71, Y:3.57, Z:-1.92 [[ 9.69044812e-01 -2.46591631e-01 -1.20299469e-02 5.17098866e+01] [ 2.46569061e-01 9.69119441e-01 -3.34778665e-03 3.57013147e+00] [ 1.24839915e-02 2.77942584e-04 9.99922033e-01 -1.92006073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50771942099999 meters Centerline goodness : 0.985050 Centerline is valid? [True, True] Translation: X:51.74, Y:3.58, Z:-1.92 [[ 9.69005169e-01 -2.46726718e-01 -1.24462760e-02 5.17354378e+01] [ 2.46702565e-01 9.69085055e-01 -3.46408971e-03 3.57857092e+00] [ 1.29161836e-02 2.86192621e-04 9.99916542e-01 -1.92032120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53771942099999 meters Centerline goodness : 0.985329 Centerline is valid? [True, True] Translation: X:51.76, Y:3.59, Z:-1.92 [[ 9.68893042e-01 -2.47266350e-01 -1.02773905e-02 5.17617923e+01] [ 2.47249840e-01 9.68947520e-01 -2.86711479e-03 3.58836389e+00] [ 1.06671931e-02 2.36844403e-04 9.99943076e-01 -1.92007372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56771942099999 meters Centerline goodness : 0.984851 Centerline is valid? [True, True] Translation: X:51.79, Y:3.60, Z:-1.92 [[ 9.68662463e-01 -2.48221838e-01 -8.88553052e-03 5.17882036e+01] [ 2.48209530e-01 9.68703195e-01 -2.47964021e-03 3.59580829e+00] [ 9.22294265e-03 1.96461040e-04 9.99957448e-01 -1.92017798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.597719421 meters Centerline goodness : 0.985944 Centerline is valid? [True, True] Translation: X:51.81, Y:3.60, Z:-1.92 [[ 9.67709526e-01 -2.51959792e-01 -7.38483572e-03 5.18146058e+01] [ 2.51951352e-01 9.67737694e-01 -2.06705954e-03 3.60410086e+00] [ 7.66739978e-03 1.39693867e-04 9.99970595e-01 -1.92166724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.627719421 meters Centerline goodness : 0.985362 Centerline is valid? [True, True] Translation: X:51.84, Y:3.61, Z:-1.92 [[ 9.66901224e-01 -2.55051238e-01 -7.13369328e-03 5.18401966e+01] [ 2.55043468e-01 9.66927533e-01 -1.99390972e-03 3.61175785e+00] [ 7.40631359e-03 1.08511881e-04 9.99972567e-01 -1.92198772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.657719421 meters Centerline goodness : 0.986534 Centerline is valid? [True, True] Translation: X:51.87, Y:3.62, Z:-1.92 [[ 9.64927521e-01 -2.62408943e-01 -7.51165697e-03 5.18675148e+01] [ 2.62400501e-01 9.64956757e-01 -2.10578818e-03 3.61866763e+00] [ 7.80100180e-03 6.08704179e-05 9.99969570e-01 -1.92164603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.687719421 meters Centerline goodness : 0.985590 Centerline is valid? [True, True] Translation: X:51.89, Y:3.62, Z:-1.92 [[ 9.61904426e-01 -2.73234400e-01 -9.10157544e-03 5.18949695e+01] [ 2.73222468e-01 9.61947484e-01 -2.55362627e-03 3.62331380e+00] [ 9.45297614e-03 -3.04104987e-05 9.99955319e-01 -1.92292247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.717719421 meters Centerline goodness : 0.985694 Centerline is valid? [True, True] Translation: X:51.92, Y:3.63, Z:-1.92 [[ 9.59973202e-01 -2.79946952e-01 -9.00866734e-03 5.19221989e+01] [ 2.79935520e-01 9.60015466e-01 -2.53160541e-03 3.63006384e+00] [ 9.35717519e-03 -9.15726285e-05 9.99956216e-01 -1.92373762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.747719421 meters Centerline goodness : 0.985745 Centerline is valid? [True, True] Translation: X:51.95, Y:3.64, Z:-1.92 [[ 9.58377507e-01 -2.85377044e-01 -8.51450130e-03 5.19481779e+01] [ 2.85367068e-01 9.58415319e-01 -2.39018153e-03 3.63848923e+00] [ 8.84253142e-03 -1.39062056e-04 9.99960894e-01 -1.92446976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.777719421 meters Centerline goodness : 0.984435 Centerline is valid? [True, True] Translation: X:51.97, Y:3.65, Z:-1.92 [[ 9.55796386e-01 -2.93891343e-01 -9.00812777e-03 5.19723738e+01] [ 2.93880517e-01 9.55838808e-01 -2.53269960e-03 3.65155628e+00] [ 9.35465660e-03 -2.26568127e-04 9.99956219e-01 -1.92454679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.807719421 meters Centerline goodness : 0.984679 Centerline is valid? [True, True] Translation: X:52.00, Y:3.66, Z:-1.93 [[ 9.54896139e-01 -2.96796067e-01 -9.24434103e-03 5.19990717e+01] [ 2.96784746e-01 9.54940851e-01 -2.60490802e-03 3.66053369e+00] [ 9.60092535e-03 -2.56162792e-04 9.99953877e-01 -1.92509713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.837719421 meters Centerline goodness : 0.985112 Centerline is valid? [True, True] Translation: X:52.03, Y:3.67, Z:-1.92 [[ 9.54449184e-01 -2.98243461e-01 -8.80866006e-03 5.20251108e+01] [ 2.98233266e-01 9.54489796e-01 -2.47961615e-03 3.66887280e+00] [ 9.14730544e-03 -2.60367847e-04 9.99958129e-01 -1.92415747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.867719421 meters Centerline goodness : 0.986195 Centerline is valid? [True, True] Translation: X:52.05, Y:3.68, Z:-1.92 [[ 9.55009269e-01 -2.96474489e-01 -7.75713778e-03 5.20500142e+01] [ 2.96466512e-01 9.55040749e-01 -2.18522019e-03 3.68166745e+00] [ 8.05624471e-03 -2.12826042e-04 9.99967525e-01 -1.92491083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89771942099999 meters Centerline goodness : 0.984976 Centerline is valid? [True, True] Translation: X:52.08, Y:3.69, Z:-1.93 [[ 9.55371370e-01 -2.95298768e-01 -8.01138217e-03 5.20757505e+01] [ 2.95290160e-01 9.55404938e-01 -2.26379645e-03 3.69353869e+00] [ 8.32261039e-03 -2.02916009e-04 9.99965346e-01 -1.92597260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92771942099999 meters Centerline goodness : 0.984169 Centerline is valid? [True, True] Translation: X:52.10, Y:3.71, Z:-1.93 [[ 9.56292621e-01 -2.92263320e-01 -9.30460921e-03 5.20996583e+01] [ 2.92251603e-01 9.56337863e-01 -2.62532509e-03 3.70907583e+00] [ 9.66563632e-03 -2.08707945e-04 9.99953265e-01 -1.92702383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.957719421 meters Centerline goodness : 0.984270 Centerline is valid? [True, True] Translation: X:52.13, Y:3.72, Z:-1.93 [[ 9.56421641e-01 -2.91823350e-01 -9.83752128e-03 5.21255474e+01] [ 2.91810153e-01 9.56472210e-01 -2.78315180e-03 3.71945930e+00] [ 1.02215044e-02 -2.08821977e-04 9.99947737e-01 -1.92784967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.987719421 meters Centerline goodness : 0.984830 Centerline is valid? [True, True] Translation: X:52.15, Y:3.73, Z:-1.93 [[ 9.56162617e-01 -2.92646157e-01 -1.05487988e-02 5.21510577e+01] [ 2.92631065e-01 9.56220775e-01 -2.98139562e-03 3.72745947e+00] [ 1.09594746e-02 -2.36207192e-04 9.99939915e-01 -1.92924510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.017719421 meters Centerline goodness : 0.984502 Centerline is valid? [True, True] Translation: X:52.18, Y:3.74, Z:-1.93 [[ 9.55696557e-01 -2.94109877e-01 -1.19779086e-02 5.21779182e+01] [ 2.94090437e-01 9.55771574e-01 -3.39306166e-03 3.73627024e+00] [ 1.24460775e-02 -2.79851028e-04 9.99922505e-01 -1.92918264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.047719421 meters Centerline goodness : 0.984803 Centerline is valid? [True, True] Translation: X:52.20, Y:3.75, Z:-1.93 [[ 9.55384080e-01 -2.95104759e-01 -1.24274181e-02 5.22045796e+01] [ 2.95083864e-01 9.55464856e-01 -3.52444812e-03 3.74594053e+00] [ 1.29140427e-02 -2.99928951e-04 9.99916565e-01 -1.93008833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.077719421 meters Centerline goodness : 0.985974 Centerline is valid? [True, True] Translation: X:52.23, Y:3.76, Z:-1.93 [[ 9.55319265e-01 -2.95329692e-01 -1.20612914e-02 5.22291966e+01] [ 2.95310053e-01 9.55395356e-01 -3.41864675e-03 3.75693307e+00] [ 1.25329297e-02 -2.95921505e-04 9.99921416e-01 -1.92993761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.107719421 meters Centerline goodness : 0.984782 Centerline is valid? [True, True] Translation: X:52.25, Y:3.77, Z:-1.93 [[ 9.55987953e-01 -2.93152157e-01 -1.22002925e-02 5.22534905e+01] [ 2.93131864e-01 9.56065762e-01 -3.45979311e-03 3.76848438e+00] [ 1.26785278e-02 -2.68773947e-04 9.99919588e-01 -1.92995548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.137719421 meters Centerline goodness : 0.985005 Centerline is valid? [True, True] Translation: X:52.28, Y:3.78, Z:-1.93 [[ 9.56413508e-01 -2.91825946e-01 -1.05270980e-02 5.22792752e+01] [ 2.91810671e-01 9.56471418e-01 -2.99312681e-03 3.77916752e+00] [ 1.09423404e-02 -2.09252610e-04 9.99940109e-01 -1.93071062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.167719421 meters Centerline goodness : 0.986704 Centerline is valid? [True, True] Translation: X:52.31, Y:3.79, Z:-1.93 [[ 9.57005268e-01 -2.89965445e-01 -7.80751880e-03 5.23056306e+01] [ 2.89956945e-01 9.57037106e-01 -2.22440249e-03 3.78767427e+00] [ 8.11708505e-03 -1.35079397e-04 9.99967047e-01 -1.93216353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.197719421 meters Centerline goodness : 0.985644 Centerline is valid? [True, True] Translation: X:52.33, Y:3.79, Z:-1.93 [[ 9.56958311e-01 -2.90088551e-01 -8.91200809e-03 5.23326945e+01] [ 2.90077461e-01 9.56999796e-01 -2.54118714e-03 3.79486100e+00] [ 9.26595922e-03 -1.53362534e-04 9.99957058e-01 -1.93244955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.227719421 meters Centerline goodness : 0.987156 Centerline is valid? [True, True] Translation: X:52.36, Y:3.80, Z:-1.93 [[ 9.56154202e-01 -2.92694472e-01 -9.95425938e-03 5.23583448e+01] [ 2.92680811e-01 9.56205995e-01 -2.83510439e-03 3.80482298e+00] [ 1.03481419e-02 -2.02623733e-04 9.99946436e-01 -1.93372682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25771942099999 meters Centerline goodness : 0.986968 Centerline is valid? [True, True] Translation: X:52.38, Y:3.82, Z:-1.93 [[ 9.54712964e-01 -2.97293923e-01 -1.18101528e-02 5.23818684e+01] [ 2.97275030e-01 9.54785963e-01 -3.36483579e-03 3.81926184e+00] [ 1.22765134e-02 -2.98411177e-04 9.99924596e-01 -1.93340285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28771942099999 meters Centerline goodness : 0.986456 Centerline is valid? [True, True] Translation: X:52.41, Y:3.83, Z:-1.93 [[ 9.53729295e-01 -3.00378091e-01 -1.31694811e-02 5.24075708e+01] [ 3.00354787e-01 9.53820143e-01 -3.75979540e-03 3.82954699e+00] [ 1.36906766e-02 -3.69689691e-04 9.99906210e-01 -1.93360530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31771942099999 meters Centerline goodness : 0.985786 Centerline is valid? [True, True] Translation: X:52.43, Y:3.84, Z:-1.94 [[ 9.51314101e-01 -3.07874750e-01 -1.46499240e-02 5.24348867e+01] [ 3.07846728e-01 9.51426750e-01 -4.18700491e-03 3.83667154e+00] [ 1.52274027e-02 -5.26774367e-04 9.99883918e-01 -1.93531820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.347719421 meters Centerline goodness : 0.985157 Centerline is valid? [True, True] Translation: X:52.46, Y:3.84, Z:-1.94 [[ 9.50071487e-01 -3.11654757e-01 -1.53454516e-02 5.24618800e+01] [ 3.11624413e-01 9.50195212e-01 -4.39139095e-03 3.84415384e+00] [ 1.59497725e-02 -6.09882017e-04 9.99872608e-01 -1.93570798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.377719421 meters Centerline goodness : 0.986035 Centerline is valid? [True, True] Translation: X:52.49, Y:3.86, Z:-1.94 [[ 9.47946010e-01 -3.18136202e-01 -1.37010268e-02 5.24863619e+01] [ 3.18112705e-01 9.48044800e-01 -3.91958384e-03 3.85649897e+00] [ 1.42361487e-02 -6.42916838e-04 9.99898454e-01 -1.93574989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.407719421 meters Centerline goodness : 0.987873 Centerline is valid? [True, True] Translation: X:52.51, Y:3.87, Z:-1.94 [[ 9.47233029e-01 -3.20303170e-01 -1.24686784e-02 5.25124022e+01] [ 3.20283783e-01 9.47314896e-01 -3.57579368e-03 3.86749765e+00] [ 1.29571028e-02 -6.06405612e-04 9.99915869e-01 -1.93659875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.437719421 meters Centerline goodness : 0.985289 Centerline is valid? [True, True] Translation: X:52.54, Y:3.88, Z:-1.94 [[ 9.46480040e-01 -3.22526739e-01 -1.23302946e-02 5.25378742e+01] [ 3.22507910e-01 9.46560147e-01 -3.54067504e-03 3.87972931e+00] [ 1.28133279e-02 -6.25439289e-04 9.99917710e-01 -1.93715499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.467719421 meters Centerline goodness : 0.985468 Centerline is valid? [True, True] Translation: X:52.56, Y:3.89, Z:-1.94 [[ 9.46303898e-01 -3.23063542e-01 -1.17847612e-02 5.25635223e+01] [ 3.23046408e-01 9.46377081e-01 -3.38206298e-03 3.88985922e+00] [ 1.22454491e-02 -6.06565384e-04 9.99924838e-01 -1.93811938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.497719421 meters Centerline goodness : 0.986501 Centerline is valid? [True, True] Translation: X:52.59, Y:3.90, Z:-1.94 [[ 9.46679026e-01 -3.22062251e-01 -8.64456348e-03 5.25890770e+01] [ 3.22052914e-01 9.46718397e-01 -2.48927176e-03 3.90269256e+00] [ 8.98566775e-03 -4.27465496e-04 9.99959537e-01 -1.94015402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.527719421 meters Centerline goodness : 0.985833 Centerline is valid? [True, True] Translation: X:52.61, Y:3.91, Z:-1.94 [[ 9.47112225e-01 -3.20807147e-01 -7.82347086e-03 5.26142241e+01] [ 3.20799476e-01 9.47144462e-01 -2.25058357e-03 3.91193788e+00] [ 8.13196039e-03 -3.78210133e-04 9.99966864e-01 -1.94070050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.557719421 meters Centerline goodness : 0.985113 Centerline is valid? [True, True] Translation: X:52.64, Y:3.92, Z:-1.94 [[ 9.48700077e-01 -3.16075905e-01 -8.01165120e-03 5.26394168e+01] [ 3.16067634e-01 9.48733844e-01 -2.31159320e-03 3.92381312e+00] [ 8.33156356e-03 -3.39214992e-04 9.99965234e-01 -1.94166947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.587719421 meters Centerline goodness : 0.985799 Centerline is valid? [True, True] Translation: X:52.66, Y:3.94, Z:-1.94 [[ 9.49821055e-01 -3.12663229e-01 -9.03712464e-03 5.26647064e+01] [ 3.12652526e-01 9.49863983e-01 -2.61014027e-03 3.93549101e+00] [ 9.40013408e-03 -3.46313661e-04 9.99955758e-01 -1.94247111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.617719421 meters Centerline goodness : 0.986278 Centerline is valid? [True, True] Translation: X:52.69, Y:3.96, Z:-1.94 [[ 9.52471676e-01 -3.04505401e-01 -8.61201526e-03 5.26880976e+01] [ 3.04495315e-01 9.52510576e-01 -2.49096468e-03 3.95537019e+00] [ 8.96154782e-03 -2.49744995e-04 9.99959813e-01 -1.94296534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64771942099999 meters Centerline goodness : 0.984559 Centerline is valid? [True, True] Translation: X:52.71, Y:3.97, Z:-1.94 [[ 9.53970259e-01 -2.99813136e-01 -7.26830796e-03 5.27131463e+01] [ 2.99805786e-01 9.53997932e-01 -2.10618909e-03 3.96840357e+00] [ 7.56541392e-03 -1.69839021e-04 9.99971367e-01 -1.94319665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67771942099999 meters Centerline goodness : 0.983873 Centerline is valid? [True, True] Translation: X:52.74, Y:3.98, Z:-1.94 [[ 9.56932894e-01 -2.90184360e-01 -8.51310983e-03 5.27371759e+01] [ 2.90173909e-01 9.56970754e-01 -2.46533489e-03 3.98250572e+00] [ 8.86219876e-03 -1.11122301e-04 9.99960724e-01 -1.94456279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.707719421 meters Centerline goodness : 0.983359 Centerline is valid? [True, True] Translation: X:52.76, Y:3.99, Z:-1.95 [[ 9.58128902e-01 -2.86132487e-01 -1.08261843e-02 5.27635720e+01] [ 2.86115273e-01 9.58190060e-01 -3.13989950e-03 3.99216382e+00] [ 1.12719694e-02 -8.91082074e-05 9.99936465e-01 -1.94612842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.737719421 meters Centerline goodness : 0.983183 Centerline is valid? [True, True] Translation: X:52.79, Y:4.01, Z:-1.95 [[ 9.59526842e-01 -2.81323092e-01 -1.28669381e-02 5.27884883e+01] [ 2.81298296e-01 9.59613108e-01 -3.73521293e-03 4.00636121e+00] [ 1.33980841e-02 -3.54106934e-05 9.99910241e-01 -1.94867858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.767719421 meters Centerline goodness : 0.983183 Centerline is valid? [True, True] Translation: X:52.82, Y:4.01, Z:-1.95 [[ 9.59467554e-01 -2.81525232e-01 -1.28668918e-02 5.28157803e+01] [ 2.81500453e-01 9.59553825e-01 -3.73536976e-03 4.01448545e+00] [ 1.33980761e-02 -3.80697893e-05 9.99910241e-01 -1.94927354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.797719421 meters Centerline goodness : 0.982817 Centerline is valid? [True, True] Translation: X:52.84, Y:4.03, Z:-1.95 [[ 9.60826111e-01 -2.76969014e-01 -1.00672585e-02 5.28379019e+01] [ 2.76953554e-01 9.60878850e-01 -2.92651401e-03 4.03475229e+00] [ 1.04839695e-02 2.37080478e-05 9.99945041e-01 -1.95057671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.827719421 meters Centerline goodness : 0.981390 Centerline is valid? [True, True] Translation: X:52.86, Y:4.05, Z:-1.95 [[ 9.61782028e-01 -2.73638196e-01 -9.87260722e-03 5.28631354e+01] [ 2.73623091e-01 9.61832695e-01 -2.87592569e-03 4.04677208e+00] [ 1.02827595e-02 6.46403382e-05 9.99947129e-01 -1.95066589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.857719421 meters Centerline goodness : 0.981046 Centerline is valid? [True, True] Translation: X:52.89, Y:4.05, Z:-1.95 [[ 9.63509845e-01 -2.67443521e-01 -1.10788521e-02 5.28903725e+01] [ 2.67424045e-01 9.63573526e-01 -3.23106065e-03 4.05454108e+00] [ 1.15394148e-02 1.50407305e-04 9.99933407e-01 -1.95216682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.887719421 meters Centerline goodness : 0.981834 Centerline is valid? [True, True] Translation: X:52.92, Y:4.06, Z:-1.95 [[ 9.63924058e-01 -2.65998820e-01 -9.74871676e-03 5.29164987e+01] [ 2.65983685e-01 9.63973343e-01 -2.84132770e-03 4.06052877e+00] [ 1.01532929e-02 1.45824523e-04 9.99948443e-01 -1.95417030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.917719421 meters Centerline goodness : 0.983414 Centerline is valid? [True, True] Translation: X:52.94, Y:4.07, Z:-1.95 [[ 9.63776477e-01 -2.66580301e-01 -8.35735929e-03 5.29434539e+01] [ 2.66569131e-01 9.63812703e-01 -2.44360865e-03 4.06736595e+00] [ 8.70634698e-03 1.27278524e-04 9.99962091e-01 -1.95497936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.947719421 meters Centerline goodness : 0.983270 Centerline is valid? [True, True] Translation: X:52.97, Y:4.08, Z:-1.96 [[ 9.63518012e-01 -2.67485657e-01 -9.19043189e-03 5.29698901e+01] [ 2.67472164e-01 9.63561833e-01 -2.68990161e-03 4.07619586e+00] [ 9.57505949e-03 1.33583945e-04 9.99954149e-01 -1.95578569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.977719421 meters Centerline goodness : 0.981740 Centerline is valid? [True, True] Translation: X:53.00, Y:4.08, Z:-1.96 [[ 9.62463811e-01 -2.71147641e-01 -1.19318885e-02 5.29953346e+01] [ 2.71125237e-01 9.62537761e-01 -3.48769450e-03 4.08379874e+00] [ 1.24305733e-02 1.21743655e-04 9.99922730e-01 -1.95633670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00771942099999 meters Centerline goodness : 0.981595 Centerline is valid? [True, True] Translation: X:53.02, Y:4.09, Z:-1.96 [[ 9.61543243e-01 -2.74450980e-01 -1.05476041e-02 5.30219011e+01] [ 2.74433579e-01 9.61601088e-01 -3.09152064e-03 4.09088489e+00] [ 1.09910585e-02 7.80140329e-05 9.99939593e-01 -1.95800226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03771942099999 meters Centerline goodness : 0.983468 Centerline is valid? [True, True] Translation: X:53.05, Y:4.09, Z:-1.96 [[ 9.59369812e-01 -2.82068174e-01 -6.86364121e-03 5.30498673e+01] [ 2.82060986e-01 9.59394364e-01 -2.01366813e-03 4.09310692e+00] [ 7.15293038e-03 -4.11299045e-06 9.99974417e-01 -1.95632488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06771942099999 meters Centerline goodness : 0.984472 Centerline is valid? [True, True] Translation: X:53.08, Y:4.10, Z:-1.96 [[ 9.58011539e-01 -2.86692913e-01 -4.58959299e-03 5.30773335e+01] [ 2.86689725e-01 9.58022533e-01 -1.35209661e-03 4.09782312e+00] [ 4.78457001e-03 -2.04650024e-05 9.99988554e-01 -1.95750219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.097719421 meters Centerline goodness : 0.984875 Centerline is valid? [True, True] Translation: X:53.11, Y:4.10, Z:-1.96 [[ 9.55470648e-01 -2.95055779e-01 -4.23417067e-03 5.31050886e+01] [ 2.95053137e-01 9.55480028e-01 -1.24983142e-03 4.10416082e+00] [ 4.41443549e-03 -5.51281052e-05 9.99990255e-01 -1.95823566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.127719421 meters Centerline goodness : 0.986136 Centerline is valid? [True, True] Translation: X:53.13, Y:4.11, Z:-1.96 [[ 9.54408375e-01 -2.98466148e-01 -4.75523531e-03 5.31305430e+01] [ 2.98462880e-01 9.54420218e-01 -1.39917714e-03 4.11232437e+00] [ 4.95609973e-03 -8.38748435e-05 9.99987715e-01 -1.95924699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.157719421 meters Centerline goodness : 0.984880 Centerline is valid? [True, True] Translation: X:53.16, Y:4.12, Z:-1.96 [[ 9.52703261e-01 -3.03783484e-01 -8.49060029e-03 5.31566264e+01] [ 3.03773235e-01 9.52741075e-01 -2.50298350e-03 4.12201652e+00] [ 8.84970871e-03 -1.94616570e-04 9.99960822e-01 -1.95955304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.187719421 meters Centerline goodness : 0.984157 Centerline is valid? [True, True] Translation: X:53.18, Y:4.13, Z:-1.96 [[ 9.52053391e-01 -3.05754471e-01 -1.04184320e-02 5.31840373e+01] [ 3.05739133e-01 9.52110359e-01 -3.07345548e-03 4.12968756e+00] [ 1.08592198e-02 -2.59228649e-04 9.99941003e-01 -1.95994630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.217719421 meters Centerline goodness : 0.983233 Centerline is valid? [True, True] Translation: X:53.21, Y:4.13, Z:-1.96 [[ 9.51109403e-01 -3.08596894e-01 -1.26039616e-02 5.32117599e+01] [ 3.08574656e-01 9.51192848e-01 -3.72124643e-03 4.13453197e+00] [ 1.31371632e-02 -3.49950631e-04 9.99913643e-01 -1.95986544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.247719421 meters Centerline goodness : 0.982139 Centerline is valid? [True, True] Translation: X:53.24, Y:4.14, Z:-1.96 [[ 9.50978920e-01 -3.08978661e-01 -1.30874329e-02 5.32374066e+01] [ 3.08954753e-01 9.51068898e-01 -3.86158560e-03 4.14180900e+00] [ 1.36401979e-02 -3.71138092e-04 9.99906899e-01 -1.96055491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.277719421 meters Centerline goodness : 0.983280 Centerline is valid? [True, True] Translation: X:53.26, Y:4.15, Z:-1.96 [[ 9.50688016e-01 -3.09883416e-01 -1.28283026e-02 5.32634357e+01] [ 3.09860410e-01 9.50774491e-01 -3.79386569e-03 4.15400017e+00] [ 1.33724789e-02 -3.68200455e-04 9.99910517e-01 -1.96107306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.307719421 meters Centerline goodness : 0.983722 Centerline is valid? [True, True] Translation: X:53.29, Y:4.16, Z:-1.96 [[ 9.50853858e-01 -3.09476970e-01 -1.00471465e-02 5.32890573e+01] [ 3.09462845e-01 9.50906896e-01 -2.97039229e-03 4.16420842e+00] [ 1.04731689e-02 -2.84809569e-04 9.99945114e-01 -1.96133701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.337719421 meters Centerline goodness : 0.982539 Centerline is valid? [True, True] Translation: X:53.32, Y:4.17, Z:-1.96 [[ 9.50855668e-01 -3.09487269e-01 -9.54619262e-03 5.33156388e+01] [ 3.09474444e-01 9.50903550e-01 -2.82976346e-03 4.17158633e+00] [ 9.95328421e-03 -2.63606033e-04 9.99950430e-01 -1.96153351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.367719421 meters Centerline goodness : 0.983021 Centerline is valid? [True, True] Translation: X:53.34, Y:4.18, Z:-1.96 [[ 9.50797843e-01 -3.09677170e-01 -9.13847686e-03 5.33426569e+01] [ 3.09665392e-01 9.50841726e-01 -2.71248061e-03 4.17905815e+00] [ 9.52923843e-03 -2.50849307e-04 9.99954564e-01 -1.96261693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39771942099999 meters Centerline goodness : 0.983647 Centerline is valid? [True, True] Translation: X:53.37, Y:4.19, Z:-1.96 [[ 9.51115269e-01 -3.08776892e-01 -6.04787784e-03 5.33690667e+01] [ 3.08771682e-01 9.51134484e-01 -1.80041164e-03 4.18791996e+00] [ 6.30827068e-03 -1.55014410e-04 9.99980091e-01 -1.96423521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42771942099999 meters Centerline goodness : 0.983463 Centerline is valid? [True, True] Translation: X:53.39, Y:4.20, Z:-1.96 [[ 9.51585879e-01 -3.07348874e-01 -4.58086553e-03 5.33941904e+01] [ 3.07345877e-01 9.51596899e-01 -1.36193922e-03 4.19767771e+00] [ 4.77772792e-03 -1.11908006e-04 9.99988580e-01 -1.96471983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.457719421 meters Centerline goodness : 0.983374 Centerline is valid? [True, True] Translation: X:53.42, Y:4.21, Z:-1.97 [[ 9.53948116e-01 -2.99934724e-01 -4.70677030e-03 5.34181529e+01] [ 2.99931467e-01 9.53959724e-01 -1.40000201e-03 4.21013820e+00] [ 4.90997851e-03 -7.61792419e-05 9.99987943e-01 -1.96528749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.487719421 meters Centerline goodness : 0.983742 Centerline is valid? [True, True] Translation: X:53.44, Y:4.22, Z:-1.97 [[ 9.55562391e-01 -2.94725325e-01 -6.12375549e-03 5.34442261e+01] [ 2.94719668e-01 9.55582011e-01 -1.82707126e-03 4.22049533e+00] [ 6.39023476e-03 -5.89106070e-05 9.99979581e-01 -1.96632292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.517719421 meters Centerline goodness : 0.983250 Centerline is valid? [True, True] Translation: X:53.47, Y:4.23, Z:-1.97 [[ 9.59460082e-01 -2.81793727e-01 -5.35218126e-03 5.34695765e+01] [ 2.81789217e-01 9.59475010e-01 -1.59442676e-03 4.23114487e+00] [ 5.58458363e-03 2.16018626e-05 9.99984406e-01 -1.96817434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.547719421 meters Centerline goodness : 0.983793 Centerline is valid? [True, True] Translation: X:53.50, Y:4.24, Z:-1.97 [[ 9.62375738e-01 -2.71688113e-01 -4.30205452e-03 5.34956369e+01] [ 2.71685092e-01 9.62385352e-01 -1.28287233e-03 4.23762148e+00] [ 4.48877542e-03 6.58011265e-05 9.99989923e-01 -1.96935341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.577719421 meters Centerline goodness : 0.984252 Centerline is valid? [True, True] Translation: X:53.52, Y:4.25, Z:-1.97 [[ 9.63171328e-01 -2.68837348e-01 -5.24146363e-03 5.35225724e+01] [ 2.68832793e-01 9.63185584e-01 -1.56834815e-03 4.24668801e+00] [ 5.47013277e-03 1.01510663e-04 9.99985034e-01 -1.97015950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.607719421 meters Centerline goodness : 0.980261 Centerline is valid? [True, True] Translation: X:53.55, Y:4.26, Z:-1.97 [[ 9.63907676e-01 -2.66118520e-01 -7.93251654e-03 5.35484937e+01] [ 2.66108000e-01 9.63940300e-01 -2.37278683e-03 4.25783362e+00] [ 8.27791490e-03 1.76241323e-04 9.99965722e-01 -1.97080867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.637719421 meters Centerline goodness : 0.978092 Centerline is valid? [True, True] Translation: X:53.57, Y:4.26, Z:-1.97 [[ 9.63739227e-01 -2.66636838e-01 -1.05592978e-02 5.35746382e+01] [ 2.66618283e-01 9.63797046e-01 -3.15354507e-03 4.26433174e+00] [ 1.10178713e-02 2.23893235e-04 9.99939276e-01 -1.97080863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.667719421 meters Centerline goodness : 0.979567 Centerline is valid? [True, True] Translation: X:53.60, Y:4.27, Z:-1.97 [[ 9.63491835e-01 -2.67464365e-01 -1.20953011e-02 5.36022591e+01] [ 2.67439976e-01 9.63567719e-01 -3.62085315e-03 4.26925767e+00] [ 1.26230909e-02 2.53895402e-04 9.99920293e-01 -1.97196219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.697719421 meters Centerline goodness : 0.979029 Centerline is valid? [True, True] Translation: X:53.63, Y:4.27, Z:-1.97 [[ 9.63553553e-01 -2.67177475e-01 -1.34442380e-02 5.36297800e+01] [ 2.67147356e-01 9.63647299e-01 -4.02170734e-03 4.27205531e+00] [ 1.40300133e-02 2.83537755e-04 9.99901534e-01 -1.97328722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.727719421 meters Centerline goodness : 0.980272 Centerline is valid? [True, True] Translation: X:53.66, Y:4.28, Z:-1.97 [[ 9.64237915e-01 -2.64761249e-01 -1.21129771e-02 5.36569399e+01] [ 2.64736581e-01 9.64313952e-01 -3.62564872e-03 4.27616494e+00] [ 1.26406441e-02 2.89239815e-04 9.99920062e-01 -1.97281965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75771942099999 meters Centerline goodness : 0.981237 Centerline is valid? [True, True] Translation: X:53.68, Y:4.28, Z:-1.97 [[ 9.64631158e-01 -2.63387052e-01 -1.06765559e-02 5.36842918e+01] [ 2.63367708e-01 9.64690200e-01 -3.20433140e-03 4.28229015e+00] [ 1.11435482e-02 2.79137856e-04 9.99937870e-01 -1.97307265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78771942099999 meters Centerline goodness : 0.981398 Centerline is valid? [True, True] Translation: X:53.71, Y:4.28, Z:-1.97 [[ 9.65018000e-01 -2.62026253e-01 -9.08312742e-03 5.37118590e+01] [ 2.62012207e-01 9.65060714e-01 -2.72443045e-03 4.28474391e+00] [ 9.47964173e-03 2.49234158e-04 9.99955036e-01 -1.97370556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81771942099999 meters Centerline goodness : 0.979372 Centerline is valid? [True, True] Translation: X:53.74, Y:4.29, Z:-1.97 [[ 9.64588953e-01 -2.63557331e-01 -1.02803039e-02 5.37396502e+01] [ 2.63539346e-01 9.64643695e-01 -3.09099768e-03 4.28969448e+00] [ 1.07314854e-02 2.72277659e-04 9.99942379e-01 -1.97345301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.847719421 meters Centerline goodness : 0.979733 Centerline is valid? [True, True] Translation: X:53.77, Y:4.29, Z:-1.98 [[ 9.62522260e-01 -2.71070906e-01 -8.45361212e-03 5.37685895e+01] [ 2.71058995e-01 9.62559369e-01 -2.54609088e-03 4.29174578e+00] [ 8.82727471e-03 1.59241543e-04 9.99961026e-01 -1.97600784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.877719421 meters Centerline goodness : 0.978213 Centerline is valid? [True, True] Translation: X:53.80, Y:4.30, Z:-1.98 [[ 9.61162117e-01 -2.75898065e-01 -6.90230230e-03 5.37963104e+01] [ 2.75890221e-01 9.61186896e-01 -2.08270701e-03 4.29690641e+00] [ 7.20901736e-03 9.75413714e-05 9.99974010e-01 -1.97664050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.907719421 meters Centerline goodness : 0.979339 Centerline is valid? [True, True] Translation: X:53.82, Y:4.30, Z:-1.98 [[ 9.58793625e-01 -2.84095932e-01 -2.07039804e-03 5.38240557e+01] [ 2.84095242e-01 9.58795860e-01 -6.26009326e-04 4.29772186e+00] [ 2.16293577e-03 1.20235166e-05 9.99997661e-01 -1.97754347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.937719421 meters Centerline goodness : 0.981280 Centerline is valid? [True, True] Translation: X:53.85, Y:4.30, Z:-1.98 [[ 9.57631295e-01 -2.87988759e-01 -2.18569110e-03 5.38518046e+01] [ 2.87987991e-01 9.57633789e-01 -6.65364029e-04 4.30193844e+00] [ 2.28470901e-03 7.72062878e-06 9.99997390e-01 -1.97732232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.967719421 meters Centerline goodness : 0.978780 Centerline is valid? [True, True] Translation: X:53.88, Y:4.30, Z:-1.98 [[ 9.55601969e-01 -2.94621157e-01 -4.82196278e-03 5.38797517e+01] [ 2.94617560e-01 9.55614134e-01 -1.45612867e-03 4.30345750e+00] [ 5.03694210e-03 -2.91554912e-05 9.99987314e-01 -1.97693645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.997719421 meters Centerline goodness : 0.978615 Centerline is valid? [True, True] Translation: X:53.91, Y:4.31, Z:-1.98 [[ 9.54567441e-01 -2.97950986e-01 -5.11954432e-03 5.39071048e+01] [ 2.97946951e-01 9.54581169e-01 -1.55140343e-03 4.31072608e+00] [ 5.34926278e-03 -4.44334129e-05 9.99985692e-01 -1.97834863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.027719421 meters Centerline goodness : 0.977062 Centerline is valid? [True, True] Translation: X:53.93, Y:4.32, Z:-1.98 [[ 9.53519044e-01 -3.01264191e-01 -6.42805081e-03 5.39337427e+01] [ 3.01257894e-01 9.53540708e-01 -1.94926026e-03 4.31949425e+00] [ 6.71665043e-03 -7.78442687e-05 9.99977440e-01 -1.98056272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.057719421 meters Centerline goodness : 0.975872 Centerline is valid? [True, True] Translation: X:53.96, Y:4.33, Z:-1.98 [[ 9.53529670e-01 -3.01228560e-01 -6.52091863e-03 5.39605579e+01] [ 3.01222064e-01 9.53551964e-01 -1.97979822e-03 4.32750525e+00] [ 6.81440653e-03 -7.64482278e-05 9.99976779e-01 -1.98126606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.087719421 meters Centerline goodness : 0.979403 Centerline is valid? [True, True] Translation: X:53.99, Y:4.33, Z:-1.98 [[ 9.55136679e-01 -2.96077600e-01 -7.20963364e-03 5.39864524e+01] [ 2.96069541e-01 9.55163888e-01 -2.18498660e-03 4.33461586e+00] [ 7.53330729e-03 -4.75920796e-05 9.99971623e-01 -1.97936216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.117719421 meters Centerline goodness : 0.976501 Centerline is valid? [True, True] Translation: X:54.01, Y:4.34, Z:-1.98 [[ 9.57849542e-01 -2.87110418e-01 -9.58445525e-03 5.40122457e+01] [ 2.87095722e-01 9.57897493e-01 -2.90512299e-03 4.34200475e+00] [ 1.00150167e-02 3.10146266e-05 9.99949848e-01 -1.97950201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14771942099999 meters Centerline goodness : 0.977163 Centerline is valid? [True, True] Translation: X:54.04, Y:4.35, Z:-1.98 [[ 9.59182596e-01 -2.82622566e-01 -9.65572939e-03 5.40391420e+01] [ 2.82607345e-01 9.59231191e-01 -2.93438346e-03 4.34940438e+00] [ 1.00913998e-02 8.58294931e-05 9.99949077e-01 -1.97997772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17771942099999 meters Centerline goodness : 0.979203 Centerline is valid? [True, True] Translation: X:54.07, Y:4.36, Z:-1.98 [[ 9.60734712e-01 -2.77327820e-01 -8.83707380e-03 5.40652440e+01] [ 2.77314867e-01 9.60775345e-01 -2.68345743e-03 4.35611099e+00] [ 9.23464003e-03 1.27438758e-04 9.99957352e-01 -1.98095499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.207719421 meters Centerline goodness : 0.977414 Centerline is valid? [True, True] Translation: X:54.09, Y:4.36, Z:-1.98 [[ 9.63285530e-01 -2.68294799e-01 -9.94430310e-03 5.40923415e+01] [ 2.68277838e-01 9.63336825e-01 -3.02691214e-03 4.36473082e+00] [ 1.03918182e-02 2.47944519e-04 9.99945973e-01 -1.98121696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.237719421 meters Centerline goodness : 0.977667 Centerline is valid? [True, True] Translation: X:54.12, Y:4.37, Z:-1.98 [[ 9.65614358e-01 -2.59829375e-01 -8.80946264e-03 5.41179776e+01] [ 2.59815729e-01 9.65654497e-01 -2.67960273e-03 4.37419014e+00] [ 9.20313671e-03 2.98625912e-04 9.99957606e-01 -1.98252959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.267719421 meters Centerline goodness : 0.975693 Centerline is valid? [True, True] Translation: X:54.14, Y:4.38, Z:-1.98 [[ 9.66401058e-01 -2.56849621e-01 -9.86239154e-03 5.41448753e+01] [ 2.56832289e-01 9.66451309e-01 -3.00707122e-03 4.38224064e+00] [ 1.03038863e-02 3.73056217e-04 9.99946844e-01 -1.98218897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.297719421 meters Centerline goodness : 0.975490 Centerline is valid? [True, True] Translation: X:54.17, Y:4.39, Z:-1.98 [[ 9.67519544e-01 -2.52549330e-01 -1.11699721e-02 5.41717020e+01] [ 2.52526848e-01 9.67583905e-01 -3.40246287e-03 4.38835917e+00] [ 1.16671749e-02 4.71231478e-04 9.99931825e-01 -1.98333559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.327719421 meters Centerline goodness : 0.974151 Centerline is valid? [True, True] Translation: X:54.20, Y:4.39, Z:-1.98 [[ 9.67980052e-01 -2.50796046e-01 -1.07686199e-02 5.41992730e+01] [ 2.50774954e-01 9.68039829e-01 -3.28809795e-03 4.39462927e+00] [ 1.12490949e-02 4.82313060e-04 9.99936611e-01 -1.98483850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.357719421 meters Centerline goodness : 0.977022 Centerline is valid? [True, True] Translation: X:54.23, Y:4.40, Z:-1.99 [[ 9.68665758e-01 -2.48275162e-01 -6.78916600e-03 5.42272839e+01] [ 2.48266703e-01 9.68689495e-01 -2.07497064e-03 4.39680962e+00] [ 7.09175746e-03 3.24429150e-04 9.99974801e-01 -1.98642472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.387719421 meters Centerline goodness : 0.979728 Centerline is valid? [True, True] Translation: X:54.25, Y:4.40, Z:-1.99 [[ 9.68924323e-01 -2.47309485e-01 -4.86567764e-03 5.42545542e+01] [ 2.47305116e-01 9.68936510e-01 -1.48950552e-03 4.40129495e+00] [ 5.08290156e-03 2.39911156e-04 9.99987053e-01 -1.98521910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.417719421 meters Centerline goodness : 0.979036 Centerline is valid? [True, True] Translation: X:54.28, Y:4.41, Z:-1.99 [[ 9.68741091e-01 -2.48037024e-01 -4.28171212e-03 5.42815730e+01] [ 2.48033629e-01 9.68750530e-01 -1.31480186e-03 4.40807330e+00] [ 4.47403043e-03 2.11693992e-04 9.99989969e-01 -1.98648162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.447719421 meters Centerline goodness : 0.978988 Centerline is valid? [True, True] Translation: X:54.31, Y:4.41, Z:-1.99 [[ 9.67911446e-01 -2.51260362e-01 -3.95765733e-03 5.43103586e+01] [ 2.51257482e-01 9.67919520e-01 -1.21704071e-03 4.41034022e+00] [ 4.13648787e-03 1.83596618e-04 9.99991428e-01 -1.98657223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.477719421 meters Centerline goodness : 0.979481 Centerline is valid? [True, True] Translation: X:54.34, Y:4.41, Z:-1.99 [[ 9.67436488e-01 -2.53080681e-01 -4.09999251e-03 5.43389862e+01] [ 2.53077598e-01 9.67445159e-01 -1.26256731e-03 4.41406166e+00] [ 4.28604930e-03 1.83837422e-04 9.99990798e-01 -1.98691707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50771942099999 meters Centerline goodness : 0.980832 Centerline is valid? [True, True] Translation: X:54.37, Y:4.42, Z:-1.99 [[ 9.66819508e-01 -2.55405643e-01 -5.29124586e-03 5.43665742e+01] [ 2.55400573e-01 9.66833962e-01 -1.62405890e-03 4.41785350e+00] [ 5.53055001e-03 2.18784606e-04 9.99984682e-01 -1.98736467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53771942099999 meters Centerline goodness : 0.977329 Centerline is valid? [True, True] Translation: X:54.39, Y:4.42, Z:-1.99 [[ 9.64579803e-01 -2.63696309e-01 -7.07529229e-03 5.43949552e+01] [ 2.63687426e-01 9.64605724e-01 -2.17706931e-03 4.41891067e+00] [ 7.39895258e-03 2.34291473e-04 9.99972600e-01 -1.99079807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56771942099999 meters Centerline goodness : 0.977155 Centerline is valid? [True, True] Translation: X:54.42, Y:4.42, Z:-1.99 [[ 9.63010479e-01 -2.69347457e-01 -7.92246459e-03 5.44227751e+01] [ 2.69336494e-01 9.63043042e-01 -2.43968738e-03 4.42435021e+00] [ 8.28679799e-03 2.15635675e-04 9.99965641e-01 -1.99192787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.597719421 meters Centerline goodness : 0.977434 Centerline is valid? [True, True] Translation: X:54.45, Y:4.43, Z:-1.99 [[ 9.60386002e-01 -2.78552007e-01 -8.21626541e-03 5.44511116e+01] [ 2.78540577e-01 9.60421137e-01 -2.52713725e-03 4.42559267e+00] [ 8.59501412e-03 1.38463931e-04 9.99963053e-01 -1.99159678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.627719421 meters Centerline goodness : 0.974772 Centerline is valid? [True, True] Translation: X:54.48, Y:4.43, Z:-1.99 [[ 9.58105916e-01 -2.86279136e-01 -8.79254860e-03 5.44801575e+01] [ 2.86266316e-01 9.58146257e-01 -2.71041425e-03 4.42647028e+00] [ 9.20048258e-03 7.98534294e-05 9.99957671e-01 -1.99084415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.657719421 meters Centerline goodness : 0.976263 Centerline is valid? [True, True] Translation: X:54.51, Y:4.43, Z:-1.99 [[ 9.56918520e-01 -2.90216956e-01 -9.00361641e-03 5.45075635e+01] [ 2.90203654e-01 9.56960875e-01 -2.77893994e-03 4.43208022e+00] [ 9.42260413e-03 4.63367140e-05 9.99955605e-01 -1.99163650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.687719421 meters Centerline goodness : 0.976263 Centerline is valid? [True, True] Translation: X:54.53, Y:4.44, Z:-1.99 [[ 9.56832148e-01 -2.90501614e-01 -9.00291229e-03 5.45347149e+01] [ 2.90488304e-01 9.56874501e-01 -2.78122240e-03 4.44073014e+00] [ 9.42260680e-03 4.59222836e-05 9.99955605e-01 -1.99223119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.717719421 meters Centerline goodness : 0.976277 Centerline is valid? [True, True] Translation: X:54.56, Y:4.45, Z:-1.99 [[ 9.56065177e-01 -2.92974613e-01 -1.02592909e-02 5.45611176e+01] [ 2.92957501e-01 9.56120220e-01 -3.16648794e-03 4.44847363e+00] [ 1.07368160e-02 2.18326352e-05 9.99942358e-01 -1.99166588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.747719421 meters Centerline goodness : 0.976824 Centerline is valid? [True, True] Translation: X:54.59, Y:4.46, Z:-1.99 [[ 9.56622373e-01 -2.91163935e-01 -9.85894938e-03 5.45874960e+01] [ 2.91147961e-01 9.56673174e-01 -3.05019886e-03 4.45932101e+00] [ 1.03199003e-02 4.74754625e-05 9.99946747e-01 -1.99169195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.777719421 meters Centerline goodness : 0.975795 Centerline is valid? [True, True] Translation: X:54.61, Y:4.47, Z:-1.99 [[ 9.59153772e-01 -2.82752428e-01 -8.66638572e-03 5.46136292e+01] [ 2.82739698e-01 9.59192915e-01 -2.68594680e-03 4.46881244e+00] [ 9.07219376e-03 1.25904721e-04 9.99958839e-01 -1.99129609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.807719421 meters Centerline goodness : 0.975643 Centerline is valid? [True, True] Translation: X:54.64, Y:4.48, Z:-1.99 [[ 9.60553271e-01 -2.77985271e-01 -7.84871800e-03 5.46406166e+01] [ 2.77974641e-01 9.60585324e-01 -2.43610032e-03 4.47579578e+00] [ 8.21656333e-03 1.58259563e-04 9.99966231e-01 -1.99131293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.837719421 meters Centerline goodness : 0.976254 Centerline is valid? [True, True] Translation: X:54.67, Y:4.48, Z:-1.99 [[ 9.63044054e-01 -2.69271222e-01 -6.25779766e-03 5.46677075e+01] [ 2.69264276e-01 9.63064367e-01 -1.94298591e-03 4.48093179e+00] [ 6.54985213e-03 1.86179674e-04 9.99978532e-01 -1.99158873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.867719421 meters Centerline goodness : 0.976070 Centerline is valid? [True, True] Translation: X:54.69, Y:4.49, Z:-1.99 [[ 9.65207297e-01 -2.61340354e-01 -8.72313347e-03 5.46924362e+01] [ 2.61326556e-01 9.65246657e-01 -2.70595210e-03 4.49165851e+00] [ 9.12714990e-03 3.32218285e-04 9.99958292e-01 -1.99293501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89771942099999 meters Centerline goodness : 0.975166 Centerline is valid? [True, True] Translation: X:54.72, Y:4.50, Z:-1.99 [[ 9.66349969e-01 -2.57094880e-01 -8.36418418e-03 5.47178999e+01] [ 2.57082023e-01 9.66386100e-01 -2.59599816e-03 4.50147640e+00] [ 8.75044917e-03 3.58361354e-04 9.99961650e-01 -1.99435085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92771942099999 meters Centerline goodness : 0.973603 Centerline is valid? [True, True] Translation: X:54.75, Y:4.51, Z:-1.99 [[ 9.67348284e-01 -2.53265576e-01 -9.68733490e-03 5.47455255e+01] [ 2.53248070e-01 9.67396679e-01 -3.01339185e-03 4.50755466e+00] [ 1.01346840e-02 4.61700573e-04 9.99948536e-01 -1.99458476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.957719421 meters Centerline goodness : 0.972873 Centerline is valid? [True, True] Translation: X:54.77, Y:4.51, Z:-2.00 [[ 9.67298697e-01 -2.53442491e-01 -1.00067123e-02 5.47732162e+01] [ 2.53423787e-01 9.67350337e-01 -3.11592409e-03 4.51118596e+00] [ 1.04697041e-02 4.78090389e-04 9.99945077e-01 -1.99567821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.987719421 meters Centerline goodness : 0.972266 Centerline is valid? [True, True] Translation: X:54.80, Y:4.52, Z:-2.00 [[ 9.66715991e-01 -2.55621101e-01 -1.08648782e-02 5.48010174e+01] [ 2.55599153e-01 9.66776916e-01 -3.38630841e-03 4.51555446e+00] [ 1.13695254e-02 4.96544822e-04 9.99935242e-01 -1.99682447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.017719421 meters Centerline goodness : 0.973765 Centerline is valid? [True, True] Translation: X:54.83, Y:4.52, Z:-2.00 [[ 9.64974368e-01 -2.62148598e-01 -1.01282636e-02 5.48285218e+01] [ 2.62129845e-01 9.65027438e-01 -3.16033633e-03 4.52061372e+00] [ 1.06025301e-02 3.94723377e-04 9.99943714e-01 -1.99835443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.047719421 meters Centerline goodness : 0.973173 Centerline is valid? [True, True] Translation: X:54.86, Y:4.53, Z:-2.00 [[ 9.63291559e-01 -2.68355726e-01 -7.38765121e-03 5.48552984e+01] [ 2.68345891e-01 9.63319856e-01 -2.31030376e-03 4.52801192e+00] [ 7.73665434e-03 2.43050271e-04 9.99970042e-01 -2.00011620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.077719421 meters Centerline goodness : 0.971434 Centerline is valid? [True, True] Translation: X:54.88, Y:4.53, Z:-2.00 [[ 9.62476235e-01 -2.71253262e-01 -7.82080350e-03 5.48832433e+01] [ 2.71242315e-01 9.62507981e-01 -2.44816046e-03 4.53403837e+00] [ 8.19165729e-03 2.34963415e-04 9.99966420e-01 -2.00060968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.107719421 meters Centerline goodness : 0.970521 Centerline is valid? [True, True] Translation: X:54.91, Y:4.53, Z:-2.00 [[ 9.61596981e-01 -2.74272815e-01 -1.02795312e-02 5.49112366e+01] [ 2.74254128e-01 9.61651886e-01 -3.21304868e-03 4.53362094e+00] [ 1.07665825e-02 2.70454046e-04 9.99942002e-01 -2.00140209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.137719421 meters Centerline goodness : 0.970649 Centerline is valid? [True, True] Translation: X:54.94, Y:4.54, Z:-2.00 [[ 9.61095554e-01 -2.75992410e-01 -1.11142425e-02 5.49385283e+01] [ 2.75970593e-01 9.61159774e-01 -3.48135641e-03 4.53940194e+00] [ 1.16433907e-02 2.78712073e-04 9.99932175e-01 -2.00075729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.167719421 meters Centerline goodness : 0.972364 Centerline is valid? [True, True] Translation: X:54.97, Y:4.55, Z:-2.00 [[ 9.60570945e-01 -2.77803239e-01 -1.13499147e-02 5.49654459e+01] [ 2.77780565e-01 9.60637960e-01 -3.55922745e-03 4.54830859e+00] [ 1.18919238e-02 2.66104772e-04 9.99929253e-01 -2.00132266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.197719421 meters Centerline goodness : 0.973715 Centerline is valid? [True, True] Translation: X:54.99, Y:4.56, Z:-2.00 [[ 9.60520149e-01 -2.77983615e-01 -1.12318073e-02 5.49905585e+01] [ 2.77961448e-01 9.60585781e-01 -3.51999514e-03 4.55870428e+00] [ 1.17676154e-02 2.59016818e-04 9.99930726e-01 -2.00261068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.227719421 meters Centerline goodness : 0.970416 Centerline is valid? [True, True] Translation: X:55.02, Y:4.57, Z:-2.00 [[ 9.59940674e-01 -2.80003762e-01 -1.05733008e-02 5.50177474e+01] [ 2.79984155e-01 9.59998876e-01 -3.32143537e-03 4.56711586e+00] [ 1.10803713e-02 2.28024215e-04 9.99938585e-01 -2.00303821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25771942099999 meters Centerline goodness : 0.969148 Centerline is valid? [True, True] Translation: X:55.05, Y:4.57, Z:-2.00 [[ 9.59396569e-01 -2.81849162e-01 -1.09212378e-02 5.50452272e+01] [ 2.81828322e-01 9.59458703e-01 -3.43426160e-03 4.57313030e+00] [ 1.14464204e-02 2.16904667e-04 9.99934464e-01 -2.00415196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28771942099999 meters Centerline goodness : 0.969821 Centerline is valid? [True, True] Translation: X:55.07, Y:4.58, Z:-2.00 [[ 9.57273788e-01 -2.88858474e-01 -1.36995444e-02 5.50726589e+01] [ 2.88826409e-01 9.57371795e-01 -4.30716158e-03 4.57635820e+00] [ 1.43597175e-02 1.66342677e-04 9.99896880e-01 -2.00353087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31771942099999 meters Centerline goodness : 0.970612 Centerline is valid? [True, True] Translation: X:55.10, Y:4.59, Z:-2.00 [[ 9.54192082e-01 -2.99026270e-01 -1.00380028e-02 5.50980410e+01] [ 2.99009605e-01 9.54244879e-01 -3.15699333e-03 4.58568480e+00] [ 1.05227368e-02 1.09187771e-05 9.99944634e-01 -2.00406917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.347719421 meters Centerline goodness : 0.971557 Centerline is valid? [True, True] Translation: X:55.12, Y:4.60, Z:-2.00 [[ 9.52502192e-01 -3.04393259e-01 -9.18248274e-03 5.51242009e+01] [ 3.04379483e-01 9.52546452e-01 -2.89618583e-03 4.59532502e+00] [ 9.62832080e-03 -3.63359890e-05 9.99953646e-01 -2.00464653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.377719421 meters Centerline goodness : 0.975115 Centerline is valid? [True, True] Translation: X:55.15, Y:4.60, Z:-2.01 [[ 9.49484369e-01 -3.13761514e-01 -5.75718420e-03 5.51501022e+01] [ 3.13756259e-01 9.49501820e-01 -1.81769304e-03 4.60137480e+00] [ 6.03677899e-03 -8.04814401e-05 9.99981775e-01 -2.00542596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.407719421 meters Centerline goodness : 0.974315 Centerline is valid? [True, True] Translation: X:55.18, Y:4.61, Z:-2.01 [[ 9.48157511e-01 -3.17784710e-01 -3.19579821e-03 5.51760958e+01] [ 3.17783111e-01 9.48162895e-01 -1.00989373e-03 4.60856121e+00] [ 3.35106607e-03 -5.80323697e-05 9.99994383e-01 -2.00505134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.437719421 meters Centerline goodness : 0.975128 Centerline is valid? [True, True] Translation: X:55.20, Y:4.62, Z:-2.01 [[ 9.45796167e-01 -3.24754611e-01 -2.01332547e-03 5.52021697e+01] [ 3.24753980e-01 9.45798309e-01 -6.41712532e-04 4.61772882e+00] [ 2.11259893e-03 -4.69062087e-05 9.99997767e-01 -2.00519064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.467719421 meters Centerline goodness : 0.974926 Centerline is valid? [True, True] Translation: X:55.23, Y:4.63, Z:-2.01 [[ 9.44614784e-01 -3.28163231e-01 -3.43566213e-03 5.52286508e+01] [ 3.28161427e-01 9.44621027e-01 -1.09225590e-03 4.62829148e+00] [ 3.60383691e-03 -9.56907208e-05 9.99993502e-01 -2.00576291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.497719421 meters Centerline goodness : 0.972083 Centerline is valid? [True, True] Translation: X:55.25, Y:4.64, Z:-2.01 [[ 9.43000405e-01 -3.32729277e-01 -6.43936437e-03 5.52532214e+01] [ 3.32723096e-01 9.43022365e-01 -2.03981489e-03 4.63928156e+00] [ 6.75117075e-03 -2.18978986e-04 9.99977187e-01 -2.00685583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.527719421 meters Centerline goodness : 0.970970 Centerline is valid? [True, True] Translation: X:55.28, Y:4.65, Z:-2.01 [[ 9.42133547e-01 -3.35111063e-01 -9.21713454e-03 5.52788995e+01] [ 3.35098473e-01 9.42178573e-01 -2.92389454e-03 4.65208683e+00] [ 9.66401608e-03 -3.33948577e-04 9.99953247e-01 -2.00689322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.557719421 meters Centerline goodness : 0.970327 Centerline is valid? [True, True] Translation: X:55.30, Y:4.66, Z:-2.01 [[ 9.41704183e-01 -3.36305497e-01 -9.58354112e-03 5.53040597e+01] [ 3.36291979e-01 9.41752877e-01 -3.03700360e-03 4.66345234e+00] [ 1.00466884e-02 -3.62909014e-04 9.99949465e-01 -2.00718884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.587719421 meters Centerline goodness : 0.972323 Centerline is valid? [True, True] Translation: X:55.33, Y:4.68, Z:-2.01 [[ 9.40230665e-01 -3.40453002e-01 -7.61911577e-03 5.53276208e+01] [ 3.40444532e-01 9.40261481e-01 -2.42220844e-03 4.68079035e+00] [ 7.98860921e-03 -3.16451656e-04 9.99968040e-01 -2.00596871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.617719421 meters Centerline goodness : 0.970078 Centerline is valid? [True, True] Translation: X:55.35, Y:4.70, Z:-2.01 [[ 9.38667464e-01 -3.44684628e-01 -9.79279629e-03 5.53516452e+01] [ 3.44670845e-01 9.38718437e-01 -3.11523714e-03 4.69820500e+00] [ 1.02664528e-02 -4.51119628e-04 9.99947197e-01 -2.00603052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64771942099999 meters Centerline goodness : 0.969006 Centerline is valid? [True, True] Translation: X:55.38, Y:4.71, Z:-2.01 [[ 9.37465766e-01 -3.47855957e-01 -1.24165651e-02 5.53762539e+01] [ 3.47834134e-01 9.37547785e-01 -3.94545719e-03 4.71040395e+00] [ 1.30135739e-02 -6.20174100e-04 9.99915128e-01 -2.00717793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67771942099999 meters Centerline goodness : 0.969913 Centerline is valid? [True, True] Translation: X:55.40, Y:4.72, Z:-2.01 [[ 9.36045047e-01 -3.51573205e-01 -1.46953065e-02 5.54020422e+01] [ 3.51542946e-01 9.36160063e-01 -4.67903413e-03 4.72332661e+00] [ 1.54021821e-02 -7.86244631e-04 9.99881070e-01 -2.00757402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.707719421 meters Centerline goodness : 0.971287 Centerline is valid? [True, True] Translation: X:55.42, Y:4.74, Z:-2.01 [[ 9.34314101e-01 -3.56247230e-01 -1.20445811e-02 5.54242660e+01] [ 3.56227303e-01 9.34391465e-01 -3.83404107e-03 4.74296925e+00] [ 1.26202203e-02 -7.08410013e-04 9.99920111e-01 -2.00829912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.737719421 meters Centerline goodness : 0.974577 Centerline is valid? [True, True] Translation: X:55.45, Y:4.76, Z:-2.01 [[ 9.33417052e-01 -3.58640561e-01 -1.04668618e-02 5.54491325e+01] [ 3.58625565e-01 9.33475519e-01 -3.34064826e-03 4.75803494e+00] [ 1.09686512e-02 -6.35466180e-04 9.99939641e-01 -2.00787337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.767719421 meters Centerline goodness : 0.976182 Centerline is valid? [True, True] Translation: X:55.47, Y:4.78, Z:-2.01 [[ 9.32340596e-01 -3.61492502e-01 -8.01151200e-03 5.54712991e+01] [ 3.61483832e-01 9.32374875e-01 -2.55575024e-03 4.77693373e+00] [ 8.39361705e-03 -5.13202347e-04 9.99964641e-01 -2.00673743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.797719421 meters Centerline goodness : 0.977990 Centerline is valid? [True, True] Translation: X:55.49, Y:4.80, Z:-2.01 [[ 9.32364153e-01 -3.61442221e-01 -7.52382354e-03 5.54931369e+01] [ 3.61434562e-01 9.32394386e-01 -2.40148422e-03 4.79596396e+00] [ 7.88316862e-03 -4.80312067e-04 9.99968812e-01 -2.00676683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.827719421 meters Centerline goodness : 0.976171 Centerline is valid? [True, True] Translation: X:55.52, Y:4.81, Z:-2.01 [[ 9.32281961e-01 -3.61638467e-01 -8.24410376e-03 5.55185184e+01] [ 3.61629220e-01 9.32318265e-01 -2.63820367e-03 4.80948797e+00] [ 8.64020444e-03 -5.21759123e-04 9.99962537e-01 -2.00810913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.857719421 meters Centerline goodness : 0.976729 Centerline is valid? [True, True] Translation: X:55.54, Y:4.83, Z:-2.01 [[ 9.32304981e-01 -3.61513863e-01 -1.07307788e-02 5.55404863e+01] [ 3.61498241e-01 9.32366485e-01 -3.42929841e-03 4.82787299e+00] [ 1.12447575e-02 -6.82005687e-04 9.99936543e-01 -2.00985473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.887719421 meters Centerline goodness : 0.976266 Centerline is valid? [True, True] Translation: X:55.56, Y:4.84, Z:-2.01 [[ 9.32302212e-01 -3.61528522e-01 -1.04744345e-02 5.55649384e+01] [ 3.61513551e-01 9.32360818e-01 -3.35532550e-03 4.84214012e+00] [ 1.09789982e-02 -6.58472625e-04 9.99939512e-01 -2.00967114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.917719421 meters Centerline goodness : 0.979159 Centerline is valid? [True, True] Translation: X:55.59, Y:4.86, Z:-2.01 [[ 9.31967374e-01 -3.62470536e-01 -7.20581158e-03 5.55876237e+01] [ 3.62463442e-01 9.31995119e-01 -2.31317691e-03 4.86261631e+00] [ 7.55423970e-03 -4.56037848e-04 9.99971362e-01 -2.00992973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.947719421 meters Centerline goodness : 0.979097 Centerline is valid? [True, True] Translation: X:55.61, Y:4.88, Z:-2.01 [[ 9.31512341e-01 -3.63655790e-01 -6.26300797e-03 5.56120158e+01] [ 3.63650436e-01 9.31533309e-01 -2.01376830e-03 4.87769774e+00] [ 6.56651904e-03 -4.01695550e-04 9.99978359e-01 -2.00964982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.977719421 meters Centerline goodness : 0.981609 Centerline is valid? [True, True] Translation: X:55.63, Y:4.90, Z:-2.01 [[ 9.30015777e-01 -3.67518904e-01 -7.14643406e-04 5.56339109e+01] [ 3.67518830e-01 9.30016050e-01 -2.36595817e-04 4.89968634e+00] [ 7.51583273e-04 -4.26070663e-05 9.99999717e-01 -2.01141291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00771942099999 meters Centerline goodness : 0.978785 Centerline is valid? [True, True] Translation: X:55.66, Y:4.91, Z:-2.01 [[ 9.28998060e-01 -3.70083807e-01 7.61563631e-04 5.56570036e+01] [ 3.70083734e-01 9.28998370e-01 2.39478143e-04 4.91435935e+00] [-7.96118355e-04 5.93675825e-05 9.99999681e-01 -2.01329612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03771942099999 meters Centerline goodness : 0.978011 Centerline is valid? [True, True] Translation: X:55.68, Y:4.94, Z:-2.01 [[ 9.27529717e-01 -3.73744793e-01 -1.85828533e-03 5.56779559e+01] [ 3.73744337e-01 9.27531569e-01 -5.99802601e-04 4.93630902e+00] [ 1.94779140e-03 -1.38188880e-04 9.99998094e-01 -2.01496048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06771942099999 meters Centerline goodness : 0.977419 Centerline is valid? [True, True] Translation: X:55.70, Y:4.95, Z:-2.02 [[ 9.27053561e-01 -3.74920277e-01 -2.54566290e-03 5.57014417e+01] [ 3.74919415e-01 9.27057037e-01 -8.26000521e-04 4.95325296e+00] [ 2.66965905e-03 -1.88671721e-04 9.99996419e-01 -2.01714683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.097719421 meters Centerline goodness : 0.977224 Centerline is valid? [True, True] Translation: X:55.72, Y:4.98, Z:-2.02 [[ 9.26964758e-01 -3.75131955e-01 -3.51482066e-03 5.57211366e+01] [ 3.75130337e-01 9.26971383e-01 -1.13393414e-03 4.97994811e+00] [ 3.68351310e-03 -2.67398872e-04 9.99993180e-01 -2.01783746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.127719421 meters Centerline goodness : 0.979035 Centerline is valid? [True, True] Translation: X:55.74, Y:5.00, Z:-2.02 [[ 9.27437669e-01 -3.73950763e-01 -4.49407855e-03 5.57446563e+01] [ 3.73948080e-01 9.27448499e-01 -1.45469781e-03 4.99799822e+00] [ 4.71201176e-03 -3.31410497e-04 9.99988843e-01 -2.01791437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.157719421 meters Centerline goodness : 0.979124 Centerline is valid? [True, True] Translation: X:55.76, Y:5.03, Z:-2.02 [[ 9.28633506e-01 -3.70973881e-01 -4.26519465e-03 5.57646806e+01] [ 3.70971438e-01 9.28643252e-01 -1.37965516e-03 5.02503445e+00] [ 4.47266025e-03 -3.01071388e-04 9.99989952e-01 -2.01946570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.187719421 meters Centerline goodness : 0.976048 Centerline is valid? [True, True] Translation: X:55.79, Y:5.05, Z:-2.02 [[ 9.30778819e-01 -3.65567012e-01 -3.39858356e-03 5.57860915e+01] [ 3.65565409e-01 9.30784999e-01 -1.10381445e-03 5.04821638e+00] [ 3.56686874e-03 -2.14997474e-04 9.99993616e-01 -2.02137541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.217719421 meters Centerline goodness : 0.976842 Centerline is valid? [True, True] Translation: X:55.81, Y:5.06, Z:-2.02 [[ 9.31818081e-01 -3.62913085e-01 -3.02612884e-03 5.58110878e+01] [ 3.62911794e-01 9.31822977e-01 -9.84674703e-04 5.06281273e+00] [ 3.17716772e-03 -1.80680152e-04 9.99994936e-01 -2.02203545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.247719421 meters Centerline goodness : 0.976772 Centerline is valid? [True, True] Translation: X:55.83, Y:5.08, Z:-2.02 [[ 9.34295599e-01 -3.56493972e-01 -1.94477165e-03 5.58345118e+01] [ 3.56493418e-01 9.34297617e-01 -6.36103417e-04 5.08249683e+00] [ 2.04376255e-03 -9.89896696e-05 9.99997907e-01 -2.02334172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.277719421 meters Centerline goodness : 0.976448 Centerline is valid? [True, True] Translation: X:55.86, Y:5.10, Z:-2.02 [[ 9.35444893e-01 -3.53465770e-01 -2.19136895e-03 5.58583697e+01] [ 3.53465070e-01 9.35447453e-01 -7.12109618e-04 5.09768976e+00] [ 2.30161687e-03 -1.08433072e-04 9.99997345e-01 -2.02364892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.307719421 meters Centerline goodness : 0.974517 Centerline is valid? [True, True] Translation: X:55.88, Y:5.12, Z:-2.02 [[ 9.37982746e-01 -3.46630501e-01 -5.97197446e-03 5.58805012e+01] [ 3.46625187e-01 9.38001722e-01 -1.93617942e-03 5.11837476e+00] [ 6.27286117e-03 -2.53933878e-04 9.99980293e-01 -2.02348425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.337719421 meters Centerline goodness : 0.972804 Centerline is valid? [True, True] Translation: X:55.91, Y:5.13, Z:-2.02 [[ 9.38911595e-01 -3.44066247e-01 -7.96452925e-03 5.59057037e+01] [ 3.44056651e-01 9.38945324e-01 -2.58827910e-03 5.13074531e+00] [ 8.36879698e-03 -3.10084000e-04 9.99964933e-01 -2.02435039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.367719421 meters Centerline goodness : 0.972421 Centerline is valid? [True, True] Translation: X:55.93, Y:5.14, Z:-2.03 [[ 9.40908882e-01 -3.38590634e-01 -6.84528966e-03 5.59297906e+01] [ 3.38583415e-01 9.40933755e-01 -2.22254993e-03 5.14276670e+00] [ 7.19349869e-03 -2.26484584e-04 9.99974101e-01 -2.02633167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39771942099999 meters Centerline goodness : 0.973397 Centerline is valid? [True, True] Translation: X:55.95, Y:5.16, Z:-2.03 [[ 9.42707017e-01 -3.33562050e-01 -6.31183055e-03 5.59530175e+01] [ 3.33555792e-01 9.42728131e-01 -2.05053759e-03 5.15706943e+00] [ 6.63432174e-03 -1.72291466e-04 9.99977978e-01 -2.02720773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42771942099999 meters Centerline goodness : 0.971612 Centerline is valid? [True, True] Translation: X:55.98, Y:5.17, Z:-2.03 [[ 9.43664058e-01 -3.30842750e-01 -6.42025993e-03 5.59778307e+01] [ 3.30836206e-01 9.43685886e-01 -2.08666125e-03 5.16840363e+00] [ 6.74906542e-03 -1.54947211e-04 9.99977213e-01 -2.02771040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.457719421 meters Centerline goodness : 0.973161 Centerline is valid? [True, True] Translation: X:56.00, Y:5.18, Z:-2.03 [[ 9.44385168e-01 -3.28770579e-01 -6.82360188e-03 5.60033431e+01] [ 3.28763088e-01 9.44409808e-01 -2.22388659e-03 5.18045327e+00] [ 7.17542502e-03 -1.43142921e-04 9.99974246e-01 -2.02790536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.487719421 meters Centerline goodness : 0.972148 Centerline is valid? [True, True] Translation: X:56.03, Y:5.19, Z:-2.03 [[ 9.46378147e-01 -3.22910767e-01 -9.85091344e-03 5.60278997e+01] [ 3.22894827e-01 9.46429404e-01 -3.21153489e-03 5.19402706e+00] [ 1.03602333e-02 -1.41482555e-04 9.99946321e-01 -2.02843896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.517719421 meters Centerline goodness : 0.971728 Centerline is valid? [True, True] Translation: X:56.05, Y:5.20, Z:-2.03 [[ 9.47293645e-01 -3.20173415e-01 -1.11235777e-02 5.60533192e+01] [ 3.20152942e-01 9.47358943e-01 -3.62306005e-03 5.20396382e+00] [ 1.16980284e-02 -1.29144369e-04 9.99931567e-01 -2.02861598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.547719421 meters Centerline goodness : 0.967710 Centerline is valid? [True, True] Translation: X:56.08, Y:5.21, Z:-2.03 [[ 9.48418700e-01 -3.16823043e-01 -1.11860938e-02 5.60796747e+01] [ 3.16802006e-01 9.48484661e-01 -3.65187293e-03 5.21234182e+00] [ 1.17668359e-02 -8.02723901e-05 9.99930765e-01 -2.02989514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.577719421 meters Centerline goodness : 0.967710 Centerline is valid? [True, True] Translation: X:56.11, Y:5.22, Z:-2.03 [[ 9.48317409e-01 -3.17126136e-01 -1.11850601e-02 5.61066148e+01] [ 3.17105082e-01 9.48383365e-01 -3.65504066e-03 5.22137853e+00] [ 1.17668338e-02 -8.07006995e-05 9.99930765e-01 -2.03048994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.607719421 meters Centerline goodness : 0.972247 Centerline is valid? [True, True] Translation: X:56.13, Y:5.23, Z:-2.03 [[ 9.48308896e-01 -3.17227136e-01 -8.78530036e-03 5.61333812e+01] [ 3.17214159e-01 9.48349588e-01 -2.87000749e-03 5.22762729e+00] [ 9.24198023e-03 -6.51680318e-05 9.99957290e-01 -2.03263004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.637719421 meters Centerline goodness : 0.973122 Centerline is valid? [True, True] Translation: X:56.16, Y:5.24, Z:-2.03 [[ 9.47718551e-01 -3.19008306e-01 -7.95286727e-03 5.61599256e+01] [ 3.18997676e-01 9.47751917e-01 -2.60517358e-03 5.23649991e+00] [ 8.36841721e-03 -6.79748408e-05 9.99964982e-01 -2.03187650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.667719421 meters Centerline goodness : 0.972409 Centerline is valid? [True, True] Translation: X:56.19, Y:5.24, Z:-2.03 [[ 9.47043312e-01 -3.21000807e-01 -8.21257877e-03 5.61862333e+01] [ 3.20989571e-01 9.47078916e-01 -2.68724386e-03 5.24440153e+00] [ 8.64056765e-03 -9.12158143e-05 9.99962665e-01 -2.03079972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.697719421 meters Centerline goodness : 0.969443 Centerline is valid? [True, True] Translation: X:56.22, Y:5.25, Z:-2.03 [[ 9.46413570e-01 -3.22769930e-01 -1.09967138e-02 5.62150273e+01] [ 3.22749821e-01 9.46477445e-01 -3.60543474e-03 5.24575941e+00] [ 1.15718675e-02 -1.36955057e-04 9.99933034e-01 -2.03287777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.727719421 meters Centerline goodness : 0.970305 Centerline is valid? [True, True] Translation: X:56.24, Y:5.25, Z:-2.03 [[ 9.46077820e-01 -3.23785900e-01 -9.97245244e-03 5.62422781e+01] [ 3.23769410e-01 9.46130368e-01 -3.27043762e-03 5.24968845e+00] [ 1.04941617e-02 -1.34686556e-04 9.99944926e-01 -2.03356064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75771942099999 meters Centerline goodness : 0.973489 Centerline is valid? [True, True] Translation: X:56.27, Y:5.25, Z:-2.03 [[ 9.45207471e-01 -3.26401671e-01 -6.69229941e-03 5.62709591e+01] [ 3.26394266e-01 9.45231156e-01 -2.20107150e-03 5.25242096e+00] [ 7.04420332e-03 -1.03858927e-04 9.99975184e-01 -2.03396463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78771942099999 meters Centerline goodness : 0.973063 Centerline is valid? [True, True] Translation: X:56.30, Y:5.26, Z:-2.03 [[ 9.44693493e-01 -3.27885829e-01 -6.71475175e-03 5.62974161e+01] [ 3.27878396e-01 9.44717349e-01 -2.21081614e-03 5.25996694e+00] [ 7.06843776e-03 -1.13078410e-04 9.99975012e-01 -2.03297991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81771942099999 meters Centerline goodness : 0.973250 Centerline is valid? [True, True] Translation: X:56.32, Y:5.27, Z:-2.03 [[ 9.44286472e-01 -3.29065022e-01 -6.26663115e-03 5.63247955e+01] [ 3.29058555e-01 9.44307259e-01 -2.06608722e-03 5.26722092e+00] [ 6.59750231e-03 -1.11110380e-04 9.99978230e-01 -2.03387671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.847719421 meters Centerline goodness : 0.971528 Centerline is valid? [True, True] Translation: X:56.35, Y:5.27, Z:-2.04 [[ 9.43954695e-01 -3.29994012e-01 -7.31336061e-03 5.63520308e+01] [ 3.29985263e-01 9.43983015e-01 -2.40702973e-03 5.26981801e+00] [ 7.69799359e-03 -1.41174205e-04 9.99970360e-01 -2.03533824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.877719421 meters Centerline goodness : 0.970503 Centerline is valid? [True, True] Translation: X:56.38, Y:5.28, Z:-2.04 [[ 9.43863087e-01 -3.30236042e-01 -8.16268588e-03 5.63797389e+01] [ 3.30225094e-01 9.43898370e-01 -2.69338867e-03 5.27563622e+00] [ 8.59419991e-03 -1.53333564e-04 9.99963057e-01 -2.03591351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.907719421 meters Centerline goodness : 0.971829 Centerline is valid? [True, True] Translation: X:56.41, Y:5.28, Z:-2.04 [[ 9.44135011e-01 -3.29469417e-01 -7.68012726e-03 5.64068686e+01] [ 3.29459720e-01 9.44166237e-01 -2.53165084e-03 5.27867694e+00] [ 8.08541839e-03 -1.40072389e-04 9.99967303e-01 -2.03692743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.937719421 meters Centerline goodness : 0.970529 Centerline is valid? [True, True] Translation: X:56.43, Y:5.29, Z:-2.04 [[ 9.44416908e-01 -3.28666944e-01 -7.39893864e-03 5.64328182e+01] [ 3.28657910e-01 9.44445882e-01 -2.44008130e-03 5.28690182e+00] [ 7.78987119e-03 -1.27265677e-04 9.99969650e-01 -2.03679268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.967719421 meters Centerline goodness : 0.972009 Centerline is valid? [True, True] Translation: X:56.46, Y:5.30, Z:-2.04 [[ 9.45661482e-01 -3.25093241e-01 -6.22460723e-03 5.64589283e+01] [ 3.25086725e-01 9.45681965e-01 -2.05964396e-03 5.29618291e+00] [ 6.55607513e-03 -7.58112125e-05 9.99978506e-01 -2.03672002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.997719421 meters Centerline goodness : 0.970987 Centerline is valid? [True, True] Translation: X:56.49, Y:5.30, Z:-2.04 [[ 9.46303595e-01 -3.23208395e-01 -6.77049612e-03 5.64853456e+01] [ 3.23200623e-01 9.46327813e-01 -2.24238583e-03 5.30389526e+00] [ 7.13186671e-03 -6.62507891e-05 9.99974566e-01 -2.03651848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.027719421 meters Centerline goodness : 0.971409 Centerline is valid? [True, True] Translation: X:56.51, Y:5.31, Z:-2.04 [[ 9.47287055e-01 -3.20304906e-01 -7.21124057e-03 5.65136697e+01] [ 3.20295988e-01 9.47314502e-01 -2.39060472e-03 5.30806632e+00] [ 7.59703518e-03 -4.51425168e-05 9.99971141e-01 -2.03872049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.057719421 meters Centerline goodness : 0.970755 Centerline is valid? [True, True] Translation: X:56.54, Y:5.31, Z:-2.04 [[ 9.47386915e-01 -3.20019305e-01 -6.75858441e-03 5.65397033e+01] [ 3.20011483e-01 9.47411021e-01 -2.23789844e-03 5.31369899e+00] [ 7.11932806e-03 -4.26689216e-05 9.99974656e-01 -2.04080724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.087719421 meters Centerline goodness : 0.971755 Centerline is valid? [True, True] Translation: X:56.57, Y:5.32, Z:-2.04 [[ 9.46905571e-01 -3.21462112e-01 -5.65236476e-03 5.65675334e+01] [ 3.21456627e-01 9.46922441e-01 -1.87832354e-03 5.31931898e+00] [ 5.95616088e-03 -3.83950825e-05 9.99982261e-01 -2.04118745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.117719421 meters Centerline goodness : 0.970888 Centerline is valid? [True, True] Translation: X:56.59, Y:5.33, Z:-2.04 [[ 9.46435994e-01 -3.22820029e-01 -6.79245988e-03 5.65942474e+01] [ 3.22812136e-01 9.46460367e-01 -2.25817396e-03 5.32701491e+00] [ 7.15777786e-03 -5.54713621e-05 9.99974381e-01 -2.04096331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14771942099999 meters Centerline goodness : 0.970002 Centerline is valid? [True, True] Translation: X:56.62, Y:5.33, Z:-2.04 [[ 9.46118441e-01 -3.23694384e-01 -9.04667572e-03 5.66210921e+01] [ 3.23680470e-01 9.46161687e-01 -3.00249274e-03 5.33227635e+00] [ 9.53150800e-03 -8.75185019e-05 9.99954570e-01 -2.04214641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17771942099999 meters Centerline goodness : 0.970015 Centerline is valid? [True, True] Translation: X:56.65, Y:5.34, Z:-2.04 [[ 9.45681778e-01 -3.24938199e-01 -1.00569204e-02 5.66476972e+01] [ 3.24920995e-01 9.45735246e-01 -3.34533095e-03 5.33936163e+00] [ 1.05982099e-02 -1.04086065e-04 9.99943832e-01 -2.04341105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.207719421 meters Centerline goodness : 0.969952 Centerline is valid? [True, True] Translation: X:56.68, Y:5.34, Z:-2.04 [[ 9.45262392e-01 -3.26164188e-01 -9.79454316e-03 5.66753975e+01] [ 3.26147960e-01 9.45313127e-01 -3.25564720e-03 5.34298157e+00] [ 1.03207858e-02 -1.17029420e-04 9.99946732e-01 -2.04449296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.237719421 meters Centerline goodness : 0.971450 Centerline is valid? [True, True] Translation: X:56.70, Y:5.35, Z:-2.04 [[ 9.44780781e-01 -3.27588278e-01 -8.67154022e-03 5.67027033e+01] [ 3.27575550e-01 9.44820569e-01 -2.88989679e-03 5.34956710e+00] [ 9.13974588e-03 -1.10265613e-04 9.99958226e-01 -2.04483473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.267719421 meters Centerline goodness : 0.971064 Centerline is valid? [True, True] Translation: X:56.73, Y:5.35, Z:-2.04 [[ 9.44295096e-01 -3.28978257e-01 -8.94859678e-03 5.67291026e+01] [ 3.28964767e-01 9.44337487e-01 -2.98190729e-03 5.35411191e+00] [ 9.43147806e-03 -1.27972622e-04 9.99955514e-01 -2.04465909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.297719421 meters Centerline goodness : 0.972376 Centerline is valid? [True, True] Translation: X:56.76, Y:5.36, Z:-2.04 [[ 9.44001190e-01 -3.29810902e-01 -9.30176564e-03 5.67555397e+01] [ 3.29796309e-01 9.44047006e-01 -3.10553771e-03 5.36189327e+00] [ 9.80554420e-03 -1.36056682e-04 9.99951915e-01 -2.04427237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.327719421 meters Centerline goodness : 0.971572 Centerline is valid? [True, True] Translation: X:56.78, Y:5.37, Z:-2.05 [[ 9.44053515e-01 -3.29663923e-01 -9.20102066e-03 5.67812271e+01] [ 3.29649662e-01 9.44098342e-01 -3.06924311e-03 5.36959107e+00] [ 9.69848708e-03 -1.35583606e-04 9.99952959e-01 -2.04554615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.357719421 meters Centerline goodness : 0.972065 Centerline is valid? [True, True] Translation: X:56.81, Y:5.38, Z:-2.05 [[ 9.44254853e-01 -3.29075359e-01 -9.60107561e-03 5.68080361e+01] [ 3.29059720e-01 9.44303655e-01 -3.21069155e-03 5.37856572e+00] [ 1.01228903e-02 -1.27616180e-04 9.99948754e-01 -2.04596125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.387719421 meters Centerline goodness : 0.973393 Centerline is valid? [True, True] Translation: X:56.83, Y:5.39, Z:-2.05 [[ 9.45586747e-01 -3.25254294e-01 -8.68031937e-03 5.68339641e+01] [ 3.25241370e-01 9.45626585e-01 -2.90061438e-03 5.38646219e+00] [ 9.15177804e-03 -8.04164507e-05 9.99958118e-01 -2.04627856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.417719421 meters Centerline goodness : 0.972520 Centerline is valid? [True, True] Translation: X:56.86, Y:5.39, Z:-2.05 [[ 9.46422775e-01 -3.22838062e-01 -7.71472926e-03 5.68608006e+01] [ 3.22827711e-01 9.46454216e-01 -2.58554362e-03 5.39477308e+00] [ 8.13634993e-03 -4.35110255e-05 9.99966898e-01 -2.04653535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.447719421 meters Centerline goodness : 0.972055 Centerline is valid? [True, True] Translation: X:56.89, Y:5.40, Z:-2.05 [[ 9.48202439e-01 -3.17542206e-01 -8.89280234e-03 5.68869616e+01] [ 3.17528198e-01 9.48244139e-01 -2.98264657e-03 5.40348719e+00] [ 9.37966387e-03 4.43725264e-06 9.99956010e-01 -2.04649636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.477719421 meters Centerline goodness : 0.972663 Centerline is valid? [True, True] Translation: X:56.91, Y:5.41, Z:-2.05 [[ 9.50220531e-01 -3.11471120e-01 -8.16598557e-03 5.69136324e+01] [ 3.11459051e-01 9.50255617e-01 -2.74263519e-03 5.41293655e+00] [ 8.61402531e-03 6.27381481e-05 9.99962897e-01 -2.04822052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50771942099999 meters Centerline goodness : 0.972782 Centerline is valid? [True, True] Translation: X:56.94, Y:5.42, Z:-2.05 [[ 9.51070911e-01 -3.08894725e-01 -6.94048340e-03 5.69406488e+01] [ 3.08885910e-01 9.51096232e-01 -2.33489234e-03 5.42175683e+00] [ 7.32230354e-03 7.68306589e-05 9.99973189e-01 -2.04792635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53771942099999 meters Centerline goodness : 0.976780 Centerline is valid? [True, True] Translation: X:56.97, Y:5.43, Z:-2.05 [[ 9.52948688e-01 -3.03107919e-01 -3.79312411e-03 5.69664633e+01] [ 3.03105232e-01 9.52956235e-01 -1.27805829e-03 5.42865865e+00] [ 4.00207086e-03 6.82082097e-05 9.99991989e-01 -2.04815798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56771942099999 meters Centerline goodness : 0.975633 Centerline is valid? [True, True] Translation: X:56.99, Y:5.44, Z:-2.05 [[ 9.53646906e-01 -3.00908401e-01 -3.42240803e-03 5.69933880e+01] [ 3.00906185e-01 9.53653044e-01 -1.15715815e-03 5.43642191e+00] [ 3.61198844e-03 7.36965507e-05 9.99993474e-01 -2.04842782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.597719421 meters Centerline goodness : 0.975724 Centerline is valid? [True, True] Translation: X:57.02, Y:5.44, Z:-2.05 [[ 9.54133418e-01 -2.99355738e-01 -3.94500179e-03 5.70209461e+01] [ 2.99352777e-01 9.54141569e-01 -1.33458184e-03 5.44323972e+00] [ 4.16360493e-03 9.24218866e-05 9.99991328e-01 -2.04917029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.627719421 meters Centerline goodness : 0.975373 Centerline is valid? [True, True] Translation: X:57.05, Y:5.45, Z:-2.05 [[ 9.55263480e-01 -2.95711113e-01 -5.15959470e-03 5.70488011e+01] [ 2.95706028e-01 9.55277404e-01 -1.73957653e-03 5.44504793e+00] [ 5.44325634e-03 1.36030682e-04 9.99985176e-01 -2.05061728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.657719421 meters Centerline goodness : 0.974594 Centerline is valid? [True, True] Translation: X:57.08, Y:5.45, Z:-2.05 [[ 9.55825313e-01 -2.93874138e-01 -5.99683046e-03 5.70754568e+01] [ 2.93867230e-01 9.55844110e-01 -2.02212223e-03 5.45077097e+00] [ 6.32628450e-03 1.70523653e-04 9.99979974e-01 -2.05131091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.687719421 meters Centerline goodness : 0.975174 Centerline is valid? [True, True] Translation: X:57.10, Y:5.46, Z:-2.05 [[ 9.56338156e-01 -2.92165253e-01 -7.53637712e-03 5.71027885e+01] [ 2.92154236e-01 9.56367821e-01 -2.54807855e-03 5.45862167e+00] [ 7.95200858e-03 2.35040246e-04 9.99968355e-01 -2.05029265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.717719421 meters Centerline goodness : 0.976022 Centerline is valid? [True, True] Translation: X:57.13, Y:5.46, Z:-2.05 [[ 9.57850393e-01 -2.87171287e-01 -7.43489454e-03 5.71287889e+01] [ 2.87160438e-01 9.57879209e-01 -2.51069567e-03 5.46473722e+00] [ 7.84273060e-03 2.69863263e-04 9.99969209e-01 -2.04970623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.747719421 meters Centerline goodness : 0.974043 Centerline is valid? [True, True] Translation: X:57.16, Y:5.47, Z:-2.05 [[ 9.59141267e-01 -2.82851807e-01 -6.54865827e-03 5.71585845e+01] [ 2.82843241e-01 9.59163583e-01 -2.21854114e-03 5.46500513e+00] [ 6.90875290e-03 2.75650630e-04 9.99976096e-01 -2.05187402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.777719421 meters Centerline goodness : 0.973629 Centerline is valid? [True, True] Translation: X:57.19, Y:5.47, Z:-2.05 [[ 9.59408468e-01 -2.81928132e-01 -7.20557675e-03 5.71867976e+01] [ 2.81917719e-01 9.59435475e-01 -2.44313529e-03 5.46829404e+00] [ 7.60207452e-03 3.12584925e-04 9.99971055e-01 -2.05188313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.807719421 meters Centerline goodness : 0.972408 Centerline is valid? [True, True] Translation: X:57.21, Y:5.47, Z:-2.05 [[ 9.59588703e-01 -2.81278185e-01 -8.49144372e-03 5.72141878e+01] [ 2.81263713e-01 9.59626200e-01 -2.87756008e-03 5.47108732e+00] [ 8.95800674e-03 3.72939162e-04 9.99959807e-01 -2.05240813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.837719421 meters Centerline goodness : 0.973222 Centerline is valid? [True, True] Translation: X:57.24, Y:5.48, Z:-2.05 [[ 9.59606487e-01 -2.81199022e-01 -9.08291644e-03 5.72402589e+01] [ 2.81182406e-01 9.59649387e-01 -3.08363813e-03 5.47982214e+00] [ 9.58353122e-03 4.05122857e-04 9.99953995e-01 -2.05279713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.867719421 meters Centerline goodness : 0.970250 Centerline is valid? [True, True] Translation: X:57.27, Y:5.48, Z:-2.05 [[ 9.60368767e-01 -2.78534758e-01 -1.04985669e-02 5.72674451e+01] [ 2.78512441e-01 9.60426022e-01 -3.56045861e-03 5.48480833e+00] [ 1.10748083e-02 4.95371753e-04 9.99938550e-01 -2.05276808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89771942099999 meters Centerline goodness : 0.969907 Centerline is valid? [True, True] Translation: X:57.30, Y:5.49, Z:-2.05 [[ 9.60569587e-01 -2.77783779e-01 -1.19264239e-02 5.72950410e+01] [ 2.77754815e-01 9.60643448e-01 -4.05312088e-03 5.48981055e+00] [ 1.25829322e-02 5.80682975e-04 9.99920663e-01 -2.05404202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92771942099999 meters Centerline goodness : 0.968297 Centerline is valid? [True, True] Translation: X:57.32, Y:5.49, Z:-2.05 [[ 9.60557856e-01 -2.77657873e-01 -1.53202588e-02 5.73240496e+01] [ 2.77610125e-01 9.60679734e-01 -5.20253558e-03 5.48782305e+00] [ 1.61623871e-02 7.44277474e-04 9.99869103e-01 -2.05354470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.957719421 meters Centerline goodness : 0.968500 Centerline is valid? [True, True] Translation: X:57.35, Y:5.49, Z:-2.05 [[ 9.59952292e-01 -2.79733241e-01 -1.55213344e-02 5.73509134e+01] [ 2.79684463e-01 9.60077494e-01 -5.27323385e-03 5.49179944e+00] [ 1.63767826e-02 7.20976846e-04 9.99865632e-01 -2.05369319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.987719421 meters Centerline goodness : 0.970994 Centerline is valid? [True, True] Translation: X:57.38, Y:5.49, Z:-2.05 [[ 9.58596473e-01 -2.84385142e-01 -1.47611858e-02 5.73802375e+01] [ 2.84341421e-01 9.58709918e-01 -5.02480361e-03 5.49276635e+00] [ 1.55806747e-02 6.19542468e-04 9.99878422e-01 -2.05277077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.017719421 meters Centerline goodness : 0.972138 Centerline is valid? [True, True] Translation: X:57.41, Y:5.49, Z:-2.05 [[ 9.56209445e-01 -2.92360919e-01 -1.37327923e-02 5.74086303e+01] [ 2.92323875e-01 9.56307944e-01 -4.67632973e-03 5.49322976e+00] [ 1.44999545e-02 4.57127583e-04 9.99894766e-01 -2.05274801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.047719421 meters Centerline goodness : 0.971477 Centerline is valid? [True, True] Translation: X:57.44, Y:5.50, Z:-2.05 [[ 9.54677181e-01 -2.97318504e-01 -1.38991603e-02 5.74356599e+01] [ 2.97281076e-01 9.54778277e-01 -4.73329772e-03 5.49641195e+00] [ 1.46779133e-02 3.86813998e-04 9.99892199e-01 -2.05309173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.077719421 meters Centerline goodness : 0.971940 Centerline is valid? [True, True] Translation: X:57.46, Y:5.50, Z:-2.05 [[ 9.53012105e-01 -3.02655232e-01 -1.29513572e-02 5.74644515e+01] [ 3.02623105e-01 9.53100060e-01 -4.41944807e-03 5.49991689e+00] [ 1.36815084e-02 2.92407590e-04 9.99906361e-01 -2.05380390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.107719421 meters Centerline goodness : 0.972144 Centerline is valid? [True, True] Translation: X:57.49, Y:5.50, Z:-2.05 [[ 9.50225769e-01 -3.11338222e-01 -1.18109785e-02 5.74931855e+01] [ 3.11312192e-01 9.50299157e-01 -4.02875193e-03 5.49912457e+00] [ 1.24782674e-02 1.51322285e-04 9.99922132e-01 -2.05321951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.137719421 meters Centerline goodness : 0.972914 Centerline is valid? [True, True] Translation: X:57.52, Y:5.50, Z:-2.05 [[ 9.48989489e-01 -3.15076824e-01 -1.20641614e-02 5.75205432e+01] [ 3.15049852e-01 9.49066163e-01 -4.12412626e-03 5.50445032e+00] [ 1.27491040e-02 1.12940210e-04 9.99918720e-01 -2.05308980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.167719421 meters Centerline goodness : 0.971707 Centerline is valid? [True, True] Translation: X:57.55, Y:5.51, Z:-2.05 [[ 9.46975559e-01 -3.21007723e-01 -1.38323265e-02 5.75489416e+01] [ 3.20972941e-01 9.47076576e-01 -4.72547048e-03 5.50599392e+00] [ 1.46171850e-02 3.51025179e-05 9.99893163e-01 -2.05407335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.197719421 meters Centerline goodness : 0.969709 Centerline is valid? [True, True] Translation: X:57.58, Y:5.51, Z:-2.05 [[ 9.45040319e-01 -3.26628796e-01 -1.45748159e-02 5.75765011e+01] [ 3.26590701e-01 9.45152701e-01 -4.98863979e-03 5.51059260e+00] [ 1.54048600e-02 -4.55335990e-05 9.99881337e-01 -2.05425895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.227719421 meters Centerline goodness : 0.971639 Centerline is valid? [True, True] Translation: X:57.60, Y:5.52, Z:-2.05 [[ 9.44262135e-01 -3.28912093e-01 -1.36328774e-02 5.76033169e+01] [ 3.28878920e-01 9.44360540e-01 -4.67182358e-03 5.51869503e+00] [ 1.44109707e-02 -7.21398865e-05 9.99896154e-01 -2.05485098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25771942099999 meters Centerline goodness : 0.972684 Centerline is valid? [True, True] Translation: X:57.63, Y:5.53, Z:-2.05 [[ 9.42746793e-01 -3.33214351e-01 -1.40243033e-02 5.76300418e+01] [ 3.33179646e-01 9.42851090e-01 -4.81101716e-03 5.52663921e+00] [ 1.48259296e-02 -1.37041399e-04 9.99890080e-01 -2.05460625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28771942099999 meters Centerline goodness : 0.972135 Centerline is valid? [True, True] Translation: X:57.66, Y:5.53, Z:-2.05 [[ 9.41948397e-01 -3.35453232e-01 -1.42949697e-02 5.76573158e+01] [ 3.35417355e-01 9.42056845e-01 -4.90898763e-03 5.53473994e+00] [ 1.51134098e-02 -1.70767890e-04 9.99885771e-01 -2.05466076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31771942099999 meters Centerline goodness : 0.970948 Centerline is valid? [True, True] Translation: X:57.69, Y:5.54, Z:-2.05 [[ 9.41143086e-01 -3.37779746e-01 -1.24312285e-02 5.76852526e+01] [ 3.37752741e-01 9.41225166e-01 -4.27477413e-03 5.54110902e+00] [ 1.31445172e-02 -1.75507384e-04 9.99913592e-01 -2.05396394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.347719421 meters Centerline goodness : 0.972378 Centerline is valid? [True, True] Translation: X:57.71, Y:5.55, Z:-2.05 [[ 9.40543295e-01 -3.39486707e-01 -1.12731870e-02 5.77121414e+01] [ 3.39464556e-01 9.40610836e-01 -3.88204620e-03 5.55046667e+00] [ 1.19215850e-02 -1.75614912e-04 9.99928920e-01 -2.05467375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.377719421 meters Centerline goodness : 0.975177 Centerline is valid? [True, True] Translation: X:57.74, Y:5.56, Z:-2.06 [[ 9.39736186e-01 -3.41701491e-01 -1.16615022e-02 5.77379456e+01] [ 3.41677906e-01 9.39808517e-01 -4.02001116e-03 5.56214868e+00] [ 1.23332229e-02 -2.06727699e-04 9.99923922e-01 -2.05547669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.407719421 meters Centerline goodness : 0.974006 Centerline is valid? [True, True] Translation: X:57.76, Y:5.57, Z:-2.06 [[ 9.39396298e-01 -3.42607638e-01 -1.24339326e-02 5.77634938e+01] [ 3.42580941e-01 9.39478553e-01 -4.28348330e-03 5.57234098e+00] [ 1.31489671e-02 -2.35739963e-04 9.99913521e-01 -2.05646667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.437719421 meters Centerline goodness : 0.972673 Centerline is valid? [True, True] Translation: X:57.79, Y:5.58, Z:-2.06 [[ 9.38915038e-01 -3.43927582e-01 -1.23438439e-02 5.77895178e+01] [ 3.43901266e-01 9.38996144e-01 -4.26148417e-03 5.58148786e+00] [ 1.30564637e-02 -2.43891966e-04 9.99914731e-01 -2.05712444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.467719421 meters Centerline goodness : 0.972904 Centerline is valid? [True, True] Translation: X:57.81, Y:5.59, Z:-2.06 [[ 9.38267802e-01 -3.45711644e-01 -1.17043361e-02 5.78148774e+01] [ 3.45688147e-01 9.38340766e-01 -4.03872159e-03 5.58992463e+00] [ 1.23788888e-02 -2.56647840e-04 9.99923346e-01 -2.05821184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.497719421 meters Centerline goodness : 0.972904 Centerline is valid? [True, True] Translation: X:57.84, Y:5.60, Z:-2.06 [[ 9.38165638e-01 -3.45988866e-01 -1.17021429e-02 5.78417125e+01] [ 3.45965311e-01 9.38238584e-01 -4.04507831e-03 5.59946908e+00] [ 1.23789540e-02 -2.53582035e-04 9.99923346e-01 -2.05880657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.527719421 meters Centerline goodness : 0.972211 Centerline is valid? [True, True] Translation: X:57.87, Y:5.61, Z:-2.06 [[ 9.37793016e-01 -3.46969439e-01 -1.25087262e-02 5.78673777e+01] [ 3.46942544e-01 9.37876394e-01 -4.32912995e-03 5.60996177e+00] [ 1.32337148e-02 -2.79981442e-04 9.99912391e-01 -2.05893270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.557719421 meters Centerline goodness : 0.971758 Centerline is valid? [True, True] Translation: X:57.89, Y:5.62, Z:-2.06 [[ 9.37601984e-01 -3.47442793e-01 -1.36390815e-02 5.78925061e+01] [ 3.47410861e-01 9.37701129e-01 -4.72078110e-03 5.61990500e+00] [ 1.44295835e-02 -3.12151311e-04 9.99895839e-01 -2.05808300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.587719421 meters Centerline goodness : 0.972811 Centerline is valid? [True, True] Translation: X:57.92, Y:5.63, Z:-2.06 [[ 9.37350721e-01 -3.48099738e-01 -1.41491615e-02 5.79189601e+01] [ 3.48065334e-01 9.37457447e-01 -4.90486064e-03 5.63013919e+00] [ 1.49716175e-02 -3.27257965e-04 9.99887865e-01 -2.05836656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.617719421 meters Centerline goodness : 0.975526 Centerline is valid? [True, True] Translation: X:57.94, Y:5.64, Z:-2.06 [[ 9.37358752e-01 -3.48150929e-01 -1.22270331e-02 5.79445832e+01] [ 3.48125171e-01 9.37438453e-01 -4.24407556e-03 5.64266165e+00] [ 1.29396698e-02 -2.78316610e-04 9.99916240e-01 -2.05951849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64771942099999 meters Centerline goodness : 0.974183 Centerline is valid? [True, True] Translation: X:57.97, Y:5.66, Z:-2.06 [[ 9.37656434e-01 -3.47351257e-01 -1.21456371e-02 5.79698004e+01] [ 3.47325712e-01 9.37735056e-01 -4.22058605e-03 5.65618737e+00] [ 1.28554156e-02 -2.61032396e-04 9.99917332e-01 -2.06010605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67771942099999 meters Centerline goodness : 0.971747 Centerline is valid? [True, True] Translation: X:58.00, Y:5.67, Z:-2.06 [[ 9.38738064e-01 -3.44285735e-01 -1.54330842e-02 5.79951277e+01] [ 3.44244010e-01 9.38864877e-01 -5.36691892e-03 5.66840064e+00] [ 1.63373343e-02 -2.74615719e-04 9.99866499e-01 -2.06151859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.707719421 meters Centerline goodness : 0.970127 Centerline is valid? [True, True] Translation: X:58.02, Y:5.68, Z:-2.06 [[ 9.39565591e-01 -3.42050775e-01 -1.47569303e-02 5.80196158e+01] [ 3.42012374e-01 9.39681444e-01 -5.13027636e-03 5.67873296e+00] [ 1.56216286e-02 -2.26821630e-04 9.99877949e-01 -2.06327425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.737719421 meters Centerline goodness : 0.971538 Centerline is valid? [True, True] Translation: X:58.05, Y:5.69, Z:-2.06 [[ 9.40633413e-01 -3.39133688e-01 -1.40400885e-02 5.80450605e+01] [ 3.39098460e-01 9.40738176e-01 -4.89064750e-03 5.69021358e+00] [ 1.48666306e-02 -1.60665951e-04 9.99889473e-01 -2.06380404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.767719421 meters Centerline goodness : 0.972246 Centerline is valid? [True, True] Translation: X:58.07, Y:5.71, Z:-2.06 [[ 9.44170415e-01 -3.29253444e-01 -1.15929479e-02 5.80695789e+01] [ 3.29228609e-01 9.44241585e-01 -4.04388850e-03 5.70602258e+00] [ 1.22780077e-02 1.38978387e-06 9.99924622e-01 -2.06263568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.797719421 meters Centerline goodness : 0.974884 Centerline is valid? [True, True] Translation: X:58.09, Y:5.72, Z:-2.06 [[ 9.46277003e-01 -3.23164172e-01 -1.11692434e-02 5.80936980e+01] [ 3.23140720e-01 9.46342915e-01 -3.89398050e-03 5.71891782e+00] [ 1.18283293e-02 7.55468440e-05 9.99930040e-01 -2.06254591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.827719421 meters Centerline goodness : 0.974726 Centerline is valid? [True, True] Translation: X:58.12, Y:5.73, Z:-2.06 [[ 9.50060891e-01 -3.11830012e-01 -1.20974195e-02 5.81180018e+01] [ 3.11801462e-01 9.50137877e-01 -4.22656858e-03 5.73362215e+00] [ 1.28121874e-02 2.43504410e-04 9.99917891e-01 -2.06278479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.857719421 meters Centerline goodness : 0.970968 Centerline is valid? [True, True] Translation: X:58.14, Y:5.74, Z:-2.07 [[ 9.52647096e-01 -3.03795706e-01 -1.31026565e-02 5.81432107e+01] [ 3.03761491e-01 9.52737123e-01 -4.57499493e-03 5.74204044e+00] [ 1.38732511e-02 3.78273156e-04 9.99903690e-01 -2.06621081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.887719421 meters Centerline goodness : 0.970807 Centerline is valid? [True, True] Translation: X:58.17, Y:5.75, Z:-2.07 [[ 9.53206197e-01 -3.01989680e-01 -1.41484671e-02 5.81701452e+01] [ 3.01949441e-01 9.53311090e-01 -4.94984610e-03 5.74933138e+00] [ 1.49826930e-02 4.46102255e-04 9.99887654e-01 -2.06640711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.917719421 meters Centerline goodness : 0.973688 Centerline is valid? [True, True] Translation: X:58.20, Y:5.76, Z:-2.07 [[ 9.53746436e-01 -3.00452510e-01 -9.79918550e-03 5.81971302e+01] [ 3.00433063e-01 9.53796718e-01 -3.43449298e-03 5.75775208e+00] [ 1.03783330e-02 3.31636131e-04 9.99946089e-01 -2.06696925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.947719421 meters Centerline goodness : 0.977264 Centerline is valid? [True, True] Translation: X:58.22, Y:5.77, Z:-2.07 [[ 9.53806875e-01 -3.00311790e-01 -8.07925287e-03 5.82217385e+01] [ 3.00298557e-01 9.53841052e-01 -2.83266484e-03 5.76761706e+00] [ 8.55700571e-03 2.75627218e-04 9.99963350e-01 -2.06723408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.977719421 meters Centerline goodness : 0.977791 Centerline is valid? [True, True] Translation: X:58.25, Y:5.78, Z:-2.07 [[ 9.53981681e-01 -2.99781639e-01 -7.06544517e-03 5.82477676e+01] [ 2.99771459e-01 9.54007812e-01 -2.48327686e-03 5.77741747e+00] [ 7.48493070e-03 2.50981826e-04 9.99971956e-01 -2.06753020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00771942099999 meters Centerline goodness : 0.976430 Centerline is valid? [True, True] Translation: X:58.27, Y:5.78, Z:-2.07 [[ 9.54715851e-01 -2.97419893e-01 -7.68453230e-03 5.82749059e+01] [ 2.97407805e-01 9.54746733e-01 -2.69703357e-03 5.78213693e+00] [ 8.13893354e-03 2.89460817e-04 9.99966836e-01 -2.06782826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03771942099999 meters Centerline goodness : 0.972183 Centerline is valid? [True, True] Translation: X:58.30, Y:5.78, Z:-2.07 [[ 9.55302513e-01 -2.95435520e-01 -1.07220525e-02 5.83030690e+01] [ 2.95411857e-01 9.55362586e-01 -3.76355529e-03 5.78447764e+00] [ 1.13553358e-02 4.27912381e-04 9.99935435e-01 -2.06959825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06771942099999 meters Centerline goodness : 0.972767 Centerline is valid? [True, True] Translation: X:58.33, Y:5.79, Z:-2.07 [[ 9.55576910e-01 -2.94482092e-01 -1.23719911e-02 5.83303858e+01] [ 2.94450394e-01 9.55656859e-01 -4.35123862e-03 5.79089812e+00] [ 1.31047400e-02 5.15005506e-04 9.99913997e-01 -2.07032978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.097719421 meters Centerline goodness : 0.970257 Centerline is valid? [True, True] Translation: X:58.36, Y:5.80, Z:-2.07 [[ 9.56198653e-01 -2.92349025e-01 -1.47031615e-02 5.83575088e+01] [ 2.92304054e-01 9.56311473e-01 -5.16782815e-03 5.79609687e+00] [ 1.55716115e-02 6.43676607e-04 9.99878548e-01 -2.07162883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.127719421 meters Centerline goodness : 0.973962 Centerline is valid? [True, True] Translation: X:58.38, Y:5.81, Z:-2.07 [[ 9.56401632e-01 -2.91696054e-01 -1.44682846e-02 5.83844608e+01] [ 2.91652285e-01 9.56510839e-01 -5.09501222e-03 5.80523861e+00] [ 1.53252660e-02 6.53169743e-04 9.99882348e-01 -2.07214343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.157719421 meters Centerline goodness : 0.972390 Centerline is valid? [True, True] Translation: X:58.41, Y:5.81, Z:-2.07 [[ 9.56537373e-01 -2.91300228e-01 -1.34324326e-02 5.84107576e+01] [ 2.91262374e-01 9.56631483e-01 -4.73656489e-03 5.81329723e+00] [ 1.42296504e-02 6.18339125e-04 9.99898562e-01 -2.07284154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.187719421 meters Centerline goodness : 0.974720 Centerline is valid? [True, True] Translation: X:58.44, Y:5.82, Z:-2.07 [[ 9.56499417e-01 -2.91454588e-01 -1.27705756e-02 5.84395147e+01] [ 2.91420312e-01 9.56584483e-01 -4.50865358e-03 5.81566617e+00] [ 1.35302023e-02 5.90919391e-04 9.99908288e-01 -2.07286430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.217719421 meters Centerline goodness : 0.972610 Centerline is valid? [True, True] Translation: X:58.47, Y:5.81, Z:-2.07 [[ 9.55541503e-01 -2.94607912e-01 -1.21084537e-02 5.84693556e+01] [ 2.94577336e-01 9.55618077e-01 -4.27603266e-03 5.81298666e+00] [ 1.28308103e-02 5.19050650e-04 9.99917547e-01 -2.07401891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.247719421 meters Centerline goodness : 0.975013 Centerline is valid? [True, True] Translation: X:58.50, Y:5.82, Z:-2.08 [[ 9.54730924e-01 -2.97262722e-01 -1.11237122e-02 5.84973396e+01] [ 2.97237014e-01 9.54795617e-01 -3.93529612e-03 5.81903613e+00] [ 1.17906885e-02 4.50769899e-04 9.99930386e-01 -2.07508543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.277719421 meters Centerline goodness : 0.976713 Centerline is valid? [True, True] Translation: X:58.52, Y:5.83, Z:-2.08 [[ 9.52998810e-01 -3.02777991e-01 -1.08975376e-02 5.85234024e+01] [ 3.02753705e-01 9.53061042e-01 -3.85295853e-03 5.82592513e+00] [ 1.15526096e-02 3.72595018e-04 9.99933197e-01 -2.07590670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.307719421 meters Centerline goodness : 0.974952 Centerline is valid? [True, True] Translation: X:58.55, Y:5.83, Z:-2.08 [[ 9.52137894e-01 -3.05431101e-01 -1.20529680e-02 5.85492014e+01] [ 3.05401582e-01 9.52214104e-01 -4.26305746e-03 5.83401996e+00] [ 1.27790764e-02 3.78023061e-04 9.99918273e-01 -2.07691410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.337719421 meters Centerline goodness : 0.972760 Centerline is valid? [True, True] Translation: X:58.58, Y:5.84, Z:-2.08 [[ 9.50001772e-01 -3.12014925e-01 -1.19715964e-02 5.85782540e+01] [ 3.11986205e-01 9.50077154e-01 -4.24371882e-03 5.83596156e+00] [ 1.26980439e-02 2.96567469e-04 9.99919333e-01 -2.07829718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.367719421 meters Centerline goodness : 0.973993 Centerline is valid? [True, True] Translation: X:58.61, Y:5.84, Z:-2.08 [[ 9.48771339e-01 -3.15774933e-01 -1.09150011e-02 5.86050210e+01] [ 3.15751330e-01 9.48834096e-01 -3.86729538e-03 5.83982422e+00] [ 1.15777202e-02 2.22752890e-04 9.99932951e-01 -2.07951253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39771942099999 meters Centerline goodness : 0.971733 Centerline is valid? [True, True] Translation: X:58.63, Y:5.84, Z:-2.08 [[ 9.45943827e-01 -3.24114657e-01 -1.18306626e-02 5.86337025e+01] [ 3.24087466e-01 9.46017796e-01 -4.20057412e-03 5.84333683e+00] [ 1.25534850e-02 1.39337685e-04 9.99921192e-01 -2.07882773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42771942099999 meters Centerline goodness : 0.972606 Centerline is valid? [True, True] Translation: X:58.66, Y:5.85, Z:-2.08 [[ 9.44844510e-01 -3.27299268e-01 -1.20017295e-02 5.86607189e+01] [ 3.27271483e-01 9.44920726e-01 -4.26589301e-03 5.85162434e+00] [ 1.27369066e-02 1.02781763e-04 9.99918877e-01 -2.07913779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.457719421 meters Centerline goodness : 0.974430 Centerline is valid? [True, True] Translation: X:58.69, Y:5.86, Z:-2.08 [[ 9.44540892e-01 -3.28194464e-01 -1.14410017e-02 5.86878825e+01] [ 3.28169218e-01 9.44610177e-01 -4.07171084e-03 5.85929691e+00] [ 1.21435996e-02 9.13128191e-05 9.99926260e-01 -2.07905152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.487719421 meters Centerline goodness : 0.974832 Centerline is valid? [True, True] Translation: X:58.71, Y:5.87, Z:-2.08 [[ 9.44986217e-01 -3.26973263e-01 -9.46225423e-03 5.87134533e+01] [ 3.26955920e-01 9.45033585e-01 -3.36888674e-03 5.86929753e+00] [ 1.00436839e-02 8.98115039e-05 9.99949557e-01 -2.07996934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.517719421 meters Centerline goodness : 0.974670 Centerline is valid? [True, True] Translation: X:58.74, Y:5.88, Z:-2.08 [[ 9.46580373e-01 -3.22369409e-01 -7.97253794e-03 5.87397400e+01] [ 3.22356880e-01 9.46613939e-01 -2.84483294e-03 5.87795687e+00] [ 8.46400265e-03 1.22860565e-04 9.99964172e-01 -2.08082668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.547719421 meters Centerline goodness : 0.972677 Centerline is valid? [True, True] Translation: X:58.77, Y:5.89, Z:-2.08 [[ 9.47403927e-01 -3.19905287e-01 -9.29549541e-03 5.87652736e+01] [ 3.19888149e-01 9.47449513e-01 -3.31558637e-03 5.88518752e+00] [ 9.86768620e-03 1.67680726e-04 9.99951299e-01 -2.08227284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.577719421 meters Centerline goodness : 0.973723 Centerline is valid? [True, True] Translation: X:58.79, Y:5.89, Z:-2.08 [[ 9.49480777e-01 -3.13603001e-01 -1.18072862e-02 5.87917587e+01] [ 3.13574792e-01 9.49554141e-01 -4.21700612e-03 5.89329423e+00] [ 1.25341233e-02 3.01498927e-04 9.99921399e-01 -2.08491150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.607719421 meters Centerline goodness : 0.975088 Centerline is valid? [True, True] Translation: X:58.82, Y:5.91, Z:-2.09 [[ 9.50555517e-01 -3.10321448e-01 -1.20336349e-02 5.88169423e+01] [ 3.10291829e-01 9.50631618e-01 -4.30216855e-03 5.90526911e+00] [ 1.27746089e-02 3.55511483e-04 9.99918338e-01 -2.08610386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.637719421 meters Centerline goodness : 0.973374 Centerline is valid? [True, True] Translation: X:58.84, Y:5.92, Z:-2.09 [[ 9.52483800e-01 -3.04348995e-01 -1.20954398e-02 5.88420918e+01] [ 3.04318531e-01 9.52560493e-01 -4.32872511e-03 5.91833189e+00] [ 1.28390813e-02 4.42174052e-04 9.99917478e-01 -2.08644772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.667719421 meters Centerline goodness : 0.972048 Centerline is valid? [True, True] Translation: X:58.87, Y:5.93, Z:-2.09 [[ 9.53489094e-01 -3.01153701e-01 -1.28450565e-02 5.88698400e+01] [ 3.01118996e-01 9.53575471e-01 -4.60122908e-03 5.92535254e+00] [ 1.36344080e-02 5.19331226e-04 9.99906912e-01 -2.08690265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.697719421 meters Centerline goodness : 0.971883 Centerline is valid? [True, True] Translation: X:58.90, Y:5.93, Z:-2.09 [[ 9.55039390e-01 -2.96180053e-01 -1.33093794e-02 5.88979165e+01] [ 2.96142244e-01 9.55131926e-01 -4.77235176e-03 5.92898420e+00] [ 1.41256885e-02 6.16314444e-04 9.99900038e-01 -2.08755761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.727719421 meters Centerline goodness : 0.971741 Centerline is valid? [True, True] Translation: X:58.92, Y:5.94, Z:-2.09 [[ 9.55580257e-01 -2.94433591e-01 -1.32375177e-02 5.89243065e+01] [ 2.94395953e-01 9.55671725e-01 -4.75148487e-03 5.93686801e+00] [ 1.40497181e-02 6.43353502e-04 9.99901091e-01 -2.08804648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75771942099999 meters Centerline goodness : 0.973559 Centerline is valid? [True, True] Translation: X:58.95, Y:5.95, Z:-2.09 [[ 9.56107453e-01 -2.92694303e-01 -1.37325728e-02 5.89509976e+01] [ 2.92653548e-01 9.56205813e-01 -4.93397439e-03 5.94622674e+00] [ 1.45753121e-02 6.98523553e-04 9.99893531e-01 -2.08803938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78771942099999 meters Centerline goodness : 0.974358 Centerline is valid? [True, True] Translation: X:58.98, Y:5.96, Z:-2.09 [[ 9.56800724e-01 -2.90499112e-01 -1.19432615e-02 5.89761827e+01] [ 2.90468131e-01 9.56875051e-01 -4.28982684e-03 5.95685624e+00] [ 1.26743999e-02 6.35372566e-04 9.99919475e-01 -2.08976003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81771942099999 meters Centerline goodness : 0.972720 Centerline is valid? [True, True] Translation: X:59.00, Y:5.96, Z:-2.09 [[ 9.56641915e-01 -2.91129234e-01 -8.94518171e-03 5.90043889e+01] [ 2.91111807e-01 9.56683616e-01 -3.22092249e-03 5.96145477e+00] [ 9.49541348e-03 4.77221442e-04 9.99954804e-01 -2.09159775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.847719421 meters Centerline goodness : 0.972475 Centerline is valid? [True, True] Translation: X:59.03, Y:5.97, Z:-2.09 [[ 9.56158628e-01 -2.92656763e-01 -1.06159268e-02 5.90318614e+01] [ 2.92632277e-01 9.56217400e-01 -3.82561714e-03 5.96660330e+00] [ 1.12707266e-02 5.51334017e-04 9.99936331e-01 -2.09172175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.877719421 meters Centerline goodness : 0.971888 Centerline is valid? [True, True] Translation: X:59.06, Y:5.97, Z:-2.09 [[ 9.54672679e-01 -2.97401465e-01 -1.23468051e-02 5.90602756e+01] [ 2.97368783e-01 9.54752345e-01 -4.44595846e-03 5.96751049e+00] [ 1.31103757e-02 5.72880655e-04 9.99913891e-01 -2.09264031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.907719421 meters Centerline goodness : 0.972262 Centerline is valid? [True, True] Translation: X:59.09, Y:5.97, Z:-2.09 [[ 9.53670344e-01 -3.00665431e-01 -1.06382760e-02 5.90874761e+01] [ 3.00641281e-01 9.53729566e-01 -3.83870137e-03 5.97453483e+00] [ 1.13002031e-02 4.62550746e-04 9.99936044e-01 -2.09378405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.937719421 meters Centerline goodness : 0.974264 Centerline is valid? [True, True] Translation: X:59.11, Y:5.98, Z:-2.09 [[ 9.51990698e-01 -3.05972746e-01 -9.71542753e-03 5.91146862e+01] [ 3.05952839e-01 9.52040200e-01 -3.50966636e-03 5.98055207e+00] [ 1.03233398e-02 3.68707096e-04 9.99946645e-01 -2.09408024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.967719421 meters Centerline goodness : 0.972165 Centerline is valid? [True, True] Translation: X:59.14, Y:5.98, Z:-2.10 [[ 9.50156560e-01 -3.11559060e-01 -1.15526769e-02 5.91421971e+01] [ 3.11531365e-01 9.50226721e-01 -4.16990889e-03 5.98392965e+00] [ 1.22768351e-02 3.63045095e-04 9.99924571e-01 -2.09504170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.997719421 meters Centerline goodness : 0.971947 Centerline is valid? [True, True] Translation: X:59.17, Y:5.99, Z:-2.10 [[ 9.49093406e-01 -3.14751228e-01 -1.23843183e-02 5.91701142e+01] [ 3.14719570e-01 9.49174136e-01 -4.47798126e-03 5.99008329e+00] [ 1.31643247e-02 3.52435159e-04 9.99913284e-01 -2.09671774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.027719421 meters Centerline goodness : 0.971358 Centerline is valid? [True, True] Translation: X:59.20, Y:6.00, Z:-2.10 [[ 9.48246225e-01 -3.17322328e-01 -1.16462831e-02 5.91973488e+01] [ 3.17294463e-01 9.48317694e-01 -4.21609223e-03 5.99663038e+00] [ 1.23822365e-02 3.02592413e-04 9.99923291e-01 -2.09750983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.057719421 meters Centerline goodness : 0.972301 Centerline is valid? [True, True] Translation: X:59.23, Y:6.00, Z:-2.10 [[ 9.46324602e-01 -3.23042750e-01 -1.06362472e-02 5.92258275e+01] [ 3.23019813e-01 9.46384349e-01 -3.85546459e-03 6.00069578e+00] [ 1.13114577e-02 2.12802422e-04 9.99936001e-01 -2.09708327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.087719421 meters Centerline goodness : 0.971602 Centerline is valid? [True, True] Translation: X:59.25, Y:6.01, Z:-2.10 [[ 9.45313171e-01 -3.25979739e-01 -1.09644193e-02 5.92522683e+01] [ 3.25955592e-01 9.45376738e-01 -3.97176255e-03 6.00690460e+00] [ 1.16602211e-02 1.80645658e-04 9.99932001e-01 -2.09795838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.117719421 meters Centerline goodness : 0.973303 Centerline is valid? [True, True] Translation: X:59.28, Y:6.01, Z:-2.10 [[ 9.43561291e-01 -3.30986814e-01 -1.18245265e-02 5.92785921e+01] [ 3.30959102e-01 9.43635370e-01 -4.28496407e-03 6.01399930e+00] [ 1.25763080e-02 1.29691578e-04 9.99920907e-01 -2.09838914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14771942099999 meters Centerline goodness : 0.974816 Centerline is valid? [True, True] Translation: X:59.31, Y:6.02, Z:-2.10 [[ 9.42573831e-01 -3.33791764e-01 -1.17316128e-02 5.93050406e+01] [ 3.33764595e-01 9.42646831e-01 -4.25983878e-03 6.02408254e+00] [ 1.24806667e-02 9.96155665e-05 9.99922108e-01 -2.09886057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17771942099999 meters Centerline goodness : 0.973892 Centerline is valid? [True, True] Translation: X:59.33, Y:6.03, Z:-2.10 [[ 9.40636316e-01 -3.39206731e-01 -1.19211382e-02 5.93315293e+01] [ 3.39179053e-01 9.40711854e-01 -4.33328888e-03 6.03183267e+00] [ 1.26842368e-02 3.26485083e-05 9.99919551e-01 -2.09882717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.207719421 meters Centerline goodness : 0.974852 Centerline is valid? [True, True] Translation: X:59.36, Y:6.04, Z:-2.10 [[ 9.38415581e-01 -3.45380096e-01 -9.42267267e-03 5.93578493e+01] [ 3.45363098e-01 9.38462886e-01 -3.42675140e-03 6.03896440e+00] [ 1.00263603e-02 -3.85265175e-05 9.99949734e-01 -2.09924095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.237719421 meters Centerline goodness : 0.976082 Centerline is valid? [True, True] Translation: X:59.38, Y:6.05, Z:-2.10 [[ 9.37229697e-01 -3.48613492e-01 -8.31436575e-03 5.93833295e+01] [ 3.48600384e-01 9.37266573e-01 -3.02376601e-03 6.04933835e+00] [ 8.84690272e-03 -6.44277970e-05 9.99960863e-01 -2.09987182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.267719421 meters Centerline goodness : 0.975976 Centerline is valid? [True, True] Translation: X:59.41, Y:6.06, Z:-2.10 [[ 9.36189644e-01 -3.51394725e-01 -8.40824133e-03 5.94093521e+01] [ 3.51381370e-01 9.36227398e-01 -3.06478318e-03 6.06092945e+00] [ 8.94897454e-03 -8.52810858e-05 9.99959953e-01 -2.09951103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.297719421 meters Centerline goodness : 0.977542 Centerline is valid? [True, True] Translation: X:59.43, Y:6.07, Z:-2.10 [[ 9.35136895e-01 -3.54243598e-01 -5.51905299e-03 5.94333457e+01] [ 3.54237898e-01 9.35153179e-01 -2.01095950e-03 6.07269828e+00] [ 5.87352948e-03 -7.45353089e-05 9.99982748e-01 -2.10065808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.327719421 meters Centerline goodness : 0.977996 Centerline is valid? [True, True] Translation: X:59.46, Y:6.08, Z:-2.10 [[ 9.34834640e-01 -3.55042648e-01 -5.37716093e-03 5.94590541e+01] [ 3.55037217e-01 9.34850102e-01 -1.96505885e-03 6.08309833e+00] [ 5.72451914e-03 -7.20871647e-05 9.99983612e-01 -2.10114536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.357719421 meters Centerline goodness : 0.975814 Centerline is valid? [True, True] Translation: X:59.48, Y:6.09, Z:-2.10 [[ 9.34972932e-01 -3.54640447e-01 -7.46795708e-03 5.94841981e+01] [ 3.54630000e-01 9.35002750e-01 -2.72398536e-03 6.09428697e+00] [ 7.94859580e-03 -1.01509040e-04 9.99968404e-01 -2.10154590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.387719421 meters Centerline goodness : 0.975814 Centerline is valid? [True, True] Translation: X:59.51, Y:6.10, Z:-2.10 [[ 9.34904107e-01 -3.54821862e-01 -7.46707641e-03 5.95109056e+01] [ 3.54811401e-01 9.34933921e-01 -2.72640105e-03 6.10425097e+00] [ 7.94860972e-03 -1.00480302e-04 9.99968404e-01 -2.10214085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.417719421 meters Centerline goodness : 0.975871 Centerline is valid? [True, True] Translation: X:59.54, Y:6.12, Z:-2.10 [[ 9.36144299e-01 -3.51469677e-01 -1.01448359e-02 5.95359267e+01] [ 3.51450112e-01 9.36199262e-01 -3.70953994e-03 6.11722398e+00] [ 1.08013787e-02 -9.27390578e-05 9.99941659e-01 -2.10365151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.447719421 meters Centerline goodness : 0.974445 Centerline is valid? [True, True] Translation: X:59.56, Y:6.13, Z:-2.10 [[ 9.36835839e-01 -3.49599277e-01 -1.09066838e-02 5.95604170e+01] [ 3.49576572e-01 9.36899322e-01 -3.98512943e-03 6.12856848e+00] [ 1.16116630e-02 -7.93090678e-05 9.99932579e-01 -2.10412745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.477719421 meters Centerline goodness : 0.974931 Centerline is valid? [True, True] Translation: X:59.58, Y:6.14, Z:-2.10 [[ 9.38654836e-01 -3.44660861e-01 -1.16614381e-02 5.95843147e+01] [ 3.44634504e-01 9.38727272e-01 -4.26243633e-03 6.14101873e+00] [ 1.24160049e-02 -1.79774395e-05 9.99922918e-01 -2.10430066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50771942099999 meters Centerline goodness : 0.975050 Centerline is valid? [True, True] Translation: X:59.61, Y:6.15, Z:-2.11 [[ 9.39989442e-01 -3.40992471e-01 -1.19992893e-02 5.96098302e+01] [ 3.40964147e-01 9.40066026e-01 -4.39516256e-03 6.15361985e+00] [ 1.27788416e-02 4.00789590e-05 9.99918346e-01 -2.10530416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53771942099999 meters Centerline goodness : 0.973565 Centerline is valid? [True, True] Translation: X:59.63, Y:6.17, Z:-2.11 [[ 9.42953946e-01 -3.32629806e-01 -1.39738153e-02 5.96331014e+01] [ 3.32590473e-01 9.43057464e-01 -5.11831732e-03 6.16824156e+00] [ 1.48806157e-02 1.78779686e-04 9.99889262e-01 -2.10643926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56771942099999 meters Centerline goodness : 0.972962 Centerline is valid? [True, True] Translation: X:59.66, Y:6.18, Z:-2.11 [[ 9.44477877e-01 -3.28290603e-01 -1.36682285e-02 5.96589440e+01] [ 3.28252402e-01 9.44576740e-01 -5.01425003e-03 6.17893534e+00] [ 1.45568219e-02 2.49219393e-04 9.99894013e-01 -2.10608113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.597719421 meters Centerline goodness : 0.975347 Centerline is valid? [True, True] Translation: X:59.68, Y:6.19, Z:-2.11 [[ 9.47210821e-01 -3.20399738e-01 -1.16476796e-02 5.96842242e+01] [ 3.20371414e-01 9.47282381e-01 -4.27174929e-03 6.18992549e+00] [ 1.24023090e-02 3.14663563e-04 9.99923039e-01 -2.10501325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.627719421 meters Centerline goodness : 0.975327 Centerline is valid? [True, True] Translation: X:59.71, Y:6.20, Z:-2.10 [[ 9.47927908e-01 -3.18306530e-01 -1.06598988e-02 5.97103884e+01] [ 3.18282577e-01 9.47987790e-01 -3.91813762e-03 6.20101686e+00] [ 1.13526227e-02 3.21251932e-04 9.99935505e-01 -2.10462811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.657719421 meters Centerline goodness : 0.977665 Centerline is valid? [True, True] Translation: X:59.74, Y:6.21, Z:-2.11 [[ 9.49111555e-01 -3.14813617e-01 -8.92429391e-03 5.97359925e+01] [ 3.14796629e-01 9.49153460e-01 -3.28500066e-03 6.21146210e+00] [ 9.50468738e-03 3.08494448e-04 9.99954782e-01 -2.10546966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.687719421 meters Centerline goodness : 0.976730 Centerline is valid? [True, True] Translation: X:59.76, Y:6.22, Z:-2.11 [[ 9.50025229e-01 -3.11992620e-01 -1.06145662e-02 5.97602796e+01] [ 3.11968456e-01 9.50084442e-01 -3.90316801e-03 6.22227927e+00] [ 1.13024938e-02 3.96698253e-04 9.99936046e-01 -2.10664994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.717719421 meters Centerline goodness : 0.976378 Centerline is valid? [True, True] Translation: X:59.79, Y:6.23, Z:-2.11 [[ 9.50524178e-01 -3.10453863e-01 -1.10537605e-02 5.97862818e+01] [ 3.10427452e-01 9.50588347e-01 -4.07333665e-03 6.23193022e+00] [ 1.17721590e-02 4.40414256e-04 9.99930609e-01 -2.10713141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.747719421 meters Centerline goodness : 0.976635 Centerline is valid? [True, True] Translation: X:59.81, Y:6.24, Z:-2.11 [[ 9.51471310e-01 -3.07606344e-01 -8.98242544e-03 5.98130631e+01] [ 3.07588764e-01 9.51513629e-01 -3.31142847e-03 6.23862486e+00] [ 9.56551664e-03 3.87836047e-04 9.99954174e-01 -2.10667601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.777719421 meters Centerline goodness : 0.975306 Centerline is valid? [True, True] Translation: X:59.84, Y:6.25, Z:-2.11 [[ 9.51618437e-01 -3.07154512e-01 -8.85749196e-03 5.98406860e+01] [ 3.07137344e-01 9.51659578e-01 -3.27117515e-03 6.24599594e+00] [ 9.43407327e-03 3.92444034e-04 9.99955421e-01 -2.10677965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.807719421 meters Centerline goodness : 0.975483 Centerline is valid? [True, True] Translation: X:59.87, Y:6.25, Z:-2.11 [[ 9.51988033e-01 -3.06010839e-01 -8.72649834e-03 5.98688283e+01] [ 3.05994095e-01 9.52027944e-01 -3.22612962e-03 6.25161960e+00] [ 9.29510090e-03 4.00979823e-04 9.99956719e-01 -2.10850083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.837719421 meters Centerline goodness : 0.975031 Centerline is valid? [True, True] Translation: X:59.90, Y:6.26, Z:-2.11 [[ 9.52101936e-01 -3.05634241e-01 -9.46647382e-03 5.98951808e+01] [ 3.05614489e-01 9.52148894e-01 -3.50264389e-03 6.26040881e+00] [ 1.00840205e-02 4.41782468e-04 9.99949057e-01 -2.10990078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.867719421 meters Centerline goodness : 0.974758 Centerline is valid? [True, True] Translation: X:59.92, Y:6.27, Z:-2.11 [[ 9.51881435e-01 -3.06290565e-01 -1.03837818e-02 5.99215703e+01] [ 3.06266802e-01 9.51937949e-01 -3.84537276e-03 6.26871910e+00] [ 1.10625174e-02 4.80131293e-04 9.99938693e-01 -2.11253267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89771942099999 meters Centerline goodness : 0.973484 Centerline is valid? [True, True] Translation: X:59.95, Y:6.28, Z:-2.11 [[ 9.51170742e-01 -3.08451918e-01 -1.14731577e-02 5.99484100e+01] [ 3.08423019e-01 9.51239800e-01 -4.25245072e-03 6.27692033e+00] [ 1.22254008e-02 5.06220763e-04 9.99925139e-01 -2.11307281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92771942099999 meters Centerline goodness : 0.970818 Centerline is valid? [True, True] Translation: X:59.98, Y:6.28, Z:-2.11 [[ 9.49630139e-01 -3.13117992e-01 -1.26381564e-02 5.99767967e+01] [ 3.13083284e-01 9.49714103e-01 -4.68824378e-03 6.27992903e+00] [ 1.34706089e-02 4.95302080e-04 9.99909145e-01 -2.11306406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.957719421 meters Centerline goodness : 0.974414 Centerline is valid? [True, True] Translation: X:60.00, Y:6.29, Z:-2.11 [[ 9.48783420e-01 -3.15707145e-01 -1.17907360e-02 6.00042032e+01] [ 3.15677068e-01 9.48856581e-01 -4.37914966e-03 6.28567348e+00] [ 1.25702462e-02 4.32799624e-04 9.99920898e-01 -2.11231184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.987719421 meters Centerline goodness : 0.974240 Centerline is valid? [True, True] Translation: X:60.03, Y:6.29, Z:-2.11 [[ 9.47135115e-01 -3.20725563e-01 -8.37780765e-03 6.00317492e+01] [ 3.20710581e-01 9.47172131e-01 -3.11083812e-03 6.28888261e+00] [ 8.93295123e-03 2.59532460e-04 9.99960067e-01 -2.11173282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.017719421 meters Centerline goodness : 0.976222 Centerline is valid? [True, True] Translation: X:60.06, Y:6.30, Z:-2.11 [[ 9.46043947e-01 -3.23921690e-01 -8.69421449e-03 6.00583435e+01] [ 3.23905621e-01 9.46083865e-01 -3.23570643e-03 6.29730168e+00] [ 9.27357154e-03 2.45015543e-04 9.99956969e-01 -2.11317837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.047719421 meters Centerline goodness : 0.972616 Centerline is valid? [True, True] Translation: X:60.09, Y:6.31, Z:-2.12 [[ 9.43313441e-01 -3.31702209e-01 -1.15497301e-02 6.00850323e+01] [ 3.31674406e-01 9.43384118e-01 -4.30055649e-03 6.30551236e+00] [ 1.23223361e-02 2.26022855e-04 9.99924052e-01 -2.11552272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.077719421 meters Centerline goodness : 0.973506 Centerline is valid? [True, True] Translation: X:60.11, Y:6.31, Z:-2.12 [[ 9.41768179e-01 -3.36055152e-01 -1.18165683e-02 6.01105633e+01] [ 3.36026422e-01 9.41842294e-01 -4.39744502e-03 6.31349958e+00] [ 1.26071279e-02 1.70694602e-04 9.99920512e-01 -2.11552666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.107719421 meters Centerline goodness : 0.973742 Centerline is valid? [True, True] Translation: X:60.14, Y:6.32, Z:-2.12 [[ 9.39307434e-01 -3.42931287e-01 -9.98385679e-03 6.01384413e+01] [ 3.42911073e-01 9.39360488e-01 -3.72412895e-03 6.32003516e+00] [ 1.06555609e-02 7.45269606e-05 9.99943225e-01 -2.11512233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.137719421 meters Centerline goodness : 0.973330 Centerline is valid? [True, True] Translation: X:60.17, Y:6.33, Z:-2.11 [[ 9.38377833e-01 -3.45486178e-01 -9.29209961e-03 6.01653237e+01] [ 3.45468750e-01 9.38423837e-01 -3.47043577e-03 6.32718129e+00] [ 9.91891537e-03 4.64499595e-05 9.99950805e-01 -2.11435312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.167719421 meters Centerline goodness : 0.975976 Centerline is valid? [True, True] Translation: X:60.19, Y:6.34, Z:-2.11 [[ 9.36480469e-01 -3.50608091e-01 -8.84857992e-03 6.01917424e+01] [ 3.50592478e-01 9.36522272e-01 -3.30880425e-03 6.33676217e+00] [ 9.44698572e-03 -3.61500502e-06 9.99955376e-01 -2.11398283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.197719421 meters Centerline goodness : 0.974648 Centerline is valid? [True, True] Translation: X:60.22, Y:6.35, Z:-2.12 [[ 9.36107338e-01 -3.51623720e-01 -7.98818609e-03 6.02156263e+01] [ 3.51611052e-01 9.36141420e-01 -2.98474999e-03 6.34863524e+00] [ 8.52758077e-03 -1.46881495e-05 9.99963639e-01 -2.11513024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.227719421 meters Centerline goodness : 0.974695 Centerline is valid? [True, True] Translation: X:60.24, Y:6.36, Z:-2.12 [[ 9.36135038e-01 -3.51589292e-01 -6.01337546e-03 6.02399611e+01] [ 3.51582064e-01 9.36154352e-01 -2.25434603e-03 6.36342684e+00] [ 6.42205153e-03 -3.82265089e-06 9.99979378e-01 -2.11683390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25771942099999 meters Centerline goodness : 0.974637 Centerline is valid? [True, True] Translation: X:60.27, Y:6.37, Z:-2.12 [[ 9.36237339e-01 -3.51309694e-01 -6.41436592e-03 6.02661749e+01] [ 3.51301450e-01 9.36259312e-01 -2.40669664e-03 6.37434317e+00] [ 6.85100568e-03 -1.36790030e-07 9.99976532e-01 -2.11740697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28771942099999 meters Centerline goodness : 0.975341 Centerline is valid? [True, True] Translation: X:60.29, Y:6.38, Z:-2.12 [[ 9.36686865e-01 -3.50069035e-01 -8.32992055e-03 6.02909379e+01] [ 3.50055129e-01 9.36723903e-01 -3.12022420e-03 6.38495116e+00] [ 8.89512956e-03 6.74160998e-06 9.99960438e-01 -2.11808130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.31771942099999 meters Centerline goodness : 0.972590 Centerline is valid? [True, True] Translation: X:60.32, Y:6.40, Z:-2.12 [[ 9.36483593e-01 -3.50556020e-01 -1.04382616e-02 6.03167113e+01] [ 3.50534128e-01 9.36541765e-01 -3.91765784e-03 6.39583770e+00] [ 1.11492264e-02 9.85537439e-06 9.99937845e-01 -2.11822688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.347719421 meters Centerline goodness : 0.971020 Centerline is valid? [True, True] Translation: X:60.34, Y:6.41, Z:-2.12 [[ 9.36370700e-01 -3.50754369e-01 -1.34642069e-02 6.03412027e+01] [ 3.50718027e-01 9.36467497e-01 -5.04899888e-03 6.40744398e+00] [ 1.43797506e-02 5.59452005e-06 9.99896606e-01 -2.11920261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.377719421 meters Centerline goodness : 0.970444 Centerline is valid? [True, True] Translation: X:60.37, Y:6.42, Z:-2.12 [[ 9.36401615e-01 -3.50631881e-01 -1.44671677e-02 6.03670471e+01] [ 3.50589754e-01 9.36513366e-01 -5.43509104e-03 6.41952104e+00] [ 1.54544121e-02 1.73872492e-05 9.99880573e-01 -2.11956152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.407719421 meters Centerline goodness : 0.972464 Centerline is valid? [True, True] Translation: X:60.39, Y:6.43, Z:-2.12 [[ 9.37636774e-01 -3.47399582e-01 -1.22805353e-02 6.03907396e+01] [ 3.47368924e-01 9.37717189e-01 -4.61561608e-03 6.43399868e+00] [ 1.31191321e-02 6.18950535e-05 9.99913939e-01 -2.11985075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.437719421 meters Centerline goodness : 0.974502 Centerline is valid? [True, True] Translation: X:60.41, Y:6.45, Z:-2.12 [[ 9.38920331e-01 -3.44011547e-01 -9.20150770e-03 6.04142317e+01] [ 3.43994163e-01 9.38965414e-01 -3.45931106e-03 6.44829737e+00] [ 9.82994044e-03 8.27525426e-05 9.99951682e-01 -2.11956960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.467719421 meters Centerline goodness : 0.975433 Centerline is valid? [True, True] Translation: X:60.44, Y:6.46, Z:-2.12 [[ 9.39717194e-01 -3.41829159e-01 -9.18811376e-03 6.04391707e+01] [ 3.41811708e-01 9.39762105e-01 -3.45566100e-03 6.45981584e+00] [ 9.81588683e-03 1.06739198e-04 9.99951817e-01 -2.12011094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.497719421 meters Centerline goodness : 0.972694 Centerline is valid? [True, True] Translation: X:60.46, Y:6.47, Z:-2.12 [[ 9.41296486e-01 -3.37426387e-01 -1.02156187e-02 6.04649508e+01] [ 3.37404466e-01 9.41351901e-01 -3.85029823e-03 6.47141940e+00] [ 1.09156843e-02 1.77476840e-04 9.99940406e-01 -2.12093433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.527719421 meters Centerline goodness : 0.971382 Centerline is valid? [True, True] Translation: X:60.49, Y:6.48, Z:-2.12 [[ 9.42350775e-01 -3.34460461e-01 -1.05459463e-02 6.04904771e+01] [ 3.34436945e-01 9.42409759e-01 -3.97192704e-03 6.48114415e+00] [ 1.12670552e-02 2.15994470e-04 9.99936501e-01 -2.12195180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.557719421 meters Centerline goodness : 0.973648 Centerline is valid? [True, True] Translation: X:60.52, Y:6.49, Z:-2.12 [[ 9.43781685e-01 -3.30448595e-01 -8.93624706e-03 6.05160670e+01] [ 3.30431449e-01 9.43823963e-01 -3.37419716e-03 6.49237534e+00] [ 9.54924282e-03 2.31688416e-04 9.99954378e-01 -2.12242132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.587719421 meters Centerline goodness : 0.973799 Centerline is valid? [True, True] Translation: X:60.54, Y:6.50, Z:-2.12 [[ 9.44405967e-01 -3.28680723e-01 -8.14568891e-03 6.05403622e+01] [ 3.28666431e-01 9.44441068e-01 -3.07335372e-03 6.50319297e+00] [ 8.70327525e-03 2.25279089e-04 9.99962100e-01 -2.12267479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.617719421 meters Centerline goodness : 0.974135 Centerline is valid? [True, True] Translation: X:60.57, Y:6.51, Z:-2.12 [[ 9.44787202e-01 -3.27605287e-01 -7.20552349e-03 6.05659479e+01] [ 3.27594019e-01 9.44814654e-01 -2.72564791e-03 6.51401457e+00] [ 7.70082084e-03 2.14670863e-04 9.99970325e-01 -2.12300057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64771942099999 meters Centerline goodness : 0.974057 Centerline is valid? [True, True] Translation: X:60.59, Y:6.52, Z:-2.12 [[ 9.45659719e-01 -3.25095487e-01 -6.37341441e-03 6.05924270e+01] [ 3.25086589e-01 9.45681172e-01 -2.41454088e-03 6.52321895e+00] [ 6.81217435e-03 2.11422497e-04 9.99976775e-01 -2.12355610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67771942099999 meters Centerline goodness : 0.973239 Centerline is valid? [True, True] Translation: X:60.62, Y:6.53, Z:-2.13 [[ 9.46448461e-01 -3.22740173e-01 -8.60762505e-03 6.06181803e+01] [ 3.22723896e-01 9.46487554e-01 -3.25541493e-03 6.53021076e+00] [ 9.19766315e-03 3.03196160e-04 9.99957655e-01 -2.12562869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.707719421 meters Centerline goodness : 0.973468 Centerline is valid? [True, True] Translation: X:60.64, Y:6.54, Z:-2.13 [[ 9.46713561e-01 -3.21899070e-01 -1.06968053e-02 6.06448583e+01] [ 3.21873794e-01 9.46773908e-01 -4.05298665e-03 6.53897372e+00] [ 1.14321088e-02 3.93996126e-04 9.99934574e-01 -2.12670089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.737719421 meters Centerline goodness : 0.971581 Centerline is valid? [True, True] Translation: X:60.67, Y:6.55, Z:-2.13 [[ 9.46759795e-01 -3.21687237e-01 -1.27754166e-02 6.06726216e+01] [ 3.21651111e-01 9.46845866e-01 -4.84453262e-03 6.54536258e+00] [ 1.36547747e-02 4.77381760e-04 9.99906655e-01 -2.12850066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.767719421 meters Centerline goodness : 0.969318 Centerline is valid? [True, True] Translation: X:60.70, Y:6.55, Z:-2.13 [[ 9.46434863e-01 -3.22647167e-01 -1.26434357e-02 6.06988546e+01] [ 3.22611898e-01 9.46519201e-01 -4.79232628e-03 6.55145194e+00] [ 1.35134851e-02 4.56701883e-04 9.99908584e-01 -2.12945546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.797719421 meters Centerline goodness : 0.972052 Centerline is valid? [True, True] Translation: X:60.73, Y:6.55, Z:-2.13 [[ 9.45184320e-01 -3.26317212e-01 -1.19866009e-02 6.07267978e+01] [ 3.26285779e-01 9.45260244e-01 -4.54551538e-03 6.55409005e+00] [ 1.28137372e-02 3.85292458e-04 9.99917826e-01 -2.12962866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.827719421 meters Centerline goodness : 0.971349 Centerline is valid? [True, True] Translation: X:60.75, Y:6.56, Z:-2.13 [[ 9.44263032e-01 -3.28983928e-01 -1.17004978e-02 6.07536168e+01] [ 3.28954072e-01 9.44335456e-01 -4.44581241e-03 6.56214987e+00] [ 1.25117957e-02 3.49089912e-04 9.99921663e-01 -2.12919387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.857719421 meters Centerline goodness : 0.971650 Centerline is valid? [True, True] Translation: X:60.78, Y:6.57, Z:-2.13 [[ 9.42354224e-01 -3.34431280e-01 -1.11461203e-02 6.07809027e+01] [ 3.34404507e-01 9.42420101e-01 -4.24017299e-03 6.57014049e+00] [ 1.19223743e-02 2.68432071e-04 9.99928890e-01 -2.13094066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.887719421 meters Centerline goodness : 0.972154 Centerline is valid? [True, True] Translation: X:60.81, Y:6.58, Z:-2.13 [[ 9.41569630e-01 -3.36686643e-01 -9.42004035e-03 6.08072706e+01] [ 3.36667581e-01 9.41616728e-01 -3.58860611e-03 6.57869632e+00] [ 1.00783033e-02 2.07500320e-04 9.99949191e-01 -2.13209566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.917719421 meters Centerline goodness : 0.970911 Centerline is valid? [True, True] Translation: X:60.84, Y:6.58, Z:-2.13 [[ 9.39754694e-01 -3.41802244e-01 -5.68683190e-03 6.08352647e+01] [ 3.41795358e-01 9.39771896e-01 -2.17195964e-03 6.58410934e+00] [ 6.08670547e-03 9.73765222e-05 9.99981471e-01 -2.13120662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.947719421 meters Centerline goodness : 0.970950 Centerline is valid? [True, True] Translation: X:60.86, Y:6.59, Z:-2.13 [[ 9.38526704e-01 -3.45172203e-01 -4.87603369e-03 6.08617298e+01] [ 3.45167199e-01 9.38539368e-01 -1.85974715e-03 6.59177134e+00] [ 5.21828260e-03 6.23754730e-05 9.99986383e-01 -2.13108824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.977719421 meters Centerline goodness : 0.971678 Centerline is valid? [True, True] Translation: X:60.89, Y:6.60, Z:-2.13 [[ 9.36048381e-01 -3.51820517e-01 -5.97939717e-03 6.08885046e+01] [ 3.51813088e-01 9.36067478e-01 -2.28661082e-03 6.60104605e+00] [ 6.40159583e-03 3.67481751e-05 9.99979509e-01 -2.13158466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00771942099999 meters Centerline goodness : 0.971852 Centerline is valid? [True, True] Translation: X:60.91, Y:6.61, Z:-2.13 [[ 9.35040600e-01 -3.54496956e-01 -5.56637855e-03 6.09145563e+01] [ 3.54490549e-01 9.35057168e-01 -2.13137988e-03 6.61128549e+00] [ 5.96044985e-03 1.96981267e-05 9.99982236e-01 -2.13318906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03771942099999 meters Centerline goodness : 0.970997 Centerline is valid? [True, True] Translation: X:60.94, Y:6.62, Z:-2.13 [[ 9.33779516e-01 -3.57765564e-01 -7.72122166e-03 6.09411627e+01] [ 3.57753377e-01 9.33811438e-01 -2.95301621e-03 6.61826060e+00] [ 8.26665261e-03 -4.82707351e-06 9.99965831e-01 -2.13256183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06771942099999 meters Centerline goodness : 0.971376 Centerline is valid? [True, True] Translation: X:60.97, Y:6.63, Z:-2.13 [[ 9.33478884e-01 -3.58544846e-01 -7.92251670e-03 6.09677372e+01] [ 3.58531997e-01 9.33512503e-01 -3.03532702e-03 6.62702842e+00] [ 8.48406925e-03 -7.06205743e-06 9.99964010e-01 -2.13234943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.097719421 meters Centerline goodness : 0.972716 Centerline is valid? [True, True] Translation: X:60.99, Y:6.64, Z:-2.13 [[ 9.33937948e-01 -3.57381479e-01 -6.19574243e-03 6.09930672e+01] [ 3.57373606e-01 9.33958499e-01 -2.37215261e-03 6.63703862e+00] [ 6.63432971e-03 1.24853174e-06 9.99977993e-01 -2.13231927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.127719421 meters Centerline goodness : 0.971963 Centerline is valid? [True, True] Translation: X:61.02, Y:6.65, Z:-2.13 [[ 9.36251389e-01 -3.51291803e-01 -5.23504751e-03 6.10185592e+01] [ 3.51286080e-01 9.36266024e-01 -2.00565156e-03 6.64728187e+00] [ 5.60596607e-03 3.87947391e-05 9.99984286e-01 -2.13264262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.157719421 meters Centerline goodness : 0.973411 Centerline is valid? [True, True] Translation: X:61.04, Y:6.66, Z:-2.13 [[ 9.37323366e-01 -3.48422122e-01 -5.18961230e-03 6.10449120e+01] [ 3.48416420e-01 9.37337730e-01 -1.99430941e-03 6.65748599e+00] [ 5.55928093e-03 6.11666666e-05 9.99984545e-01 -2.13366704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.187719421 meters Centerline goodness : 0.974872 Centerline is valid? [True, True] Translation: X:61.07, Y:6.67, Z:-2.13 [[ 9.39894391e-01 -3.41433348e-01 -4.66922082e-03 6.10712960e+01] [ 3.41428633e-01 9.39905984e-01 -1.79688629e-03 6.66606154e+00] [ 5.00214549e-03 9.46776669e-05 9.99987485e-01 -2.13360593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.217719421 meters Centerline goodness : 0.973540 Centerline is valid? [True, True] Translation: X:61.10, Y:6.68, Z:-2.13 [[ 9.41341174e-01 -3.37432906e-01 -3.97836033e-03 6.10970249e+01] [ 3.37429458e-01 9.41349576e-01 -1.52854111e-03 6.67517057e+00] [ 4.26080788e-03 9.64627114e-05 9.99990918e-01 -2.13397656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.247719421 meters Centerline goodness : 0.973502 Centerline is valid? [True, True] Translation: X:61.12, Y:6.69, Z:-2.14 [[ 9.44032134e-01 -3.29807591e-01 -5.50300807e-03 6.11228221e+01] [ 3.29800832e-01 9.44048154e-01 -2.11975272e-03 6.68704817e+00] [ 5.89421515e-03 1.86218042e-04 9.99982612e-01 -2.13638143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.277719421 meters Centerline goodness : 0.971408 Centerline is valid? [True, True] Translation: X:61.15, Y:6.70, Z:-2.14 [[ 9.45281413e-01 -3.26153834e-01 -8.16867527e-03 6.11483076e+01] [ 3.26138862e-01 9.45316658e-01 -3.13987783e-03 6.69739403e+00] [ 8.74606800e-03 3.03945697e-04 9.99961706e-01 -2.13704490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.307719421 meters Centerline goodness : 0.971408 Centerline is valid? [True, True] Translation: X:61.17, Y:6.71, Z:-2.14 [[ 9.45184946e-01 -3.26433337e-01 -8.16663187e-03 6.11748385e+01] [ 3.26418329e-01 9.45220176e-01 -3.14519587e-03 6.70786033e+00] [ 8.74596200e-03 3.07053462e-04 9.99961706e-01 -2.13764004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.337719421 meters Centerline goodness : 0.970867 Centerline is valid? [True, True] Translation: X:61.20, Y:6.71, Z:-2.14 [[ 9.47378663e-01 -3.19954520e-01 -1.01377266e-02 6.12009756e+01] [ 3.19931060e-01 9.47432795e-01 -3.90075318e-03 6.71489890e+00] [ 1.08528782e-02 4.52116723e-04 9.99941004e-01 -2.13903326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.367719421 meters Centerline goodness : 0.971571 Centerline is valid? [True, True] Translation: X:61.23, Y:6.72, Z:-2.14 [[ 9.48029328e-01 -3.18013889e-01 -1.03710791e-02 6.12271514e+01] [ 3.17989130e-01 9.48085926e-01 -3.99870787e-03 6.72358933e+00] [ 1.11043188e-02 4.93001901e-04 9.99938224e-01 -2.13923582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39771942099999 meters Centerline goodness : 0.971974 Centerline is valid? [True, True] Translation: X:61.25, Y:6.73, Z:-2.14 [[ 9.49417908e-01 -3.13857564e-01 -9.95321746e-03 6.12544302e+01] [ 3.13834485e-01 9.49469934e-01 -3.84197346e-03 6.73112086e+00] [ 1.06561132e-02 5.23975519e-04 9.99943085e-01 -2.13903733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42771942099999 meters Centerline goodness : 0.972975 Centerline is valid? [True, True] Translation: X:61.28, Y:6.74, Z:-2.14 [[ 9.49754206e-01 -3.12841124e-01 -9.86807893e-03 6.12801517e+01] [ 3.12818411e-01 9.49805323e-01 -3.80651067e-03 6.73926195e+00] [ 1.05635870e-02 5.28332750e-04 9.99944064e-01 -2.13952897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.457719421 meters Centerline goodness : 0.972535 Centerline is valid? [True, True] Translation: X:61.31, Y:6.75, Z:-2.14 [[ 9.49930969e-01 -3.12317254e-01 -9.43854333e-03 6.13063909e+01] [ 3.12296435e-01 9.49977721e-01 -3.64236840e-03 6.74698078e+00] [ 1.01039804e-02 5.12375117e-04 9.99948822e-01 -2.14209536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.487719421 meters Centerline goodness : 0.972254 Centerline is valid? [True, True] Translation: X:61.33, Y:6.76, Z:-2.14 [[ 9.49642889e-01 -3.13182405e-01 -9.75525475e-03 6.13330407e+01] [ 3.13160132e-01 9.49692847e-01 -3.77205413e-03 6.75657593e+00] [ 1.04458366e-02 5.27147510e-04 9.99945302e-01 -2.14335602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.517719421 meters Centerline goodness : 0.972043 Centerline is valid? [True, True] Translation: X:61.36, Y:6.76, Z:-2.14 [[ 9.48020817e-01 -3.18104645e-01 -8.12190885e-03 6.13615730e+01] [ 3.18089347e-01 9.48055524e-01 -3.14490956e-03 6.76141121e+00] [ 8.70043089e-03 3.97947047e-04 9.99962071e-01 -2.14452789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.547719421 meters Centerline goodness : 0.970747 Centerline is valid? [True, True] Translation: X:61.39, Y:6.76, Z:-2.14 [[ 9.45017494e-01 -3.26918419e-01 -8.14146370e-03 6.13909712e+01] [ 3.26903348e-01 9.45052509e-01 -3.15540226e-03 6.76195398e+00] [ 8.72566981e-03 3.20438600e-04 9.99961879e-01 -2.14320564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.577719421 meters Centerline goodness : 0.970389 Centerline is valid? [True, True] Translation: X:61.42, Y:6.77, Z:-2.14 [[ 9.43092026e-01 -3.32416802e-01 -8.74646408e-03 6.14191482e+01] [ 3.32399610e-01 9.43132538e-01 -3.39339009e-03 6.76781784e+00] [ 9.37709474e-03 2.92957885e-04 9.99955991e-01 -2.14281749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.607719421 meters Centerline goodness : 0.970488 Centerline is valid? [True, True] Translation: X:61.45, Y:6.77, Z:-2.14 [[ 9.41099173e-01 -3.38035286e-01 -8.03063794e-03 6.14452704e+01] [ 3.38020995e-01 9.41133411e-01 -3.11600195e-03 6.77410004e+00] [ 8.61122029e-03 2.17942631e-04 9.99962899e-01 -2.14356309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.637719421 meters Centerline goodness : 0.970161 Centerline is valid? [True, True] Translation: X:61.47, Y:6.78, Z:-2.14 [[ 9.37699433e-01 -3.47324651e-01 -9.23900685e-03 6.14725811e+01] [ 3.47306133e-01 9.37744934e-01 -3.59004573e-03 6.78155476e+00] [ 9.91074325e-03 1.57620105e-04 9.99950875e-01 -2.14461751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.667719421 meters Centerline goodness : 0.971634 Centerline is valid? [True, True] Translation: X:61.50, Y:6.79, Z:-2.15 [[ 9.36630366e-01 -3.50197313e-01 -9.24119272e-03 6.14977152e+01] [ 3.50178952e-01 9.36675945e-01 -3.58816327e-03 6.79007178e+00] [ 9.91256806e-03 1.24711500e-04 9.99950862e-01 -2.14608793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.697719421 meters Centerline goodness : 0.969606 Centerline is valid? [True, True] Translation: X:61.53, Y:6.80, Z:-2.15 [[ 9.34898345e-01 -3.54773839e-01 -1.00303141e-02 6.15257830e+01] [ 3.54752385e-01 9.34952146e-01 -3.90262456e-03 6.79636421e+00] [ 1.07624128e-02 9.02793884e-05 9.99942079e-01 -2.14524793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.727719421 meters Centerline goodness : 0.969162 Centerline is valid? [True, True] Translation: X:61.55, Y:6.80, Z:-2.15 [[ 9.34242159e-01 -3.56503218e-01 -9.85106763e-03 6.15516015e+01] [ 3.56482646e-01 9.34294093e-01 -3.83033759e-03 6.80363379e+00] [ 1.05693220e-02 6.67281998e-05 9.99944141e-01 -2.14510579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75771942099999 meters Centerline goodness : 0.970744 Centerline is valid? [True, True] Translation: X:61.58, Y:6.81, Z:-2.15 [[ 9.33316830e-01 -3.58902342e-01 -1.04308917e-02 6.15785553e+01] [ 3.58879335e-01 9.33375116e-01 -4.06402244e-03 6.81297030e+00] [ 1.11945219e-02 4.95890622e-05 9.99937338e-01 -2.14544610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78771942099999 meters Centerline goodness : 0.969199 Centerline is valid? [True, True] Translation: X:61.60, Y:6.83, Z:-2.15 [[ 9.33589722e-01 -3.58208993e-01 -9.82590729e-03 6.16029950e+01] [ 3.58188563e-01 9.33641427e-01 -3.82608898e-03 6.82505387e+00] [ 1.05444136e-02 5.24697329e-05 9.99944405e-01 -2.14735305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81771942099999 meters Centerline goodness : 0.969055 Centerline is valid? [True, True] Translation: X:61.63, Y:6.84, Z:-2.15 [[ 9.33970306e-01 -3.57197598e-01 -1.04567470e-02 6.16285983e+01] [ 3.57174306e-01 9.34028838e-01 -4.07980840e-03 6.83583231e+00] [ 1.12242010e-02 7.55385454e-05 9.99937004e-01 -2.14873353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.847719421 meters Centerline goodness : 0.969782 Centerline is valid? [True, True] Translation: X:61.65, Y:6.85, Z:-2.15 [[ 9.34342605e-01 -3.56181343e-01 -1.17791092e-02 6.16543710e+01] [ 3.56151657e-01 9.34416845e-01 -4.59968855e-03 6.84559943e+00] [ 1.26449213e-02 1.02535734e-04 9.99920045e-01 -2.14891009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.877719421 meters Centerline goodness : 0.967449 Centerline is valid? [True, True] Translation: X:61.68, Y:6.85, Z:-2.15 [[ 9.36792056e-01 -3.49671094e-01 -1.22788675e-02 6.16801521e+01] [ 3.49638268e-01 9.36872503e-01 -4.79529668e-03 6.85390490e+00] [ 1.31805100e-02 1.99033858e-04 9.99913113e-01 -2.14869573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.907719421 meters Centerline goodness : 0.970271 Centerline is valid? [True, True] Translation: X:61.71, Y:6.87, Z:-2.15 [[ 9.39167321e-01 -3.43366039e-01 -8.03165393e-03 6.17056815e+01] [ 3.43351700e-01 9.39201643e-01 -3.14392505e-03 6.86551739e+00] [ 8.62285965e-03 1.94989628e-04 9.99962803e-01 -2.14858547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.937719421 meters Centerline goodness : 0.971450 Centerline is valid? [True, True] Translation: X:61.73, Y:6.88, Z:-2.15 [[ 9.39895979e-01 -3.41432294e-01 -4.42017430e-03 6.17314278e+01] [ 3.41427906e-01 9.39906364e-01 -1.73545079e-03 6.87572481e+00] [ 4.74708890e-03 1.21972367e-04 9.99988725e-01 -2.14884010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.967719421 meters Centerline goodness : 0.973340 Centerline is valid? [True, True] Translation: X:61.76, Y:6.89, Z:-2.15 [[ 9.40114523e-01 -3.40858729e-01 -9.94842928e-05 6.17563145e+01] [ 3.40858727e-01 9.40114528e-01 -4.22224312e-05 6.88508990e+00] [ 1.07918513e-04 5.78383135e-06 9.99999994e-01 -2.15067648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.997719421 meters Centerline goodness : 0.973908 Centerline is valid? [True, True] Translation: X:61.78, Y:6.89, Z:-2.15 [[ 9.40038330e-01 -3.41068699e-01 2.85645650e-04 6.17826296e+01] [ 3.41068683e-01 9.40038373e-01 1.04535374e-04 6.89476755e+00] [-3.04171616e-04 -8.42472405e-07 9.99999954e-01 -2.15169064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.027719421 meters Centerline goodness : 0.973628 Centerline is valid? [True, True] Translation: X:61.81, Y:6.90, Z:-2.15 [[ 9.39650447e-01 -3.42133815e-01 -1.22093357e-03 6.18094763e+01] [ 3.42133472e-01 9.39651239e-01 -4.86003699e-04 6.90223324e+00] [ 1.31353004e-03 3.89513521e-05 9.99999137e-01 -2.15259835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.057719421 meters Centerline goodness : 0.972103 Centerline is valid? [True, True] Translation: X:61.83, Y:6.91, Z:-2.15 [[ 9.39479230e-01 -3.42589904e-01 -3.30661485e-03 6.18348849e+01] [ 3.42587451e-01 9.39485045e-01 -1.29945371e-03 6.91093539e+00] [ 3.55169493e-03 8.80050155e-05 9.99993689e-01 -2.15354820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.087719421 meters Centerline goodness : 0.970877 Centerline is valid? [True, True] Translation: X:61.86, Y:6.92, Z:-2.16 [[ 9.39533808e-01 -3.42416995e-01 -5.17935166e-03 6.18609363e+01] [ 3.42410953e-01 9.39548073e-01 -2.03923745e-03 6.92008813e+00] [ 5.56451943e-03 1.42465786e-04 9.99984508e-01 -2.15516868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.117719421 meters Centerline goodness : 0.970031 Centerline is valid? [True, True] Translation: X:61.89, Y:6.93, Z:-2.16 [[ 9.40150699e-01 -3.40664542e-01 -8.02079675e-03 6.18880521e+01] [ 3.40649987e-01 9.40184883e-01 -3.15794452e-03 6.92813826e+00] [ 8.61683158e-03 2.36659436e-04 9.99962846e-01 -2.15642071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14771942099999 meters Centerline goodness : 0.970950 Centerline is valid? [True, True] Translation: X:61.91, Y:6.93, Z:-2.16 [[ 9.41011401e-01 -3.38267913e-01 -8.50655604e-03 6.19144226e+01] [ 3.38251474e-01 9.41049810e-01 -3.34580057e-03 6.93448835e+00] [ 9.13686993e-03 2.71081357e-04 9.99958221e-01 -2.15770092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17771942099999 meters Centerline goodness : 0.970494 Centerline is valid? [True, True] Translation: X:61.94, Y:6.94, Z:-2.16 [[ 9.41269627e-01 -3.37551010e-01 -8.41459306e-03 6.19407452e+01] [ 3.37534826e-01 9.41307195e-01 -3.31736635e-03 6.94388204e+00] [ 9.04049735e-03 2.82317987e-04 9.99959094e-01 -2.15848265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.207719421 meters Centerline goodness : 0.969233 Centerline is valid? [True, True] Translation: X:61.97, Y:6.95, Z:-2.16 [[ 9.41294175e-01 -3.37447773e-01 -9.70957423e-03 6.19668560e+01] [ 3.37426260e-01 9.41344196e-01 -3.82401433e-03 6.95145639e+00] [ 1.04304565e-02 3.23257098e-04 9.99945549e-01 -2.16024419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.237719421 meters Centerline goodness : 0.968447 Centerline is valid? [True, True] Translation: X:61.99, Y:6.96, Z:-2.16 [[ 9.41332074e-01 -3.37293477e-01 -1.12710481e-02 6.19941646e+01] [ 3.37264375e-01 9.41399470e-01 -4.44735797e-03 6.95920449e+00] [ 1.21106235e-02 3.85117723e-04 9.99926590e-01 -2.15978652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.267719421 meters Centerline goodness : 0.967156 Centerline is valid? [True, True] Translation: X:62.02, Y:6.96, Z:-2.16 [[ 9.41322598e-01 -3.37370783e-01 -9.62921993e-03 6.20209459e+01] [ 3.37349563e-01 9.41371791e-01 -3.79791210e-03 6.96363252e+00] [ 1.03459806e-02 3.26647349e-04 9.99946426e-01 -2.16050615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.297719421 meters Centerline goodness : 0.967459 Centerline is valid? [True, True] Translation: X:62.05, Y:6.97, Z:-2.16 [[ 9.41286610e-01 -3.37472453e-01 -9.58447842e-03 6.20484822e+01] [ 3.37451350e-01 9.41335346e-01 -3.78846771e-03 6.96963203e+00] [ 1.03007118e-02 3.31738741e-04 9.99946891e-01 -2.16148210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.327719421 meters Centerline goodness : 0.967540 Centerline is valid? [True, True] Translation: X:62.07, Y:6.98, Z:-2.16 [[ 9.40937324e-01 -3.38452615e-01 -9.31552566e-03 6.20746913e+01] [ 3.38432690e-01 9.40983383e-01 -3.68600299e-03 6.97935046e+00] [ 1.00132922e-02 3.15619380e-04 9.99949816e-01 -2.16350020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.357719421 meters Centerline goodness : 0.966616 Centerline is valid? [True, True] Translation: X:62.10, Y:6.99, Z:-2.16 [[ 9.40363558e-01 -3.40000130e-01 -1.07838067e-02 6.20997265e+01] [ 3.39973573e-01 9.40425326e-01 -4.26325288e-03 6.98905220e+00] [ 1.15908715e-02 3.42798344e-04 9.99932765e-01 -2.16444592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.387719421 meters Centerline goodness : 0.967165 Centerline is valid? [True, True] Translation: X:62.13, Y:7.00, Z:-2.17 [[ 9.38766289e-01 -3.44385567e-01 -1.07905669e-02 6.21258084e+01] [ 3.44359248e-01 9.38828257e-01 -4.26753254e-03 6.99670550e+00] [ 1.16001657e-02 2.90384178e-04 9.99932674e-01 -2.16500299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.417719421 meters Centerline goodness : 0.967024 Centerline is valid? [True, True] Translation: X:62.15, Y:7.00, Z:-2.16 [[ 9.37773715e-01 -3.47101844e-01 -1.00384113e-02 6.21532165e+01] [ 3.47079127e-01 9.37827409e-01 -3.97876993e-03 7.00376797e+00] [ 1.07953357e-02 2.47062821e-04 9.99941698e-01 -2.16437161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.447719421 meters Centerline goodness : 0.969306 Centerline is valid? [True, True] Translation: X:62.18, Y:7.01, Z:-2.16 [[ 9.35776746e-01 -3.52547316e-01 -5.68080191e-03 6.21806051e+01] [ 3.52540141e-01 9.35793983e-01 -2.25156526e-03 7.00865490e+00] [ 6.10984353e-03 1.04251703e-04 9.99981329e-01 -2.16169696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.477719421 meters Centerline goodness : 0.971551 Centerline is valid? [True, True] Translation: X:62.21, Y:7.02, Z:-2.16 [[ 9.34854682e-01 -3.55012234e-01 -3.61070348e-03 6.22065885e+01] [ 3.55009327e-01 9.34861653e-01 -1.43806740e-03 7.01876257e+00] [ 3.88603975e-03 6.25506273e-05 9.99992447e-01 -2.16229655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50771942099999 meters Centerline goodness : 0.971784 Centerline is valid? [True, True] Translation: X:62.23, Y:7.03, Z:-2.17 [[ 9.33553901e-01 -3.58416676e-01 -3.82108018e-03 6.22318483e+01] [ 3.58413444e-01 9.33561719e-01 -1.52298859e-03 7.03192176e+00] [ 4.11307869e-03 5.22654301e-05 9.99991540e-01 -2.16514810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53771942099999 meters Centerline goodness : 0.969898 Centerline is valid? [True, True] Translation: X:62.26, Y:7.04, Z:-2.17 [[ 9.32088185e-01 -3.62183750e-01 -5.87773851e-03 6.22567374e+01] [ 3.62176209e-01 9.32106715e-01 -2.33765519e-03 7.04223044e+00] [ 6.32534026e-03 5.01237339e-05 9.99979994e-01 -2.16662071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56771942099999 meters Centerline goodness : 0.969197 Centerline is valid? [True, True] Translation: X:62.28, Y:7.05, Z:-2.17 [[ 9.30977980e-01 -3.65015268e-01 -6.62230404e-03 6.22826596e+01] [ 3.65005736e-01 9.31001532e-01 -2.63822859e-03 7.05235264e+00] [ 7.12836893e-03 3.89537645e-05 9.99974592e-01 -2.16713774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.597719421 meters Centerline goodness : 0.966627 Centerline is valid? [True, True] Translation: X:62.31, Y:7.06, Z:-2.17 [[ 9.28293354e-01 -3.71767474e-01 -7.77132464e-03 6.23097558e+01] [ 3.71754568e-01 9.28325883e-01 -3.09777286e-03 7.06047032e+00] [ 8.36597300e-03 -1.33834775e-05 9.99965005e-01 -2.16557533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.627719421 meters Centerline goodness : 0.968709 Centerline is valid? [True, True] Translation: X:62.33, Y:7.07, Z:-2.17 [[ 9.26128819e-01 -3.77121327e-01 -8.05705623e-03 6.23348260e+01] [ 3.77107685e-01 9.26163863e-01 -3.20838476e-03 7.07110008e+00] [ 8.67210463e-03 -6.70002325e-05 9.99962394e-01 -2.16549546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.657719421 meters Centerline goodness : 0.967091 Centerline is valid? [True, True] Translation: X:62.36, Y:7.09, Z:-2.17 [[ 9.21963519e-01 -3.87213323e-01 -7.00805178e-03 6.23588809e+01] [ 3.87203236e-01 9.21990143e-01 -2.79811502e-03 7.08517033e+00] [ 7.54482209e-03 -1.33780356e-04 9.99971528e-01 -2.16693147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.687719421 meters Centerline goodness : 0.968538 Centerline is valid? [True, True] Translation: X:62.38, Y:7.10, Z:-2.17 [[ 9.19817473e-01 -3.92301012e-01 -5.97771156e-03 6.23836553e+01] [ 3.92293758e-01 9.19836885e-01 -2.39024884e-03 7.09882157e+00] [ 6.43621662e-03 -1.46426281e-04 9.99979277e-01 -2.16870620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.717719421 meters Centerline goodness : 0.965730 Centerline is valid? [True, True] Translation: X:62.41, Y:7.11, Z:-2.17 [[ 9.16629853e-01 -3.99714479e-01 -4.24826179e-03 6.24067434e+01] [ 3.99710901e-01 9.16639686e-01 -1.69730104e-03 7.11432222e+00] [ 4.57256115e-03 -1.42279747e-04 9.99989536e-01 -2.16931506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.747719421 meters Centerline goodness : 0.965558 Centerline is valid? [True, True] Translation: X:62.43, Y:7.13, Z:-2.17 [[ 9.15458642e-01 -4.02401067e-01 -2.97591563e-03 6.24317292e+01] [ 4.02399303e-01 9.15463473e-01 -1.19572605e-03 7.12748292e+00] [ 3.20550350e-03 -1.02868628e-04 9.99994857e-01 -2.16875279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.777719421 meters Centerline goodness : 0.966916 Centerline is valid? [True, True] Translation: X:62.45, Y:7.15, Z:-2.17 [[ 9.14782797e-01 -4.03943803e-01 -1.35608487e-03 6.24543511e+01] [ 4.03943431e-01 9.14783801e-01 -5.49826625e-04 7.14633728e+00] [ 1.46262353e-03 -4.48096383e-05 9.99998929e-01 -2.16908746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.807719421 meters Centerline goodness : 0.966583 Centerline is valid? [True, True] Translation: X:62.48, Y:7.16, Z:-2.17 [[ 9.14712153e-01 -4.04098646e-01 -2.44179227e-03 6.24785197e+01] [ 4.04097455e-01 9.14715408e-01 -9.84606706e-04 7.16276192e+00] [ 2.63142325e-03 -8.60903251e-05 9.99996534e-01 -2.16965124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.837719421 meters Centerline goodness : 0.964861 Centerline is valid? [True, True] Translation: X:62.50, Y:7.19, Z:-2.17 [[ 9.15892557e-01 -4.01398205e-01 -4.50617352e-03 6.24995608e+01] [ 4.01394142e-01 9.15903630e-01 -1.81215536e-03 7.18577469e+00] [ 4.85461659e-03 -1.49012051e-04 9.99988205e-01 -2.17065940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.867719421 meters Centerline goodness : 0.967848 Centerline is valid? [True, True] Translation: X:62.52, Y:7.20, Z:-2.17 [[ 9.16832706e-01 -3.99246365e-01 -4.48648364e-03 6.25213365e+01] [ 3.99242330e-01 9.16843673e-01 -1.80055382e-03 7.20328632e+00] [ 4.83226870e-03 -1.40387549e-04 9.99988315e-01 -2.17241198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89771942099999 meters Centerline goodness : 0.966554 Centerline is valid? [True, True] Translation: X:62.54, Y:7.23, Z:-2.17 [[ 9.18155128e-01 -3.96202578e-01 -3.83113067e-03 6.25422311e+01] [ 3.96199581e-01 9.18163116e-01 -1.54434282e-03 7.22680755e+00] [ 4.12947548e-03 -9.99460841e-05 9.99991469e-01 -2.17406544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92771942099999 meters Centerline goodness : 0.966727 Centerline is valid? [True, True] Translation: X:62.57, Y:7.24, Z:-2.18 [[ 9.18633356e-01 -3.95101102e-01 -2.80669647e-03 6.25664162e+01] [ 3.95099478e-01 9.18637641e-01 -1.13466319e-03 7.24213763e+00] [ 3.02664370e-03 -6.65848551e-05 9.99995417e-01 -2.17520100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.957719421 meters Centerline goodness : 0.965496 Centerline is valid? [True, True] Translation: X:62.59, Y:7.26, Z:-2.18 [[ 9.19087504e-01 -3.94045954e-01 -2.43854000e-03 6.25877362e+01] [ 3.94044733e-01 9.19090737e-01 -9.82744605e-04 7.26034627e+00] [ 2.62848606e-03 -5.76655561e-05 9.99996544e-01 -2.17605319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.987719421 meters Centerline goodness : 0.967018 Centerline is valid? [True, True] Translation: X:62.61, Y:7.27, Z:-2.18 [[ 9.19842872e-01 -3.92275868e-01 -2.95536479e-03 6.26117341e+01] [ 3.92274049e-01 9.19847618e-01 -1.19600038e-03 7.27488111e+00] [ 3.18764735e-03 -5.91804830e-05 9.99994918e-01 -2.17691893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.017719421 meters Centerline goodness : 0.966380 Centerline is valid? [True, True] Translation: X:62.63, Y:7.30, Z:-2.18 [[ 9.22078903e-01 -3.86964709e-01 -5.36760377e-03 6.26334489e+01] [ 3.86958644e-01 9.22094522e-01 -2.16794909e-03 7.29649738e+00] [ 5.78835782e-03 -7.80205616e-05 9.99983244e-01 -2.17857398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.047719421 meters Centerline goodness : 0.966039 Centerline is valid? [True, True] Translation: X:62.66, Y:7.31, Z:-2.18 [[ 9.23481854e-01 -3.83592587e-01 -6.16386762e-03 6.26563694e+01] [ 3.83584544e-01 9.23502421e-01 -2.48492033e-03 7.31094392e+00] [ 6.64554369e-03 -6.95855218e-05 9.99977916e-01 -2.17895938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.077719421 meters Centerline goodness : 0.965964 Centerline is valid? [True, True] Translation: X:62.68, Y:7.33, Z:-2.18 [[ 9.26042291e-01 -3.77356470e-01 -6.91154523e-03 6.26793564e+01] [ 3.77346178e-01 9.26068083e-01 -2.78705370e-03 7.32716145e+00] [ 7.45227419e-03 -2.71155834e-05 9.99972231e-01 -2.17970613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.107719421 meters Centerline goodness : 0.965720 Centerline is valid? [True, True] Translation: X:62.70, Y:7.34, Z:-2.18 [[ 9.26696966e-01 -3.75716307e-01 -8.36602385e-03 6.27039498e+01] [ 3.75701099e-01 9.26734728e-01 -3.38046005e-03 7.34084667e+00] [ 9.02317880e-03 -1.04622873e-05 9.99959290e-01 -2.17961095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.137719421 meters Centerline goodness : 0.963526 Centerline is valid? [True, True] Translation: X:62.73, Y:7.36, Z:-2.18 [[ 9.28778192e-01 -3.70505346e-01 -9.84169522e-03 6.27279162e+01] [ 3.70483980e-01 9.28830332e-01 -3.97924903e-03 7.35727532e+00] [ 1.06155981e-02 4.96493071e-05 9.99943652e-01 -2.18107586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.167719421 meters Centerline goodness : 0.961606 Centerline is valid? [True, True] Translation: X:62.75, Y:7.37, Z:-2.18 [[ 9.30861885e-01 -3.65192631e-01 -1.14233386e-02 6.27512417e+01] [ 3.65163402e-01 9.30931966e-01 -4.62222258e-03 7.37470164e+00] [ 1.23223527e-02 1.31265645e-04 9.99924068e-01 -2.18319376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.197719421 meters Centerline goodness : 0.961606 Centerline is valid? [True, True] Translation: X:62.78, Y:7.39, Z:-2.18 [[ 9.30743794e-01 -3.65493540e-01 -1.14220160e-02 6.27775840e+01] [ 3.65464293e-01 9.30813867e-01 -4.62549201e-03 7.38561892e+00] [ 1.23223584e-02 1.30808965e-04 9.99924068e-01 -2.18378842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.227719421 meters Centerline goodness : 0.963465 Centerline is valid? [True, True] Translation: X:62.80, Y:7.40, Z:-2.18 [[ 9.32164139e-01 -3.61846673e-01 -1.17048456e-02 6.28023254e+01] [ 3.61815610e-01 9.32237604e-01 -4.74493958e-03 7.39901253e+00] [ 1.26286378e-02 1.88066656e-04 9.99920238e-01 -2.18414291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25771942099999 meters Centerline goodness : 0.962037 Centerline is valid? [True, True] Translation: X:62.83, Y:7.41, Z:-2.18 [[ 9.33742721e-01 -3.57752187e-01 -1.17432466e-02 6.28269556e+01] [ 3.57720587e-01 9.33816531e-01 -4.76119019e-03 7.41136691e+00] [ 1.26693640e-02 2.44925609e-04 9.99919710e-01 -2.18391444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28771942099999 meters Centerline goodness : 0.961797 Centerline is valid? [True, True] Translation: X:62.85, Y:7.42, Z:-2.18 [[ 9.36594883e-01 -3.50216519e-01 -1.17649968e-02 6.28519170e+01] [ 3.50184118e-01 9.36668706e-01 -4.77694008e-03 7.42475756e+00] [ 1.26928677e-02 3.54142591e-04 9.99919380e-01 -2.18387035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31771942099999 meters Centerline goodness : 0.963106 Centerline is valid? [True, True] Translation: X:62.88, Y:7.44, Z:-2.18 [[ 9.37777449e-01 -3.47036930e-01 -1.17824265e-02 6.28769411e+01] [ 3.47004125e-01 9.37851378e-01 -4.78848861e-03 7.43702099e+00] [ 1.27119473e-02 4.01986052e-04 9.99919119e-01 -2.18490986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.347719421 meters Centerline goodness : 0.960876 Centerline is valid? [True, True] Translation: X:62.90, Y:7.45, Z:-2.18 [[ 9.39804628e-01 -3.41427892e-01 -1.39375281e-02 6.29023800e+01] [ 3.41381303e-01 9.39907799e-01 -5.66887108e-03 7.44862532e+00] [ 1.50355020e-02 5.69619792e-04 9.99886798e-01 -2.18496643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.377719421 meters Centerline goodness : 0.962865 Centerline is valid? [True, True] Translation: X:62.93, Y:7.45, Z:-2.19 [[ 9.40277133e-01 -3.40246202e-01 -1.05562543e-02 6.29290066e+01] [ 3.40219411e-01 9.40336282e-01 -4.29288748e-03 7.45388935e+00] [ 1.13870676e-02 4.45061300e-04 9.99935066e-01 -2.18586382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.407719421 meters Centerline goodness : 0.965032 Centerline is valid? [True, True] Translation: X:62.96, Y:7.46, Z:-2.19 [[ 9.39829194e-01 -3.41532496e-01 -8.75439496e-03 6.29559151e+01] [ 3.41514047e-01 9.39869896e-01 -3.56849489e-03 7.46175708e+00] [ 9.44674925e-03 3.64026823e-04 9.99955312e-01 -2.18613910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.437719421 meters Centerline goodness : 0.968454 Centerline is valid? [True, True] Translation: X:62.98, Y:7.47, Z:-2.19 [[ 9.39245241e-01 -3.43215425e-01 -4.64221096e-03 6.29830919e+01] [ 3.43210258e-01 9.39256695e-01 -1.89230735e-03 7.46631821e+00] [ 5.00969679e-03 1.84086255e-04 9.99987434e-01 -2.18678600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.467719421 meters Centerline goodness : 0.966715 Centerline is valid? [True, True] Translation: X:63.01, Y:7.47, Z:-2.19 [[ 9.39085363e-01 -3.43663007e-01 -3.79722885e-03 6.30098547e+01] [ 3.43659527e-01 9.39093027e-01 -1.55417146e-03 7.47416370e+00] [ 4.10006237e-03 1.54545801e-04 9.99991583e-01 -2.18818132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.497719421 meters Centerline goodness : 0.964375 Centerline is valid? [True, True] Translation: X:63.04, Y:7.48, Z:-2.19 [[ 9.39141409e-01 -3.43483126e-01 -5.72335878e-03 6.30369305e+01] [ 3.43475261e-01 9.39158821e-01 -2.33540224e-03 7.47976358e+00] [ 6.17731414e-03 2.27440795e-04 9.99980894e-01 -2.18871295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.527719421 meters Centerline goodness : 0.963942 Centerline is valid? [True, True] Translation: X:63.06, Y:7.49, Z:-2.19 [[ 9.39115815e-01 -3.43525227e-01 -7.20452413e-03 6.30643089e+01] [ 3.43512721e-01 9.39143404e-01 -2.94573899e-03 7.48661578e+00] [ 7.77801697e-03 2.91544383e-04 9.99969708e-01 -2.18927046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.557719421 meters Centerline goodness : 0.961924 Centerline is valid? [True, True] Translation: X:63.09, Y:7.49, Z:-2.19 [[ 9.39767651e-01 -3.41653206e-01 -1.04809091e-02 6.30941919e+01] [ 3.41626615e-01 9.39825987e-01 -4.28592962e-03 7.48822303e+00] [ 1.13145323e-02 4.47220518e-04 9.99935889e-01 -2.18949251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.587719421 meters Centerline goodness : 0.961235 Centerline is valid? [True, True] Translation: X:63.12, Y:7.49, Z:-2.19 [[ 9.40515602e-01 -3.39517734e-01 -1.25741758e-02 6.31217938e+01] [ 3.39479217e-01 9.40599480e-01 -5.14579952e-03 7.49408604e+00] [ 1.35743534e-02 5.71033389e-04 9.99907701e-01 -2.18965843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61771942099999 meters Centerline goodness : 0.960209 Centerline is valid? [True, True] Translation: X:63.15, Y:7.50, Z:-2.19 [[ 9.40672843e-01 -3.39007937e-01 -1.44299018e-02 6.31482257e+01] [ 3.38957080e-01 9.40783276e-01 -5.90974851e-03 7.50315975e+00] [ 1.55788619e-02 6.68022549e-04 9.99878419e-01 -2.18987935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64771942099999 meters Centerline goodness : 0.959545 Centerline is valid? [True, True] Translation: X:63.18, Y:7.51, Z:-2.19 [[ 9.40848253e-01 -3.38492089e-01 -1.50887319e-02 6.31753293e+01] [ 3.38436325e-01 9.40968968e-01 -6.18516771e-03 7.51205022e+00] [ 1.62916589e-02 7.12729252e-04 9.99867028e-01 -2.19060716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67771942099999 meters Centerline goodness : 0.961706 Centerline is valid? [True, True] Translation: X:63.20, Y:7.51, Z:-2.19 [[ 9.40664415e-01 -3.39109081e-01 -1.24695097e-02 6.32030188e+01] [ 3.39071063e-01 9.40746882e-01 -5.11060961e-03 7.51491065e+00] [ 1.34637065e-02 5.79318692e-04 9.99909192e-01 -2.19073921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.707719421 meters Centerline goodness : 0.961513 Centerline is valid? [True, True] Translation: X:63.23, Y:7.52, Z:-2.19 [[ 9.40088399e-01 -3.40775211e-01 -1.02984410e-02 6.32307858e+01] [ 3.40749283e-01 9.40144690e-01 -4.22949350e-03 7.52136900e+00] [ 1.11233312e-02 4.66911380e-04 9.99938025e-01 -2.19092806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.737719421 meters Centerline goodness : 0.964313 Centerline is valid? [True, True] Translation: X:63.26, Y:7.53, Z:-2.19 [[ 9.37919674e-01 -3.46739073e-01 -8.87133931e-03 6.32581983e+01] [ 3.46720115e-01 9.37961566e-01 -3.64168192e-03 7.52632469e+00] [ 9.58368873e-03 3.39733335e-04 9.99954018e-01 -2.19186908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.767719421 meters Centerline goodness : 0.962630 Centerline is valid? [True, True] Translation: X:63.29, Y:7.53, Z:-2.19 [[ 9.34918782e-01 -3.54759301e-01 -8.52697980e-03 6.32862213e+01] [ 3.54742048e-01 9.34957632e-01 -3.50798759e-03 7.53226479e+00] [ 9.21685606e-03 2.54805208e-04 9.99957491e-01 -2.19329920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.797719421 meters Centerline goodness : 0.962525 Centerline is valid? [True, True] Translation: X:63.31, Y:7.54, Z:-2.19 [[ 9.33403114e-01 -3.58744617e-01 -7.80549238e-03 6.33134897e+01] [ 3.58730266e-01 9.33435729e-01 -3.21506950e-03 7.53903391e+00] [ 8.43931435e-03 2.00889526e-04 9.99964368e-01 -2.19424526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.827719421 meters Centerline goodness : 0.962275 Centerline is valid? [True, True] Translation: X:63.34, Y:7.55, Z:-2.19 [[ 9.31784204e-01 -3.62947635e-01 -6.87108568e-03 6.33414661e+01] [ 3.62936602e-01 9.31809526e-01 -2.83377536e-03 7.54562805e+00] [ 7.43105516e-03 1.46698631e-04 9.99972379e-01 -2.19341448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.857719421 meters Centerline goodness : 0.965595 Centerline is valid? [True, True] Translation: X:63.37, Y:7.55, Z:-2.19 [[ 9.28214532e-01 -3.72027720e-01 -3.62750314e-03 6.33689541e+01] [ 3.72024715e-01 9.28221619e-01 -1.49594280e-03 7.54945445e+00] [ 3.92365903e-03 3.90350213e-05 9.99992302e-01 -2.19247045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.887719421 meters Centerline goodness : 0.965724 Centerline is valid? [True, True] Translation: X:63.40, Y:7.56, Z:-2.19 [[ 9.26603738e-01 -3.76025488e-01 -3.21629442e-03 6.33955912e+01] [ 3.76023128e-01 9.26609320e-01 -1.33270025e-03 7.55815485e+00] [ 3.48137765e-03 2.54839474e-05 9.99993940e-01 -2.19208753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.917719421 meters Centerline goodness : 0.964090 Centerline is valid? [True, True] Translation: X:63.42, Y:7.57, Z:-2.19 [[ 9.24405415e-01 -3.81395163e-01 -3.51556687e-03 6.34217829e+01] [ 3.81392398e-01 9.24412100e-01 -1.45209781e-03 7.56635993e+00] [ 3.80365563e-03 1.51659956e-06 9.99992766e-01 -2.19229042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.947719421 meters Centerline goodness : 0.963277 Centerline is valid? [True, True] Translation: X:63.45, Y:7.58, Z:-2.19 [[ 9.23152945e-01 -3.84414699e-01 -3.73883279e-03 6.34481598e+01] [ 3.84411575e-01 9.23160516e-01 -1.54967989e-03 7.57680806e+00] [ 4.04726254e-03 -6.65904671e-06 9.99991810e-01 -2.19340618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.977719421 meters Centerline goodness : 0.963724 Centerline is valid? [True, True] Translation: X:63.47, Y:7.59, Z:-2.19 [[ 9.21132776e-01 -3.89246479e-01 -1.26007817e-03 6.34737390e+01] [ 3.89246121e-01 9.21133638e-01 -5.28011198e-04 7.58744890e+00] [ 1.36622689e-03 -4.11211940e-06 9.99999067e-01 -2.19462129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00771942099999 meters Centerline goodness : 0.964898 Centerline is valid? [True, True] Translation: X:63.50, Y:7.60, Z:-2.19 [[ 9.21190848e-01 -3.89102229e-01 -2.62236433e-03 6.34996875e+01] [ 3.89100699e-01 9.21194580e-01 -1.09138717e-03 7.59936758e+00] [ 2.84036899e-03 -1.49879177e-05 9.99995966e-01 -2.19490617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03771942099999 meters Centerline goodness : 0.963553 Centerline is valid? [True, True] Translation: X:63.52, Y:7.61, Z:-2.20 [[ 9.21510419e-01 -3.88313125e-01 -5.60932949e-03 6.35246705e+01] [ 3.88306182e-01 9.21527490e-01 -2.32243428e-03 7.61065786e+00] [ 6.07098304e-03 -3.79899317e-05 9.99981571e-01 -2.19565055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06771942099999 meters Centerline goodness : 0.958312 Centerline is valid? [True, True] Translation: X:63.55, Y:7.62, Z:-2.20 [[ 9.23021422e-01 -3.84560426e-01 -1.20305070e-02 6.35503904e+01] [ 3.84528096e-01 9.23099820e-01 -4.98654111e-03 7.62275192e+00] [ 1.30229852e-02 -2.33836783e-05 9.99915197e-01 -2.19680196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.097719421 meters Centerline goodness : 0.958735 Centerline is valid? [True, True] Translation: X:63.58, Y:7.63, Z:-2.20 [[ 9.23389341e-01 -3.83614036e-01 -1.38707124e-02 6.35759692e+01] [ 3.83570885e-01 9.23493515e-01 -5.75366875e-03 7.63466837e+00] [ 1.50167010e-02 -7.52503044e-06 9.99887243e-01 -2.19780133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.127719421 meters Centerline goodness : 0.957571 Centerline is valid? [True, True] Translation: X:63.60, Y:7.65, Z:-2.20 [[ 9.23685625e-01 -3.82839750e-01 -1.54464096e-02 6.36011992e+01] [ 3.82786041e-01 9.23814768e-01 -6.41257698e-03 7.64784716e+00] [ 1.67246107e-02 1.05351988e-05 9.99860134e-01 -2.19837193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.157719421 meters Centerline goodness : 0.960711 Centerline is valid? [True, True] Translation: X:63.63, Y:7.66, Z:-2.20 [[ 9.23841153e-01 -3.82524012e-01 -1.38889999e-02 6.36259381e+01] [ 3.82480521e-01 9.23945550e-01 -5.76809632e-03 7.65936494e+00] [ 1.50391150e-02 1.65328518e-05 9.99886906e-01 -2.19866613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.187719421 meters Centerline goodness : 0.962317 Centerline is valid? [True, True] Translation: X:63.65, Y:7.67, Z:-2.20 [[ 9.24729669e-01 -3.80496641e-01 -9.86636485e-03 6.36511445e+01] [ 3.80474491e-01 9.24782301e-01 -4.10572800e-03 7.67289808e+00] [ 1.06864553e-02 4.27883461e-05 9.99942897e-01 -2.19823195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.217719421 meters Centerline goodness : 0.965318 Centerline is valid? [True, True] Translation: X:63.68, Y:7.69, Z:-2.20 [[ 9.25382687e-01 -3.78925580e-01 -9.07128023e-03 6.36752852e+01] [ 3.78906741e-01 9.25427145e-01 -3.77897419e-03 7.68517608e+00] [ 9.82675895e-03 5.98280663e-05 9.99951714e-01 -2.19823443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.247719421 meters Centerline goodness : 0.964900 Centerline is valid? [True, True] Translation: X:63.70, Y:7.70, Z:-2.20 [[ 9.27729074e-01 -3.73171015e-01 -7.88406131e-03 6.36989966e+01] [ 3.73156540e-01 9.27762568e-01 -3.28861634e-03 7.70044655e+00] [ 8.54175326e-03 1.08955953e-04 9.99963513e-01 -2.20020151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.277719421 meters Centerline goodness : 0.967178 Centerline is valid? [True, True] Translation: X:63.72, Y:7.71, Z:-2.20 [[ 9.29340609e-01 -3.69175710e-01 -5.94377095e-03 6.37244972e+01] [ 3.69167374e-01 9.29359609e-01 -2.48340658e-03 7.71322746e+00] [ 6.44071404e-03 1.13684270e-04 9.99979252e-01 -2.20088844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.307719421 meters Centerline goodness : 0.969754 Centerline is valid? [True, True] Translation: X:63.75, Y:7.72, Z:-2.20 [[ 9.32456899e-01 -3.61276076e-01 -1.93075410e-03 6.37488081e+01] [ 3.61275177e-01 9.32458897e-01 -8.07861976e-04 7.72457414e+00] [ 2.09221004e-03 5.57629430e-05 9.99997810e-01 -2.20006691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.337719421 meters Centerline goodness : 0.969456 Centerline is valid? [True, True] Translation: X:63.77, Y:7.74, Z:-2.20 [[ 9.33326153e-01 -3.59026672e-01 -1.46310876e-03 6.37741995e+01] [ 3.59026144e-01 9.33327298e-01 -6.18084242e-04 7.73640110e+00] [ 1.58746808e-03 5.15798908e-05 9.99998739e-01 -2.19997983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36771942099999 meters Centerline goodness : 0.971694 Centerline is valid? [True, True] Translation: X:63.80, Y:7.75, Z:-2.20 [[ 9.34412546e-01 -3.56188060e-01 -1.80566118e-03 6.37994463e+01] [ 3.56187252e-01 9.34414288e-01 -7.61657072e-04 7.74939361e+00] [ 1.95852876e-03 6.85484303e-05 9.99998080e-01 -2.20268870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39771942099999 meters Centerline goodness : 0.969570 Centerline is valid? [True, True] Translation: X:63.82, Y:7.76, Z:-2.20 [[ 9.34880878e-01 -3.54955032e-01 -2.16091716e-03 6.38237090e+01] [ 3.54953885e-01 9.34883372e-01 -9.05941127e-04 7.76178027e+00] [ 2.34177388e-03 7.99210967e-05 9.99997255e-01 -2.20441246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42771942099999 meters Centerline goodness : 0.967885 Centerline is valid? [True, True] Translation: X:63.85, Y:7.78, Z:-2.21 [[ 9.36216089e-01 -3.51404562e-01 -3.77740520e-03 6.38478069e+01] [ 3.51401014e-01 9.36223696e-01 -1.58710353e-03 7.77613875e+00] [ 4.09421168e-03 1.58487843e-04 9.99991606e-01 -2.20638089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.457719421 meters Centerline goodness : 0.963901 Centerline is valid? [True, True] Translation: X:63.88, Y:7.78, Z:-2.21 [[ 9.37695358e-01 -3.47383568e-01 -7.21614979e-03 6.38753180e+01] [ 3.47370531e-01 9.37723065e-01 -3.02779568e-03 7.78412090e+00] [ 7.81855656e-03 3.32472171e-04 9.99969379e-01 -2.20547343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.487719421 meters Centerline goodness : 0.964620 Centerline is valid? [True, True] Translation: X:63.90, Y:7.79, Z:-2.21 [[ 9.38399271e-01 -3.45444075e-01 -8.67177038e-03 6.39012487e+01] [ 3.45425208e-01 9.38439246e-01 -3.63402500e-03 7.79120621e+00] [ 9.39328207e-03 4.14718316e-04 9.99955796e-01 -2.20534141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.517719421 meters Centerline goodness : 0.964772 Centerline is valid? [True, True] Translation: X:63.93, Y:7.80, Z:-2.21 [[ 9.39114286e-01 -3.43470242e-01 -9.62037090e-03 6.39294004e+01] [ 3.43446841e-01 9.39163433e-01 -4.03903896e-03 7.79781000e+00] [ 1.04223902e-02 4.89033194e-04 9.99945566e-01 -2.20609077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.547719421 meters Centerline goodness : 0.964557 Centerline is valid? [True, True] Translation: X:63.95, Y:7.81, Z:-2.21 [[ 9.38985997e-01 -3.43787846e-01 -1.07337527e-02 6.39546241e+01] [ 3.43758774e-01 9.39047191e-01 -4.50316542e-03 7.80726313e+00] [ 1.16276339e-02 5.38587602e-04 9.99932252e-01 -2.20756561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.577719421 meters Centerline goodness : 0.963885 Centerline is valid? [True, True] Translation: X:63.98, Y:7.82, Z:-2.21 [[ 9.38891817e-01 -3.43984574e-01 -1.25207041e-02 6.39804717e+01] [ 3.43944914e-01 9.38975085e-01 -5.26165402e-03 7.81681932e+00] [ 1.35665570e-02 6.33691419e-04 9.99907769e-01 -2.20888689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.607719421 meters Centerline goodness : 0.959960 Centerline is valid? [True, True] Translation: X:64.01, Y:7.83, Z:-2.21 [[ 9.38578666e-01 -3.44782117e-01 -1.39778289e-02 6.40057027e+01] [ 3.44732819e-01 9.38682488e-01 -5.87117678e-03 7.82530449e+00] [ 1.51450199e-02 6.91944926e-04 9.99885068e-01 -2.20953194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.637719421 meters Centerline goodness : 0.961757 Centerline is valid? [True, True] Translation: X:64.03, Y:7.83, Z:-2.21 [[ 9.38303547e-01 -3.45589181e-01 -1.24327164e-02 6.40330826e+01] [ 3.45550123e-01 9.38385711e-01 -5.23158276e-03 7.83146543e+00] [ 1.34746618e-02 6.12685986e-04 9.99909025e-01 -2.20904024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.667719421 meters Centerline goodness : 0.963781 Centerline is valid? [True, True] Translation: X:64.06, Y:7.84, Z:-2.21 [[ 9.38094790e-01 -3.46261354e-01 -9.01330686e-03 6.40590446e+01] [ 3.46240865e-01 9.38137988e-01 -3.79203983e-03 7.83843409e+00] [ 9.76876240e-03 4.36517649e-04 9.99952189e-01 -2.20923652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.697719421 meters Centerline goodness : 0.966485 Centerline is valid? [True, True] Translation: X:64.09, Y:7.85, Z:-2.21 [[ 9.37257090e-01 -3.48612444e-01 -4.30246853e-03 6.40865610e+01] [ 3.48607764e-01 9.37266943e-01 -1.81777070e-03 7.84537024e+00] [ 4.66625902e-03 2.03844544e-04 9.99989092e-01 -2.20797982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.727719421 meters Centerline goodness : 0.968594 Centerline is valid? [True, True] Translation: X:64.11, Y:7.85, Z:-2.21 [[ 9.36602410e-01 -3.50366562e-01 -4.38146219e-03 6.41113928e+01] [ 3.50361734e-01 9.36612638e-01 -1.84976211e-03 7.85490912e+00] [ 4.75182765e-03 1.97394961e-04 9.99988691e-01 -2.20771598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75771942099999 meters Centerline goodness : 0.966831 Centerline is valid? [True, True] Translation: X:64.14, Y:7.86, Z:-2.21 [[ 9.33753921e-01 -3.57872033e-01 -5.58773391e-03 6.41363951e+01] [ 3.57864316e-01 9.33770618e-01 -2.35901942e-03 7.86485741e+00] [ 6.06188882e-03 2.03093059e-04 9.99981606e-01 -2.20904999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78771942099999 meters Centerline goodness : 0.967052 Centerline is valid? [True, True] Translation: X:64.16, Y:7.87, Z:-2.21 [[ 9.32248723e-01 -3.61778528e-01 -5.34941173e-03 6.41625608e+01] [ 3.61771488e-01 9.32264054e-01 -2.26356088e-03 7.87473353e+00] [ 5.80597199e-03 1.74937089e-04 9.99983130e-01 -2.21071674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81771942099999 meters Centerline goodness : 0.965994 Centerline is valid? [True, True] Translation: X:64.19, Y:7.88, Z:-2.21 [[ 9.28894944e-01 -3.70309064e-01 -5.03794072e-03 6.41896419e+01] [ 3.70302932e-01 9.28908598e-01 -2.13415798e-03 7.88212740e+00] [ 5.47008449e-03 1.16844332e-04 9.99985032e-01 -2.21087610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.847719421 meters Centerline goodness : 0.965470 Centerline is valid? [True, True] Translation: X:64.22, Y:7.89, Z:-2.21 [[ 9.26854603e-01 -3.75388613e-01 -4.89228358e-03 6.42157708e+01] [ 3.75382919e-01 9.26867511e-01 -2.06917243e-03 7.89036205e+00] [ 5.31124248e-03 8.13423023e-05 9.99985892e-01 -2.21160777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.877719421 meters Centerline goodness : 0.963160 Centerline is valid? [True, True] Translation: X:64.24, Y:7.90, Z:-2.21 [[ 9.22642898e-01 -3.85618959e-01 -5.30099089e-03 6.42424749e+01] [ 3.85612438e-01 9.22658126e-01 -2.24264591e-03 7.89673058e+00] [ 5.75580910e-03 2.50333018e-05 9.99983435e-01 -2.20983929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.907719421 meters Centerline goodness : 0.967331 Centerline is valid? [True, True] Translation: X:64.27, Y:7.91, Z:-2.21 [[ 9.21084951e-01 -3.89339415e-01 -4.16338894e-03 6.42688713e+01] [ 3.89335401e-01 9.21094360e-01 -1.76803609e-03 7.90600043e+00] [ 4.52324021e-03 7.55673658e-06 9.99989770e-01 -2.21068018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.937719421 meters Centerline goodness : 0.967598 Centerline is valid? [True, True] Translation: X:64.30, Y:7.92, Z:-2.21 [[ 9.18112107e-01 -3.96298046e-01 -4.24472565e-03 6.42950213e+01] [ 3.96293941e-01 9.18121919e-01 -1.80403218e-03 7.91735904e+00] [ 4.61211009e-03 -2.58552755e-05 9.99989364e-01 -2.21288410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.967719421 meters Centerline goodness : 0.966238 Centerline is valid? [True, True] Translation: X:64.32, Y:7.93, Z:-2.21 [[ 9.16856236e-01 -3.99170437e-01 -6.13236683e-03 6.43205527e+01] [ 3.99161939e-01 9.16876741e-01 -2.60534031e-03 7.92981043e+00] [ 6.66259935e-03 -5.90849254e-05 9.99977803e-01 -2.21444623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.997719421 meters Centerline goodness : 0.962383 Centerline is valid? [True, True] Translation: X:64.34, Y:7.94, Z:-2.21 [[ 9.16310066e-01 -4.00352138e-01 -9.69679225e-03 6.43445613e+01] [ 4.00331030e-01 9.16361366e-01 -4.11265565e-03 7.94126299e+00] [ 1.05322763e-02 -1.13459054e-04 9.99944528e-01 -2.21455371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.027719421 meters Centerline goodness : 0.962581 Centerline is valid? [True, True] Translation: X:64.37, Y:7.95, Z:-2.21 [[ 9.16888507e-01 -3.99030754e-01 -9.48275036e-03 6.43710663e+01] [ 3.99010415e-01 9.16937538e-01 -4.02983055e-03 7.95102470e+00] [ 1.03031161e-02 -8.88108344e-05 9.99946918e-01 -2.21481015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.057719421 meters Centerline goodness : 0.966450 Centerline is valid? [True, True] Translation: X:64.40, Y:7.96, Z:-2.21 [[ 9.18805567e-01 -3.94646358e-01 -7.11208739e-03 6.43968868e+01] [ 3.94634750e-01 9.18833092e-01 -3.02699151e-03 7.96179274e+00] [ 7.72941242e-03 -2.54601747e-05 9.99970127e-01 -2.21306272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.087719421 meters Centerline goodness : 0.967952 Centerline is valid? [True, True] Translation: X:64.42, Y:7.98, Z:-2.21 [[ 9.20423301e-01 -3.90877720e-01 -5.96281018e-03 6.44217602e+01] [ 3.90869459e-01 9.20442615e-01 -2.54131368e-03 7.97561543e+00] [ 6.48176749e-03 8.40393398e-06 9.99978993e-01 -2.21365210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11771942099999 meters Centerline goodness : 0.967952 Centerline is valid? [True, True] Translation: X:64.45, Y:7.99, Z:-2.21 [[ 9.20304496e-01 -3.91157368e-01 -5.96222833e-03 6.44479299e+01] [ 3.91149104e-01 9.20323809e-01 -2.54267968e-03 7.98701083e+00] [ 6.48176857e-03 7.91927461e-06 9.99978993e-01 -2.21424670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14771942099999 meters Centerline goodness : 0.969382 Centerline is valid? [True, True] Translation: X:64.47, Y:8.01, Z:-2.22 [[ 9.24368364e-01 -3.81481894e-01 -3.83290009e-03 6.44693901e+01] [ 3.81478398e-01 9.24376310e-01 -1.63398133e-03 8.00521541e+00] [ 4.16637633e-03 4.82320686e-05 9.99991319e-01 -2.21534896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17771942099999 meters Centerline goodness : 0.970395 Centerline is valid? [True, True] Translation: X:64.49, Y:8.02, Z:-2.22 [[ 9.26574577e-01 -3.76089922e-01 -3.99034118e-03 6.44934298e+01] [ 3.76086060e-01 9.26583166e-01 -1.70641482e-03 8.01951285e+00] [ 4.33914838e-03 8.04088994e-05 9.99990583e-01 -2.21635346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.207719421 meters Centerline goodness : 0.968612 Centerline is valid? [True, True] Translation: X:64.52, Y:8.03, Z:-2.22 [[ 9.30194299e-01 -3.67010629e-01 -6.46249562e-03 6.45169702e+01] [ 3.67000314e-01 9.30216728e-01 -2.75846771e-03 8.03393433e+00] [ 7.02390850e-03 1.94173017e-04 9.99975313e-01 -2.21840359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.237719421 meters Centerline goodness : 0.966728 Centerline is valid? [True, True] Translation: X:64.54, Y:8.05, Z:-2.22 [[ 9.32943320e-01 -3.59945233e-01 -7.49602642e-03 6.45416899e+01] [ 3.59931087e-01 9.32973389e-01 -3.20442702e-03 8.04704856e+00] [ 8.14701141e-03 2.91495844e-04 9.99966770e-01 -2.21993806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.267719421 meters Centerline goodness : 0.967460 Centerline is valid? [True, True] Translation: X:64.57, Y:8.06, Z:-2.22 [[ 9.33831907e-01 -3.57633296e-01 -7.50968001e-03 6.45668723e+01] [ 3.57619000e-01 9.33862049e-01 -3.21319883e-03 8.05985830e+00] [ 8.16215205e-03 3.14983339e-04 9.99966639e-01 -2.22080683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.297719421 meters Centerline goodness : 0.967809 Centerline is valid? [True, True] Translation: X:64.59, Y:8.07, Z:-2.22 [[ 9.34674609e-01 -3.55439399e-01 -6.79769283e-03 6.45911846e+01] [ 3.55427645e-01 9.34699280e-01 -2.90618847e-03 8.07150874e+00] [ 7.38677248e-03 3.00252619e-04 9.99972672e-01 -2.22089777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.327719421 meters Centerline goodness : 0.968325 Centerline is valid? [True, True] Translation: X:64.62, Y:8.08, Z:-2.22 [[ 9.35114726e-01 -3.54265476e-01 -7.51144689e-03 6.46174603e+01] [ 3.54251032e-01 9.35144829e-01 -3.21798433e-03 8.08236906e+00] [ 8.16431147e-03 3.48246722e-04 9.99966611e-01 -2.22131238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.357719421 meters Centerline goodness : 0.966948 Centerline is valid? [True, True] Translation: X:64.64, Y:8.09, Z:-2.22 [[ 9.34826605e-01 -3.55025210e-01 -7.50451884e-03 6.46435896e+01] [ 3.55010794e-01 9.34856664e-01 -3.21786598e-03 8.09231435e+00] [ 8.15807299e-03 3.43961538e-04 9.99966663e-01 -2.22236851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.387719421 meters Centerline goodness : 0.967266 Centerline is valid? [True, True] Translation: X:64.67, Y:8.10, Z:-2.22 [[ 9.33527752e-01 -3.58427730e-01 -7.44972369e-03 6.46686080e+01] [ 3.58413609e-01 9.33557424e-01 -3.19714744e-03 8.10141425e+00] [ 8.10069116e-03 3.14543509e-04 9.99967139e-01 -2.22402955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.417719421 meters Centerline goodness : 0.968317 Centerline is valid? [True, True] Translation: X:64.70, Y:8.11, Z:-2.22 [[ 9.32792391e-01 -3.60333581e-01 -7.62014110e-03 6.46951891e+01] [ 3.60318847e-01 9.32823464e-01 -3.27296227e-03 8.11134513e+00] [ 8.28760464e-03 3.07313844e-04 9.99965610e-01 -2.22439306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.447719421 meters Centerline goodness : 0.965533 Centerline is valid? [True, True] Translation: X:64.72, Y:8.12, Z:-2.22 [[ 9.31479889e-01 -3.63668306e-01 -9.51735137e-03 6.47224454e+01] [ 3.63645541e-01 9.31528446e-01 -4.08346781e-03 8.11567940e+00] [ 1.03507113e-02 3.42725748e-04 9.99946371e-01 -2.22252198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.477719421 meters Centerline goodness : 0.966892 Centerline is valid? [True, True] Translation: X:64.75, Y:8.12, Z:-2.22 [[ 9.30221787e-01 -3.66846703e-01 -1.05320160e-02 6.47509891e+01] [ 3.66818931e-01 9.30281342e-01 -4.52728661e-03 8.12121591e+00] [ 1.14585582e-02 3.48037785e-04 9.99934288e-01 -2.22260056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50771942099999 meters Centerline goodness : 0.967839 Centerline is valid? [True, True] Translation: X:64.78, Y:8.13, Z:-2.22 [[ 9.29587994e-01 -3.68441263e-01 -1.08257629e-02 6.47759775e+01] [ 3.68412060e-01 9.29650969e-01 -4.65086148e-03 8.13027126e+00] [ 1.17777503e-02 3.35043369e-04 9.99930584e-01 -2.22405071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53771942099999 meters Centerline goodness : 0.967203 Centerline is valid? [True, True] Translation: X:64.80, Y:8.14, Z:-2.23 [[ 9.28584396e-01 -3.70983519e-01 -1.01117783e-02 6.48019557e+01] [ 3.70958175e-01 9.28639407e-01 -4.34566068e-03 8.13727439e+00] [ 1.10023643e-02 2.84265853e-04 9.99939432e-01 -2.22505664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56771942099999 meters Centerline goodness : 0.966160 Centerline is valid? [True, True] Translation: X:64.83, Y:8.15, Z:-2.23 [[ 9.27760884e-01 -3.73060668e-01 -9.24560804e-03 6.48282761e+01] [ 3.73039505e-01 9.27806919e-01 -3.98111066e-03 8.14635364e+00] [ 1.00633349e-02 2.44541693e-04 9.99949333e-01 -2.22611308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.597719421 meters Centerline goodness : 0.967280 Centerline is valid? [True, True] Translation: X:64.86, Y:8.15, Z:-2.23 [[ 9.26069812e-01 -3.77253973e-01 -8.61061801e-03 6.48564167e+01] [ 3.77235818e-01 9.26109824e-01 -3.70553428e-03 8.15004932e+00] [ 9.37230546e-03 1.83349905e-04 9.99956062e-01 -2.22520570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.627719421 meters Centerline goodness : 0.967279 Centerline is valid? [True, True] Translation: X:64.88, Y:8.16, Z:-2.22 [[ 9.24964958e-01 -3.79945717e-01 -9.00432846e-03 6.48835080e+01] [ 3.79925922e-01 9.25008769e-01 -3.88201928e-03 8.15718200e+00] [ 9.80403939e-03 1.69754002e-04 9.99951925e-01 -2.22495704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.657719421 meters Centerline goodness : 0.969005 Centerline is valid? [True, True] Translation: X:64.91, Y:8.16, Z:-2.23 [[ 9.23814214e-01 -3.82779431e-01 -6.87056755e-03 6.49112661e+01] [ 3.82767950e-01 9.23839756e-01 -2.96682970e-03 8.16354217e+00] [ 7.48294484e-03 1.10966396e-04 9.99971996e-01 -2.22536182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.687719421 meters Centerline goodness : 0.971176 Centerline is valid? [True, True] Translation: X:64.94, Y:8.17, Z:-2.23 [[ 9.23994480e-01 -3.82356603e-01 -6.13424374e-03 6.49374816e+01] [ 3.82347445e-01 9.24014836e-01 -2.64824347e-03 8.17455891e+00] [ 6.68070560e-03 1.01549921e-04 9.99977679e-01 -2.22630591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.717719421 meters Centerline goodness : 0.968100 Centerline is valid? [True, True] Translation: X:64.96, Y:8.18, Z:-2.23 [[ 9.26032894e-01 -3.77356209e-01 -8.08517678e-03 6.49632578e+01] [ 3.77340100e-01 9.26068171e-01 -3.49159672e-03 8.18402783e+00] [ 8.80500058e-03 1.82472002e-04 9.99961219e-01 -2.22709011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.747719421 meters Centerline goodness : 0.968416 Centerline is valid? [True, True] Translation: X:64.99, Y:8.19, Z:-2.23 [[ 9.27249679e-01 -3.74317135e-01 -9.73223883e-03 6.49899346e+01] [ 3.74293574e-01 9.27300715e-01 -4.20773297e-03 8.19221990e+00] [ 1.05997386e-02 2.58904589e-04 9.99943788e-01 -2.22717328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.777719421 meters Centerline goodness : 0.969190 Centerline is valid? [True, True] Translation: X:65.02, Y:8.20, Z:-2.23 [[ 9.29494719e-01 -3.68686779e-01 -1.04703012e-02 6.50182405e+01] [ 3.68659113e-01 9.29553622e-01 -4.53014987e-03 8.19798173e+00] [ 1.14029128e-02 3.50778413e-04 9.99934923e-01 -2.22688559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.807719421 meters Centerline goodness : 0.968929 Centerline is valid? [True, True] Translation: X:65.04, Y:8.21, Z:-2.23 [[ 9.30465260e-01 -3.66235248e-01 -1.03025562e-02 6.50445430e+01] [ 3.66208337e-01 9.30522221e-01 -4.45527950e-03 8.20620275e+00] [ 1.12184379e-02 3.72600817e-04 9.99937002e-01 -2.22690074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.837719421 meters Centerline goodness : 0.971521 Centerline is valid? [True, True] Translation: X:65.07, Y:8.21, Z:-2.23 [[ 9.31571132e-01 -3.63429895e-01 -9.69215240e-03 6.50718906e+01] [ 3.63405847e-01 9.31621468e-01 -4.19885576e-03 8.21449173e+00] [ 1.05554070e-02 3.89347959e-04 9.99944214e-01 -2.22778970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86771942099999 meters Centerline goodness : 0.972443 Centerline is valid? [True, True] Translation: X:65.10, Y:8.22, Z:-2.23 [[ 9.32155291e-01 -3.61965156e-01 -8.23034839e-03 6.50979151e+01] [ 3.61947721e-01 9.32191560e-01 -3.56972788e-03 8.22456283e+00] [ 8.96437841e-03 3.48584883e-04 9.99959758e-01 -2.22900529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89771942099999 meters Centerline goodness : 0.970313 Centerline is valid? [True, True] Translation: X:65.13, Y:8.23, Z:-2.23 [[ 9.32818947e-01 -3.60265366e-01 -7.59459318e-03 6.51257896e+01] [ 3.60250434e-01 9.32849800e-01 -3.29767126e-03 8.23117924e+00] [ 8.27265147e-03 3.40174744e-04 9.99965723e-01 -2.22960398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92771942099999 meters Centerline goodness : 0.969960 Centerline is valid? [True, True] Translation: X:65.15, Y:8.24, Z:-2.23 [[ 9.33790217e-01 -3.57687958e-01 -9.75474793e-03 6.51545027e+01] [ 3.57663165e-01 9.33841050e-01 -4.23728428e-03 8.23637149e+00] [ 1.06250096e-02 4.67820592e-04 9.99943444e-01 -2.23111142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.957719421 meters Centerline goodness : 0.969793 Centerline is valid? [True, True] Translation: X:65.18, Y:8.25, Z:-2.23 [[ 9.34414201e-01 -3.56038851e-01 -1.03168655e-02 6.51811658e+01] [ 3.56010979e-01 9.34471010e-01 -4.48492923e-03 8.24514701e+00] [ 1.12376208e-02 5.17864168e-04 9.99936722e-01 -2.23193307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.987719421 meters Centerline goodness : 0.970819 Centerline is valid? [True, True] Translation: X:65.21, Y:8.25, Z:-2.23 [[ 9.34783577e-01 -3.55072105e-01 -1.01717232e-02 6.52081473e+01] [ 3.55044912e-01 9.34838769e-01 -4.42571604e-03 8.25446328e+00] [ 1.10803695e-02 5.25668090e-04 9.99938473e-01 -2.23262030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.017719421 meters Centerline goodness : 0.972306 Centerline is valid? [True, True] Translation: X:65.24, Y:8.26, Z:-2.23 [[ 9.35354401e-01 -3.53544856e-01 -1.08710515e-02 6.52360045e+01] [ 3.53513692e-01 9.35417392e-01 -4.72994163e-03 8.25910378e+00] [ 1.18412171e-02 5.81106176e-04 9.99929721e-01 -2.23126780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.047719421 meters Centerline goodness : 0.972589 Centerline is valid? [True, True] Translation: X:65.26, Y:8.27, Z:-2.23 [[ 9.35122350e-01 -3.54172443e-01 -1.03956932e-02 6.52624289e+01] [ 3.54143983e-01 9.35179972e-01 -4.52320200e-03 8.26716559e+00] [ 1.13238376e-02 5.48175085e-04 9.99935733e-01 -2.23196632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.077719421 meters Centerline goodness : 0.972599 Centerline is valid? [True, True] Translation: X:65.29, Y:8.28, Z:-2.23 [[ 9.34658340e-01 -3.55392327e-01 -1.04919504e-02 6.52884237e+01] [ 3.55363325e-01 9.34717068e-01 -4.57281240e-03 8.27851829e+00] [ 1.14321475e-02 5.45562878e-04 9.99934502e-01 -2.23315861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.107719421 meters Centerline goodness : 0.973698 Centerline is valid? [True, True] Translation: X:65.31, Y:8.29, Z:-2.23 [[ 9.33045240e-01 -3.59633610e-01 -9.49976523e-03 6.53147016e+01] [ 3.59610072e-01 9.33093494e-01 -4.13858280e-03 8.28580030e+00] [ 1.03525426e-02 4.45273723e-04 9.99946312e-01 -2.23272309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.137719421 meters Centerline goodness : 0.973934 Centerline is valid? [True, True] Translation: X:65.34, Y:8.29, Z:-2.23 [[ 9.32182272e-01 -3.61869486e-01 -9.31056938e-03 6.53417494e+01] [ 3.61846913e-01 9.32228674e-01 -4.06347551e-03 8.29329851e+00] [ 1.01500275e-02 4.18899048e-04 9.99948399e-01 -2.23165739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.167719421 meters Centerline goodness : 0.973778 Centerline is valid? [True, True] Translation: X:65.37, Y:8.30, Z:-2.23 [[ 9.29951398e-01 -3.67555190e-01 -9.67371978e-03 6.53691610e+01] [ 3.67531091e-01 9.30001636e-01 -4.22548944e-03 8.30086622e+00] [ 1.05496758e-02 3.74107029e-04 9.99944281e-01 -2.23333806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.197719421 meters Centerline goodness : 0.973883 Centerline is valid? [True, True] Translation: X:65.39, Y:8.31, Z:-2.23 [[ 9.28675966e-01 -3.70754389e-01 -1.01060826e-02 6.53940024e+01] [ 3.70728306e-01 9.28730887e-01 -4.41160545e-03 8.31266501e+00] [ 1.10214531e-02 3.50341082e-04 9.99939201e-01 -2.23495508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.227719421 meters Centerline goodness : 0.971898 Centerline is valid? [True, True] Translation: X:65.42, Y:8.32, Z:-2.24 [[ 9.25986896e-01 -3.77454161e-01 -8.75357232e-03 6.54197096e+01] [ 3.77434822e-01 9.26028238e-01 -3.82849553e-03 8.32426208e+00] [ 9.55113672e-03 2.41233688e-04 9.99954358e-01 -2.23757915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25771942099999 meters Centerline goodness : 0.971867 Centerline is valid? [True, True] Translation: X:65.45, Y:8.33, Z:-2.24 [[ 9.24525019e-01 -3.81035962e-01 -8.06753990e-03 6.54458464e+01] [ 3.81019635e-01 9.24560197e-01 -3.53262720e-03 8.33391087e+00] [ 8.80498429e-03 1.92111123e-04 9.99961217e-01 -2.23758862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28771942099999 meters Centerline goodness : 0.974366 Centerline is valid? [True, True] Translation: X:65.47, Y:8.34, Z:-2.23 [[ 9.21482510e-01 -3.88283101e-01 -1.03061893e-02 6.54725025e+01] [ 3.88256925e-01 9.21540129e-01 -4.51116687e-03 8.34044133e+00] [ 1.12491769e-02 1.55512004e-04 9.99936714e-01 -2.23405393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31771942099999 meters Centerline goodness : 0.975301 Centerline is valid? [True, True] Translation: X:65.50, Y:8.35, Z:-2.23 [[ 9.20085153e-01 -3.91537191e-01 -1.19138176e-02 6.54993573e+01] [ 3.91502414e-01 9.20162273e-01 -5.22024005e-03 8.34963785e+00] [ 1.30065636e-02 1.38777025e-04 9.99915401e-01 -2.23305227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.347719421 meters Centerline goodness : 0.974959 Centerline is valid? [True, True] Translation: X:65.52, Y:8.36, Z:-2.23 [[ 9.17586509e-01 -3.97256862e-01 -1.48991398e-02 6.55240893e+01] [ 3.97203270e-01 9.17707459e-01 -6.52540830e-03 8.36164585e+00] [ 1.62653149e-02 6.96395696e-05 9.99867709e-01 -2.23443184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.377719421 meters Centerline goodness : 0.973676 Centerline is valid? [True, True] Translation: X:65.55, Y:8.38, Z:-2.24 [[ 9.16925112e-01 -3.98771145e-01 -1.51628587e-02 6.55487369e+01] [ 3.98715686e-01 9.17050474e-01 -6.65059854e-03 8.37538953e+00] [ 1.65571735e-02 5.24312061e-05 9.99862919e-01 -2.23622349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.407719421 meters Centerline goodness : 0.975961 Centerline is valid? [True, True] Translation: X:65.57, Y:8.39, Z:-2.24 [[ 9.16989037e-01 -3.98739991e-01 -1.17271363e-02 6.55728034e+01] [ 3.98706725e-01 9.17064020e-01 -5.15070310e-03 8.38952419e+00] [ 1.28083261e-02 4.74501496e-05 9.99917969e-01 -2.23627933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.437719421 meters Centerline goodness : 0.977384 Centerline is valid? [True, True] Translation: X:65.60, Y:8.40, Z:-2.24 [[ 9.16928895e-01 -3.98942213e-01 -9.30118048e-03 6.55973250e+01] [ 3.98921310e-01 9.16976068e-01 -4.08400361e-03 8.40065295e+00] [ 1.01582413e-02 3.43018151e-05 9.99948403e-01 -2.23515749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.467719421 meters Centerline goodness : 0.979369 Centerline is valid? [True, True] Translation: X:65.62, Y:8.41, Z:-2.23 [[ 9.17029131e-01 -3.98715984e-01 -9.11793723e-03 6.56215935e+01] [ 3.98695871e-01 9.17074459e-01 -4.00499406e-03 8.41313851e+00] [ 9.95868249e-03 3.74123008e-05 9.99950410e-01 -2.23397370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.497719421 meters Centerline goodness : 0.977040 Centerline is valid? [True, True] Translation: X:65.64, Y:8.43, Z:-2.24 [[ 9.16779495e-01 -3.99243668e-01 -1.09476518e-02 6.56448757e+01] [ 3.99214613e-01 9.16844857e-01 -4.81675106e-03 8.42874801e+00] [ 1.19603556e-02 4.54360155e-05 9.99928471e-01 -2.23611249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.527719421 meters Centerline goodness : 0.976023 Centerline is valid? [True, True] Translation: X:65.67, Y:8.44, Z:-2.24 [[ 9.16551597e-01 -3.99767814e-01 -1.09025006e-02 6.56693020e+01] [ 3.99738984e-01 9.16616437e-01 -4.80121124e-03 8.44309679e+00] [ 1.19127810e-02 4.24033106e-05 9.99929039e-01 -2.23751401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.557719421 meters Centerline goodness : 0.976049 Centerline is valid? [True, True] Translation: X:65.69, Y:8.46, Z:-2.24 [[ 9.15902984e-01 -4.01228098e-01 -1.17361528e-02 6.56920382e+01] [ 4.01194847e-01 9.15978173e-01 -5.16547429e-03 8.45979348e+00] [ 1.28225932e-02 2.25892853e-05 9.99917787e-01 -2.23734982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.587719421 meters Centerline goodness : 0.975870 Centerline is valid? [True, True] Translation: X:65.72, Y:8.47, Z:-2.24 [[ 9.15729010e-01 -4.01645938e-01 -1.09964190e-02 6.57167781e+01] [ 4.01616674e-01 9.15795031e-01 -4.84846836e-03 8.47333064e+00] [ 1.20178335e-02 2.35378847e-05 9.99927783e-01 -2.23810526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61771942099999 meters Centerline goodness : 0.977073 Centerline is valid? [True, True] Translation: X:65.74, Y:8.49, Z:-2.24 [[ 9.15130276e-01 -4.03074086e-01 -8.23762666e-03 6.57404924e+01] [ 4.03057729e-01 9.15167352e-01 -3.63115982e-03 8.48756953e+00] [ 9.00243340e-03 2.74519610e-06 9.99959477e-01 -2.23721677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64771942099999 meters Centerline goodness : 0.975862 Centerline is valid? [True, True] Translation: X:65.77, Y:8.50, Z:-2.24 [[ 9.14754093e-01 -4.03921311e-01 -8.51605289e-03 6.57650598e+01] [ 4.03903799e-01 9.14793733e-01 -3.76115494e-03 8.50081565e+00] [ 9.30964245e-03 8.65756547e-07 9.99956664e-01 -2.23686663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67771942099999 meters Centerline goodness : 0.976996 Centerline is valid? [True, True] Translation: X:65.79, Y:8.52, Z:-2.24 [[ 9.14404768e-01 -4.04736326e-01 -7.24057618e-03 6.57872478e+01] [ 4.04723708e-01 9.14433435e-01 -3.19597482e-03 8.51744460e+00] [ 7.91455205e-03 -8.01822005e-06 9.99968679e-01 -2.23902787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.707719421 meters Centerline goodness : 0.977210 Centerline is valid? [True, True] Translation: X:65.81, Y:8.53, Z:-2.24 [[ 9.14028138e-01 -4.05574924e-01 -7.84503295e-03 6.58113643e+01] [ 4.05560083e-01 9.14061804e-01 -3.46953997e-03 8.53267525e+00] [ 8.57800338e-03 -1.03750599e-05 9.99963208e-01 -2.24016182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.737719421 meters Centerline goodness : 0.973966 Centerline is valid? [True, True] Translation: X:65.83, Y:8.55, Z:-2.24 [[ 9.13826644e-01 -4.05988604e-01 -9.70146353e-03 6.58338476e+01] [ 4.05965977e-01 9.13878139e-01 -4.28635516e-03 8.54822165e+00] [ 1.06061668e-02 -2.14785669e-05 9.99943753e-01 -2.24190457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.767719421 meters Centerline goodness : 0.976760 Centerline is valid? [True, True] Translation: X:65.86, Y:8.56, Z:-2.24 [[ 9.13793652e-01 -4.06034863e-01 -1.08097826e-02 6.58585229e+01] [ 4.06006680e-01 9.13857587e-01 -4.78396563e-03 8.56209070e+00] [ 1.18210587e-02 -1.72865415e-05 9.99930129e-01 -2.24194109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.797719421 meters Centerline goodness : 0.976116 Centerline is valid? [True, True] Translation: X:65.88, Y:8.58, Z:-2.24 [[ 9.13925236e-01 -4.05723700e-01 -1.13552921e-02 6.58836582e+01] [ 4.05692529e-01 9.13995776e-01 -5.02924642e-03 8.57545005e+00] [ 1.24191735e-02 -1.04019382e-05 9.99922879e-01 -2.24206502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.827719421 meters Centerline goodness : 0.976130 Centerline is valid? [True, True] Translation: X:65.90, Y:8.59, Z:-2.24 [[ 9.14719105e-01 -4.03936528e-01 -1.11463485e-02 6.59047742e+01] [ 4.03906386e-01 9.14787014e-01 -4.93458213e-03 8.59330247e+00] [ 1.21897928e-02 1.16752255e-05 9.99925702e-01 -2.24360468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.857719421 meters Centerline goodness : 0.975880 Centerline is valid? [True, True] Translation: X:65.93, Y:8.61, Z:-2.25 [[ 9.15176521e-01 -4.02906458e-01 -1.08776082e-02 6.59285053e+01] [ 4.02877587e-01 9.15241162e-01 -4.82338313e-03 8.60839433e+00] [ 1.18990070e-02 3.19024543e-05 9.99929204e-01 -2.24511491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.887719421 meters Centerline goodness : 0.974401 Centerline is valid? [True, True] Translation: X:65.95, Y:8.62, Z:-2.24 [[ 9.16772301e-01 -3.99279050e-01 -1.02366221e-02 6.59520643e+01] [ 3.99253200e-01 9.16829446e-01 -4.54407266e-03 8.62409466e+00] [ 1.11995896e-02 7.88758086e-05 9.99937280e-01 -2.24498116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.917719421 meters Centerline goodness : 0.974152 Centerline is valid? [True, True] Translation: X:65.98, Y:8.64, Z:-2.25 [[ 9.17905956e-01 -3.96666773e-01 -1.02042581e-02 6.59764104e+01] [ 3.96640951e-01 9.17962668e-01 -4.52724966e-03 8.63665258e+00] [ 1.11629375e-02 1.08162779e-04 9.99937687e-01 -2.24591889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.947719421 meters Centerline goodness : 0.975504 Centerline is valid? [True, True] Translation: X:66.00, Y:8.65, Z:-2.25 [[ 9.20339631e-01 -3.91020400e-01 -8.83230510e-03 6.59998387e+01] [ 3.91000720e-01 9.20381997e-01 -3.92638426e-03 8.65274889e+00] [ 9.66439096e-03 1.60169396e-04 9.99953286e-01 -2.24587617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.977719421 meters Centerline goodness : 0.979548 Centerline is valid? [True, True] Translation: X:66.02, Y:8.67, Z:-2.25 [[ 9.23932129e-01 -3.82512780e-01 -5.77881182e-03 6.60231288e+01] [ 3.82504158e-01 9.23950185e-01 -2.57366561e-03 8.66977472e+00] [ 6.32379424e-03 1.67472794e-04 9.99979991e-01 -2.24656194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00771942099999 meters Centerline goodness : 0.979548 Centerline is valid? [True, True] Translation: X:66.05, Y:8.68, Z:-2.25 [[ 9.23818189e-01 -3.82787885e-01 -5.77821447e-03 6.60491137e+01] [ 3.82779261e-01 9.23836245e-01 -2.57500769e-03 8.68159328e+00] [ 6.32380571e-03 1.67058279e-04 9.99979991e-01 -2.24715655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03771942099999 meters Centerline goodness : 0.977912 Centerline is valid? [True, True] Translation: X:66.07, Y:8.70, Z:-2.25 [[ 9.25616616e-01 -3.78427497e-01 -5.14868886e-03 6.60731153e+01] [ 3.78420564e-01 9.25630919e-01 -2.29771496e-03 8.69601009e+00] [ 5.63530412e-03 1.78433402e-04 9.99984106e-01 -2.24788963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06771942099999 meters Centerline goodness : 0.977844 Centerline is valid? [True, True] Translation: X:66.10, Y:8.71, Z:-2.25 [[ 9.28459568e-01 -3.71393208e-01 -5.46962446e-03 6.60956582e+01] [ 3.71385283e-01 9.28475650e-01 -2.43721582e-03 8.71113974e+00] [ 5.98357852e-03 2.31518322e-04 9.99982071e-01 -2.24748553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.097719421 meters Centerline goodness : 0.978273 Centerline is valid? [True, True] Translation: X:66.12, Y:8.72, Z:-2.25 [[ 9.29381788e-01 -3.69055270e-01 -6.90649219e-03 6.61202558e+01] [ 3.69042527e-01 9.29407396e-01 -3.08314000e-03 8.72373501e+00] [ 7.55679399e-03 3.16624836e-04 9.99971397e-01 -2.24803056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.127719421 meters Centerline goodness : 0.975142 Centerline is valid? [True, True] Translation: X:66.14, Y:8.73, Z:-2.25 [[ 9.30849778e-01 -3.65251062e-01 -1.05048539e-02 6.61447713e+01] [ 3.65221408e-01 9.30908905e-01 -4.68344312e-03 8.73450929e+00] [ 1.14896946e-02 5.22984456e-04 9.99933855e-01 -2.24917156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.157719421 meters Centerline goodness : 0.974010 Centerline is valid? [True, True] Translation: X:66.17, Y:8.75, Z:-2.25 [[ 9.31157433e-01 -3.64474913e-01 -1.01918321e-02 6.61705866e+01] [ 3.64446868e-01 9.31213060e-01 -4.55160280e-03 8.74598209e+00] [ 1.11497122e-02 5.23877499e-04 9.99937703e-01 -2.25028362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.187719421 meters Centerline goodness : 0.976752 Centerline is valid? [True, True] Translation: X:66.20, Y:8.76, Z:-2.25 [[ 9.31707139e-01 -3.63102541e-01 -8.85169814e-03 6.61962823e+01] [ 3.63081285e-01 9.31749065e-01 -3.95719683e-03 8.75819205e+00] [ 9.68442969e-03 4.73062599e-04 9.99952993e-01 -2.25266882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.217719421 meters Centerline goodness : 0.976242 Centerline is valid? [True, True] Translation: X:66.22, Y:8.77, Z:-2.25 [[ 9.31688626e-01 -3.63141007e-01 -9.21483185e-03 6.62230461e+01] [ 3.63117939e-01 9.31734063e-01 -4.12292870e-03 8.76788376e+00] [ 1.00829772e-02 4.95215027e-04 9.99949043e-01 -2.25459283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.247719421 meters Centerline goodness : 0.976014 Centerline is valid? [True, True] Translation: X:66.25, Y:8.78, Z:-2.25 [[ 9.31042532e-01 -3.64742555e-01 -1.10757599e-02 6.62492503e+01] [ 3.64709387e-01 9.31108233e-01 -4.95187573e-03 8.77625158e+00] [ 1.21188910e-02 5.70973320e-04 9.99926401e-01 -2.25390019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.277719421 meters Centerline goodness : 0.975772 Centerline is valid? [True, True] Translation: X:66.28, Y:8.78, Z:-2.25 [[ 9.29645794e-01 -3.68267905e-01 -1.17237726e-02 6.62774352e+01] [ 3.68230917e-01 9.29719545e-01 -5.24967344e-03 8.78206226e+00] [ 1.28331068e-02 5.63281289e-04 9.99917494e-01 -2.25413708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.307719421 meters Centerline goodness : 0.976985 Centerline is valid? [True, True] Translation: X:66.30, Y:8.79, Z:-2.25 [[ 9.28566388e-01 -3.70947175e-01 -1.27537110e-02 6.63039711e+01] [ 3.70903598e-01 9.28653790e-01 -5.71488797e-03 8.79111360e+00] [ 1.39637036e-02 5.76255586e-04 9.99902337e-01 -2.25379643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.337719421 meters Centerline goodness : 0.975619 Centerline is valid? [True, True] Translation: X:66.33, Y:8.80, Z:-2.25 [[ 9.25666841e-01 -3.78108331e-01 -1.32283345e-02 6.63306927e+01] [ 3.78062208e-01 9.25761230e-01 -5.92546188e-03 8.79830773e+00] [ 1.44867457e-02 4.83870225e-04 9.99894945e-01 -2.25483238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36771942099999 meters Centerline goodness : 0.977454 Centerline is valid? [True, True] Translation: X:66.36, Y:8.81, Z:-2.26 [[ 9.23688349e-01 -3.82921346e-01 -1.30796605e-02 6.63565536e+01] [ 3.82876622e-01 9.23780858e-01 -5.86675069e-03 8.80843606e+00] [ 1.43292441e-02 4.11153017e-04 9.99897247e-01 -2.25648336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39771942099999 meters Centerline goodness : 0.976684 Centerline is valid? [True, True] Translation: X:66.38, Y:8.82, Z:-2.26 [[ 9.19991112e-01 -3.91788322e-01 -1.08749228e-02 6.63833192e+01] [ 3.91758030e-01 9.20055356e-01 -4.87719487e-03 8.81502020e+00] [ 1.19163590e-02 2.26637599e-04 9.99928972e-01 -2.25685072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42771942099999 meters Centerline goodness : 0.975517 Centerline is valid? [True, True] Translation: X:66.41, Y:8.82, Z:-2.26 [[ 9.17891795e-01 -3.96713393e-01 -9.65072300e-03 6.64101064e+01] [ 3.96689727e-01 9.17942515e-01 -4.33581798e-03 8.82483957e+00] [ 1.05788860e-02 1.51469072e-04 9.99944031e-01 -2.25671056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.457719421 meters Centerline goodness : 0.977628 Centerline is valid? [True, True] Translation: X:66.44, Y:8.83, Z:-2.26 [[ 9.15293882e-01 -4.02711687e-01 -7.77218491e-03 6.64370385e+01] [ 4.02696517e-01 9.15326877e-01 -3.49617138e-03 8.83363188e+00] [ 8.52203881e-03 7.01924817e-05 9.99963684e-01 -2.25655160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.487719421 meters Centerline goodness : 0.976924 Centerline is valid? [True, True] Translation: X:66.46, Y:8.84, Z:-2.26 [[ 9.14070360e-01 -4.05470160e-01 -8.32620282e-03 6.64628165e+01] [ 4.05452835e-01 9.14108279e-01 -3.74860097e-03 8.84394347e+00] [ 9.13099677e-03 5.06025048e-05 9.99958310e-01 -2.25728501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.517719421 meters Centerline goodness : 0.975879 Centerline is valid? [True, True] Translation: X:66.49, Y:8.85, Z:-2.26 [[ 9.14118814e-01 -4.05334605e-01 -9.52113893e-03 6.64886034e+01] [ 4.05311915e-01 9.14168395e-01 -4.28921976e-03 8.85436444e+00] [ 1.04424935e-02 6.18254293e-05 9.99945474e-01 -2.25779956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.547719421 meters Centerline goodness : 0.976877 Centerline is valid? [True, True] Translation: X:66.51, Y:8.86, Z:-2.26 [[ 9.14960863e-01 -4.03401884e-01 -1.06554625e-02 6.65132196e+01] [ 4.03373298e-01 9.15022902e-01 -4.80333111e-03 8.86477131e+00] [ 1.16876650e-02 9.67309283e-05 9.99931692e-01 -2.25803216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.577719421 meters Centerline goodness : 0.975986 Centerline is valid? [True, True] Translation: X:66.54, Y:8.88, Z:-2.26 [[ 9.15212773e-01 -4.02820239e-01 -1.10197815e-02 6.65387790e+01] [ 4.02789574e-01 9.15279106e-01 -4.97159008e-03 8.87681368e+00] [ 1.20888328e-02 1.11409670e-04 9.99926921e-01 -2.25912996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.607719421 meters Centerline goodness : 0.976044 Centerline is valid? [True, True] Translation: X:66.56, Y:8.89, Z:-2.26 [[ 9.15084150e-01 -4.03094804e-01 -1.16437718e-02 6.65637442e+01] [ 4.03060624e-01 9.15158219e-01 -5.25046675e-03 8.88759987e+00] [ 1.27723293e-02 1.11472981e-04 9.99918424e-01 -2.25923874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.637719421 meters Centerline goodness : 0.976088 Centerline is valid? [True, True] Translation: X:66.59, Y:8.90, Z:-2.26 [[ 9.14601582e-01 -4.04216771e-01 -1.06183000e-02 6.65886065e+01] [ 4.04188366e-01 9.14663213e-01 -4.79280918e-03 8.89725744e+00] [ 1.16495023e-02 9.17175311e-05 9.99932138e-01 -2.25995405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.667719421 meters Centerline goodness : 0.975560 Centerline is valid? [True, True] Translation: X:66.61, Y:8.91, Z:-2.26 [[ 9.12135054e-01 -4.09800523e-01 -8.55425389e-03 6.66141185e+01] [ 4.09782327e-01 9.12175165e-01 -3.86171063e-03 8.90667037e+00] [ 9.38550898e-03 1.70195630e-05 9.99955955e-01 -2.26063187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.697719421 meters Centerline goodness : 0.976686 Centerline is valid? [True, True] Translation: X:66.64, Y:8.92, Z:-2.26 [[ 9.10702620e-01 -4.12980184e-01 -8.25260658e-03 6.66387841e+01] [ 4.12963367e-01 9.10740011e-01 -3.72694591e-03 8.91789575e+00] [ 9.05513382e-03 -1.38847933e-05 9.99959001e-01 -2.26089235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.727719421 meters Centerline goodness : 0.978361 Centerline is valid? [True, True] Translation: X:66.66, Y:8.93, Z:-2.26 [[ 9.07377627e-01 -4.20244214e-01 -7.78736616e-03 6.66634658e+01] [ 4.20229494e-01 9.07411039e-01 -3.51823748e-03 8.93003832e+00] [ 8.54486096e-03 -8.01109661e-05 9.99963489e-01 -2.26096114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75771942099999 meters Centerline goodness : 0.978541 Centerline is valid? [True, True] Translation: X:66.69, Y:8.94, Z:-2.26 [[ 9.05848230e-01 -4.23535111e-01 -7.54948714e-03 6.66890700e+01] [ 4.23521329e-01 9.05879683e-01 -3.41818808e-03 8.94213435e+00] [ 8.28664968e-03 -1.01009207e-04 9.99965660e-01 -2.26060640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78771942099999 meters Centerline goodness : 0.979698 Centerline is valid? [True, True] Translation: X:66.71, Y:8.96, Z:-2.26 [[ 9.03567226e-01 -4.28416149e-01 -5.08641763e-03 6.67130977e+01] [ 4.28409946e-01 9.03581537e-01 -2.30733787e-03 8.95644379e+00] [ 5.58449386e-03 -9.42370290e-05 9.99984402e-01 -2.26067761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81771942099999 meters Centerline goodness : 0.978360 Centerline is valid? [True, True] Translation: X:66.74, Y:8.97, Z:-2.26 [[ 9.02908179e-01 -4.29813423e-01 -4.15225106e-03 6.67363259e+01] [ 4.29809314e-01 9.02917723e-01 -1.88145071e-03 8.96947199e+00] [ 4.55781384e-03 -8.58989445e-05 9.99989609e-01 -2.26175961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.847719421 meters Centerline goodness : 0.979199 Centerline is valid? [True, True] Translation: X:66.76, Y:8.99, Z:-2.26 [[ 9.00690723e-01 -4.34424924e-01 -5.58622393e-03 6.67591826e+01] [ 4.34417549e-01 9.00708035e-01 -2.53541447e-03 8.98771985e+00] [ 6.13300402e-03 -1.43129412e-04 9.99981183e-01 -2.26356063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.877719421 meters Centerline goodness : 0.978471 Centerline is valid? [True, True] Translation: X:66.78, Y:9.00, Z:-2.27 [[ 8.99784170e-01 -4.36304100e-01 -5.21340182e-03 6.67833874e+01] [ 4.36297692e-01 8.99799262e-01 -2.36906462e-03 9.00250928e+00] [ 5.72464772e-03 -1.42948337e-04 9.99983604e-01 -2.26511874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.907719421 meters Centerline goodness : 0.976149 Centerline is valid? [True, True] Translation: X:66.81, Y:9.02, Z:-2.26 [[ 8.99540872e-01 -4.36817288e-01 -4.10808651e-03 6.68066598e+01] [ 4.36813299e-01 8.99550246e-01 -1.87009856e-03 9.01847391e+00] [ 4.51232161e-03 -1.12236726e-04 9.99989813e-01 -2.26433884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.937719421 meters Centerline goodness : 0.977868 Centerline is valid? [True, True] Translation: X:66.83, Y:9.04, Z:-2.26 [[ 9.00187018e-01 -4.35463322e-01 -5.91838063e-03 6.68291709e+01] [ 4.35455015e-01 9.00206461e-01 -2.69395733e-03 9.03587447e+00] [ 6.50088409e-03 -1.52123114e-04 9.99978857e-01 -2.26327197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.967719421 meters Centerline goodness : 0.977278 Centerline is valid? [True, True] Translation: X:66.85, Y:9.05, Z:-2.27 [[ 9.01091715e-01 -4.33564788e-01 -7.43604667e-03 6.68520386e+01] [ 4.33551631e-01 9.01122380e-01 -3.38233209e-03 9.05039202e+00] [ 8.16724817e-03 -1.76118734e-04 9.99966632e-01 -2.26503527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.997719421 meters Centerline goodness : 0.975279 Centerline is valid? [True, True] Translation: X:66.87, Y:9.07, Z:-2.27 [[ 9.03520859e-01 -4.28452893e-01 -8.84170411e-03 6.68727400e+01] [ 4.28433994e-01 9.03564108e-01 -4.02693621e-03 9.07235335e+00] [ 9.71439895e-03 -1.49665743e-04 9.99952803e-01 -2.26735959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.027719421 meters Centerline goodness : 0.975154 Centerline is valid? [True, True] Translation: X:66.89, Y:9.09, Z:-2.27 [[ 9.04653342e-01 -4.26053412e-01 -8.99009953e-03 6.68949144e+01] [ 4.26033757e-01 9.04698002e-01 -4.09430290e-03 9.08875749e+00] [ 9.87771680e-03 -1.26161079e-04 9.99951206e-01 -2.26892062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.057719421 meters Centerline goodness : 0.973957 Centerline is valid? [True, True] Translation: X:66.92, Y:9.11, Z:-2.27 [[ 9.07661688e-01 -4.19543243e-01 -1.15640687e-02 6.69179633e+01] [ 4.19510124e-01 9.07735348e-01 -5.27193452e-03 9.10501088e+00] [ 1.27089184e-02 -6.61108872e-05 9.99919236e-01 -2.26751494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.087719421 meters Centerline goodness : 0.974237 Centerline is valid? [True, True] Translation: X:66.94, Y:9.12, Z:-2.27 [[ 9.09494710e-01 -4.15551413e-01 -1.16788903e-02 6.69432780e+01] [ 4.15517243e-01 9.09569691e-01 -5.32890699e-03 9.11826900e+00] [ 1.28371995e-02 -6.16759414e-06 9.99917600e-01 -2.26702420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11771942099999 meters Centerline goodness : 0.973888 Centerline is valid? [True, True] Translation: X:66.97, Y:9.14, Z:-2.27 [[ 9.13166543e-01 -4.07455336e-01 -1.03447060e-02 6.69651078e+01] [ 4.07428026e-01 9.13225131e-01 -4.71844832e-03 9.13529986e+00] [ 1.13696024e-02 9.40060102e-05 9.99935360e-01 -2.26859037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14771942099999 meters Centerline goodness : 0.975900 Centerline is valid? [True, True] Translation: X:66.98, Y:9.16, Z:-2.27 [[ 9.17010794e-01 -3.98731793e-01 -1.02058944e-02 6.69849369e+01] [ 3.98704649e-01 9.17067564e-01 -4.65686971e-03 9.15561139e+00] [ 1.12163367e-02 2.01262239e-04 9.99937075e-01 -2.27173522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17771942099999 meters Centerline goodness : 0.974186 Centerline is valid? [True, True] Translation: X:67.01, Y:9.17, Z:-2.27 [[ 9.18794585e-01 -3.94593238e-01 -1.06154397e-02 6.70080320e+01] [ 3.94563492e-01 9.18855867e-01 -4.85256030e-03 9.17186744e+00] [ 1.16688466e-02 2.70041156e-04 9.99931880e-01 -2.27278782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.207719421 meters Centerline goodness : 0.974520 Centerline is valid? [True, True] Translation: X:67.03, Y:9.19, Z:-2.27 [[ 9.21132867e-01 -3.89127834e-01 -9.68350066e-03 6.70317799e+01] [ 3.89102800e-01 9.21183714e-01 -4.42453825e-03 9.18567335e+00] [ 1.06419941e-02 3.07710381e-04 9.99943325e-01 -2.27238176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.237719421 meters Centerline goodness : 0.974509 Centerline is valid? [True, True] Translation: X:67.06, Y:9.20, Z:-2.27 [[ 9.21645111e-01 -3.87930393e-01 -8.96095823e-03 6.70579598e+01] [ 3.87908823e-01 9.21688623e-01 -4.10215786e-03 9.19578774e+00] [ 9.85056496e-03 3.04698982e-04 9.99951436e-01 -2.27214852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.267719421 meters Centerline goodness : 0.977694 Centerline is valid? [True, True] Translation: X:67.08, Y:9.21, Z:-2.27 [[ 9.21418194e-01 -3.88505680e-01 -7.20051573e-03 6.70832675e+01] [ 3.88491734e-01 9.21446296e-01 -3.30085076e-03 9.20778840e+00] [ 7.91728782e-03 2.44123100e-04 9.99968628e-01 -2.27220143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.297719421 meters Centerline goodness : 0.977296 Centerline is valid? [True, True] Translation: X:67.11, Y:9.22, Z:-2.27 [[ 9.20750127e-01 -3.90095488e-01 -6.68682240e-03 6.71071066e+01] [ 3.90083480e-01 9.20774382e-01 -3.06853687e-03 9.22202508e+00] [ 7.35407715e-03 2.16936763e-04 9.99972935e-01 -2.27442760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.327719421 meters Centerline goodness : 0.977071 Centerline is valid? [True, True] Translation: X:67.13, Y:9.24, Z:-2.28 [[ 9.20951599e-01 -3.89620339e-01 -6.64404547e-03 6.71298518e+01] [ 3.89608494e-01 9.20975539e-01 -3.04581499e-03 9.23737878e+00] [ 7.30571483e-03 2.16471638e-04 9.99973289e-01 -2.27630952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.357719421 meters Centerline goodness : 0.975810 Centerline is valid? [True, True] Translation: X:67.16, Y:9.25, Z:-2.28 [[ 9.21491099e-01 -3.88341627e-01 -6.70342179e-03 6.71550171e+01] [ 3.88329485e-01 9.21515451e-01 -3.07983023e-03 9.24910211e+00] [ 7.37333304e-03 2.34899813e-04 9.99972789e-01 -2.27681023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.387719421 meters Centerline goodness : 0.976127 Centerline is valid? [True, True] Translation: X:67.18, Y:9.26, Z:-2.28 [[ 9.22898008e-01 -3.84982960e-01 -6.88382819e-03 6.71814541e+01] [ 3.84970087e-01 9.22923643e-01 -3.15945146e-03 9.25673216e+00] [ 7.56958276e-03 2.65783523e-04 9.99971315e-01 -2.27501847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.417719421 meters Centerline goodness : 0.976766 Centerline is valid? [True, True] Translation: X:67.21, Y:9.27, Z:-2.28 [[ 9.22577169e-01 -3.85737423e-01 -7.61625327e-03 6.72084789e+01] [ 3.85721635e-01 9.22608560e-01 -3.50231787e-03 9.26541105e+00] [ 8.37779553e-03 2.93404849e-04 9.99964863e-01 -2.27590640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.447719421 meters Centerline goodness : 0.977244 Centerline is valid? [True, True] Translation: X:67.23, Y:9.28, Z:-2.28 [[ 9.21712953e-01 -3.87776361e-01 -8.64447510e-03 6.72343770e+01] [ 3.87756084e-01 9.21753435e-01 -3.97799578e-03 9.27629076e+00] [ 9.51064734e-03 3.14622421e-04 9.99954723e-01 -2.27655028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.477719421 meters Centerline goodness : 0.975713 Centerline is valid? [True, True] Translation: X:67.26, Y:9.28, Z:-2.28 [[ 9.19244638e-01 -3.93568409e-01 -9.65418985e-03 6.72608493e+01] [ 3.93543474e-01 9.19295289e-01 -4.43908164e-03 9.28419238e+00] [ 1.06221335e-02 2.81258575e-04 9.99943544e-01 -2.27808899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50771942099999 meters Centerline goodness : 0.975814 Centerline is valid? [True, True] Translation: X:67.29, Y:9.29, Z:-2.28 [[ 9.17131149e-01 -3.98451954e-01 -1.03196931e-02 6.72871590e+01] [ 3.98423676e-01 9.17189173e-01 -4.75351429e-03 9.29396890e+00] [ 1.13591578e-02 2.47985968e-04 9.99935452e-01 -2.27909493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53771942099999 meters Centerline goodness : 0.974485 Centerline is valid? [True, True] Translation: X:67.31, Y:9.30, Z:-2.28 [[ 9.12761293e-01 -4.08306853e-01 -1.23424675e-02 6.73146639e+01] [ 4.08267306e-01 9.12844725e-01 -5.68461594e-03 9.29976505e+00] [ 1.35878240e-02 1.49671434e-04 9.99907670e-01 -2.27849458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56771942099999 meters Centerline goodness : 0.975735 Centerline is valid? [True, True] Translation: X:67.34, Y:9.31, Z:-2.28 [[ 9.10496183e-01 -4.13352709e-01 -1.16721815e-02 6.73399678e+01] [ 4.13317749e-01 9.10570993e-01 -5.37630354e-03 9.30887018e+00] [ 1.28506596e-02 7.07840435e-05 9.99917424e-01 -2.27904572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.597719421 meters Centerline goodness : 0.975618 Centerline is valid? [True, True] Translation: X:67.37, Y:9.32, Z:-2.28 [[ 9.06565346e-01 -4.21922376e-01 -1.09901225e-02 6.73666144e+01] [ 4.21891902e-01 9.06631958e-01 -5.07108400e-03 9.31853702e+00] [ 1.21036001e-02 -3.93746442e-05 9.99926748e-01 -2.27800105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.627719421 meters Centerline goodness : 0.973709 Centerline is valid? [True, True] Translation: X:67.39, Y:9.33, Z:-2.28 [[ 9.04998767e-01 -4.25263786e-01 -1.13111881e-02 6.73911255e+01] [ 4.25231798e-01 9.05069447e-01 -5.21666707e-03 9.33021730e+00] [ 1.24558704e-02 -8.87996013e-05 9.99922419e-01 -2.27886714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.657719421 meters Centerline goodness : 0.974889 Centerline is valid? [True, True] Translation: X:67.42, Y:9.34, Z:-2.28 [[ 9.04584374e-01 -4.26144248e-01 -1.13221271e-02 6.74157897e+01] [ 4.26112159e-01 9.04655223e-01 -5.23029742e-03 9.34333245e+00] [ 1.24714826e-02 -9.32507169e-05 9.99922224e-01 -2.27965450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.687719421 meters Centerline goodness : 0.973654 Centerline is valid? [True, True] Translation: X:67.44, Y:9.36, Z:-2.28 [[ 9.05602779e-01 -4.24005859e-01 -1.01310302e-02 6.74395660e+01] [ 4.23979981e-01 9.05659444e-01 -4.68474211e-03 9.35962040e+00] [ 1.11616213e-02 -5.28385254e-05 9.99937706e-01 -2.27974819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.717719421 meters Centerline goodness : 0.975090 Centerline is valid? [True, True] Translation: X:67.46, Y:9.37, Z:-2.28 [[ 9.06543855e-01 -4.22037046e-01 -7.93541918e-03 6.74645202e+01] [ 4.22021052e-01 9.06578585e-01 -3.67426949e-03 9.37305305e+00] [ 8.74475894e-03 -1.80275289e-05 9.99961764e-01 -2.28070076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.747719421 meters Centerline goodness : 0.975560 Centerline is valid? [True, True] Translation: X:67.49, Y:9.39, Z:-2.28 [[ 9.07286755e-01 -4.20452810e-01 -7.08370502e-03 6.74896162e+01] [ 4.20439990e-01 9.07314408e-01 -3.28341331e-03 9.38567288e+00] [ 7.80766797e-03 7.24539458e-07 9.99969520e-01 -2.28069641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.777719421 meters Centerline goodness : 0.975515 Centerline is valid? [True, True] Translation: X:67.51, Y:9.40, Z:-2.28 [[ 9.09538219e-01 -4.15571345e-01 -6.37843863e-03 6.75137998e+01] [ 4.15560806e-01 9.09560584e-01 -2.95997762e-03 9.39971614e+00] [ 7.03165825e-03 4.15836796e-05 9.99975277e-01 -2.28087100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.807719421 meters Centerline goodness : 0.976497 Centerline is valid? [True, True] Translation: X:67.54, Y:9.41, Z:-2.28 [[ 9.12568634e-01 -4.08874324e-01 -6.34634265e-03 6.75363065e+01] [ 4.08863750e-01 9.12590696e-01 -2.94191056e-03 9.41484076e+00] [ 6.99448495e-03 8.99058400e-05 9.99975534e-01 -2.28157405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.837719421 meters Centerline goodness : 0.975416 Centerline is valid? [True, True] Translation: X:67.56, Y:9.43, Z:-2.28 [[ 9.13931157e-01 -4.05814452e-01 -6.66864026e-03 6.75608869e+01] [ 4.05802648e-01 9.13955478e-01 -3.09763959e-03 9.42942907e+00] [ 7.35190721e-03 1.24877454e-04 9.99972967e-01 -2.28308481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86771942099999 meters Centerline goodness : 0.974863 Centerline is valid? [True, True] Translation: X:67.59, Y:9.44, Z:-2.28 [[ 9.17418161e-01 -3.97848289e-01 -7.78817541e-03 6.75861405e+01] [ 3.97831886e-01 9.17451192e-01 -3.61955044e-03 9.44246078e+00] [ 8.58530276e-03 2.22256796e-04 9.99963121e-01 -2.28394883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89771942099999 meters Centerline goodness : 0.974856 Centerline is valid? [True, True] Translation: X:67.61, Y:9.45, Z:-2.29 [[ 9.18732563e-01 -3.94815336e-01 -7.16437208e-03 6.76112511e+01] [ 3.94801382e-01 9.18760468e-01 -3.32727805e-03 9.45295502e+00] [ 7.89600224e-03 2.28374690e-04 9.99968800e-01 -2.28542732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92771942099999 meters Centerline goodness : 0.974856 Centerline is valid? [True, True] Translation: X:67.64, Y:9.47, Z:-2.29 [[ 9.18619629e-01 -3.95078070e-01 -7.16211547e-03 6.76370199e+01] [ 3.95064086e-01 9.18647519e-01 -3.33213886e-03 9.46520358e+00] [ 7.89591460e-03 2.31473558e-04 9.99968800e-01 -2.28602259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.957719421 meters Centerline goodness : 0.973612 Centerline is valid? [True, True] Translation: X:67.66, Y:9.48, Z:-2.29 [[ 9.20600171e-01 -3.90412349e-01 -8.57453000e-03 6.76635406e+01] [ 3.90392079e-01 9.20640044e-01 -3.99173690e-03 9.47510318e+00] [ 9.45247905e-03 3.27365083e-04 9.99955271e-01 -2.28669911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.987719421 meters Centerline goodness : 0.973019 Centerline is valid? [True, True] Translation: X:67.69, Y:9.49, Z:-2.29 [[ 9.21114470e-01 -3.89207680e-01 -8.09420676e-03 6.76887524e+01] [ 3.89189536e-01 9.21149975e-01 -3.77199767e-03 9.48681414e+00] [ 8.92406882e-03 3.24261055e-04 9.99960127e-01 -2.28769812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.017719421 meters Centerline goodness : 0.970986 Centerline is valid? [True, True] Translation: X:67.71, Y:9.50, Z:-2.29 [[ 9.21569174e-01 -3.88161925e-01 -6.37010568e-03 6.77143677e+01] [ 3.88150631e-01 9.21591150e-01 -2.97308708e-03 9.49779674e+00] [ 7.02467223e-03 2.67344870e-04 9.99975291e-01 -2.28809472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.047719421 meters Centerline goodness : 0.972554 Centerline is valid? [True, True] Translation: X:67.74, Y:9.51, Z:-2.29 [[ 9.21270850e-01 -3.88885611e-01 -5.29172147e-03 6.77395606e+01] [ 3.88877841e-01 9.21286023e-01 -2.46762689e-03 9.50816333e+00] [ 5.83481362e-03 2.15519497e-04 9.99982954e-01 -2.28848269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.077719421 meters Centerline goodness : 0.972526 Centerline is valid? [True, True] Translation: X:67.77, Y:9.52, Z:-2.29 [[ 9.20961966e-01 -3.89624107e-01 -4.70238757e-03 6.77657107e+01] [ 3.89617977e-01 9.20973952e-01 -2.19372343e-03 9.51667441e+00] [ 5.18550399e-03 1.88201111e-04 9.99986537e-01 -2.28887206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.107719421 meters Centerline goodness : 0.971547 Centerline is valid? [True, True] Translation: X:67.79, Y:9.53, Z:-2.29 [[ 9.20646290e-01 -3.90377693e-01 -3.95796566e-03 6.77914143e+01] [ 3.90373329e-01 9.20654784e-01 -1.85283016e-03 9.52716251e+00] [ 4.36722358e-03 1.60716977e-04 9.99990451e-01 -2.28942220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.137719421 meters Centerline goodness : 0.971463 Centerline is valid? [True, True] Translation: X:67.82, Y:9.54, Z:-2.29 [[ 9.20719464e-01 -3.90210288e-01 -3.40576871e-03 6.78169573e+01] [ 3.90207047e-01 9.20725753e-01 -1.59646037e-03 9.53879724e+00] [ 3.75873422e-03 1.40937186e-04 9.99992926e-01 -2.29077076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.167719421 meters Centerline goodness : 0.970659 Centerline is valid? [True, True] Translation: X:67.84, Y:9.55, Z:-2.29 [[ 9.21600739e-01 -3.88109020e-01 -4.84414485e-03 6.78416963e+01] [ 3.88102469e-01 9.21613447e-01 -2.26463647e-03 9.54985011e+00] [ 5.34335487e-03 2.07066075e-04 9.99985703e-01 -2.29192033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.197719421 meters Centerline goodness : 0.969517 Centerline is valid? [True, True] Translation: X:67.87, Y:9.56, Z:-2.29 [[ 9.21962193e-01 -3.87230832e-01 -6.16423174e-03 6.78660352e+01] [ 3.87220202e-01 9.21982760e-01 -2.88178082e-03 9.56130273e+00] [ 6.79922977e-03 2.69977903e-04 9.99976849e-01 -2.29244095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.227719421 meters Centerline goodness : 0.967718 Centerline is valid? [True, True] Translation: X:67.89, Y:9.57, Z:-2.29 [[ 9.23031049e-01 -3.84633911e-01 -8.39270009e-03 6.78923998e+01] [ 3.84614098e-01 9.23069119e-01 -3.92381252e-03 9.56981752e+00] [ 9.25627363e-03 3.93850011e-04 9.99957082e-01 -2.29305003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25771942099999 meters Centerline goodness : 0.967250 Centerline is valid? [True, True] Translation: X:67.92, Y:9.58, Z:-2.29 [[ 9.23594777e-01 -3.83270020e-01 -8.76239118e-03 6.79191386e+01] [ 3.83248291e-01 9.23636241e-01 -4.10399829e-03 9.57847292e+00] [ 9.66620155e-03 4.32259945e-04 9.99953188e-01 -2.29359029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28771942099999 meters Centerline goodness : 0.968596 Centerline is valid? [True, True] Translation: X:67.95, Y:9.58, Z:-2.29 [[ 9.24665238e-01 -3.80672979e-01 -9.07088606e-03 6.79470766e+01] [ 3.80649537e-01 9.24709605e-01 -4.25162092e-03 9.58445518e+00] [ 1.00064127e-02 4.78497496e-04 9.99949820e-01 -2.29383562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31771942099999 meters Centerline goodness : 0.967430 Centerline is valid? [True, True] Translation: X:67.97, Y:9.60, Z:-2.29 [[ 9.25088536e-01 -3.79642891e-01 -9.08162027e-03 6.79735711e+01] [ 3.79619310e-01 9.25132980e-01 -4.26005826e-03 9.59509027e+00] [ 1.00190073e-02 4.93372638e-04 9.99949687e-01 -2.29490048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.347719421 meters Centerline goodness : 0.965701 Centerline is valid? [True, True] Translation: X:68.00, Y:9.60, Z:-2.30 [[ 9.25213422e-01 -3.79325788e-01 -9.59532356e-03 6.80005119e+01] [ 3.79299401e-01 9.25263026e-01 -4.50530358e-03 9.60311260e+00] [ 1.05871759e-02 5.28866867e-04 9.99943814e-01 -2.29615615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.377719421 meters Centerline goodness : 0.964939 Centerline is valid? [True, True] Translation: X:68.03, Y:9.61, Z:-2.30 [[ 9.24779794e-01 -3.80395502e-01 -9.03292828e-03 6.80267534e+01] [ 3.80372164e-01 9.24823780e-01 -4.24171748e-03 9.61148113e+00] [ 9.96739713e-03 4.86780143e-04 9.99950206e-01 -2.29709229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.407719421 meters Centerline goodness : 0.965465 Centerline is valid? [True, True] Translation: X:68.06, Y:9.61, Z:-2.30 [[ 9.22540870e-01 -3.85752723e-01 -1.06386026e-02 6.80556987e+01] [ 3.85720636e-01 9.22602068e-01 -5.00146253e-03 9.61480701e+00] [ 1.17445245e-02 5.10525046e-04 9.99930900e-01 -2.29610605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.437719421 meters Centerline goodness : 0.964135 Centerline is valid? [True, True] Translation: X:68.08, Y:9.62, Z:-2.30 [[ 9.20985824e-01 -3.89453569e-01 -1.05370356e-02 6.80836918e+01] [ 3.89422283e-01 9.21045983e-01 -4.95801358e-03 9.62233579e+00] [ 1.16360104e-02 4.62903750e-04 9.99932192e-01 -2.29657247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.467719421 meters Centerline goodness : 0.965677 Centerline is valid? [True, True] Translation: X:68.11, Y:9.63, Z:-2.30 [[ 9.17139331e-01 -3.98432477e-01 -1.03444642e-02 6.81107024e+01] [ 3.98402919e-01 9.17197604e-01 -4.86503295e-03 9.62728083e+00] [ 1.14263049e-02 3.40648332e-04 9.99934660e-01 -2.29646451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.497719421 meters Centerline goodness : 0.965780 Centerline is valid? [True, True] Translation: X:68.14, Y:9.64, Z:-2.30 [[ 9.14787499e-01 -4.03866618e-01 -7.45564704e-03 6.81367809e+01] [ 4.03851376e-01 9.14817858e-01 -3.51475560e-03 9.63839602e+00] [ 8.24005152e-03 2.04281169e-04 9.99966029e-01 -2.29793149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.527719421 meters Centerline goodness : 0.965774 Centerline is valid? [True, True] Translation: X:68.16, Y:9.65, Z:-2.30 [[ 9.13868976e-01 -4.05963676e-01 -6.08186076e-03 6.81614525e+01] [ 4.05953553e-01 9.13889200e-01 -2.87100642e-03 9.65127863e+00] [ 6.72367119e-03 1.54770713e-04 9.99977384e-01 -2.29818220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.557719421 meters Centerline goodness : 0.965466 Centerline is valid? [True, True] Translation: X:68.19, Y:9.66, Z:-2.30 [[ 9.12691125e-01 -4.08612561e-01 -5.53939145e-03 6.81864070e+01] [ 4.08604229e-01 9.12707927e-01 -2.61222935e-03 9.66074265e+00] [ 6.12323622e-03 1.20739772e-04 9.99981246e-01 -2.29835776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.587719421 meters Centerline goodness : 0.965686 Centerline is valid? [True, True] Translation: X:68.21, Y:9.67, Z:-2.30 [[ 9.11985624e-01 -4.10168826e-01 -6.61479479e-03 6.82124967e+01] [ 4.10156946e-01 9.12009603e-01 -3.12482651e-03 9.67072817e+00] [ 7.31446279e-03 1.36692830e-04 9.99973240e-01 -2.29776052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61771942099999 meters Centerline goodness : 0.963999 Centerline is valid? [True, True] Translation: X:68.24, Y:9.68, Z:-2.30 [[ 9.11130978e-01 -4.12035936e-01 -8.16872632e-03 6.82375287e+01] [ 4.12017929e-01 9.11167584e-01 -3.85493619e-03 9.68102039e+00] [ 9.03145086e-03 1.46690083e-04 9.99959205e-01 -2.29803069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64771942099999 meters Centerline goodness : 0.963623 Centerline is valid? [True, True] Translation: X:68.26, Y:9.69, Z:-2.30 [[ 9.10866981e-01 -4.12616494e-01 -8.30491467e-03 6.82623079e+01] [ 4.12597837e-01 9.10904828e-01 -3.92661461e-03 9.69340151e+00] [ 9.18517283e-03 1.50033764e-04 9.99957804e-01 -2.29927203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67771942099999 meters Centerline goodness : 0.962903 Centerline is valid? [True, True] Translation: X:68.29, Y:9.71, Z:-2.30 [[ 9.10603239e-01 -4.13161378e-01 -9.97075302e-03 6.82869742e+01] [ 4.13134563e-01 9.10657810e-01 -4.71019752e-03 9.70508687e+00] [ 1.10260158e-02 1.69858426e-04 9.99939197e-01 -2.29993970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.707719421 meters Centerline goodness : 0.964319 Centerline is valid? [True, True] Translation: X:68.31, Y:9.72, Z:-2.30 [[ 9.10864586e-01 -4.12544830e-01 -1.15095425e-02 6.83123102e+01] [ 4.12508943e-01 9.10937274e-01 -5.44556434e-03 9.71660562e+00] [ 1.27310107e-02 2.12382493e-04 9.99918935e-01 -2.30028060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.737719421 meters Centerline goodness : 0.964740 Centerline is valid? [True, True] Translation: X:68.34, Y:9.73, Z:-2.30 [[ 9.11245525e-01 -4.11718823e-01 -1.09180516e-02 6.83366517e+01] [ 4.11686459e-01 9.11310905e-01 -5.16664854e-03 9.72791861e+00] [ 1.20769459e-02 2.13271380e-04 9.99927048e-01 -2.30088060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.767719421 meters Centerline goodness : 0.965808 Centerline is valid? [True, True] Translation: X:68.36, Y:9.74, Z:-2.30 [[ 9.12888633e-01 -4.08122280e-01 -8.39925192e-03 6.83628394e+01] [ 4.08102912e-01 9.12927249e-01 -3.98145385e-03 9.73918807e+00] [ 9.29282597e-03 2.06864798e-04 9.99956799e-01 -2.30119723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.797719421 meters Centerline goodness : 0.966075 Centerline is valid? [True, True] Translation: X:68.39, Y:9.75, Z:-2.30 [[ 9.13826123e-01 -4.05998864e-01 -9.31340969e-03 6.83883678e+01] [ 4.05974912e-01 9.13873545e-01 -4.41748008e-03 9.75036080e+00] [ 1.03047706e-02 2.55798012e-04 9.99946872e-01 -2.30213579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.827719421 meters Centerline goodness : 0.966288 Centerline is valid? [True, True] Translation: X:68.41, Y:9.76, Z:-2.30 [[ 9.15621130e-01 -4.01880990e-01 -1.13849462e-02 6.84134715e+01] [ 4.01844890e-01 9.15691834e-01 -5.39906462e-03 9.76164736e+00] [ 1.25948837e-02 3.68515173e-04 9.99920613e-01 -2.30273669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.857719421 meters Centerline goodness : 0.964795 Centerline is valid? [True, True] Translation: X:68.44, Y:9.77, Z:-2.30 [[ 9.16279210e-01 -4.00409020e-01 -1.02481845e-02 6.84383721e+01] [ 4.00379604e-01 9.16336450e-01 -4.86653008e-03 9.77361210e+00] [ 1.13393875e-02 3.55936288e-04 9.99935644e-01 -2.30357894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.887719421 meters Centerline goodness : 0.964313 Centerline is valid? [True, True] Translation: X:68.46, Y:9.79, Z:-2.30 [[ 9.18457823e-01 -3.95464993e-01 -6.53200439e-03 6.84636789e+01] [ 3.95452879e-01 9.18481010e-01 -3.10713892e-03 9.78505488e+00] [ 7.22828667e-03 2.70676105e-04 9.99973839e-01 -2.30327840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.917719421 meters Centerline goodness : 0.968472 Centerline is valid? [True, True] Translation: X:68.49, Y:9.80, Z:-2.30 [[ 9.19242086e-01 -3.93669555e-01 -4.27416288e-03 6.84877204e+01] [ 3.93664354e-01 9.19252004e-01 -2.03222241e-03 9.79676867e+00] [ 4.72905689e-03 1.85518799e-04 9.99988801e-01 -2.30389633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.947719421 meters Centerline goodness : 0.969233 Centerline is valid? [True, True] Translation: X:68.51, Y:9.81, Z:-2.31 [[ 9.19750935e-01 -3.92502473e-01 -1.59251240e-04 6.85118720e+01] [ 3.92502465e-01 9.19750949e-01 -7.87136955e-05 9.80939953e+00] [ 1.77366799e-04 9.89049072e-06 9.99999984e-01 -2.30529776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.977719421 meters Centerline goodness : 0.967119 Centerline is valid? [True, True] Translation: X:68.54, Y:9.82, Z:-2.31 [[ 9.20708967e-01 -3.90249889e-01 -1.50242155e-04 6.85375484e+01] [ 3.90249882e-01 9.20708979e-01 -7.82297801e-05 9.82052313e+00] [ 1.68858463e-04 1.33948770e-05 9.99999986e-01 -2.30541364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00771942099999 meters Centerline goodness : 0.968467 Centerline is valid? [True, True] Translation: X:68.56, Y:9.83, Z:-2.31 [[ 9.21486747e-01 -3.88406888e-01 -1.50469301e-03 6.85634479e+01] [ 3.88406224e-01 9.21487972e-01 -7.22736226e-04 9.83140708e+00] [ 1.66727224e-03 8.15597249e-05 9.99998607e-01 -2.30588935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03771942099999 meters Centerline goodness : 0.967583 Centerline is valid? [True, True] Translation: X:68.59, Y:9.84, Z:-2.31 [[ 9.23428123e-01 -3.83725777e-01 -5.91866414e-03 6.85889772e+01] [ 3.83715565e-01 9.23447030e-01 -2.81908390e-03 9.84164631e+00] [ 6.54732798e-03 3.32137798e-04 9.99978511e-01 -2.30728590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06771942099999 meters Centerline goodness : 0.965746 Centerline is valid? [True, True] Translation: X:68.61, Y:9.85, Z:-2.31 [[ 9.24392942e-01 -3.81384832e-01 -6.58015010e-03 6.86131101e+01] [ 3.81372146e-01 9.24416280e-01 -3.13483685e-03 9.85383407e+00] [ 7.27837710e-03 3.88335099e-04 9.99973437e-01 -2.30953812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.097719421 meters Centerline goodness : 0.965318 Centerline is valid? [True, True] Translation: X:68.64, Y:9.86, Z:-2.31 [[ 9.27113678e-01 -3.74702309e-01 -7.64247932e-03 6.86378763e+01] [ 3.74684943e-01 9.27145034e-01 -3.64404687e-03 9.86397581e+00] [ 8.45111953e-03 5.14923767e-04 9.99964156e-01 -2.31222029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.127719421 meters Centerline goodness : 0.963917 Centerline is valid? [True, True] Translation: X:68.66, Y:9.87, Z:-2.31 [[ 9.28062178e-01 -3.72327967e-01 -8.51343280e-03 6.86646254e+01] [ 3.72306274e-01 9.28101031e-01 -4.06394460e-03 9.87382881e+00] [ 9.41444598e-03 6.01988838e-04 9.99955502e-01 -2.31293696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.157719421 meters Centerline goodness : 0.964490 Centerline is valid? [True, True] Translation: X:68.69, Y:9.88, Z:-2.31 [[ 9.28604461e-01 -3.70921497e-01 -1.05355652e-02 6.86932149e+01] [ 3.70888160e-01 9.28663911e-01 -5.03132795e-03 9.87993623e+00] [ 1.16502268e-02 7.64597205e-04 9.99931841e-01 -2.31313799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.187719421 meters Centerline goodness : 0.966106 Centerline is valid? [True, True] Translation: X:68.72, Y:9.89, Z:-2.31 [[ 9.28223693e-01 -3.71889191e-01 -9.96019586e-03 6.87203267e+01] [ 3.71859409e-01 9.28276854e-01 -4.76044364e-03 9.88894409e+00] [ 1.10161768e-02 7.14964032e-04 9.99939064e-01 -2.31380839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.217719421 meters Centerline goodness : 0.964444 Centerline is valid? [True, True] Translation: X:68.75, Y:9.89, Z:-2.32 [[ 9.26599548e-01 -3.75951360e-01 -8.59376410e-03 6.87488772e+01] [ 3.75929317e-01 9.26639217e-01 -4.11221530e-03 9.89476695e+00] [ 9.50931177e-03 5.79728973e-04 9.99954617e-01 -2.31570611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.247719421 meters Centerline goodness : 0.964368 Centerline is valid? [True, True] Translation: X:68.78, Y:9.90, Z:-2.32 [[ 9.24222726e-01 -3.81791325e-01 -6.90919251e-03 6.87772705e+01] [ 3.81777208e-01 9.24248455e-01 -3.31018123e-03 9.90079434e+00] [ 7.64960898e-03 4.21572498e-04 9.99970652e-01 -2.31627710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.277719421 meters Centerline goodness : 0.965142 Centerline is valid? [True, True] Translation: X:68.80, Y:9.91, Z:-2.32 [[ 9.22928046e-01 -3.84917866e-01 -6.48531691e-03 6.88041541e+01] [ 3.84905483e-01 9.22950755e-01 -3.10998204e-03 9.90971745e+00] [ 7.18271579e-03 3.74055609e-04 9.99974134e-01 -2.31554883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.307719421 meters Centerline goodness : 0.967397 Centerline is valid? [True, True] Translation: X:68.83, Y:9.92, Z:-2.31 [[ 9.19747553e-01 -3.92448986e-01 -6.94496151e-03 6.88314517e+01] [ 3.92435026e-01 9.19773712e-01 -3.32695244e-03 9.91583054e+00] [ 7.69345214e-03 3.34510216e-04 9.99970349e-01 -2.31470894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.337719421 meters Centerline goodness : 0.968757 Centerline is valid? [True, True] Translation: X:68.86, Y:9.93, Z:-2.32 [[ 9.17849362e-01 -3.96882355e-01 -6.07825097e-03 6.88582447e+01] [ 3.96871714e-01 9.17869449e-01 -2.91847019e-03 9.92562803e+00] [ 6.73733019e-03 2.66430123e-04 9.99977268e-01 -2.31512333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36771942099999 meters Centerline goodness : 0.969781 Centerline is valid? [True, True] Translation: X:68.88, Y:9.93, Z:-2.31 [[ 9.14128464e-01 -4.05408550e-01 -3.61379801e-03 6.88845071e+01] [ 4.05404849e-01 9.14135599e-01 -1.73669871e-03 9.93371791e+00] [ 4.00757391e-03 1.22514495e-04 9.99991962e-01 -2.31442782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39771942099999 meters Centerline goodness : 0.970259 Centerline is valid? [True, True] Translation: X:68.91, Y:9.95, Z:-2.32 [[ 9.11964435e-01 -4.10266296e-01 -1.56063600e-03 6.89100713e+01] [ 4.10265605e-01 9.11965769e-01 -7.54778068e-04 9.94638881e+00] [ 1.73290661e-03 4.80554805e-05 9.99998497e-01 -2.31532163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42771942099999 meters Centerline goodness : 0.968350 Centerline is valid? [True, True] Translation: X:68.94, Y:9.96, Z:-2.32 [[ 9.08887113e-01 -4.17039262e-01 -1.57177565e-03 6.89350607e+01] [ 4.17038568e-01 9.08888471e-01 -7.61888245e-04 9.95866744e+00] [ 1.74630608e-03 3.69793418e-05 9.99998475e-01 -2.31679213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.457719421 meters Centerline goodness : 0.966749 Centerline is valid? [True, True] Translation: X:68.96, Y:9.97, Z:-2.32 [[ 9.07777569e-01 -4.19438936e-01 -3.29607613e-03 6.89603684e+01] [ 4.19435923e-01 9.07783551e-01 -1.59080644e-03 9.97098642e+00] [ 3.65936985e-03 6.16056748e-05 9.99993303e-01 -2.31579234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.487719421 meters Centerline goodness : 0.965798 Centerline is valid? [True, True] Translation: X:68.98, Y:9.98, Z:-2.32 [[ 9.06245022e-01 -4.22723898e-01 -4.94631161e-03 6.89845258e+01] [ 4.22717174e-01 9.06258518e-01 -2.38540219e-03 9.98403920e+00] [ 5.49100354e-03 7.08679945e-05 9.99984922e-01 -2.31696050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.517719421 meters Centerline goodness : 0.964825 Centerline is valid? [True, True] Translation: X:69.01, Y:10.00, Z:-2.32 [[ 9.05384905e-01 -4.24542084e-01 -6.49564715e-03 6.90090531e+01] [ 4.24530532e-01 9.05408202e-01 -3.13277930e-03 9.99699674e+00] [ 7.21120887e-03 7.87705482e-05 9.99973996e-01 -2.31786671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.547719421 meters Centerline goodness : 0.965232 Centerline is valid? [True, True] Translation: X:69.03, Y:10.01, Z:-2.32 [[ 9.05030178e-01 -4.25273664e-01 -7.91755029e-03 6.90330335e+01] [ 4.25256516e-01 9.05064806e-01 -3.82001666e-03 1.00114282e+01] [ 8.79044860e-03 9.02405017e-05 9.99961359e-01 -2.31895731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.577719421 meters Centerline goodness : 0.966014 Centerline is valid? [True, True] Translation: X:69.06, Y:10.03, Z:-2.32 [[ 9.04779069e-01 -4.25802978e-01 -8.16452892e-03 6.90563459e+01] [ 4.25784793e-01 9.04815902e-01 -3.93615814e-03 1.00258210e+01] [ 9.06342346e-03 8.50212396e-05 9.99958923e-01 -2.32076275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.607719421 meters Centerline goodness : 0.963166 Centerline is valid? [True, True] Translation: X:69.08, Y:10.04, Z:-2.32 [[ 9.04542574e-01 -4.26323614e-01 -7.13498197e-03 6.90814514e+01] [ 4.26309685e-01 9.04570710e-01 -3.44704450e-03 1.00394130e+01] [ 7.92365218e-03 7.62865853e-05 9.99968604e-01 -2.32079665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.637719421 meters Centerline goodness : 0.964699 Centerline is valid? [True, True] Translation: X:69.11, Y:10.05, Z:-2.32 [[ 9.04088702e-01 -4.27291460e-01 -6.75480495e-03 6.91055822e+01] [ 4.27279022e-01 9.04113933e-01 -3.26075265e-03 1.00505770e+01] [ 7.50040503e-03 6.18231740e-05 9.99971870e-01 -2.31937383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.667719421 meters Centerline goodness : 0.966208 Centerline is valid? [True, True] Translation: X:69.13, Y:10.06, Z:-2.32 [[ 9.03989240e-01 -4.27517998e-01 -5.64048929e-03 6.91301757e+01] [ 4.27509288e-01 9.04006835e-01 -2.72950922e-03 1.00645495e+01] [ 6.26595519e-03 5.60854027e-05 9.99980367e-01 -2.31998996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.697719421 meters Centerline goodness : 0.963901 Centerline is valid? [True, True] Translation: X:69.15, Y:10.08, Z:-2.32 [[ 9.04717420e-01 -4.25982663e-01 -5.01598672e-03 6.91538729e+01] [ 4.25975733e-01 9.04731323e-01 -2.43059258e-03 1.00800709e+01] [ 5.57351060e-03 6.23108246e-05 9.99984466e-01 -2.32201609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.727719421 meters Centerline goodness : 0.965037 Centerline is valid? [True, True] Translation: X:69.18, Y:10.09, Z:-2.32 [[ 9.05836743e-01 -4.23594007e-01 -5.28327356e-03 6.91778991e+01] [ 4.23586301e-01 9.05852146e-01 -2.55634733e-03 1.00934407e+01] [ 5.86871810e-03 7.77110324e-05 9.99982776e-01 -2.32282282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75771942099999 meters Centerline goodness : 0.963240 Centerline is valid? [True, True] Translation: X:69.20, Y:10.11, Z:-2.32 [[ 9.08745632e-01 -4.17301700e-01 -6.37711635e-03 6.92006394e+01] [ 4.17290279e-01 9.08767995e-01 -3.09084303e-03 1.01103459e+01] [ 7.08513330e-03 1.47681443e-04 9.99974889e-01 -2.32374607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78771942099999 meters Centerline goodness : 0.965189 Centerline is valid? [True, True] Translation: X:69.22, Y:10.12, Z:-2.32 [[ 9.10839893e-01 -4.12726345e-01 -5.25866117e-03 6.92244316e+01] [ 4.12718512e-01 9.10855061e-01 -2.54717908e-03 1.01241810e+01] [ 5.84116605e-03 1.49725506e-04 9.99982929e-01 -2.32425702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.81771942099999 meters Centerline goodness : 0.965189 Centerline is valid? [True, True] Translation: X:69.25, Y:10.14, Z:-2.32 [[ 9.10725660e-01 -4.12978377e-01 -5.25670043e-03 6.92500250e+01] [ 4.12970525e-01 9.10740818e-01 -2.55122980e-03 1.01368493e+01] [ 5.84109439e-03 1.52608112e-04 9.99982929e-01 -2.32485253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.847719421 meters Centerline goodness : 0.966722 Centerline is valid? [True, True] Translation: X:69.27, Y:10.15, Z:-2.32 [[ 9.13888681e-01 -4.05939189e-01 -4.56650588e-03 6.92725710e+01] [ 4.05933185e-01 9.13900075e-01 -2.21436778e-03 1.01523749e+01] [ 5.07222873e-03 1.69989379e-04 9.99987122e-01 -2.32396944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.877719421 meters Centerline goodness : 0.967400 Centerline is valid? [True, True] Translation: X:69.30, Y:10.17, Z:-2.33 [[ 9.14946804e-01 -4.03556113e-01 -3.84818608e-03 6.92956903e+01] [ 4.03551824e-01 9.14954884e-01 -1.86706344e-03 1.01657074e+01] [ 4.27438152e-03 1.55321214e-04 9.99990853e-01 -2.32537590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.907719421 meters Centerline goodness : 0.966046 Centerline is valid? [True, True] Translation: X:69.32, Y:10.18, Z:-2.33 [[ 9.16016659e-01 -4.01112248e-01 -4.73767740e-03 6.93201118e+01] [ 4.01105685e-01 9.16028886e-01 -2.30407101e-03 1.01805042e+01] [ 5.26404045e-03 2.10258093e-04 9.99986123e-01 -2.32726414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.937719421 meters Centerline goodness : 0.962918 Centerline is valid? [True, True] Translation: X:69.34, Y:10.19, Z:-2.33 [[ 9.16525073e-01 -3.99912939e-01 -7.17160077e-03 6.93441323e+01] [ 3.99897873e-01 9.16553072e-01 -3.48679888e-03 1.01943843e+01] [ 7.96756870e-03 3.27830709e-04 9.99968205e-01 -2.32850772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.967719421 meters Centerline goodness : 0.962289 Centerline is valid? [True, True] Translation: X:69.37, Y:10.21, Z:-2.33 [[ 9.16170216e-01 -4.00729898e-01 -6.90537586e-03 6.93697030e+01] [ 4.00715931e-01 9.16196186e-01 -3.36021042e-03 1.02063590e+01] [ 7.67321580e-03 3.11430591e-04 9.99970512e-01 -2.32857767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.997719421 meters Centerline goodness : 0.964914 Centerline is valid? [True, True] Translation: X:69.40, Y:10.22, Z:-2.33 [[ 9.17297648e-01 -3.98154746e-01 -6.15008370e-03 6.93970161e+01] [ 3.98143588e-01 9.17318216e-01 -2.99576762e-03 1.02153301e+01] [ 6.83436290e-03 2.99394196e-04 9.99976601e-01 -2.32856040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.027719421 meters Centerline goodness : 0.964055 Centerline is valid? [True, True] Translation: X:69.42, Y:10.23, Z:-2.33 [[ 9.17643314e-01 -3.97350508e-01 -6.58190602e-03 6.94228474e+01] [ 3.97337692e-01 9.17666860e-01 -3.20825395e-03 1.02273784e+01] [ 7.31479836e-03 3.28793439e-04 9.99973192e-01 -2.32967005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.057719421 meters Centerline goodness : 0.964964 Centerline is valid? [True, True] Translation: X:69.45, Y:10.24, Z:-2.33 [[ 9.18060035e-01 -3.96363162e-01 -7.87496448e-03 6.94489400e+01] [ 3.96344765e-01 9.18093721e-01 -3.84021350e-03 1.02383366e+01] [ 8.75207461e-03 4.04345594e-04 9.99961618e-01 -2.33119230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.087719421 meters Centerline goodness : 0.962843 Centerline is valid? [True, True] Translation: X:69.47, Y:10.25, Z:-2.33 [[ 9.18296208e-01 -3.95799208e-01 -8.66384728e-03 6.94749271e+01] [ 3.95776889e-01 9.18336965e-01 -4.22755107e-03 1.02485653e+01] [ 9.62959258e-03 4.53193593e-04 9.99953532e-01 -2.33226924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11771942099999 meters Centerline goodness : 0.962339 Centerline is valid? [True, True] Translation: X:69.50, Y:10.25, Z:-2.33 [[ 9.17220459e-01 -3.98298837e-01 -8.04148668e-03 6.95024763e+01] [ 3.98279703e-01 9.17255624e-01 -3.92416724e-03 1.02529097e+01] [ 8.93909012e-03 3.96565551e-04 9.99959967e-01 -2.33238683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14771942099999 meters Centerline goodness : 0.965157 Centerline is valid? [True, True] Translation: X:69.53, Y:10.26, Z:-2.33 [[ 9.13777468e-01 -4.06173230e-01 -5.83495298e-03 6.95298519e+01] [ 4.06163298e-01 9.13796067e-01 -2.85014141e-03 1.02587161e+01] [ 6.48960823e-03 2.34451254e-04 9.99978915e-01 -2.33215117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17771942099999 meters Centerline goodness : 0.966834 Centerline is valid? [True, True] Translation: X:69.56, Y:10.27, Z:-2.33 [[ 9.11851840e-01 -4.10493038e-01 -4.65695235e-03 6.95559457e+01] [ 4.10486742e-01 9.11863717e-01 -2.27965219e-03 1.02688449e+01] [ 5.18228723e-03 1.67087853e-04 9.99986558e-01 -2.33294428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.207719421 meters Centerline goodness : 0.967887 Centerline is valid? [True, True] Translation: X:69.58, Y:10.28, Z:-2.33 [[ 9.09579654e-01 -4.15499147e-01 -5.03103757e-03 6.95820251e+01] [ 4.15491866e-01 9.09593555e-01 -2.46440778e-03 1.02797128e+01] [ 5.60015868e-03 1.51219995e-04 9.99984308e-01 -2.33347742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.237719421 meters Centerline goodness : 0.967851 Centerline is valid? [True, True] Translation: X:69.61, Y:10.29, Z:-2.33 [[ 9.04638673e-01 -4.26153165e-01 -4.72774366e-03 6.96072657e+01] [ 4.26146896e-01 9.04651023e-01 -2.31294052e-03 1.02891516e+01] [ 5.26262506e-03 7.76621621e-05 9.99986149e-01 -2.33424121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.267719421 meters Centerline goodness : 0.967247 Centerline is valid? [True, True] Translation: X:69.63, Y:10.30, Z:-2.33 [[ 9.02009785e-01 -4.31699974e-01 -3.67149187e-03 6.96330366e+01] [ 4.31696213e-01 9.02017256e-01 -1.80247468e-03 1.03003064e+01] [ 4.08987730e-03 4.08806613e-05 9.99991636e-01 -2.33365636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.297719421 meters Centerline goodness : 0.969776 Centerline is valid? [True, True] Translation: X:69.66, Y:10.31, Z:-2.33 [[ 8.97032546e-01 -4.41949307e-01 -3.66364992e-03 6.96592339e+01] [ 4.41945639e-01 8.97040027e-01 -1.80060526e-03 1.03102662e+01] [ 4.08221687e-03 -3.93258300e-06 9.99991668e-01 -2.33202135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.327719421 meters Centerline goodness : 0.969777 Centerline is valid? [True, True] Translation: X:69.68, Y:10.32, Z:-2.33 [[ 8.94744302e-01 -4.46563682e-01 -3.67593678e-03 6.96847905e+01] [ 4.46560022e-01 8.94751852e-01 -1.80814890e-03 1.03223668e+01] [ 4.09650487e-03 -2.36954913e-05 9.99991609e-01 -2.33223150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.357719421 meters Centerline goodness : 0.971969 Centerline is valid? [True, True] Translation: X:69.71, Y:10.34, Z:-2.33 [[ 8.92152480e-01 -4.51709429e-01 -4.74803296e-03 6.97078213e+01] [ 4.51703426e-01 8.92165112e-01 -2.32967384e-03 1.03377876e+01] [ 5.28836499e-03 -6.62784648e-05 9.99986014e-01 -2.33424287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.387719421 meters Centerline goodness : 0.967747 Centerline is valid? [True, True] Translation: X:69.73, Y:10.36, Z:-2.34 [[ 8.92309322e-01 -4.51389411e-01 -5.62796457e-03 6.97292838e+01] [ 4.51380934e-01 8.92327067e-01 -2.76725464e-03 1.03555258e+01] [ 6.27109456e-03 -7.11087934e-05 9.99980334e-01 -2.33690872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.417719421 meters Centerline goodness : 0.968490 Centerline is valid? [True, True] Translation: X:69.75, Y:10.37, Z:-2.34 [[ 8.92677276e-01 -4.50653470e-01 -6.22341315e-03 6.97534824e+01] [ 4.50643073e-01 8.92698967e-01 -3.06188617e-03 1.03705617e+01] [ 6.93548412e-03 -7.12618200e-05 9.99975947e-01 -2.33780783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.447719421 meters Centerline goodness : 0.968400 Centerline is valid? [True, True] Translation: X:69.78, Y:10.39, Z:-2.34 [[ 8.95183619e-01 -4.45646224e-01 -6.76248190e-03 6.97770077e+01] [ 4.45633835e-01 8.95209161e-01 -3.32328814e-03 1.03850024e+01] [ 7.53484655e-03 -3.86376368e-05 9.99971612e-01 -2.33749871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.477719421 meters Centerline goodness : 0.964900 Centerline is valid? [True, True] Translation: X:69.80, Y:10.40, Z:-2.34 [[ 8.96302564e-01 -4.43369247e-01 -8.08857579e-03 6.98008885e+01] [ 4.43351367e-01 8.96339060e-01 -3.98177523e-03 1.03991857e+01] [ 9.01550311e-03 -1.72057879e-05 9.99959359e-01 -2.33693265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50771942099999 meters Centerline goodness : 0.966928 Centerline is valid? [True, True] Translation: X:69.82, Y:10.42, Z:-2.34 [[ 8.99057746e-01 -4.37700062e-01 -1.06688388e-02 6.98235771e+01] [ 4.37668612e-01 8.99121045e-01 -5.24715621e-03 1.04151468e+01] [ 1.18892581e-02 4.80805632e-05 9.99929319e-01 -2.33782319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53771942099999 meters Centerline goodness : 0.966146 Centerline is valid? [True, True] Translation: X:69.85, Y:10.43, Z:-2.34 [[ 9.00464935e-01 -4.34787810e-01 -1.10662223e-02 6.98479429e+01] [ 4.34753650e-01 9.00532926e-01 -5.45098934e-03 1.04302165e+01] [ 1.23355213e-02 9.73442253e-05 9.99923910e-01 -2.33892336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56771942099999 meters Centerline goodness : 0.965818 Centerline is valid? [True, True] Translation: X:69.87, Y:10.45, Z:-2.34 [[ 9.04507450e-01 -4.26322099e-01 -1.07582537e-02 6.98703259e+01] [ 4.26289154e-01 9.04571403e-01 -5.30415828e-03 1.04482341e+01] [ 1.19928886e-02 2.11523792e-04 9.99928060e-01 -2.34094252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.597719421 meters Centerline goodness : 0.967298 Centerline is valid? [True, True] Translation: X:69.89, Y:10.46, Z:-2.34 [[ 9.06302824e-01 -4.22513793e-01 -9.86335937e-03 6.98925644e+01] [ 4.22485897e-01 9.06356463e-01 -4.86095487e-03 1.04632288e+01] [ 1.09935400e-02 2.38366892e-04 9.99939541e-01 -2.34153245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.627719421 meters Centerline goodness : 0.965090 Centerline is valid? [True, True] Translation: X:69.92, Y:10.48, Z:-2.34 [[ 9.08969673e-01 -4.16757064e-01 -9.36392017e-03 6.99154608e+01] [ 4.16731527e-01 9.09017854e-01 -4.62335650e-03 1.04805385e+01] [ 1.04387871e-02 3.00250097e-04 9.99945469e-01 -2.34130738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.657719421 meters Centerline goodness : 0.966083 Centerline is valid? [True, True] Translation: X:69.94, Y:10.49, Z:-2.34 [[ 9.09682372e-01 -4.15191766e-01 -9.68395195e-03 6.99395337e+01] [ 4.15164324e-01 9.09733855e-01 -4.78510277e-03 1.04946758e+01] [ 1.07965542e-02 3.32492275e-04 9.99941660e-01 -2.34107116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.687719421 meters Centerline goodness : 0.965779 Centerline is valid? [True, True] Translation: X:69.96, Y:10.51, Z:-2.34 [[ 9.10863218e-01 -4.12617069e-01 -8.68054502e-03 6.99612705e+01] [ 4.12594922e-01 9.10904523e-01 -4.28723227e-03 1.05112008e+01] [ 9.67613293e-03 3.23533384e-04 9.99953133e-01 -2.34193211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.717719421 meters Centerline goodness : 0.965889 Centerline is valid? [True, True] Translation: X:69.98, Y:10.53, Z:-2.34 [[ 9.11458763e-01 -4.11321160e-01 -7.60439024e-03 6.99842133e+01] [ 4.11304105e-01 9.11490436e-01 -3.75745074e-03 1.05265343e+01] [ 8.47684798e-03 2.97044482e-04 9.99964027e-01 -2.34424695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.747719421 meters Centerline goodness : 0.965855 Centerline is valid? [True, True] Translation: X:70.01, Y:10.55, Z:-2.34 [[ 9.11973079e-01 -4.10179562e-01 -7.60461581e-03 7.00055460e+01] [ 4.10162404e-01 9.12004730e-01 -3.76484928e-03 1.05457931e+01] [ 8.47970982e-03 3.14313687e-04 9.99963997e-01 -2.34428406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.777719421 meters Centerline goodness : 0.964299 Centerline is valid? [True, True] Translation: X:70.03, Y:10.56, Z:-2.34 [[ 9.12185503e-01 -4.09674466e-01 -9.18913835e-03 7.00284898e+01] [ 4.09649431e-01 9.12231706e-01 -4.54504538e-03 1.05601123e+01] [ 1.02446124e-02 3.81599212e-04 9.99947450e-01 -2.34379882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.807719421 meters Centerline goodness : 0.964614 Centerline is valid? [True, True] Translation: X:70.05, Y:10.57, Z:-2.34 [[ 9.11887505e-01 -4.10301799e-01 -1.06588702e-02 7.00531371e+01] [ 4.10268065e-01 9.11949691e-01 -5.27980600e-03 1.05730442e+01] [ 1.18866673e-02 4.41595075e-04 9.99929254e-01 -2.34332540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.837719421 meters Centerline goodness : 0.963997 Centerline is valid? [True, True] Translation: X:70.08, Y:10.59, Z:-2.35 [[ 9.11484891e-01 -4.11168990e-01 -1.16342476e-02 7.00775499e+01] [ 4.11128818e-01 9.11559015e-01 -5.76690542e-03 1.05874176e+01] [ 1.29764760e-02 4.73272680e-04 9.99915690e-01 -2.34500168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86771942099999 meters Centerline goodness : 0.962468 Centerline is valid? [True, True] Translation: X:70.10, Y:10.60, Z:-2.35 [[ 9.11657305e-01 -4.10769485e-01 -1.22224301e-02 7.01017668e+01] [ 4.10725146e-01 9.11739096e-01 -6.05595922e-03 1.06001807e+01] [ 1.36312706e-02 5.00900084e-04 9.99906964e-01 -2.34579954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89771942099999 meters Centerline goodness : 0.960847 Centerline is valid? [True, True] Translation: X:70.13, Y:10.61, Z:-2.35 [[ 9.12091295e-01 -4.09838179e-01 -1.10515715e-02 7.01263151e+01] [ 4.09801754e-01 9.12158124e-01 -5.48450572e-03 1.06127683e+01] [ 1.23285406e-02 4.73416526e-04 9.99923889e-01 -2.34559871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92771942099999 meters Centerline goodness : 0.962098 Centerline is valid? [True, True] Translation: X:70.15, Y:10.62, Z:-2.35 [[ 9.12241302e-01 -4.09504896e-01 -1.10248165e-02 7.01505442e+01] [ 4.09468651e-01 9.12307796e-01 -5.46896429e-03 1.06237255e+01] [ 1.22975937e-02 4.74698394e-04 9.99924269e-01 -2.34539523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.957719421 meters Centerline goodness : 0.959947 Centerline is valid? [True, True] Translation: X:70.18, Y:10.63, Z:-2.34 [[ 9.12981261e-01 -4.07819357e-01 -1.21897105e-02 7.01767517e+01] [ 4.07774774e-01 9.13062462e-01 -6.05586848e-03 1.06334644e+01] [ 1.35996675e-02 5.58237991e-04 9.99907364e-01 -2.34439376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.987719421 meters Centerline goodness : 0.961542 Centerline is valid? [True, True] Translation: X:70.20, Y:10.65, Z:-2.35 [[ 9.13592222e-01 -4.06467329e-01 -1.15569036e-02 7.02011446e+01] [ 4.06427171e-01 9.13665153e-01 -5.73961180e-03 1.06452268e+01] [ 1.28921048e-02 5.46625059e-04 9.99916744e-01 -2.34597023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.017719421 meters Centerline goodness : 0.961033 Centerline is valid? [True, True] Translation: X:70.22, Y:10.66, Z:-2.35 [[ 9.15154322e-01 -4.02953441e-01 -1.10041336e-02 7.02248989e+01] [ 4.02916754e-01 9.15220302e-01 -5.46710137e-03 1.06575357e+01] [ 1.22741938e-02 5.69491644e-04 9.99924507e-01 -2.34726930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.047719421 meters Centerline goodness : 0.960813 Centerline is valid? [True, True] Translation: X:70.25, Y:10.67, Z:-2.35 [[ 9.16374711e-01 -4.00173887e-01 -1.08742299e-02 7.02505884e+01] [ 4.00137762e-01 9.16439027e-01 -5.41112158e-03 1.06679206e+01] [ 1.21309582e-02 6.07424960e-04 9.99926233e-01 -2.34688233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.077719421 meters Centerline goodness : 0.962804 Centerline is valid? [True, True] Translation: X:70.28, Y:10.68, Z:-2.35 [[ 9.17239401e-01 -3.98193150e-01 -1.06816240e-02 7.02764592e+01] [ 3.98158108e-01 9.17301381e-01 -5.31958357e-03 1.06793672e+01] [ 1.19164902e-02 6.26356425e-04 9.99928800e-01 -2.34695398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.107719421 meters Centerline goodness : 0.960311 Centerline is valid? [True, True] Translation: X:70.30, Y:10.69, Z:-2.35 [[ 9.18156493e-01 -3.96062064e-01 -1.11128471e-02 7.03003416e+01] [ 3.96024011e-01 9.18223492e-01 -5.53176551e-03 1.06911321e+01] [ 1.23949998e-02 6.78072124e-04 9.99922949e-01 -2.34677206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.137719421 meters Centerline goodness : 0.962937 Centerline is valid? [True, True] Translation: X:70.33, Y:10.70, Z:-2.35 [[ 9.19795688e-01 -3.92209622e-01 -1.21451670e-02 7.03258615e+01] [ 3.92163720e-01 9.19875515e-01 -6.05417409e-03 1.07039322e+01] [ 1.35465470e-02 8.05709359e-04 9.99907917e-01 -2.34725349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.167719421 meters Centerline goodness : 0.961941 Centerline is valid? [True, True] Translation: X:70.35, Y:10.72, Z:-2.35 [[ 9.20493572e-01 -3.90559084e-01 -1.24573725e-02 7.03505677e+01] [ 3.90510578e-01 9.20577465e-01 -6.21436971e-03 1.07164870e+01] [ 1.38950550e-02 8.55551625e-04 9.99903093e-01 -2.34832622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.197719421 meters Centerline goodness : 0.963004 Centerline is valid? [True, True] Translation: X:70.38, Y:10.73, Z:-2.35 [[ 9.21813639e-01 -3.87481486e-01 -1.08495727e-02 7.03760021e+01] [ 3.87444419e-01 9.21877147e-01 -5.41745565e-03 1.07283476e+01] [ 1.21011369e-02 7.90278116e-04 9.99926466e-01 -2.34997901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.227719421 meters Centerline goodness : 0.960556 Centerline is valid? [True, True] Translation: X:70.40, Y:10.74, Z:-2.35 [[ 9.22000686e-01 -3.87029832e-01 -1.10745124e-02 7.04023495e+01] [ 3.86991129e-01 9.22066832e-01 -5.53383919e-03 1.07376359e+01] [ 1.23532015e-02 8.16465453e-04 9.99923363e-01 -2.34951509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25771942099999 meters Centerline goodness : 0.961138 Centerline is valid? [True, True] Translation: X:70.43, Y:10.75, Z:-2.35 [[ 9.21801073e-01 -3.87460002e-01 -1.25510479e-02 7.04273646e+01] [ 3.87410329e-01 9.21886057e-01 -6.27169888e-03 1.07474546e+01] [ 1.40006685e-02 9.18853167e-04 9.99901564e-01 -2.34996893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28771942099999 meters Centerline goodness : 0.957585 Centerline is valid? [True, True] Translation: X:70.46, Y:10.75, Z:-2.35 [[ 9.20554303e-01 -3.90279714e-01 -1.61716147e-02 7.04550672e+01] [ 3.90197545e-01 9.20695637e-01 -8.08829245e-03 1.07549687e+01] [ 1.80458316e-02 1.13558805e-03 9.99836516e-01 -2.35034146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.31771942099999 meters Centerline goodness : 0.960934 Centerline is valid? [True, True] Translation: X:70.48, Y:10.77, Z:-2.35 [[ 9.19494403e-01 -3.92731370e-01 -1.70913233e-02 7.04811037e+01] [ 3.92639889e-01 9.19652509e-01 -8.55454334e-03 1.07662194e+01] [ 1.90777158e-02 1.15511946e-03 9.99817337e-01 -2.35166256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.347719421 meters Centerline goodness : 0.959362 Centerline is valid? [True, True] Translation: X:70.51, Y:10.77, Z:-2.35 [[ 9.17227170e-01 -3.97989603e-01 -1.72799050e-02 7.05067600e+01] [ 3.97897044e-01 9.17389318e-01 -8.64765370e-03 1.07742706e+01] [ 1.92940766e-02 1.05623978e-03 9.99813294e-01 -2.35247001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.377719421 meters Centerline goodness : 0.960066 Centerline is valid? [True, True] Translation: X:70.53, Y:10.78, Z:-2.35 [[ 9.15732126e-01 -4.01435653e-01 -1.68549331e-02 7.05323394e+01] [ 4.01348054e-01 9.15886720e-01 -8.44126652e-03 1.07837601e+01] [ 1.88258347e-02 9.65244356e-04 9.99822312e-01 -2.35229507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.407719421 meters Centerline goodness : 0.962319 Centerline is valid? [True, True] Translation: X:70.56, Y:10.79, Z:-2.35 [[ 9.12295061e-01 -4.09209047e-01 -1.62995795e-02 7.05604150e+01] [ 4.09128200e-01 9.12440320e-01 -8.17186934e-03 1.07905004e+01] [ 1.82163964e-02 7.86538436e-04 9.99833758e-01 -2.35112733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.437719421 meters Centerline goodness : 0.962852 Centerline is valid? [True, True] Translation: X:70.59, Y:10.80, Z:-2.35 [[ 9.10114268e-01 -4.14042832e-01 -1.61416495e-02 7.05858400e+01] [ 4.13964183e-01 9.10257139e-01 -8.09915640e-03 1.08016419e+01] [ 1.80464493e-02 6.89093051e-04 9.99836912e-01 -2.35155436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.467719421 meters Centerline goodness : 0.959575 Centerline is valid? [True, True] Translation: X:70.61, Y:10.81, Z:-2.35 [[ 9.06770406e-01 -4.21340964e-01 -1.54668181e-02 7.06103566e+01] [ 4.21269832e-01 9.06902157e-01 -7.75932250e-03 1.08122832e+01] [ 1.72962111e-02 5.20220169e-04 9.99850274e-01 -2.35281301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.497719421 meters Centerline goodness : 0.961213 Centerline is valid? [True, True] Translation: X:70.64, Y:10.82, Z:-2.35 [[ 9.02491154e-01 -4.30471558e-01 -1.42812753e-02 7.06359989e+01] [ 4.30411894e-01 9.02604083e-01 -7.17432502e-03 1.08237054e+01] [ 1.59786802e-02 3.27934128e-04 9.99872279e-01 -2.35215161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.527719421 meters Centerline goodness : 0.963365 Centerline is valid? [True, True] Translation: X:70.66, Y:10.84, Z:-2.35 [[ 8.99885844e-01 -4.35899539e-01 -1.40378068e-02 7.06606319e+01] [ 4.35842575e-01 8.99995300e-01 -7.05045659e-03 1.08355483e+01] [ 1.57072510e-02 2.26332197e-04 9.99876608e-01 -2.35177418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.557719421 meters Centerline goodness : 0.965445 Centerline is valid? [True, True] Translation: X:70.69, Y:10.85, Z:-2.35 [[ 8.93912970e-01 -4.48046148e-01 -1.32004126e-02 7.06853774e+01] [ 4.47996942e-01 8.94010430e-01 -6.64010933e-03 1.08487810e+01] [ 1.47763820e-02 2.19353599e-05 9.99890823e-01 -2.35178315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.587719421 meters Centerline goodness : 0.966606 Centerline is valid? [True, True] Translation: X:70.71, Y:10.86, Z:-2.35 [[ 8.90866104e-01 -4.54089149e-01 -1.26739851e-02 7.07099702e+01] [ 4.54044319e-01 8.90956250e-01 -6.38092465e-03 1.08626537e+01] [ 1.41894748e-02 -7.00014331e-05 9.99899322e-01 -2.35213050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61771942099999 meters Centerline goodness : 0.967670 Centerline is valid? [True, True] Translation: X:70.73, Y:10.88, Z:-2.35 [[ 8.86202755e-01 -4.63175281e-01 -1.06459625e-02 7.07335572e+01] [ 4.63144233e-01 8.86266680e-01 -5.36575311e-03 1.08789477e+01] [ 1.19204461e-02 -1.75470967e-04 9.99928934e-01 -2.35225533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64771942099999 meters Centerline goodness : 0.968555 Centerline is valid? [True, True] Translation: X:70.76, Y:10.89, Z:-2.35 [[ 8.84057572e-01 -4.67274036e-01 -9.85822929e-03 7.07567905e+01] [ 4.67247690e-01 8.84112509e-01 -4.96667080e-03 1.08929029e+01] [ 1.10365801e-02 -2.15411931e-04 9.99939072e-01 -2.35205497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67771942099999 meters Centerline goodness : 0.966154 Centerline is valid? [True, True] Translation: X:70.78, Y:10.91, Z:-2.35 [[ 8.80972766e-01 -4.73026145e-01 -1.15434850e-02 7.07799322e+01] [ 4.72990397e-01 8.81048329e-01 -5.82468550e-03 1.09085833e+01] [ 1.29255967e-02 -3.28568235e-04 9.99916407e-01 -2.35099499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.707719421 meters Centerline goodness : 0.966269 Centerline is valid? [True, True] Translation: X:70.80, Y:10.92, Z:-2.35 [[ 8.79520628e-01 -4.75718512e-01 -1.16344979e-02 7.08028332e+01] [ 4.75682422e-01 8.79597499e-01 -5.87138037e-03 1.09241855e+01] [ 1.30267996e-02 -3.70326016e-04 9.99915079e-01 -2.35276977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.737719421 meters Centerline goodness : 0.966269 Centerline is valid? [True, True] Translation: X:70.83, Y:10.94, Z:-2.35 [[ 8.79372335e-01 -4.75992641e-01 -1.16319305e-02 7.08282225e+01] [ 4.75956508e-01 8.79449185e-01 -5.87646890e-03 1.09372780e+01] [ 1.30268478e-02 -3.68688873e-04 9.99915079e-01 -2.35336493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.767719421 meters Centerline goodness : 0.965178 Centerline is valid? [True, True] Translation: X:70.85, Y:10.96, Z:-2.36 [[ 8.77596301e-01 -4.79236026e-01 -1.25524567e-02 7.08489740e+01] [ 4.79194199e-01 8.77685954e-01 -6.34710512e-03 1.09585556e+01] [ 1.40588764e-02 -4.44868447e-04 9.99901070e-01 -2.35562041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.797719421 meters Centerline goodness : 0.966474 Centerline is valid? [True, True] Translation: X:70.87, Y:10.98, Z:-2.36 [[ 8.76185685e-01 -4.81796009e-01 -1.30862723e-02 7.08706708e+01] [ 4.81750821e-01 8.76283259e-01 -6.61794950e-03 1.09757163e+01] [ 1.46557830e-02 -5.05769791e-04 9.99892470e-01 -2.35617123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.827719421 meters Centerline goodness : 0.966347 Centerline is valid? [True, True] Translation: X:70.89, Y:11.00, Z:-2.36 [[ 8.72906227e-01 -4.87744047e-01 -1.18517058e-02 7.08926080e+01] [ 4.87707419e-01 8.72986513e-01 -6.00180326e-03 1.09951812e+01] [ 1.32737231e-02 -5.41153416e-04 9.99911754e-01 -2.35521110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.857719421 meters Centerline goodness : 0.969201 Centerline is valid? [True, True] Translation: X:70.92, Y:11.01, Z:-2.36 [[ 8.70987003e-01 -4.91207294e-01 -9.85066971e-03 7.09154995e+01] [ 4.91182143e-01 8.71042568e-01 -4.99461546e-03 1.10121599e+01] [ 1.10337442e-02 -4.88227907e-04 9.99939007e-01 -2.35560765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.887719421 meters Centerline goodness : 0.970661 Centerline is valid? [True, True] Translation: X:70.93, Y:11.04, Z:-2.36 [[ 8.67766487e-01 -4.96918381e-01 -7.31074809e-03 7.09342167e+01] [ 4.96904739e-01 8.67797182e-01 -3.70563885e-03 1.10358119e+01] [ 8.18564665e-03 -4.17116169e-04 9.99966410e-01 -2.35666631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.917719421 meters Centerline goodness : 0.970925 Centerline is valid? [True, True] Translation: X:70.95, Y:11.05, Z:-2.36 [[ 8.66188317e-01 -4.99655956e-01 -7.85649117e-03 7.09546849e+01] [ 4.99640304e-01 8.66223816e-01 -3.98339452e-03 1.10547167e+01] [ 8.79580657e-03 -4.75049835e-04 9.99961203e-01 -2.35788463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.947719421 meters Centerline goodness : 0.969426 Centerline is valid? [True, True] Translation: X:70.97, Y:11.08, Z:-2.36 [[ 8.62940840e-01 -5.05242560e-01 -7.94124064e-03 7.09724932e+01] [ 5.05226731e-01 8.62977215e-01 -4.03433055e-03 1.10807486e+01] [ 8.89142522e-03 -5.30738455e-04 9.99960330e-01 -2.36077136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.977719421 meters Centerline goodness : 0.969032 Centerline is valid? [True, True] Translation: X:70.99, Y:11.10, Z:-2.36 [[ 8.61433155e-01 -5.07807598e-01 -8.02266394e-03 7.09943785e+01] [ 5.07791518e-01 8.61470330e-01 -4.07967178e-03 1.10995937e+01] [ 8.98297528e-03 -5.59476172e-04 9.99959496e-01 -2.36181993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00771942099999 meters Centerline goodness : 0.968574 Centerline is valid? [True, True] Translation: X:71.01, Y:11.13, Z:-2.36 [[ 8.59335733e-01 -5.11350122e-01 -7.94670394e-03 7.10116232e+01] [ 5.11334524e-01 8.59372271e-01 -4.03784301e-03 1.11257185e+01] [ 8.89392853e-03 -5.93561299e-04 9.99960272e-01 -2.36281242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03771942099999 meters Centerline goodness : 0.968053 Centerline is valid? [True, True] Translation: X:71.03, Y:11.15, Z:-2.36 [[ 8.59020945e-01 -5.11891250e-01 -7.09671329e-03 7.10323579e+01] [ 5.11878764e-01 8.59050097e-01 -3.61412916e-03 1.11466761e+01] [ 7.94647333e-03 -5.28044182e-04 9.99968287e-01 -2.36403709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06771942099999 meters Centerline goodness : 0.969478 Centerline is valid? [True, True] Translation: X:71.05, Y:11.18, Z:-2.36 [[ 8.59457152e-01 -5.11144448e-01 -8.04716187e-03 7.10473495e+01] [ 5.11128400e-01 8.59494619e-01 -4.09387455e-03 1.11759197e+01] [ 9.00905357e-03 -5.94623201e-04 9.99959241e-01 -2.36495356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.097719421 meters Centerline goodness : 0.968488 Centerline is valid? [True, True] Translation: X:71.07, Y:11.20, Z:-2.37 [[ 8.60081557e-01 -5.10062874e-01 -9.77655385e-03 7.10681550e+01] [ 5.10039025e-01 8.60136834e-01 -4.98194793e-03 1.11966436e+01] [ 1.09502808e-02 -7.01542466e-04 9.99939798e-01 -2.36590092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.127719421 meters Centerline goodness : 0.968578 Centerline is valid? [True, True] Translation: X:71.09, Y:11.22, Z:-2.37 [[ 8.60985254e-01 -5.08504456e-01 -1.12965213e-02 7.10853860e+01] [ 5.08472530e-01 8.61058995e-01 -5.75268040e-03 1.12224832e+01] [ 1.26522349e-02 -7.90997788e-04 9.99919644e-01 -2.36707431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.157719421 meters Centerline goodness : 0.968346 Centerline is valid? [True, True] Translation: X:71.11, Y:11.24, Z:-2.37 [[ 8.61423716e-01 -5.07776110e-01 -1.06115288e-02 7.11074690e+01] [ 5.07747773e-01 8.61488768e-01 -5.41314477e-03 1.12414183e+01] [ 1.18903785e-02 -7.24968846e-04 9.99929044e-01 -2.36778314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.187719421 meters Centerline goodness : 0.969601 Centerline is valid? [True, True] Translation: X:71.13, Y:11.27, Z:-2.37 [[ 8.62907465e-01 -5.05267980e-01 -9.74558476e-03 7.11263467e+01] [ 5.05243865e-01 8.62962266e-01 -4.97639284e-03 1.12672622e+01] [ 1.09244839e-02 -6.29730382e-04 9.99940128e-01 -2.36656830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.217719421 meters Centerline goodness : 0.972002 Centerline is valid? [True, True] Translation: X:71.15, Y:11.29, Z:-2.37 [[ 8.64389589e-01 -5.02739371e-01 -9.15219168e-03 7.11474371e+01] [ 5.02717987e-01 8.64437856e-01 -4.67099779e-03 1.12861569e+01] [ 1.02597955e-02 -5.63409515e-04 9.99947208e-01 -2.36742714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.247719421 meters Centerline goodness : 0.971851 Centerline is valid? [True, True] Translation: X:71.17, Y:11.31, Z:-2.37 [[ 8.68051159e-01 -4.96389984e-01 -9.17440612e-03 7.11662459e+01] [ 4.96368051e-01 8.68099506e-01 -4.69106636e-03 1.13109711e+01] [ 1.02928958e-02 -4.81796495e-04 9.99946911e-01 -2.36793717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.277719421 meters Centerline goodness : 0.972101 Centerline is valid? [True, True] Translation: X:71.19, Y:11.33, Z:-2.37 [[ 8.70200843e-01 -4.92621925e-01 -8.61003844e-03 7.11881954e+01] [ 4.92602378e-01 8.70243342e-01 -4.40712272e-03 1.13291234e+01] [ 9.66387390e-03 -4.06243503e-04 9.99953221e-01 -2.36852565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.307719421 meters Centerline goodness : 0.972383 Centerline is valid? [True, True] Translation: X:71.21, Y:11.35, Z:-2.37 [[ 8.73932146e-01 -4.85944065e-01 -1.00484071e-02 7.12075677e+01] [ 4.85917011e-01 8.73989825e-01 -5.14231810e-03 1.13516197e+01] [ 1.12810845e-02 -3.88654838e-04 9.99936291e-01 -2.36789669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.337719421 meters Centerline goodness : 0.971943 Centerline is valid? [True, True] Translation: X:71.23, Y:11.37, Z:-2.37 [[ 8.75731781e-01 -4.82683611e-01 -1.05061387e-02 7.12296479e+01] [ 4.82653720e-01 8.75794727e-01 -5.38352249e-03 1.13699449e+01] [ 1.17997590e-02 -3.56305200e-04 9.99930317e-01 -2.36780526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36771942099999 meters Centerline goodness : 0.973813 Centerline is valid? [True, True] Translation: X:71.25, Y:11.39, Z:-2.37 [[ 8.80281423e-01 -4.74369281e-01 -8.85447487e-03 7.12490005e+01] [ 4.74347644e-01 8.80325930e-01 -4.53550547e-03 1.13916571e+01] [ 9.94632829e-03 -2.07578081e-04 9.99950513e-01 -2.36819375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39771942099999 meters Centerline goodness : 0.974404 Centerline is valid? [True, True] Translation: X:71.27, Y:11.41, Z:-2.37 [[ 8.82153703e-01 -4.70873153e-01 -9.12785774e-03 7.12718091e+01] [ 4.70849884e-01 8.82200911e-01 -4.68400644e-03 1.14082496e+01] [ 1.02581773e-02 -1.65837139e-04 9.99947370e-01 -2.36784947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42771942099999 meters Centerline goodness : 0.974286 Centerline is valid? [True, True] Translation: X:71.29, Y:11.43, Z:-2.37 [[ 8.84959893e-01 -4.65587293e-01 -8.62910238e-03 7.12911217e+01] [ 4.65566271e-01 8.85001956e-01 -4.42549343e-03 1.14289012e+01] [ 9.69722599e-03 -1.01034822e-04 9.99952976e-01 -2.36885189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.457719421 meters Centerline goodness : 0.974799 Centerline is valid? [True, True] Translation: X:71.31, Y:11.45, Z:-2.37 [[ 8.85732868e-01 -4.64113447e-01 -8.71754856e-03 7.13130600e+01] [ 4.64091840e-01 8.85775763e-01 -4.47907036e-03 1.14467967e+01] [ 9.80059001e-03 -7.84833169e-05 9.99951970e-01 -2.36975531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.487719421 meters Centerline goodness : 0.972297 Centerline is valid? [True, True] Translation: X:71.33, Y:11.47, Z:-2.37 [[ 8.86977576e-01 -4.61669769e-01 -1.14806112e-02 7.13338256e+01] [ 4.61632058e-01 8.87051870e-01 -5.90115534e-03 1.14675384e+01] [ 1.29082826e-02 -6.56256946e-05 9.99916682e-01 -2.37049424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.517719421 meters Centerline goodness : 0.974464 Centerline is valid? [True, True] Translation: X:71.36, Y:11.49, Z:-2.37 [[ 8.87823706e-01 -4.60001504e-01 -1.29492739e-02 7.13554765e+01] [ 4.59953278e-01 8.87918135e-01 -6.66087565e-03 1.14864214e+01] [ 1.45619080e-02 -4.23776891e-05 9.99893969e-01 -2.37029419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.547719421 meters Centerline goodness : 0.972922 Centerline is valid? [True, True] Translation: X:71.38, Y:11.50, Z:-2.37 [[ 8.88260491e-01 -4.59178880e-01 -1.21678487e-02 7.13783961e+01] [ 4.59136247e-01 8.88343827e-01 -6.25711873e-03 1.15004579e+01] [ 1.36823700e-02 -2.87490177e-05 9.99906392e-01 -2.37158046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.577719421 meters Centerline goodness : 0.974317 Centerline is valid? [True, True] Translation: X:71.40, Y:11.52, Z:-2.37 [[ 8.87914506e-01 -4.59893772e-01 -1.02737089e-02 7.14016414e+01] [ 4.59863313e-01 8.87973940e-01 -5.29300532e-03 1.15157922e+01] [ 1.15570060e-02 -2.47656117e-05 9.99933215e-01 -2.37219730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.607719421 meters Centerline goodness : 0.975632 Centerline is valid? [True, True] Translation: X:71.43, Y:11.53, Z:-2.37 [[ 8.87067666e-01 -4.61527592e-01 -1.01606225e-02 7.14257385e+01] [ 4.61497855e-01 8.87125853e-01 -5.23926595e-03 1.15298318e+01] [ 1.14318167e-02 -4.15220628e-05 9.99934654e-01 -2.37256503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.637719421 meters Centerline goodness : 0.974572 Centerline is valid? [True, True] Translation: X:71.45, Y:11.54, Z:-2.37 [[ 8.86272297e-01 -4.63054780e-01 -1.00839479e-02 7.14490550e+01] [ 4.63025619e-01 8.86329660e-01 -5.19706694e-03 1.15427697e+01] [ 1.13442288e-02 -6.31097704e-05 9.99935650e-01 -2.37341715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.667719421 meters Centerline goodness : 0.974900 Centerline is valid? [True, True] Translation: X:71.47, Y:11.56, Z:-2.37 [[ 8.83346546e-01 -4.68583182e-01 -1.13438076e-02 7.14732494e+01] [ 4.68546613e-01 8.83419369e-01 -5.85575177e-03 1.15566220e+01] [ 1.27652461e-02 -1.42444516e-04 9.99918511e-01 -2.37366627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.697719421 meters Centerline goodness : 0.974078 Centerline is valid? [True, True] Translation: X:71.50, Y:11.57, Z:-2.38 [[ 8.79476709e-01 -4.75794705e-01 -1.18371288e-02 7.14981645e+01] [ 4.75755472e-01 8.79556328e-01 -6.11527085e-03 1.15684065e+01] [ 1.33210351e-02 -2.53340536e-04 9.99911239e-01 -2.37510046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.727719421 meters Centerline goodness : 0.974162 Centerline is valid? [True, True] Translation: X:71.52, Y:11.58, Z:-2.37 [[ 8.77275180e-01 -4.79801882e-01 -1.33571254e-02 7.15237571e+01] [ 4.79752311e-01 8.77376790e-01 -6.90568788e-03 1.15808425e+01] [ 1.50325939e-02 -3.49923201e-04 9.99886943e-01 -2.37492945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75771942099999 meters Centerline goodness : 0.972997 Centerline is valid? [True, True] Translation: X:71.55, Y:11.59, Z:-2.37 [[ 8.73636265e-01 -4.86366133e-01 -1.44104656e-02 7.15478562e+01] [ 4.86309229e-01 8.73754966e-01 -7.45610006e-03 1.15947308e+01] [ 1.62176104e-02 -4.94023001e-04 9.99868364e-01 -2.37493394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78771942099999 meters Centerline goodness : 0.975377 Centerline is valid? [True, True] Translation: X:71.57, Y:11.61, Z:-2.38 [[ 8.72186441e-01 -4.88982596e-01 -1.36686998e-02 7.15710283e+01] [ 4.88931692e-01 8.72293390e-01 -7.07410873e-03 1.16085668e+01] [ 1.53822326e-02 -5.13118825e-04 9.99881555e-01 -2.37555731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.81771942099999 meters Centerline goodness : 0.975757 Centerline is valid? [True, True] Translation: X:71.59, Y:11.62, Z:-2.38 [[ 8.70586808e-01 -4.91869201e-01 -1.19707744e-02 7.15949545e+01] [ 4.91830315e-01 8.70668968e-01 -6.20388618e-03 1.16229192e+01] [ 1.34740823e-02 -4.86568262e-04 9.99909102e-01 -2.37575139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.847719421 meters Centerline goodness : 0.975034 Centerline is valid? [True, True] Translation: X:71.62, Y:11.64, Z:-2.38 [[ 8.71256866e-01 -4.90673388e-01 -1.22922452e-02 7.16186644e+01] [ 4.90632198e-01 8.71343445e-01 -6.37552885e-03 1.16384463e+01] [ 1.38390696e-02 -4.76248008e-04 9.99904122e-01 -2.37559233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.877719421 meters Centerline goodness : 0.975653 Centerline is valid? [True, True] Translation: X:71.64, Y:11.65, Z:-2.38 [[ 8.72783662e-01 -4.87931211e-01 -1.31077605e-02 7.16409380e+01] [ 4.87884103e-01 8.72881961e-01 -6.79583907e-03 1.16539107e+01] [ 1.47574296e-02 -4.63770653e-04 9.99890996e-01 -2.37631660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.907719421 meters Centerline goodness : 0.974555 Centerline is valid? [True, True] Translation: X:71.66, Y:11.67, Z:-2.38 [[ 8.78016299e-01 -4.78415885e-01 -1.43394480e-02 7.16623786e+01] [ 4.78358063e-01 8.78133325e-01 -7.44493635e-03 1.16736358e+01] [ 1.61537230e-02 -3.22615104e-04 9.99869468e-01 -2.37579426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.937719421 meters Centerline goodness : 0.976590 Centerline is valid? [True, True] Translation: X:71.69, Y:11.69, Z:-2.38 [[ 8.81314219e-01 -4.72374386e-01 -1.21525979e-02 7.16854985e+01] [ 4.72332294e-01 8.81397984e-01 -6.30850796e-03 1.16887172e+01] [ 1.36912529e-02 -1.80286701e-04 9.99906254e-01 -2.37616891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.967719421 meters Centerline goodness : 0.977381 Centerline is valid? [True, True] Translation: X:71.71, Y:11.70, Z:-2.38 [[ 8.86802758e-01 -4.62048893e-01 -9.57539432e-03 7.17088525e+01] [ 4.62022052e-01 8.86854453e-01 -4.98028855e-03 1.17048741e+01] [ 1.07931179e-02 -7.50970538e-06 9.99941753e-01 -2.37572560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.997719421 meters Centerline goodness : 0.977645 Centerline is valid? [True, True] Translation: X:71.73, Y:11.72, Z:-2.38 [[ 8.89384787e-01 -4.57056052e-01 -9.71930276e-03 7.17326774e+01] [ 4.57028097e-01 8.89437891e-01 -5.05532162e-03 1.17180694e+01] [ 1.09552815e-02 5.41316985e-05 9.99939988e-01 -2.37649893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.027719421 meters Centerline goodness : 0.975728 Centerline is valid? [True, True] Translation: X:71.76, Y:11.73, Z:-2.38 [[ 8.94003894e-01 -4.47940117e-01 -1.03289900e-02 7.17562480e+01] [ 4.47907939e-01 8.94063544e-01 -5.37193885e-03 1.17319408e+01] [ 1.16410803e-02 1.76097639e-04 9.99932225e-01 -2.37802684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.057719421 meters Centerline goodness : 0.977730 Centerline is valid? [True, True] Translation: X:71.78, Y:11.75, Z:-2.38 [[ 8.95489717e-01 -4.44967714e-01 -1.00945707e-02 7.17801385e+01] [ 4.44936689e-01 8.95546585e-01 -5.25902252e-03 1.17464221e+01] [ 1.13802535e-02 2.17955736e-04 9.99935219e-01 -2.37893928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.087719421 meters Centerline goodness : 0.977143 Centerline is valid? [True, True] Translation: X:71.80, Y:11.76, Z:-2.38 [[ 8.98018562e-01 -4.39802592e-01 -1.16766177e-02 7.18043224e+01] [ 4.39760689e-01 8.98094413e-01 -6.07960107e-03 1.17580722e+01] [ 1.31605295e-02 3.24677145e-04 9.99913344e-01 -2.37958339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11771942099999 meters Centerline goodness : 0.976406 Centerline is valid? [True, True] Translation: X:71.83, Y:11.77, Z:-2.38 [[ 8.98671935e-01 -4.38429550e-01 -1.29723477e-02 7.18299549e+01] [ 4.38377548e-01 8.98765473e-01 -6.76385234e-03 1.17691423e+01] [ 1.46245709e-02 3.91698319e-04 9.99892979e-01 -2.38004015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14771942099999 meters Centerline goodness : 0.976521 Centerline is valid? [True, True] Translation: X:71.86, Y:11.78, Z:-2.38 [[ 8.99376069e-01 -4.36969844e-01 -1.34179626e-02 7.18569129e+01] [ 4.36913956e-01 8.99476051e-01 -7.00204941e-03 1.17777568e+01] [ 1.51288205e-02 4.34980547e-04 9.99885458e-01 -2.38119576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17771942099999 meters Centerline goodness : 0.977649 Centerline is valid? [True, True] Translation: X:71.88, Y:11.79, Z:-2.38 [[ 8.98856010e-01 -4.38030879e-01 -1.36682866e-02 7.18821375e+01] [ 4.37972920e-01 8.98959823e-01 -7.13847656e-03 1.17897824e+01] [ 1.54141136e-02 4.30123175e-04 9.99881103e-01 -2.38196858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.207719421 meters Centerline goodness : 0.974463 Centerline is valid? [True, True] Translation: X:71.91, Y:11.80, Z:-2.38 [[ 8.97368257e-01 -4.41035864e-01 -1.47505221e-02 7.19087354e+01] [ 4.40968671e-01 8.97489385e-01 -7.70946814e-03 1.18000288e+01] [ 1.66385889e-02 4.13713878e-04 9.99861484e-01 -2.38173423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.237719421 meters Centerline goodness : 0.973443 Centerline is valid? [True, True] Translation: X:71.93, Y:11.81, Z:-2.38 [[ 8.94522701e-01 -4.46731727e-01 -1.61214567e-02 7.19349657e+01] [ 4.46652426e-01 8.94667900e-01 -8.42370802e-03 1.18073385e+01] [ 1.81864874e-02 3.34510307e-04 9.99834556e-01 -2.38235338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.267719421 meters Centerline goodness : 0.973736 Centerline is valid? [True, True] Translation: X:71.96, Y:11.82, Z:-2.38 [[ 8.92792542e-01 -4.50153413e-01 -1.68339243e-02 7.19601895e+01] [ 4.50067497e-01 8.92951189e-01 -8.79896687e-03 1.18173684e+01] [ 1.89927577e-02 2.79249849e-04 9.99819582e-01 -2.38280672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.297719421 meters Centerline goodness : 0.972905 Centerline is valid? [True, True] Translation: X:71.99, Y:11.83, Z:-2.38 [[ 8.91164354e-01 -4.53391422e-01 -1.61960858e-02 7.19867095e+01] [ 4.53312209e-01 8.91311491e-01 -8.47748667e-03 1.18277947e+01] [ 1.82793771e-02 2.12950498e-04 9.99832896e-01 -2.38393106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.327719421 meters Centerline goodness : 0.973174 Centerline is valid? [True, True] Translation: X:72.01, Y:11.83, Z:-2.38 [[ 8.87406942e-01 -4.60776214e-01 -1.39355306e-02 7.20139724e+01] [ 4.60718491e-01 8.87516354e-01 -7.29342537e-03 1.18335187e+01] [ 1.57286482e-02 5.18796769e-05 9.99876296e-01 -2.38436942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.357719421 meters Centerline goodness : 0.975445 Centerline is valid? [True, True] Translation: X:72.04, Y:11.84, Z:-2.39 [[ 8.83163319e-01 -4.68885635e-01 -1.29927939e-02 7.20410101e+01] [ 4.68836175e-01 8.83258883e-01 -6.81071025e-03 1.18425219e+01] [ 1.46694449e-02 -7.65223343e-05 9.99892395e-01 -2.38561075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.387719421 meters Centerline goodness : 0.973649 Centerline is valid? [True, True] Translation: X:72.07, Y:11.85, Z:-2.39 [[ 8.81670552e-01 -4.71666373e-01 -1.37065744e-02 7.20668607e+01] [ 4.71611579e-01 8.81777079e-01 -7.19037734e-03 1.18544349e+01] [ 1.54776023e-02 -1.24635246e-04 9.99880207e-01 -2.38700789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.417719421 meters Centerline goodness : 0.970691 Centerline is valid? [True, True] Translation: X:72.09, Y:11.86, Z:-2.39 [[ 8.78790138e-01 -4.76906079e-01 -1.69848199e-02 7.20936048e+01] [ 4.76822807e-01 8.78954221e-01 -8.91565345e-03 1.18638430e+01] [ 1.91808085e-02 -2.63761182e-04 9.99815997e-01 -2.38758993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.447719421 meters Centerline goodness : 0.970805 Centerline is valid? [True, True] Translation: X:72.12, Y:11.87, Z:-2.39 [[ 8.77685239e-01 -4.78946404e-01 -1.67022123e-02 7.21200897e+01] [ 4.78866097e-01 8.77844094e-01 -8.77538032e-03 1.18746356e+01] [ 1.88648753e-02 -2.96101447e-04 9.99821999e-01 -2.38865131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.477719421 meters Centerline goodness : 0.972059 Centerline is valid? [True, True] Translation: X:72.15, Y:11.88, Z:-2.39 [[ 8.75713811e-01 -4.82625651e-01 -1.40641864e-02 7.21465399e+01] [ 4.82569061e-01 8.75826687e-01 -7.39703789e-03 1.18847963e+01] [ 1.58877900e-02 -3.09253005e-04 9.99873733e-01 -2.38876090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50771942099999 meters Centerline goodness : 0.972730 Centerline is valid? [True, True] Translation: X:72.17, Y:11.90, Z:-2.39 [[ 8.73441769e-01 -4.86744831e-01 -1.33770735e-02 7.21701096e+01] [ 4.86694144e-01 8.73544123e-01 -7.03389393e-03 1.18974016e+01] [ 1.51091755e-02 -3.66846589e-04 9.99885783e-01 -2.38889893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53771942099999 meters Centerline goodness : 0.970196 Centerline is valid? [True, True] Translation: X:72.19, Y:11.91, Z:-2.39 [[ 8.72194658e-01 -4.88989790e-01 -1.28632867e-02 7.21939403e+01] [ 4.88943135e-01 8.72289421e-01 -6.76580384e-03 1.19108462e+01] [ 1.45289179e-02 -3.88317781e-04 9.99894374e-01 -2.38937112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56771942099999 meters Centerline goodness : 0.970981 Centerline is valid? [True, True] Translation: X:72.22, Y:11.92, Z:-2.39 [[ 8.70772769e-01 -4.91578062e-01 -1.02855962e-02 7.22185968e+01] [ 4.91548292e-01 8.70833449e-01 -5.42045062e-03 1.19247408e+01] [ 1.16216158e-02 -3.35886428e-04 9.99932410e-01 -2.38846571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.597719421 meters Centerline goodness : 0.971131 Centerline is valid? [True, True] Translation: X:72.24, Y:11.94, Z:-2.39 [[ 8.70548608e-01 -4.92001700e-01 -8.91335735e-03 7.22419304e+01] [ 4.91979385e-01 8.70594187e-01 -4.69537948e-03 1.19383303e+01] [ 1.00700518e-02 -2.97631997e-04 9.99949251e-01 -2.38920153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.627719421 meters Centerline goodness : 0.971131 Centerline is valid? [True, True] Translation: X:72.27, Y:11.95, Z:-2.39 [[ 8.70408425e-01 -4.92249705e-01 -8.91074061e-03 7.22670088e+01] [ 4.92227352e-01 8.70453985e-01 -4.70034804e-03 1.19518576e+01] [ 1.00701346e-02 -2.94887718e-04 9.99949251e-01 -2.38979637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.657719421 meters Centerline goodness : 0.970528 Centerline is valid? [True, True] Translation: X:72.29, Y:11.97, Z:-2.39 [[ 8.70679526e-01 -4.91763910e-01 -9.24230088e-03 7.22912846e+01] [ 4.91739779e-01 8.70728528e-01 -4.88060792e-03 1.19657173e+01] [ 1.04476419e-02 -2.95361600e-04 9.99945378e-01 -2.39046644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.687719421 meters Centerline goodness : 0.969858 Centerline is valid? [True, True] Translation: X:72.32, Y:11.98, Z:-2.39 [[ 8.71876969e-01 -4.89639571e-01 -9.14550904e-03 7.23151056e+01] [ 4.89615783e-01 8.71924894e-01 -4.83364825e-03 1.19802885e+01] [ 1.03409425e-02 -2.63438982e-04 9.99946496e-01 -2.39142487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.717719421 meters Centerline goodness : 0.968750 Centerline is valid? [True, True] Translation: X:72.34, Y:12.00, Z:-2.39 [[ 8.73417885e-01 -4.86889583e-01 -8.92926994e-03 7.23388887e+01] [ 4.86866719e-01 8.73463499e-01 -4.72369081e-03 1.19957541e+01] [ 1.00993072e-02 -2.21608322e-04 9.99948976e-01 -2.39168494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.747719421 meters Centerline goodness : 0.970641 Centerline is valid? [True, True] Translation: X:72.36, Y:12.02, Z:-2.39 [[ 8.77332598e-01 -4.79782950e-01 -9.78944837e-03 7.23586652e+01] [ 4.79755065e-01 8.77387199e-01 -5.17511904e-03 1.20158338e+01] [ 1.10720706e-02 -1.56236802e-04 9.99938691e-01 -2.39244774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.777719421 meters Centerline goodness : 0.967932 Centerline is valid? [True, True] Translation: X:72.38, Y:12.03, Z:-2.39 [[ 8.81519096e-01 -4.71953257e-01 -1.35722408e-02 7.23805168e+01] [ 4.71898578e-01 8.81623569e-01 -7.18432370e-03 1.20342377e+01] [ 1.53562723e-02 -7.16025834e-05 9.99882083e-01 -2.39326312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.807719421 meters Centerline goodness : 0.967488 Centerline is valid? [True, True] Translation: X:72.40, Y:12.05, Z:-2.39 [[ 8.83822504e-01 -4.67579365e-01 -1.50770908e-02 7.24035678e+01] [ 4.67511295e-01 8.83951095e-01 -7.97820308e-03 1.20476522e+01] [ 1.70578541e-02 2.60515655e-06 9.99854504e-01 -2.39389526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.837719421 meters Centerline goodness : 0.964258 Centerline is valid? [True, True] Translation: X:72.43, Y:12.06, Z:-2.39 [[ 8.87052516e-01 -4.61322921e-01 -1.78604657e-02 7.24265612e+01] [ 4.61226068e-01 8.87232292e-01 -9.45376421e-03 1.20612463e+01] [ 2.02076200e-02 1.48272985e-04 9.99795794e-01 -2.39400292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86771942099999 meters Centerline goodness : 0.963507 Centerline is valid? [True, True] Translation: X:72.45, Y:12.07, Z:-2.39 [[ 8.88008681e-01 -4.59482817e-01 -1.77798791e-02 7.24519782e+01] [ 4.59386214e-01 8.88186636e-01 -9.42367316e-03 1.20740240e+01] [ 2.01218669e-02 2.00472201e-04 9.99797515e-01 -2.39451700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89771942099999 meters Centerline goodness : 0.966419 Centerline is valid? [True, True] Translation: X:72.48, Y:12.09, Z:-2.40 [[ 8.88722147e-01 -4.58189054e-01 -1.53536629e-02 7.24771420e+01] [ 4.58116690e-01 8.88854740e-01 -8.14554792e-03 1.20868096e+01] [ 1.73793769e-02 2.05359624e-04 9.99848946e-01 -2.39586532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92771942099999 meters Centerline goodness : 0.966443 Centerline is valid? [True, True] Translation: X:72.50, Y:12.10, Z:-2.40 [[ 8.88857874e-01 -4.57950350e-01 -1.45998597e-02 7.25012314e+01] [ 4.57884764e-01 8.88977747e-01 -7.75297258e-03 1.21009016e+01] [ 1.65294269e-02 2.06237390e-04 9.99863358e-01 -2.39636424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.957719421 meters Centerline goodness : 0.963885 Centerline is valid? [True, True] Translation: X:72.52, Y:12.11, Z:-2.40 [[ 8.89582754e-01 -4.56539615e-01 -1.46323084e-02 7.25240244e+01] [ 4.56473578e-01 8.89703055e-01 -7.76825402e-03 1.21146898e+01] [ 1.65649252e-02 2.31242610e-04 9.99862765e-01 -2.39745694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.987719421 meters Centerline goodness : 0.963523 Centerline is valid? [True, True] Translation: X:72.55, Y:12.13, Z:-2.40 [[ 8.89461045e-01 -4.56789355e-01 -1.42314537e-02 7.25490405e+01] [ 4.56726737e-01 8.89574860e-01 -7.56673200e-03 1.21273027e+01] [ 1.61163461e-02 2.30427933e-04 9.99870097e-01 -2.39850814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.017719421 meters Centerline goodness : 0.962754 Centerline is valid? [True, True] Translation: X:72.57, Y:12.14, Z:-2.40 [[ 8.89066302e-01 -4.57549964e-01 -1.44617022e-02 7.25746483e+01] [ 4.57485438e-01 8.89183886e-01 -7.68708468e-03 1.21360440e+01] [ 1.63763378e-02 2.18309812e-04 9.99865875e-01 -2.39928353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.047719421 meters Centerline goodness : 0.962772 Centerline is valid? [True, True] Translation: X:72.60, Y:12.15, Z:-2.40 [[ 8.87061885e-01 -4.61408102e-01 -1.49591199e-02 7.26005523e+01] [ 4.61339417e-01 8.87187994e-01 -7.96272600e-03 1.21463532e+01] [ 1.69456179e-02 1.62199063e-04 9.99856400e-01 -2.40070776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.077719421 meters Centerline goodness : 0.962293 Centerline is valid? [True, True] Translation: X:72.63, Y:12.16, Z:-2.40 [[ 8.85915135e-01 -4.63592091e-01 -1.53865470e-02 7.26252539e+01] [ 4.63519636e-01 8.86048732e-01 -8.19702413e-03 1.21585306e+01] [ 1.74333060e-02 1.29901091e-04 9.99848020e-01 -2.40121584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.107719421 meters Centerline goodness : 0.962491 Centerline is valid? [True, True] Translation: X:72.65, Y:12.17, Z:-2.40 [[ 8.85042740e-01 -4.65271259e-01 -1.48997584e-02 7.26496764e+01] [ 4.65203581e-01 8.85168146e-01 -7.93608975e-03 1.21703684e+01] [ 1.68812260e-02 9.23576707e-05 9.99857498e-01 -2.40276140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.137719421 meters Centerline goodness : 0.961873 Centerline is valid? [True, True] Translation: X:72.68, Y:12.18, Z:-2.40 [[ 8.83585571e-01 -4.68061349e-01 -1.39682259e-02 7.26753139e+01] [ 4.68002049e-01 8.83695972e-01 -7.45060022e-03 1.21808436e+01] [ 1.58310029e-02 4.60845272e-05 9.99874681e-01 -2.40331209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.167719421 meters Centerline goodness : 0.961310 Centerline is valid? [True, True] Translation: X:72.70, Y:12.19, Z:-2.40 [[ 8.82791046e-01 -4.69492819e-01 -1.60144370e-02 7.27017892e+01] [ 4.69415003e-01 8.82936290e-01 -8.54768208e-03 1.21901903e+01] [ 1.81528029e-02 2.84002193e-05 9.99835224e-01 -2.40369553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.197719421 meters Centerline goodness : 0.960295 Centerline is valid? [True, True] Translation: X:72.73, Y:12.20, Z:-2.40 [[ 8.82681397e-01 -4.69663717e-01 -1.70159705e-02 7.27281485e+01] [ 4.69575765e-01 8.82845395e-01 -9.08898538e-03 1.22005997e+01] [ 1.92912379e-02 3.23909421e-05 9.99813906e-01 -2.40434567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.227719421 meters Centerline goodness : 0.960137 Centerline is valid? [True, True] Translation: X:72.75, Y:12.21, Z:-2.41 [[ 8.81807364e-01 -4.71362547e-01 -1.52683479e-02 7.27548141e+01] [ 4.71291854e-01 8.81939539e-01 -8.16323789e-03 1.22105404e+01] [ 1.73136043e-02 2.55530122e-06 9.99850108e-01 -2.40608262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25771942099999 meters Centerline goodness : 0.959851 Centerline is valid? [True, True] Translation: X:72.78, Y:12.22, Z:-2.41 [[ 8.80481246e-01 -4.73864278e-01 -1.43325048e-02 7.27796233e+01] [ 4.73802204e-01 8.80597890e-01 -7.66990964e-03 1.22231354e+01] [ 1.62556697e-02 -3.75607467e-05 9.99867867e-01 -2.40683591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28771942099999 meters Centerline goodness : 0.960173 Centerline is valid? [True, True] Translation: X:72.81, Y:12.23, Z:-2.41 [[ 8.77630685e-01 -4.79137986e-01 -1.38264724e-02 7.28051534e+01] [ 4.79080842e-01 8.77739582e-01 -7.40089590e-03 1.22319177e+01] [ 1.56820925e-02 -1.28744715e-04 9.99877020e-01 -2.40845469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31771942099999 meters Centerline goodness : 0.960179 Centerline is valid? [True, True] Translation: X:72.83, Y:12.24, Z:-2.41 [[ 8.74902484e-01 -4.84067235e-01 -1.49851872e-02 7.28304909e+01] [ 4.84000686e-01 8.75030777e-01 -8.02970766e-03 1.22437620e+01] [ 1.69994184e-02 -2.27629723e-04 9.99855474e-01 -2.40907487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.347719421 meters Centerline goodness : 0.958795 Centerline is valid? [True, True] Translation: X:72.86, Y:12.26, Z:-2.41 [[ 8.69458670e-01 -4.93719895e-01 -1.68013778e-02 7.28558483e+01] [ 4.93637905e-01 8.69620867e-01 -9.00918907e-03 1.22551082e+01] [ 1.90588446e-02 -4.60679368e-04 9.99818258e-01 -2.40899574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.377719421 meters Centerline goodness : 0.957763 Centerline is valid? [True, True] Translation: X:72.88, Y:12.27, Z:-2.41 [[ 8.66451061e-01 -4.98996762e-01 -1.62723881e-02 7.28804122e+01] [ 4.98920635e-01 8.66603673e-01 -8.73347165e-03 1.22680969e+01] [ 1.84596854e-02 -5.51504412e-04 9.99829453e-01 -2.40918065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.407719421 meters Centerline goodness : 0.959624 Centerline is valid? [True, True] Translation: X:72.90, Y:12.28, Z:-2.41 [[ 8.61170310e-01 -5.08111385e-01 -1.44401661e-02 7.29040017e+01] [ 5.08052724e-01 8.61291113e-01 -7.74910739e-03 1.22821390e+01] [ 1.63745965e-02 -6.63064534e-04 9.99865707e-01 -2.40802505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.437719421 meters Centerline goodness : 0.962064 Centerline is valid? [True, True] Translation: X:72.93, Y:12.30, Z:-2.41 [[ 8.57031269e-01 -5.15088321e-01 -1.34693937e-02 7.29276210e+01] [ 5.15037974e-01 8.57136794e-01 -7.23890387e-03 1.22975120e+01] [ 1.52737878e-02 -7.33282281e-04 9.99883080e-01 -2.40556943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.467719421 meters Centerline goodness : 0.961557 Centerline is valid? [True, True] Translation: X:72.95, Y:12.31, Z:-2.41 [[ 8.55727282e-01 -5.17272564e-01 -1.26456938e-02 7.29511836e+01] [ 5.17228327e-01 8.55820412e-01 -6.80296624e-03 1.23119978e+01] [ 1.43414307e-02 -7.19227264e-04 9.99896898e-01 -2.40597928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.497719421 meters Centerline goodness : 0.963803 Centerline is valid? [True, True] Translation: X:72.97, Y:12.33, Z:-2.41 [[ 8.54445433e-01 -5.19421940e-01 -1.11288362e-02 7.29722616e+01] [ 5.19387838e-01 8.54517647e-01 -5.98871781e-03 1.23295662e+01] [ 1.26204583e-02 -6.63149576e-04 9.99920139e-01 -2.40517638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.527719421 meters Centerline goodness : 0.962166 Centerline is valid? [True, True] Translation: X:73.00, Y:12.35, Z:-2.41 [[ 8.53903254e-01 -5.20311552e-01 -1.11858124e-02 7.29958612e+01] [ 5.20277073e-01 8.53976251e-01 -6.02748779e-03 1.23457095e+01] [ 1.26885896e-02 -6.72830286e-04 9.99919270e-01 -2.40605823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.557719421 meters Centerline goodness : 0.961823 Centerline is valid? [True, True] Translation: X:73.02, Y:12.36, Z:-2.41 [[ 8.53086246e-01 -5.21577748e-01 -1.41601543e-02 7.30162891e+01] [ 5.21522738e-01 8.53203305e-01 -7.62587818e-03 1.23645404e+01] [ 1.60589788e-02 -8.79310635e-04 9.99870660e-01 -2.40581092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.587719421 meters Centerline goodness : 0.961619 Centerline is valid? [True, True] Translation: X:73.04, Y:12.38, Z:-2.41 [[ 8.52399197e-01 -5.22635210e-01 -1.63721136e-02 7.30384745e+01] [ 5.22561816e-01 8.52555781e-01 -8.81976570e-03 1.23806909e+01] [ 1.85676602e-02 -1.03748022e-03 9.99827068e-01 -2.40580495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61771942099999 meters Centerline goodness : 0.961661 Centerline is valid? [True, True] Translation: X:73.06, Y:12.40, Z:-2.40 [[ 8.49966876e-01 -5.26462113e-01 -1.98482483e-02 7.30602576e+01] [ 5.26354979e-01 8.50197522e-01 -1.07055572e-02 1.24001763e+01] [ 2.25110018e-02 -1.34785531e-03 9.99745687e-01 -2.40417134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64771942099999 meters Centerline goodness : 0.961410 Centerline is valid? [True, True] Translation: X:73.08, Y:12.42, Z:-2.40 [[ 8.48346831e-01 -5.29049871e-01 -2.03442342e-02 7.30816749e+01] [ 5.28938078e-01 8.48589490e-01 -1.09720943e-02 1.24174055e+01] [ 2.30686884e-02 -1.45269868e-03 9.99732827e-01 -2.40387530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67771942099999 meters Centerline goodness : 0.962758 Centerline is valid? [True, True] Translation: X:73.10, Y:12.44, Z:-2.40 [[ 8.45700703e-01 -5.33289939e-01 -1.98030775e-02 7.31017787e+01] [ 5.33184862e-01 8.45931171e-01 -1.06937884e-02 1.24381601e+01] [ 2.24549303e-02 -1.51495672e-03 9.99746708e-01 -2.40253500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.707719421 meters Centerline goodness : 0.966686 Centerline is valid? [True, True] Translation: X:73.12, Y:12.46, Z:-2.40 [[ 8.43522012e-01 -5.36799740e-01 -1.77947956e-02 7.31229908e+01] [ 5.36715495e-01 8.43708464e-01 -9.61796197e-03 1.24588523e+01] [ 2.01765391e-02 -1.43777989e-03 9.99795399e-01 -2.40150253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.737719421 meters Centerline goodness : 0.968330 Centerline is valid? [True, True] Translation: X:73.14, Y:12.48, Z:-2.40 [[ 8.42696725e-01 -5.38119394e-01 -1.70219551e-02 7.31446078e+01] [ 5.38042596e-01 8.42867451e-01 -9.19921359e-03 1.24760001e+01] [ 1.92975271e-02 -1.40638973e-03 9.99812796e-01 -2.40225257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.767719421 meters Centerline goodness : 0.972939 Centerline is valid? [True, True] Translation: X:73.17, Y:12.50, Z:-2.40 [[ 8.41989688e-01 -5.39231158e-01 -1.68262982e-02 7.31660634e+01] [ 5.39156108e-01 8.42156626e-01 -9.10535900e-03 1.24950784e+01] [ 1.90802718e-02 -1.40538306e-03 9.99816967e-01 -2.40242919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.797719421 meters Centerline goodness : 0.973340 Centerline is valid? [True, True] Translation: X:73.18, Y:12.52, Z:-2.40 [[ 8.41939565e-01 -5.39291781e-01 -1.73822806e-02 7.31829057e+01] [ 5.39211657e-01 8.42117728e-01 -9.40853237e-03 1.25209386e+01] [ 1.97118709e-02 -1.45131270e-03 9.99804649e-01 -2.40272408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.827719421 meters Centerline goodness : 0.973531 Centerline is valid? [True, True] Translation: X:73.20, Y:12.54, Z:-2.40 [[ 8.43854940e-01 -5.36254094e-01 -1.84495914e-02 7.32011926e+01] [ 5.36162897e-01 8.44055345e-01 -9.99613747e-03 1.25449065e+01] [ 2.09329459e-02 -1.45669639e-03 9.99779821e-01 -2.40315343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.857719421 meters Centerline goodness : 0.972020 Centerline is valid? [True, True] Translation: X:73.22, Y:12.56, Z:-2.40 [[ 8.44787139e-01 -5.34727294e-01 -2.00352452e-02 7.32230734e+01] [ 5.34619142e-01 8.45023294e-01 -1.08630358e-02 1.25634137e+01] [ 2.27390106e-02 -1.53427268e-03 9.99740258e-01 -2.40303030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.887719421 meters Centerline goodness : 0.973504 Centerline is valid? [True, True] Translation: X:73.24, Y:12.59, Z:-2.40 [[ 8.46186517e-01 -5.32547961e-01 -1.90012378e-02 7.32406380e+01] [ 5.32450150e-01 8.46398670e-01 -1.03018605e-02 1.25866991e+01] [ 2.15688572e-02 -1.39991650e-03 9.99766385e-01 -2.40403441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.917719421 meters Centerline goodness : 0.973353 Centerline is valid? [True, True] Translation: X:73.26, Y:12.61, Z:-2.40 [[ 8.46260131e-01 -5.32462640e-01 -1.80921944e-02 7.32618693e+01] [ 5.32373699e-01 8.46452475e-01 -9.82100509e-03 1.26068388e+01] [ 2.05435010e-02 -1.32068338e-03 9.99788088e-01 -2.40413367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.947719421 meters Centerline goodness : 0.975497 Centerline is valid? [True, True] Translation: X:73.28, Y:12.63, Z:-2.40 [[ 8.46789360e-01 -5.31712879e-01 -1.51391675e-02 7.32789900e+01] [ 5.31650432e-01 8.46923983e-01 -8.22107651e-03 1.26320134e+01] [ 1.71929763e-02 -1.08722483e-03 9.99851599e-01 -2.40454309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.977719421 meters Centerline goodness : 0.977119 Centerline is valid? [True, True] Translation: X:73.30, Y:12.65, Z:-2.41 [[ 8.46487370e-01 -5.32209191e-01 -1.45777140e-02 7.33007827e+01] [ 5.32151224e-01 8.46612235e-01 -7.92459638e-03 1.26513972e+01] [ 1.65592141e-02 -1.04947761e-03 9.99862336e-01 -2.40600717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00771942099999 meters Centerline goodness : 0.976104 Centerline is valid? [True, True] Translation: X:73.32, Y:12.67, Z:-2.41 [[ 8.46305119e-01 -5.32518309e-01 -1.38526799e-02 7.33195016e+01] [ 5.32466028e-01 8.46417889e-01 -7.52903381e-03 1.26736605e+01] [ 1.57345044e-02 -1.00422158e-03 9.99875701e-01 -2.40844064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03771942099999 meters Centerline goodness : 0.974731 Centerline is valid? [True, True] Translation: X:73.34, Y:12.69, Z:-2.41 [[ 8.46470147e-01 -5.32268094e-01 -1.33777977e-02 7.33418989e+01] [ 5.32219160e-01 8.46575313e-01 -7.28048397e-03 1.26914584e+01] [ 1.52004826e-02 -9.57207917e-04 9.99884008e-01 -2.40875257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06771942099999 meters Centerline goodness : 0.974167 Centerline is valid? [True, True] Translation: X:73.36, Y:12.71, Z:-2.41 [[ 8.48625977e-01 -5.28854658e-01 -1.21120382e-02 7.33614111e+01] [ 5.28814125e-01 8.48712024e-01 -6.59704841e-03 1.27138771e+01] [ 1.37685122e-02 -8.06590214e-04 9.99904884e-01 -2.41016210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.097719421 meters Centerline goodness : 0.971729 Centerline is valid? [True, True] Translation: X:73.38, Y:12.74, Z:-2.41 [[ 8.52637974e-01 -5.22266802e-01 -1.56803313e-02 7.33805554e+01] [ 5.22197658e-01 8.52781669e-01 -8.54582289e-03 1.27361829e+01] [ 1.78350987e-02 -9.01739160e-04 9.99840535e-01 -2.41111504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.127719421 meters Centerline goodness : 0.972234 Centerline is valid? [True, True] Translation: X:73.40, Y:12.75, Z:-2.41 [[ 8.54702653e-01 -5.18833737e-01 -1.71734978e-02 7.34014699e+01] [ 5.18750144e-01 8.54874683e-01 -9.35757476e-03 1.27542514e+01] [ 1.95362140e-02 -9.10810490e-04 9.99808735e-01 -2.41244525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.157719421 meters Centerline goodness : 0.972171 Centerline is valid? [True, True] Translation: X:73.42, Y:12.78, Z:-2.41 [[ 8.60284831e-01 -5.09443656e-01 -1.94209007e-02 7.34211606e+01] [ 5.09334069e-01 8.60503665e-01 -1.05947298e-02 1.27767189e+01] [ 2.21091741e-02 -7.77241064e-04 9.99755260e-01 -2.41323224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.187719421 meters Centerline goodness : 0.972224 Centerline is valid? [True, True] Translation: X:73.44, Y:12.79, Z:-2.41 [[ 8.62679113e-01 -5.05385442e-01 -1.92432504e-02 7.34434838e+01] [ 5.05276648e-01 8.62893458e-01 -1.05065905e-02 1.27940258e+01] [ 2.19147527e-02 -6.59348922e-04 9.99759626e-01 -2.41490805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.217719421 meters Centerline goodness : 0.971212 Centerline is valid? [True, True] Translation: X:73.46, Y:12.81, Z:-2.42 [[ 8.65824187e-01 -5.00019031e-01 -1.81506592e-02 7.34649822e+01] [ 4.99920882e-01 8.66014279e-01 -9.91866072e-03 1.28120411e+01] [ 2.06782492e-02 -4.86077226e-04 9.99786064e-01 -2.41558434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.247719421 meters Centerline goodness : 0.971221 Centerline is valid? [True, True] Translation: X:73.49, Y:12.83, Z:-2.42 [[ 8.66867395e-01 -4.98195796e-01 -1.84896909e-02 7.34870860e+01] [ 4.98093557e-01 8.67064441e-01 -1.01027012e-02 1.28275312e+01] [ 2.10648768e-02 -4.51893595e-04 9.99778009e-01 -2.41541723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.277719421 meters Centerline goodness : 0.971916 Centerline is valid? [True, True] Translation: X:73.51, Y:12.85, Z:-2.42 [[ 8.70213596e-01 -4.92337785e-01 -1.82154385e-02 7.35083480e+01] [ 4.92237014e-01 8.70404170e-01 -9.96508526e-03 1.28458933e+01] [ 2.07609816e-02 -2.94560388e-04 9.99784424e-01 -2.41535485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.307719421 meters Centerline goodness : 0.971659 Centerline is valid? [True, True] Translation: X:73.53, Y:12.86, Z:-2.42 [[ 8.72719897e-01 -4.87896459e-01 -1.78052408e-02 7.35318046e+01] [ 4.87799090e-01 8.72901491e-01 -9.74853843e-03 1.28606421e+01] [ 2.02984987e-02 -1.77636822e-04 9.99793948e-01 -2.41664439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.337719421 meters Centerline goodness : 0.970920 Centerline is valid? [True, True] Translation: X:73.56, Y:12.87, Z:-2.42 [[ 8.77959064e-01 -4.78407910e-01 -1.77130986e-02 7.35559344e+01] [ 4.78309436e-01 8.78137728e-01 -9.70639540e-03 1.28742561e+01] [ 2.01981565e-02 4.94756265e-05 9.99795995e-01 -2.41748743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36771942099999 meters Centerline goodness : 0.972968 Centerline is valid? [True, True] Translation: X:73.58, Y:12.89, Z:-2.42 [[ 8.81958226e-01 -4.71037013e-01 -1.65474967e-02 7.35787153e+01] [ 4.70949715e-01 8.82113422e-01 -9.07066267e-03 1.28882052e+01] [ 1.88693868e-02 2.06906714e-04 9.99821936e-01 -2.41766724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39771942099999 meters Centerline goodness : 0.969696 Centerline is valid? [True, True] Translation: X:73.60, Y:12.90, Z:-2.42 [[ 8.83218865e-01 -4.68713859e-01 -1.52234955e-02 7.36027932e+01] [ 4.68639444e-01 8.83350020e-01 -8.35543931e-03 1.29022058e+01] [ 1.73639853e-02 2.45351170e-04 9.99849205e-01 -2.41844047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42771942099999 meters Centerline goodness : 0.971174 Centerline is valid? [True, True] Translation: X:73.63, Y:12.91, Z:-2.42 [[ 8.84101122e-01 -4.67070207e-01 -1.45129922e-02 7.36277720e+01] [ 4.67002318e-01 8.84220193e-01 -7.96772781e-03 1.29132264e+01] [ 1.65541690e-02 2.66676106e-04 9.99862935e-01 -2.41886452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.457719421 meters Centerline goodness : 0.970919 Centerline is valid? [True, True] Translation: X:73.65, Y:12.92, Z:-2.42 [[ 8.83941676e-01 -4.67347475e-01 -1.52791052e-02 7.36526418e+01] [ 4.67272261e-01 8.84073674e-01 -8.38887577e-03 1.29233362e+01] [ 1.74283746e-02 2.75774862e-04 9.99848076e-01 -2.41921956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.487719421 meters Centerline goodness : 0.969883 Centerline is valid? [True, True] Translation: X:73.68, Y:12.93, Z:-2.42 [[ 8.83031158e-01 -4.69099701e-01 -1.41931516e-02 7.36803073e+01] [ 4.69034834e-01 8.83145184e-01 -7.80440915e-03 1.29307434e+01] [ 1.61956595e-02 2.34453925e-04 9.99868814e-01 -2.42049725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.517719421 meters Centerline goodness : 0.969256 Centerline is valid? [True, True] Translation: X:73.70, Y:12.94, Z:-2.42 [[ 8.82511910e-01 -4.70110211e-01 -1.30045212e-02 7.37047486e+01] [ 4.70055887e-01 8.82607699e-01 -7.14929657e-03 1.29416835e+01] [ 1.48388478e-02 1.96487636e-04 9.99889879e-01 -2.42093723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.547719421 meters Centerline goodness : 0.969256 Centerline is valid? [True, True] Translation: X:73.73, Y:12.96, Z:-2.42 [[ 8.82369766e-01 -4.70377054e-01 -1.30008717e-02 7.37295434e+01] [ 4.70322661e-01 8.82465516e-01 -7.15593499e-03 1.29556175e+01] [ 1.48388086e-02 1.99576103e-04 9.99889879e-01 -2.42153154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.577719421 meters Centerline goodness : 0.968947 Centerline is valid? [True, True] Translation: X:73.76, Y:12.96, Z:-2.42 [[ 8.82760653e-01 -4.69685829e-01 -1.13512490e-02 7.37566739e+01] [ 4.69644212e-01 8.82833612e-01 -6.25530050e-03 1.29638822e+01] [ 1.29592902e-02 1.90884746e-04 9.99916007e-01 -2.42196204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.607719421 meters Centerline goodness : 0.965376 Centerline is valid? [True, True] Translation: X:73.78, Y:12.97, Z:-2.42 [[ 8.83664280e-01 -4.67989523e-01 -1.11016053e-02 7.37826631e+01] [ 4.67949516e-01 8.83733987e-01 -6.12298200e-03 1.29736340e+01] [ 1.26763574e-02 2.15669645e-04 9.99919628e-01 -2.42229524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.637719421 meters Centerline goodness : 0.965427 Centerline is valid? [True, True] Translation: X:73.81, Y:12.98, Z:-2.42 [[ 8.86320670e-01 -4.62983993e-01 -9.02728761e-03 7.38109878e+01] [ 4.62957222e-01 8.86366609e-01 -4.98451687e-03 1.29800130e+01] [ 1.03092378e-02 2.38632341e-04 9.99946830e-01 -2.42403406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.667719421 meters Centerline goodness : 0.965170 Centerline is valid? [True, True] Translation: X:73.84, Y:12.99, Z:-2.42 [[ 8.88122178e-01 -4.59511055e-01 -9.41211167e-03 7.38370178e+01] [ 4.59481715e-01 8.88172001e-01 -5.20094635e-03 1.29897645e+01] [ 1.07494664e-02 2.94382580e-04 9.99942179e-01 -2.42467230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.697719421 meters Centerline goodness : 0.964929 Centerline is valid? [True, True] Translation: X:73.87, Y:13.00, Z:-2.43 [[ 8.91621982e-01 -4.52645910e-01 -1.10418476e-02 7.38657995e+01] [ 4.52604957e-01 8.91690239e-01 -6.10500028e-03 1.29952979e+01] [ 1.26093111e-02 4.45757482e-04 9.99920400e-01 -2.42546309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.727719421 meters Centerline goodness : 0.962998 Centerline is valid? [True, True] Translation: X:73.89, Y:13.00, Z:-2.43 [[ 8.92687319e-01 -4.50521541e-01 -1.18191122e-02 7.38926023e+01] [ 4.50474364e-01 8.92765410e-01 -6.53992205e-03 1.30049563e+01] [ 1.34980703e-02 5.13898417e-04 9.99908765e-01 -2.42625808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75771942099999 meters Centerline goodness : 0.962347 Centerline is valid? [True, True] Translation: X:73.92, Y:13.01, Z:-2.43 [[ 8.94031013e-01 -4.47851242e-01 -1.17393772e-02 7.39222967e+01] [ 4.47804392e-01 8.94107911e-01 -6.50155797e-03 1.30080044e+01] [ 1.34080009e-02 5.55649777e-04 9.99909954e-01 -2.42648678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78771942099999 meters Centerline goodness : 0.962602 Centerline is valid? [True, True] Translation: X:73.95, Y:13.01, Z:-2.43 [[ 8.94062075e-01 -4.47778379e-01 -1.21461408e-02 7.39490884e+01] [ 4.47728208e-01 8.94144390e-01 -6.72764803e-03 1.30147969e+01] [ 1.38728990e-02 5.76765110e-04 9.99903600e-01 -2.42688453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.81771942099999 meters Centerline goodness : 0.960845 Centerline is valid? [True, True] Translation: X:73.98, Y:13.02, Z:-2.43 [[ 8.93971893e-01 -4.47875811e-01 -1.48832998e-02 7.39802218e+01] [ 4.47800348e-01 8.94095493e-01 -8.25212606e-03 1.30156993e+01] [ 1.70030190e-02 7.12421902e-04 9.99855184e-01 -2.42704277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.847719421 meters Centerline goodness : 0.960581 Centerline is valid? [True, True] Translation: X:74.01, Y:13.02, Z:-2.43 [[ 8.93272621e-01 -4.49228455e-01 -1.60567978e-02 7.40104309e+01] [ 4.49140713e-01 8.93416609e-01 -8.90970318e-03 1.30185918e+01] [ 1.83479020e-02 7.47032294e-04 9.99831384e-01 -2.42737571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.877719421 meters Centerline goodness : 0.961084 Centerline is valid? [True, True] Translation: X:74.04, Y:13.03, Z:-2.43 [[ 8.92606605e-01 -4.50580449e-01 -1.51890287e-02 7.40366265e+01] [ 4.50502087e-01 8.92735567e-01 -8.43071549e-03 1.30260186e+01] [ 1.73585017e-02 6.82623205e-04 9.99849097e-01 -2.42752754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.907719421 meters Centerline goodness : 0.960608 Centerline is valid? [True, True] Translation: X:74.07, Y:13.03, Z:-2.43 [[ 8.90693514e-01 -4.54456819e-01 -1.15786319e-02 7.40680130e+01] [ 4.54411490e-01 8.90768645e-01 -6.43583359e-03 1.30279043e+01] [ 1.32386907e-02 4.70891884e-04 9.99912254e-01 -2.42812451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.937719421 meters Centerline goodness : 0.960588 Centerline is valid? [True, True] Translation: X:74.10, Y:13.03, Z:-2.43 [[ 8.89352430e-01 -4.57101449e-01 -1.05128957e-02 7.40960178e+01] [ 4.57064199e-01 8.89414475e-01 -5.84893480e-03 1.30342742e+01] [ 1.20238781e-02 3.96696141e-04 9.99927632e-01 -2.42834107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.967719421 meters Centerline goodness : 0.958130 Centerline is valid? [True, True] Translation: X:74.12, Y:13.04, Z:-2.43 [[ 8.87845756e-01 -4.60039329e-01 -9.68144740e-03 7.41243286e+01] [ 4.60007854e-01 8.87898477e-01 -5.39158217e-03 1.30410232e+01] [ 1.10764822e-02 3.33351499e-04 9.99938598e-01 -2.42944345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.997719421 meters Centerline goodness : 0.957629 Centerline is valid? [True, True] Translation: X:74.15, Y:13.04, Z:-2.43 [[ 8.85489155e-01 -4.64559328e-01 -9.67405443e-03 7.41542921e+01] [ 4.64528202e-01 8.85541956e-01 -5.38461593e-03 1.30430365e+01] [ 1.10682546e-02 2.74147901e-04 9.99938707e-01 -2.43138555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.027719421 meters Centerline goodness : 0.957546 Centerline is valid? [True, True] Translation: X:74.18, Y:13.05, Z:-2.43 [[ 8.82622995e-01 -4.69945471e-01 -1.13094482e-02 7.41821786e+01] [ 4.69903353e-01 8.82695415e-01 -6.29631027e-03 1.30474081e+01] [ 1.29417206e-02 2.42920592e-04 9.99916223e-01 -2.43256511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.057719421 meters Centerline goodness : 0.954533 Centerline is valid? [True, True] Translation: X:74.21, Y:13.06, Z:-2.43 [[ 8.81208242e-01 -4.72597142e-01 -1.11344137e-02 7.42088002e+01] [ 4.72556407e-01 8.81278558e-01 -6.20843230e-03 1.30564778e+01] [ 1.27466074e-02 2.09283187e-04 9.99918737e-01 -2.43414344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.087719421 meters Centerline goodness : 0.951491 Centerline is valid? [True, True] Translation: X:74.24, Y:13.06, Z:-2.44 [[ 8.77998605e-01 -4.78516390e-01 -1.18538417e-02 7.42387821e+01] [ 4.78470691e-01 8.78078610e-01 -6.61452029e-03 1.30608620e+01] [ 1.35737612e-02 1.35823780e-04 9.99907863e-01 -2.43544799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11771942099999 meters Centerline goodness : 0.950136 Centerline is valid? [True, True] Translation: X:74.27, Y:13.07, Z:-2.44 [[ 8.76640703e-01 -4.80971220e-01 -1.29523363e-02 7.42657052e+01] [ 4.80916848e-01 8.76736376e-01 -7.23275924e-03 1.30701999e+01] [ 1.48345334e-02 1.11534390e-04 9.99889956e-01 -2.43564315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14771942099999 meters Centerline goodness : 0.947874 Centerline is valid? [True, False] Translation: X:74.24, Y:13.05, Z:-2.43 [[ 8.76096914e-01 -4.81782589e-01 -1.84318723e-02 7.42417555e+01] [ 4.81835986e-01 8.76259739e-01 -1.71795765e-03 1.30454722e+01] [ 1.69787897e-02 -7.37604196e-03 9.99828643e-01 -2.43488026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17771942099999 meters Centerline goodness : 0.947612 Centerline is valid? [False, False] Translation: X:74.22, Y:13.03, Z:-2.44 [[ 8.76784636e-01 -4.80731961e-01 -1.20616532e-02 7.42194616e+01] [ 4.80738216e-01 8.76860414e-01 -2.56556197e-03 1.30300977e+01] [ 1.18097338e-02 -3.54905231e-03 9.99923964e-01 -2.43577247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.207719421 meters Centerline goodness : 0.949609 Centerline is valid? [False, False] Translation: X:74.20, Y:13.02, Z:-2.43 [[ 8.76843061e-01 -4.80658532e-01 -1.06593932e-02 7.42031523e+01] [ 4.80693941e-01 8.76887991e-01 8.86693004e-04 1.30188037e+01] [ 8.92089736e-03 -5.90139634e-03 9.99942794e-01 -2.43397206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.237719421 meters Centerline goodness : 0.950035 Centerline is valid? [False, True] Translation: X:74.20, Y:13.01, Z:-2.43 [[ 8.78274370e-01 -4.78008885e-01 -1.19011478e-02 7.42030847e+01] [ 4.78080310e-01 8.78307241e-01 3.95072094e-03 1.30140523e+01] [ 8.56438460e-03 -9.15952138e-03 9.99921374e-01 -2.43179372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.267719421 meters Centerline goodness : 0.947648 Centerline is valid? [True, False] Translation: X:74.17, Y:12.99, Z:-2.43 [[ 8.82456413e-01 -4.70325380e-01 -8.04468314e-03 7.41726886e+01] [ 4.70323005e-01 8.82491342e-01 -2.30258528e-03 1.29883826e+01] [ 8.18232752e-03 -1.75166841e-03 9.99964990e-01 -2.43092028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.297719421 meters Centerline goodness : 0.950060 Centerline is valid? [False, True] Translation: X:74.14, Y:12.97, Z:-2.43 [[ 8.85337420e-01 -4.64800156e-01 -1.17672742e-02 7.41436032e+01] [ 4.64783915e-01 8.85413965e-01 -4.24536760e-03 1.29673822e+01] [ 1.23921564e-02 -1.71065700e-03 9.99921751e-01 -2.42811346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.327719421 meters Centerline goodness : 0.948934 Centerline is valid? [True, False] Translation: X:74.11, Y:12.95, Z:-2.43 [[ 8.90175247e-01 -4.55456820e-01 -1.21291099e-02 7.41121091e+01] [ 4.55351865e-01 8.90249673e-01 -1.04975780e-02 1.29461159e+01] [ 1.55791296e-02 3.82167122e-03 9.99871334e-01 -2.42820258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.357719421 meters Centerline goodness : 0.948215 Centerline is valid? [False, False] Translation: X:74.08, Y:12.92, Z:-2.43 [[ 8.93441122e-01 -4.49019996e-01 -1.20002195e-02 7.40791043e+01] [ 4.48800156e-01 8.93465251e-01 -1.72703750e-02 1.29245819e+01] [ 1.84765228e-02 1.00443628e-02 9.99778840e-01 -2.42665639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.387719421 meters Centerline goodness : 0.948943 Centerline is valid? [False, False] Translation: X:74.04, Y:12.90, Z:-2.43 [[ 8.96727350e-01 -4.42482956e-01 -9.42836046e-03 7.40375001e+01] [ 4.42236722e-01 8.96664621e-01 -2.04753037e-02 1.28952158e+01] [ 1.75140502e-02 1.41911976e-02 9.99745902e-01 -2.42736381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.417719421 meters Centerline goodness : 0.951283 Centerline is valid? [False, True] Translation: X:74.02, Y:12.88, Z:-2.42 [[ 8.98670547e-01 -4.38478952e-01 -1.12896789e-02 7.40160593e+01] [ 4.38220341e-01 8.98649868e-01 -1.97825034e-02 1.28751775e+01] [ 1.88196798e-02 1.28305862e-02 9.99740564e-01 -2.42345885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.447719421 meters Centerline goodness : 0.953078 Centerline is valid? [True, True] Translation: X:74.04, Y:12.88, Z:-2.42 [[ 8.98689435e-01 -4.38309908e-01 -1.55474737e-02 7.40433659e+01] [ 4.38228716e-01 8.98823554e-01 -8.47415209e-03 1.28824973e+01] [ 1.76887404e-02 8.02281490e-04 9.99843220e-01 -2.42304530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.477719421 meters Centerline goodness : 0.951834 Centerline is valid? [True, True] Translation: X:74.07, Y:12.89, Z:-2.43 [[ 8.98877759e-01 -4.37988907e-01 -1.35828049e-02 7.40686184e+01] [ 4.37926863e-01 8.98980097e-01 -7.40588854e-03 1.28924353e+01] [ 1.54543683e-02 7.08713351e-04 9.99880323e-01 -2.42561680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50771942099999 meters Centerline goodness : 0.951366 Centerline is valid? [True, True] Translation: X:74.09, Y:12.90, Z:-2.43 [[ 8.98778620e-01 -4.38227049e-01 -1.24114974e-02 7.40936643e+01] [ 4.38175168e-01 8.98864078e-01 -6.77429449e-03 1.29042081e+01] [ 1.41249283e-02 6.50181072e-04 9.99900027e-01 -2.42702587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53771942099999 meters Centerline goodness : 0.951163 Centerline is valid? [True, True] Translation: X:74.12, Y:12.91, Z:-2.43 [[ 8.98634315e-01 -4.38538162e-01 -1.18595135e-02 7.41230233e+01] [ 4.38490745e-01 8.98712353e-01 -6.47861587e-03 1.29086361e+01] [ 1.34994116e-02 6.21619629e-04 9.99908686e-01 -2.42722731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56771942099999 meters Centerline goodness : 0.953314 Centerline is valid? [True, True] Translation: X:74.15, Y:12.92, Z:-2.43 [[ 8.98710897e-01 -4.38385622e-01 -1.16948433e-02 7.41499354e+01] [ 4.38339493e-01 8.98786775e-01 -6.38917028e-03 1.29157325e+01] [ 1.33120909e-02 6.15705271e-04 9.99911201e-01 -2.42760272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.597719421 meters Centerline goodness : 0.955036 Centerline is valid? [True, True] Translation: X:74.18, Y:12.92, Z:-2.43 [[ 8.99104371e-01 -4.37548757e-01 -1.27442246e-02 7.41785113e+01] [ 4.37493863e-01 8.99194425e-01 -6.96464692e-03 1.29204661e+01] [ 1.45069083e-02 6.86424433e-04 9.99894534e-01 -2.42868319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.627719421 meters Centerline goodness : 0.953363 Centerline is valid? [True, True] Translation: X:74.20, Y:12.93, Z:-2.43 [[ 8.99471054e-01 -4.36781302e-01 -1.31877652e-02 7.42041312e+01] [ 4.36722331e-01 8.99567431e-01 -7.21414280e-03 1.29313881e+01] [ 1.50142867e-02 7.29521098e-04 9.99887013e-01 -2.42964647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.657719421 meters Centerline goodness : 0.949471 Centerline is valid? [True, False] Translation: X:74.19, Y:12.91, Z:-2.43 [[ 9.00965390e-01 -4.33395653e-01 -2.07261827e-02 7.41919800e+01] [ 4.33380913e-01 9.01194478e-01 -5.43111689e-03 1.29142862e+01] [ 2.10321439e-02 -4.08908364e-03 9.99770438e-01 -2.42728047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.687719421 meters Centerline goodness : 0.948703 Centerline is valid? [False, False] Translation: X:74.18, Y:12.90, Z:-2.43 [[ 9.02215962e-01 -4.30454720e-01 -2.67411890e-02 7.41791268e+01] [ 4.30391384e-01 9.02603517e-01 -8.37537703e-03 1.28954158e+01] [ 2.77419119e-02 -3.95277852e-03 9.99607304e-01 -2.42648846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.717719421 meters Centerline goodness : 0.950028 Centerline is valid? [False, True] Translation: X:74.16, Y:12.88, Z:-2.42 [[ 9.03809640e-01 -4.26655214e-01 -3.30675547e-02 7.41559936e+01] [ 4.26532902e-01 9.04404873e-01 -1.10230792e-02 1.28757071e+01] [ 3.46095119e-02 -4.14163481e-03 9.99392330e-01 -2.42316667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.747719421 meters Centerline goodness : 0.947622 Centerline is valid? [True, False] Translation: X:74.14, Y:12.86, Z:-2.42 [[ 9.05076617e-01 -4.23299533e-01 -4.06672301e-02 7.41357274e+01] [ 4.23218732e-01 9.05960750e-01 -1.10010954e-02 1.28577202e+01] [ 4.14996729e-02 -7.25429933e-03 9.99112182e-01 -2.41811421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.777719421 meters Centerline goodness : 0.951117 Centerline is valid? [False, True] Translation: X:74.12, Y:12.84, Z:-2.42 [[ 9.05794668e-01 -4.21529638e-01 -4.29974980e-02 7.41222439e+01] [ 4.21732579e-01 9.06708180e-01 -4.68048978e-03 1.28414472e+01] [ 4.09591483e-02 -1.38938830e-02 9.99064216e-01 -2.41702034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.807719421 meters Centerline goodness : 0.950533 Centerline is valid? [True, True] Translation: X:74.15, Y:12.86, Z:-2.42 [[ 9.06705165e-01 -4.20247932e-01 -3.57410045e-02 7.41463528e+01] [ 4.19809578e-01 9.07405745e-01 -1.93580311e-02 1.28556545e+01] [ 4.05667653e-02 2.54761076e-03 9.99173582e-01 -2.41962708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.837719421 meters Centerline goodness : 0.947654 Centerline is valid? [True, False] Translation: X:74.14, Y:12.84, Z:-2.42 [[ 9.06378022e-01 -4.20042087e-01 -4.52053744e-02 7.41419405e+01] [ 4.19884389e-01 9.07478815e-01 -1.33902936e-02 1.28423469e+01] [ 4.66474064e-02 -6.84436320e-03 9.98887969e-01 -2.41818761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86771942099999 meters Centerline goodness : 0.947888 Centerline is valid? [False, False] Translation: X:74.12, Y:12.83, Z:-2.41 [[ 9.06245279e-01 -4.19517161e-01 -5.22000538e-02 7.41243580e+01] [ 4.19309389e-01 9.07712758e-01 -1.54008427e-02 1.28258487e+01] [ 5.38435726e-02 -7.93103164e-03 9.98517886e-01 -2.41399539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89771942099999 meters Centerline goodness : 0.947013 Centerline is valid? [False, False] Translation: X:74.12, Y:12.81, Z:-2.41 [[ 9.03871521e-01 -4.23798300e-01 -5.84061125e-02 7.41172290e+01] [ 4.23846923e-01 9.05652105e-01 -1.21675592e-02 1.28085080e+01] [ 5.80522097e-02 -1.37573409e-02 9.98218752e-01 -2.40931277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92771942099999 meters Centerline goodness : 0.950010 Centerline is valid? [False, True] Translation: X:74.11, Y:12.79, Z:-2.41 [[ 9.00465909e-01 -4.30054997e-01 -6.49141400e-02 7.41117565e+01] [ 4.30330541e-01 9.02611555e-01 -1.03926111e-02 1.27917186e+01] [ 6.30616472e-02 -1.85763450e-02 9.97836734e-01 -2.40500950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.957719421 meters Centerline goodness : 0.947961 Centerline is valid? [True, False] Translation: X:74.10, Y:12.78, Z:-2.40 [[ 8.98254776e-01 -4.33423532e-01 -7.26801224e-02 7.41047510e+01] [ 4.34135988e-01 9.00823790e-01 -6.51490858e-03 1.27814082e+01] [ 6.82956980e-02 -2.57010090e-02 9.97334024e-01 -2.40182367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.987719421 meters Centerline goodness : 0.950627 Centerline is valid? [False, True] Translation: X:74.10, Y:12.77, Z:-2.40 [[ 8.94725555e-01 -4.39634237e-01 -7.86633302e-02 7.40974870e+01] [ 4.40653119e-01 8.97664437e-01 -4.83597412e-03 1.27677701e+01] [ 7.27393338e-02 -3.03363721e-02 9.96889509e-01 -2.39780867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.017719421 meters Centerline goodness : 0.950090 Centerline is valid? [True, True] Translation: X:74.12, Y:12.79, Z:-2.40 [[ 8.93639199e-01 -4.44504840e-01 -6.18419769e-02 7.41182549e+01] [ 4.43247948e-01 8.95772892e-01 -3.34989992e-02 1.27860016e+01] [ 7.02868338e-02 2.52468938e-03 9.97523627e-01 -2.40292551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.047719421 meters Centerline goodness : 0.953042 Centerline is valid? [True, True] Translation: X:74.15, Y:12.79, Z:-2.40 [[ 8.91053353e-01 -4.49944093e-01 -5.97849090e-02 7.41467580e+01] [ 4.48780609e-01 8.93054393e-01 -3.24008672e-02 1.27914439e+01] [ 6.79697544e-02 2.04059355e-03 9.97685295e-01 -2.39959225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.077719421 meters Centerline goodness : 0.952485 Centerline is valid? [True, True] Translation: X:74.17, Y:12.80, Z:-2.40 [[ 8.89956058e-01 -4.52200077e-01 -5.91041822e-02 7.41717756e+01] [ 4.51066579e-01 8.91914577e-01 -3.20519699e-02 1.28012121e+01] [ 6.72097849e-02 1.86492352e-03 9.97737123e-01 -2.39821483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.107719421 meters Centerline goodness : 0.950850 Centerline is valid? [True, True] Translation: X:74.20, Y:12.81, Z:-2.40 [[ 8.88232520e-01 -4.55300684e-01 -6.11905065e-02 7.41983088e+01] [ 4.54091736e-01 8.90336107e-01 -3.32010993e-02 1.28100415e+01] [ 6.95966006e-02 1.70419279e-03 9.97573761e-01 -2.39641272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.137719421 meters Centerline goodness : 0.952011 Centerline is valid? [True, True] Translation: X:74.23, Y:12.82, Z:-2.40 [[ 8.86468485e-01 -4.58653231e-01 -6.17319962e-02 7.42251644e+01] [ 4.57428961e-01 8.88614106e-01 -3.35218888e-02 1.28202529e+01] [ 7.02308452e-02 1.47809512e-03 9.97529671e-01 -2.39551827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.167719421 meters Centerline goodness : 0.952496 Centerline is valid? [True, True] Translation: X:74.25, Y:12.83, Z:-2.39 [[ 8.85706958e-01 -4.60189310e-01 -6.12289481e-02 7.42495439e+01] [ 4.58987165e-01 8.87819768e-01 -3.32692334e-02 1.28311670e+01] [ 6.96704161e-02 1.36349013e-03 9.97569132e-01 -2.39286778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.197719421 meters Centerline goodness : 0.952245 Centerline is valid? [True, True] Translation: X:74.27, Y:12.84, Z:-2.39 [[ 8.84985337e-01 -4.61613980e-01 -6.09383829e-02 7.42740415e+01] [ 4.60425813e-01 8.87080017e-01 -3.31227026e-02 1.28422828e+01] [ 6.93471243e-02 1.25550166e-03 9.97591800e-01 -2.39142591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22771942099999 meters Centerline goodness : 0.950212 Centerline is valid? [True, True] Translation: X:74.30, Y:12.85, Z:-2.39 [[ 8.85209473e-01 -4.61203618e-01 -6.07898996e-02 7.42986417e+01] [ 4.60019063e-01 8.87293375e-01 -3.30594831e-02 1.28549725e+01] [ 6.91856283e-02 1.30005498e-03 9.97602956e-01 -2.38961293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25771942099999 meters Centerline goodness : 0.952898 Centerline is valid? [True, True] Translation: X:74.32, Y:12.87, Z:-2.39 [[ 8.86892184e-01 -4.58025646e-01 -6.02889773e-02 7.43227857e+01] [ 4.56851772e-01 8.88937620e-01 -3.28080177e-02 1.28670045e+01] [ 6.86200534e-02 1.55404835e-03 9.97641656e-01 -2.38734469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28771942099999 meters Centerline goodness : 0.953494 Centerline is valid? [True, True] Translation: X:74.35, Y:12.88, Z:-2.39 [[ 8.88328649e-01 -4.55241035e-01 -6.02313097e-02 7.43458112e+01] [ 4.54062067e-01 8.90366459e-01 -3.27903484e-02 1.28802807e+01] [ 6.85554501e-02 1.77985287e-03 9.97645720e-01 -2.38628349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.31771942099999 meters Centerline goodness : 0.954824 Centerline is valid? [True, True] Translation: X:74.37, Y:12.89, Z:-2.39 [[ 8.91430160e-01 -4.48909107e-01 -6.19102789e-02 7.43686360e+01] [ 4.47647054e-01 8.93574349e-01 -3.37194120e-02 1.28948804e+01] [ 7.04583883e-02 2.34454688e-03 9.97511964e-01 -2.38575931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.347719421 meters Centerline goodness : 0.954098 Centerline is valid? [True, True] Translation: X:74.39, Y:12.91, Z:-2.38 [[ 8.92489280e-01 -4.46689913e-01 -6.26977374e-02 7.43930020e+01] [ 4.45388752e-01 8.94685155e-01 -3.41662731e-02 1.29084333e+01] [ 7.13564645e-02 2.56816553e-03 9.97447572e-01 -2.38460142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.377719421 meters Centerline goodness : 0.951753 Centerline is valid? [True, True] Translation: X:74.42, Y:12.92, Z:-2.38 [[ 8.93992240e-01 -4.43533515e-01 -6.36859198e-02 7.44187412e+01] [ 4.42180887e-01 8.96253126e-01 -3.47332325e-02 1.29194251e+01] [ 7.24840574e-02 2.89054377e-03 9.97365382e-01 -2.38288090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.407719421 meters Centerline goodness : 0.952709 Centerline is valid? [True, True] Translation: X:74.44, Y:12.93, Z:-2.38 [[ 8.94339930e-01 -4.42793854e-01 -6.39507085e-02 7.44430061e+01] [ 4.41425979e-01 8.96618466e-01 -3.49060500e-02 1.29325373e+01] [ 7.27955705e-02 2.98837026e-03 9.97342406e-01 -2.38171714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.437719421 meters Centerline goodness : 0.952709 Centerline is valid? [True, True] Translation: X:74.47, Y:12.95, Z:-2.38 [[ 8.94199990e-01 -4.43078053e-01 -6.39391639e-02 7.44679395e+01] [ 4.41709394e-01 8.96478055e-01 -3.49271876e-02 1.29464186e+01] [ 7.27955275e-02 2.98936147e-03 9.97342406e-01 -2.38051912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.467719421 meters Centerline goodness : 0.954806 Centerline is valid? [True, True] Translation: X:74.49, Y:12.96, Z:-2.38 [[ 8.95065544e-01 -4.41267315e-01 -6.43492793e-02 7.44916020e+01] [ 4.39874345e-01 8.97370066e-01 -3.51784727e-02 1.29615957e+01] [ 7.32682272e-02 3.18144171e-03 9.97307197e-01 -2.38107215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.497719421 meters Centerline goodness : 0.953148 Centerline is valid? [True, True] Translation: X:74.52, Y:12.98, Z:-2.38 [[ 8.95585923e-01 -4.40141504e-01 -6.48175154e-02 7.45164087e+01] [ 4.38723101e-01 8.97922275e-01 -3.54630585e-02 1.29750125e+01] [ 7.38098548e-02 3.32327464e-03 9.97266795e-01 -2.37891438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.527719421 meters Centerline goodness : 0.951581 Centerline is valid? [True, True] Translation: X:74.54, Y:12.99, Z:-2.38 [[ 8.96219157e-01 -4.38736064e-01 -6.55887903e-02 7.45415816e+01] [ 4.37278008e-01 8.98609145e-01 -3.59102745e-02 1.29856849e+01] [ 7.46938193e-02 3.50294039e-03 9.97200362e-01 -2.37732841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.557719421 meters Centerline goodness : 0.953730 Centerline is valid? [True, True] Translation: X:74.57, Y:13.00, Z:-2.38 [[ 8.95905691e-01 -4.39088673e-01 -6.74842989e-02 7.45669683e+01] [ 4.37544058e-01 8.98436531e-01 -3.69729318e-02 1.29970380e+01] [ 7.68647549e-02 3.59690599e-03 9.97035040e-01 -2.37584744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.587719421 meters Centerline goodness : 0.955586 Centerline is valid? [True, True] Translation: X:74.59, Y:13.01, Z:-2.37 [[ 8.95501626e-01 -4.39790487e-01 -6.82727348e-02 7.45913270e+01] [ 4.38209796e-01 8.98093191e-01 -3.74272016e-02 1.30098256e+01] [ 7.77754055e-02 3.59833869e-03 9.96964412e-01 -2.37499686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61771942099999 meters Centerline goodness : 0.952242 Centerline is valid? [True, True] Translation: X:74.62, Y:13.02, Z:-2.37 [[ 8.93777587e-01 -4.42904322e-01 -7.06921915e-02 7.46173107e+01] [ 4.41217311e-01 8.96562183e-01 -3.87754641e-02 1.30215786e+01] [ 8.05537662e-02 3.46602205e-03 9.96744239e-01 -2.37331653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64771942099999 meters Centerline goodness : 0.952683 Centerline is valid? [True, True] Translation: X:74.64, Y:13.03, Z:-2.37 [[ 8.92779128e-01 -4.44842903e-01 -7.11352271e-02 7.46426171e+01] [ 4.43138229e-01 8.95602387e-01 -3.90496392e-02 1.30332922e+01] [ 8.10798341e-02 3.33996428e-03 9.96702014e-01 -2.37221537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67771942099999 meters Centerline goodness : 0.953025 Centerline is valid? [True, True] Translation: X:74.67, Y:13.04, Z:-2.37 [[ 8.91160866e-01 -4.48056495e-01 -7.12579033e-02 7.46674223e+01] [ 4.46354283e-01 8.93999961e-01 -3.91397986e-02 1.30449944e+01] [ 8.12414037e-02 3.07358653e-03 9.96689715e-01 -2.37079513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.707719421 meters Centerline goodness : 0.952501 Centerline is valid? [True, True] Translation: X:74.69, Y:13.05, Z:-2.37 [[ 8.87184782e-01 -4.56256307e-01 -6.87993099e-02 7.46936732e+01] [ 4.54693191e-01 8.89845547e-01 -3.78021762e-02 1.30539782e+01] [ 7.84682408e-02 2.25493768e-03 9.96914064e-01 -2.36797250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.737719421 meters Centerline goodness : 0.952529 Centerline is valid? [True, True] Translation: X:74.72, Y:13.06, Z:-2.37 [[ 8.82501875e-01 -4.65413765e-01 -6.76791613e-02 7.47198398e+01] [ 4.63926401e-01 8.85092065e-01 -3.72066011e-02 1.30637410e+01] [ 7.72187529e-02 1.43674547e-03 9.97013139e-01 -2.36571461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.767719421 meters Centerline goodness : 0.953027 Centerline is valid? [True, True] Translation: X:74.74, Y:13.08, Z:-2.36 [[ 8.79936946e-01 -4.70305068e-01 -6.72615327e-02 7.47446371e+01] [ 4.68848062e-01 8.82503308e-01 -3.70054929e-02 1.30766410e+01] [ 7.67623959e-02 1.02706119e-03 9.97048885e-01 -2.36471288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.797719421 meters Centerline goodness : 0.952438 Centerline is valid? [True, True] Translation: X:74.77, Y:13.09, Z:-2.37 [[ 8.75668002e-01 -4.78216084e-01 -6.71932064e-02 7.47693000e+01] [ 4.76782941e-01 8.78242134e-01 -3.69970330e-02 1.30900453e+01] [ 7.67044813e-02 3.60543373e-04 9.97053806e-01 -2.36507386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.827719421 meters Centerline goodness : 0.952648 Centerline is valid? [True, True] Translation: X:74.79, Y:13.10, Z:-2.36 [[ 8.74156111e-01 -4.80911784e-01 -6.76383788e-02 7.47939354e+01] [ 4.79465275e-01 8.76768974e-01 -3.72722065e-02 1.31031805e+01] [ 7.72278753e-02 1.51473204e-04 9.97013456e-01 -2.36385287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.857719421 meters Centerline goodness : 0.952815 Centerline is valid? [True, True] Translation: X:74.82, Y:13.11, Z:-2.36 [[ 8.73117327e-01 -4.83159548e-01 -6.49844945e-02 7.48193087e+01] [ 4.81828568e-01 8.75532324e-01 -3.58382460e-02 1.31143177e+01] [ 7.42116163e-02 -2.03923555e-05 9.97242516e-01 -2.35963996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.887719421 meters Centerline goodness : 0.953599 Centerline is valid? [True, True] Translation: X:74.84, Y:13.13, Z:-2.36 [[ 8.73634697e-01 -4.82415014e-01 -6.35466014e-02 7.48431717e+01] [ 4.81138817e-01 8.75942778e-01 -3.50669100e-02 1.31275958e+01] [ 7.25799904e-02 6.09327424e-05 9.97362593e-01 -2.35772845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.917719421 meters Centerline goodness : 0.958529 Centerline is valid? [True, True] Translation: X:74.87, Y:13.14, Z:-2.36 [[ 8.74795731e-01 -4.80516474e-01 -6.19382483e-02 7.48651017e+01] [ 4.79298350e-01 8.76985671e-01 -3.41939234e-02 1.31438198e+01] [ 7.07496997e-02 2.25798018e-04 9.97494075e-01 -2.35844551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.947719421 meters Centerline goodness : 0.956079 Centerline is valid? [True, True] Translation: X:74.89, Y:13.16, Z:-2.36 [[ 8.75079429e-01 -4.80023290e-01 -6.17546292e-02 7.48884399e+01] [ 4.78809629e-01 8.77255698e-01 -3.41142084e-02 1.31590649e+01] [ 7.05502150e-02 2.83930881e-04 9.97508189e-01 -2.35809464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97771942099999 meters Centerline goodness : 0.958048 Centerline is valid? [True, True] Translation: X:74.91, Y:13.17, Z:-2.36 [[ 8.75980933e-01 -4.78571015e-01 -6.02261454e-02 7.49116018e+01] [ 4.77411520e-01 8.78048753e-01 -3.32960636e-02 1.31744417e+01] [ 6.88160228e-02 4.14061221e-04 9.97629282e-01 -2.35802223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00771942099999 meters Centerline goodness : 0.958410 Centerline is valid? [True, True] Translation: X:74.93, Y:13.19, Z:-2.36 [[ 8.75289296e-01 -4.79876882e-01 -5.98901201e-02 7.49349356e+01] [ 4.78731477e-01 8.77335778e-01 -3.31376837e-02 1.31901701e+01] [ 6.84457534e-02 3.33774189e-04 9.97654784e-01 -2.35791999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03771942099999 meters Centerline goodness : 0.960755 Centerline is valid? [True, True] Translation: X:74.96, Y:13.20, Z:-2.36 [[ 8.74652450e-01 -4.80893334e-01 -6.10302535e-02 7.49585170e+01] [ 4.79704598e-01 8.76779061e-01 -3.37931457e-02 1.32043123e+01] [ 6.97609469e-02 2.80764502e-04 9.97563698e-01 -2.35765527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06771942099999 meters Centerline goodness : 0.956411 Centerline is valid? [True, True] Translation: X:74.98, Y:13.22, Z:-2.36 [[ 8.73390837e-01 -4.82774109e-01 -6.41685673e-02 7.49809745e+01] [ 4.81463080e-01 8.75744902e-01 -3.55551423e-02 1.32207102e+01] [ 7.33603979e-02 1.58739400e-04 9.97305483e-01 -2.35641736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.097719421 meters Centerline goodness : 0.959549 Centerline is valid? [True, True] Translation: X:75.01, Y:13.24, Z:-2.36 [[ 8.73217215e-01 -4.83058113e-01 -6.43937436e-02 7.50050434e+01] [ 4.81736496e-01 8.75588278e-01 -3.57087499e-02 1.32357701e+01] [ 7.36318085e-02 1.60678717e-04 9.97285481e-01 -2.35556067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.127719421 meters Centerline goodness : 0.959672 Centerline is valid? [True, True] Translation: X:75.03, Y:13.25, Z:-2.35 [[ 8.73943348e-01 -4.81956209e-01 -6.27792646e-02 7.50273773e+01] [ 4.80695291e-01 8.76195263e-01 -3.48410511e-02 1.32525885e+01] [ 7.17987551e-02 2.71407980e-04 9.97419102e-01 -2.35450275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.157719421 meters Centerline goodness : 0.959535 Centerline is valid? [True, True] Translation: X:75.05, Y:13.27, Z:-2.35 [[ 8.75066564e-01 -4.80008932e-01 -6.20478385e-02 7.50502408e+01] [ 4.78770860e-01 8.77263488e-01 -3.44562917e-02 1.32668253e+01] [ 7.09716310e-02 4.44851771e-04 9.97478235e-01 -2.35292281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.187719421 meters Centerline goodness : 0.962815 Centerline is valid? [True, True] Translation: X:75.07, Y:13.28, Z:-2.35 [[ 8.79167870e-01 -4.72626761e-01 -6.07272669e-02 7.50711979e+01] [ 4.71422424e-01 8.81262097e-01 -3.37344723e-02 1.32846203e+01] [ 6.94604529e-02 1.03006880e-03 9.97584174e-01 -2.35363557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.217719421 meters Centerline goodness : 0.960271 Centerline is valid? [True, True] Translation: X:75.09, Y:13.30, Z:-2.35 [[ 8.81856921e-01 -4.67533542e-01 -6.11617366e-02 7.50932089e+01] [ 4.66298381e-01 8.83974130e-01 -3.39934980e-02 1.33020414e+01] [ 6.99584934e-02 1.45778275e-03 9.97548838e-01 -2.35321145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.247719421 meters Centerline goodness : 0.957968 Centerline is valid? [True, True] Translation: X:75.11, Y:13.32, Z:-2.35 [[ 8.88020879e-01 -4.55640352e-01 -6.17315817e-02 7.51139516e+01] [ 4.54351688e-01 8.90160616e-01 -3.43310611e-02 1.33202451e+01] [ 7.05936395e-02 2.43885069e-03 9.97502175e-01 -2.35352258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.277719421 meters Centerline goodness : 0.958241 Centerline is valid? [True, True] Translation: X:75.14, Y:13.33, Z:-2.35 [[ 8.90072455e-01 -4.51548048e-01 -6.22525887e-02 7.51379800e+01] [ 4.50226205e-01 8.92242400e-01 -3.46390553e-02 1.33342448e+01] [ 7.11855970e-02 2.80352222e-03 9.97459148e-01 -2.35251265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.307719421 meters Centerline goodness : 0.958557 Centerline is valid? [True, True] Translation: X:75.16, Y:13.35, Z:-2.35 [[ 8.92402683e-01 -4.46972929e-01 -6.19084149e-02 7.51629544e+01] [ 4.45652730e-01 8.94541846e-01 -3.44750640e-02 1.33479876e+01] [ 7.07890881e-02 3.17598554e-03 9.97486250e-01 -2.35073989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.337719421 meters Centerline goodness : 0.960363 Centerline is valid? [True, True] Translation: X:75.19, Y:13.36, Z:-2.35 [[ 8.92899823e-01 -4.46175937e-01 -6.04726354e-02 7.51862896e+01] [ 4.44913088e-01 8.94939610e-01 -3.36962541e-02 1.33617415e+01] [ 6.91538145e-02 3.18231239e-03 9.97600934e-01 -2.35062782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36771942099999 meters Centerline goodness : 0.961169 Centerline is valid? [True, True] Translation: X:75.21, Y:13.37, Z:-2.35 [[ 8.93295374e-01 -4.45692830e-01 -5.81487341e-02 7.52110223e+01] [ 4.44523193e-01 8.95180557e-01 -3.24176147e-02 1.33748759e+01] [ 6.65019146e-02 3.11004434e-03 9.97781451e-01 -2.34968038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39771942099999 meters Centerline goodness : 0.961028 Centerline is valid? [True, True] Translation: X:75.23, Y:13.39, Z:-2.35 [[ 8.93554813e-01 -4.45239430e-01 -5.76337292e-02 7.52346787e+01] [ 4.44088184e-01 8.95406069e-01 -3.21505179e-02 1.33877417e+01] [ 6.59202692e-02 3.13379190e-03 9.97819972e-01 -2.34914994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42771942099999 meters Centerline goodness : 0.959064 Centerline is valid? [True, True] Translation: X:75.26, Y:13.40, Z:-2.35 [[ 8.93280097e-01 -4.45555480e-01 -5.94220748e-02 7.52594889e+01] [ 4.44331103e-01 8.95248528e-01 -3.31653959e-02 1.34010345e+01] [ 6.79745489e-02 3.22291199e-03 9.97681850e-01 -2.34998589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.457719421 meters Centerline goodness : 0.959925 Centerline is valid? [True, True] Translation: X:75.28, Y:13.41, Z:-2.35 [[ 8.93512234e-01 -4.45006180e-01 -6.00448712e-02 7.52847238e+01] [ 4.43753299e-01 8.95521352e-01 -3.35338355e-02 1.34105085e+01] [ 6.86942283e-02 3.31778258e-03 9.97632245e-01 -2.35070761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.487719421 meters Centerline goodness : 0.957635 Centerline is valid? [True, True] Translation: X:75.31, Y:13.42, Z:-2.35 [[ 8.93578623e-01 -4.44793791e-01 -6.06277737e-02 7.53110483e+01] [ 4.43514734e-01 8.95626621e-01 -3.38768012e-02 1.34217796e+01] [ 6.93680389e-02 3.38227444e-03 9.97585403e-01 -2.34875168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.517719421 meters Centerline goodness : 0.956821 Centerline is valid? [True, True] Translation: X:75.34, Y:13.43, Z:-2.35 [[ 8.92574599e-01 -4.46849058e-01 -6.03034364e-02 7.53369778e+01] [ 4.45586935e-01 8.94603559e-01 -3.37157969e-02 1.34302250e+01] [ 6.90135409e-02 3.22344057e-03 9.97610515e-01 -2.34909114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.547719421 meters Centerline goodness : 0.957226 Centerline is valid? [True, True] Translation: X:75.36, Y:13.44, Z:-2.35 [[ 8.91989925e-01 -4.48057794e-01 -5.99848955e-02 7.53615882e+01] [ 4.46810775e-01 8.93999130e-01 -3.35512616e-02 1.34420263e+01] [ 6.86593487e-02 3.12548970e-03 9.97635267e-01 -2.34911956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.577719421 meters Centerline goodness : 0.955896 Centerline is valid? [True, True] Translation: X:75.39, Y:13.45, Z:-2.35 [[ 8.91507913e-01 -4.49005531e-01 -6.00639225e-02 7.53883609e+01] [ 4.47755956e-01 8.93523687e-01 -3.36158482e-02 1.34510089e+01] [ 6.87622392e-02 3.07481557e-03 9.97628338e-01 -2.34663933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.607719421 meters Centerline goodness : 0.957195 Centerline is valid? [True, True] Translation: X:75.41, Y:13.46, Z:-2.35 [[ 8.91468818e-01 -4.49088173e-01 -6.00263207e-02 7.54138377e+01] [ 4.47838630e-01 8.93482105e-01 -3.36197908e-02 1.34629462e+01] [ 6.87306938e-02 3.08888996e-03 9.97630468e-01 -2.34515127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.637719421 meters Centerline goodness : 0.957693 Centerline is valid? [True, True] Translation: X:75.44, Y:13.47, Z:-2.34 [[ 8.92400717e-01 -4.47440477e-01 -5.84634921e-02 7.54401406e+01] [ 4.46250110e-01 8.94308156e-01 -3.27683104e-02 1.34743669e+01] [ 6.69462462e-02 3.15312391e-03 9.97751601e-01 -2.34489409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.667719421 meters Centerline goodness : 0.958796 Centerline is valid? [True, True] Translation: X:75.47, Y:13.49, Z:-2.34 [[ 8.92995930e-01 -4.46305189e-01 -5.80512534e-02 7.54655764e+01] [ 4.45127543e-01 8.94874962e-01 -3.25618265e-02 1.34870057e+01] [ 6.64811253e-02 3.23736679e-03 9.97782431e-01 -2.34421293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.697719421 meters Centerline goodness : 0.956480 Centerline is valid? [True, True] Translation: X:75.49, Y:13.50, Z:-2.34 [[ 8.95966424e-01 -4.40060875e-01 -5.99215587e-02 7.54915550e+01] [ 4.38790605e-01 8.97959731e-01 -3.36322238e-02 1.34957355e+01] [ 6.86073725e-02 3.84032627e-03 9.97636347e-01 -2.34202470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72771942099999 meters Centerline goodness : 0.956331 Centerline is valid? [True, True] Translation: X:75.52, Y:13.51, Z:-2.34 [[ 8.97674763e-01 -4.36431038e-01 -6.08930929e-02 7.55158009e+01] [ 4.35110066e-01 8.99727930e-01 -3.41889171e-02 1.35075102e+01] [ 6.97083211e-02 4.19533037e-03 9.97558594e-01 -2.34103479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75771942099999 meters Centerline goodness : 0.958072 Centerline is valid? [True, True] Translation: X:75.54, Y:13.52, Z:-2.34 [[ 9.00551061e-01 -4.30429948e-01 -6.11379248e-02 7.55410517e+01] [ 4.29083333e-01 9.02611776e-01 -3.43434742e-02 1.35196737e+01] [ 6.99662708e-02 4.69478759e-03 9.97538310e-01 -2.34137786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78771942099999 meters Centerline goodness : 0.958502 Centerline is valid? [True, True] Translation: X:75.57, Y:13.53, Z:-2.34 [[ 9.01388347e-01 -4.28819772e-01 -6.01053365e-02 7.55664115e+01] [ 4.27512973e-01 9.03377513e-01 -3.37894614e-02 1.35326780e+01] [ 6.87873985e-02 4.76161570e-03 9.97619978e-01 -2.34054367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.81771942099999 meters Centerline goodness : 0.960227 Centerline is valid? [True, True] Translation: X:75.59, Y:13.54, Z:-2.34 [[ 9.02125120e-01 -4.27853264e-01 -5.57839796e-02 7.55928013e+01] [ 4.26724813e-01 9.03836991e-01 -3.13787912e-02 1.35414295e+01] [ 6.38451425e-02 4.50318750e-03 9.97949658e-01 -2.33856035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.847719421 meters Centerline goodness : 0.962737 Centerline is valid? [True, True] Translation: X:75.62, Y:13.55, Z:-2.34 [[ 9.00533405e-01 -4.31167382e-01 -5.59846057e-02 7.56197951e+01] [ 4.30036141e-01 9.02261724e-01 -3.15071329e-02 1.35496956e+01] [ 6.40976149e-02 4.29782183e-03 9.97934379e-01 -2.33648181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.877719421 meters Centerline goodness : 0.963919 Centerline is valid? [True, True] Translation: X:75.64, Y:13.56, Z:-2.34 [[ 8.99454005e-01 -4.33200761e-01 -5.76159158e-02 7.56449126e+01] [ 4.32005326e-01 9.01287230e-01 -3.24457718e-02 1.35599262e+01] [ 6.59840222e-02 4.29309695e-03 9.97811444e-01 -2.33563968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.907719421 meters Centerline goodness : 0.961768 Centerline is valid? [True, True] Translation: X:75.67, Y:13.57, Z:-2.34 [[ 8.97210854e-01 -4.37857658e-01 -5.73877608e-02 7.56719775e+01] [ 4.36680070e-01 8.99035634e-01 -3.23333514e-02 1.35683419e+01] [ 6.57510474e-02 3.94974246e-03 9.97828241e-01 -2.33581151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.937719421 meters Centerline goodness : 0.962071 Centerline is valid? [True, True] Translation: X:75.70, Y:13.58, Z:-2.34 [[ 8.96188604e-01 -4.40128288e-01 -5.59738856e-02 7.56975965e+01] [ 4.39010922e-01 8.97927233e-01 -3.15609616e-02 1.35795617e+01] [ 6.41513482e-02 3.71142697e-03 9.97933279e-01 -2.33560520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.967719421 meters Centerline goodness : 0.962586 Centerline is valid? [True, True] Translation: X:75.72, Y:13.59, Z:-2.33 [[ 8.92587711e-01 -4.47588251e-01 -5.43317192e-02 7.57239271e+01] [ 4.46548071e-01 8.94234393e-01 -3.06540578e-02 1.35868959e+01] [ 6.23056880e-02 3.09971087e-03 9.98052300e-01 -2.33425298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.997719421 meters Centerline goodness : 0.963420 Centerline is valid? [True, True] Translation: X:75.75, Y:13.60, Z:-2.33 [[ 8.90604323e-01 -4.51492497e-01 -5.45753236e-02 7.57497713e+01] [ 4.50449313e-01 8.92270355e-01 -3.08063259e-02 1.35971595e+01] [ 6.26047684e-02 2.85282997e-03 9.98034320e-01 -2.33195022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.027719421 meters Centerline goodness : 0.962442 Centerline is valid? [True, True] Translation: X:75.78, Y:13.61, Z:-2.33 [[ 8.86538995e-01 -4.59266712e-01 -5.58811010e-02 7.57771897e+01] [ 4.58186684e-01 8.88295227e-01 -3.15682119e-02 1.36066643e+01] [ 6.41371442e-02 2.38247454e-03 9.97938250e-01 -2.33045291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.057719421 meters Centerline goodness : 0.960888 Centerline is valid? [True, True] Translation: X:75.80, Y:13.62, Z:-2.33 [[ 8.84414831e-01 -4.63209179e-01 -5.69882631e-02 7.58013588e+01] [ 4.62092680e-01 8.86246357e-01 -3.22141338e-02 1.36180142e+01] [ 6.54275230e-02 2.15679844e-03 9.97854993e-01 -2.32926489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.087719421 meters Centerline goodness : 0.961486 Centerline is valid? [True, True] Translation: X:75.83, Y:13.63, Z:-2.33 [[ 8.80322442e-01 -4.71062221e-01 -5.59712668e-02 7.58276149e+01] [ 4.70000348e-01 8.82098614e-01 -3.16497794e-02 1.36265147e+01] [ 6.42811922e-02 1.55549619e-03 9.97930613e-01 -2.32772147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11771942099999 meters Centerline goodness : 0.961772 Centerline is valid? [True, True] Translation: X:75.85, Y:13.64, Z:-2.33 [[ 8.78372540e-01 -4.74847083e-01 -5.46070370e-02 7.58531462e+01] [ 4.73842786e-01 8.80067418e-01 -3.08926270e-02 1.36392234e+01] [ 6.27271479e-02 1.26008470e-03 9.98029918e-01 -2.32634516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14771942099999 meters Centerline goodness : 0.964200 Centerline is valid? [True, True] Translation: X:75.88, Y:13.65, Z:-2.33 [[ 8.75868279e-01 -4.79715872e-01 -5.22248936e-02 7.58782855e+01] [ 4.78804667e-01 8.77423437e-01 -2.95669225e-02 1.36526854e+01] [ 6.00070676e-02 8.91206703e-04 9.98197554e-01 -2.32572073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17771942099999 meters Centerline goodness : 0.962487 Centerline is valid? [True, True] Translation: X:75.90, Y:13.67, Z:-2.32 [[ 8.74730047e-01 -4.81827613e-01 -5.18603521e-02 7.59032668e+01] [ 4.80931407e-01 8.76265696e-01 -2.93838576e-02 1.36664390e+01] [ 5.96014015e-02 7.61671071e-04 9.98221966e-01 -2.32419062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.207719421 meters Centerline goodness : 0.961875 Centerline is valid? [True, True] Translation: X:75.93, Y:13.68, Z:-2.32 [[ 8.73328322e-01 -4.84130213e-01 -5.39960950e-02 7.59260977e+01] [ 4.83161586e-01 8.74995723e-01 -3.06164508e-02 1.36803703e+01] [ 6.20687010e-02 6.49374682e-04 9.98071668e-01 -2.32319200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.237719421 meters Centerline goodness : 0.961165 Centerline is valid? [True, True] Translation: X:75.95, Y:13.70, Z:-2.32 [[ 8.73013919e-01 -4.84581538e-01 -5.50221006e-02 7.59496837e+01] [ 4.83575356e-01 8.74745858e-01 -3.12179332e-02 1.36958910e+01] [ 6.32579886e-02 6.46358343e-04 9.97996999e-01 -2.32282580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.267719421 meters Centerline goodness : 0.960656 Centerline is valid? [True, True] Translation: X:75.97, Y:13.71, Z:-2.32 [[ 8.73117470e-01 -4.84242441e-01 -5.63483927e-02 7.59722013e+01] [ 4.83185071e-01 8.74933575e-01 -3.19910285e-02 1.37100697e+01] [ 6.47925144e-02 7.05223705e-04 9.97898508e-01 -2.32064658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.297719421 meters Centerline goodness : 0.961955 Centerline is valid? [True, True] Translation: X:76.00, Y:13.72, Z:-2.32 [[ 8.71925244e-01 -4.86366132e-01 -5.65186243e-02 7.59960746e+01] [ 4.85305756e-01 8.73754925e-01 -3.21038112e-02 1.37246579e+01] [ 6.49976328e-02 5.63309752e-04 9.97885259e-01 -2.31807416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.327719421 meters Centerline goodness : 0.964105 Centerline is valid? [True, True] Translation: X:76.02, Y:13.74, Z:-2.32 [[ 8.70318588e-01 -4.89336667e-01 -5.56343505e-02 7.60192604e+01] [ 4.88313694e-01 8.72094890e-01 -3.16265538e-02 1.37411038e+01] [ 6.39944653e-02 3.58162462e-04 9.97950189e-01 -2.31802271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.357719421 meters Centerline goodness : 0.964105 Centerline is valid? [True, True] Translation: X:76.04, Y:13.76, Z:-2.32 [[ 8.70160341e-01 -4.89619227e-01 -5.56236728e-02 7.60439708e+01] [ 4.88595630e-01 8.71936284e-01 -3.16453249e-02 1.37554298e+01] [ 6.39944580e-02 3.59023264e-04 9.97950189e-01 -2.31682474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.387719421 meters Centerline goodness : 0.962824 Centerline is valid? [True, True] Translation: X:76.06, Y:13.77, Z:-2.32 [[ 8.66935622e-01 -4.95419563e-01 -5.46084625e-02 7.60644099e+01] [ 4.94443284e-01 8.68653817e-01 -3.10867169e-02 1.37735767e+01] [ 6.28368171e-02 -5.06052831e-05 9.98023813e-01 -2.31529254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.417719421 meters Centerline goodness : 0.964297 Centerline is valid? [True, True] Translation: X:76.09, Y:13.79, Z:-2.31 [[ 8.65602706e-01 -4.97800632e-01 -5.40970006e-02 7.60882326e+01] [ 4.96846269e-01 8.67291466e-01 -3.08106664e-02 1.37889008e+01] [ 6.22554362e-02 -2.08096669e-04 9.98060227e-01 -2.31414932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.447719421 meters Centerline goodness : 0.965621 Centerline is valid? [True, True] Translation: X:76.11, Y:13.81, Z:-2.31 [[ 8.63509882e-01 -5.01449841e-01 -5.38399469e-02 7.61106787e+01] [ 5.00510095e-01 8.65186602e-01 -3.06885644e-02 1.38054749e+01] [ 6.19703765e-02 -4.47558280e-04 9.98077889e-01 -2.31189581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47771942099999 meters Centerline goodness : 0.967747 Centerline is valid? [True, True] Translation: X:76.13, Y:13.82, Z:-2.31 [[ 8.63169771e-01 -5.02107614e-01 -5.31591030e-02 7.61328121e+01] [ 5.01191552e-01 8.64805019e-01 -3.03200728e-02 1.38218485e+01] [ 6.11961985e-02 -4.71523101e-04 9.98125645e-01 -2.30969338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50771942099999 meters Centerline goodness : 0.966573 Centerline is valid? [True, True] Translation: X:76.15, Y:13.84, Z:-2.31 [[ 8.64454218e-01 -5.00011024e-01 -5.20373099e-02 7.61526568e+01] [ 4.99128606e-01 8.66018986e-01 -2.96943026e-02 1.38438566e+01] [ 5.99127770e-02 -3.03944834e-04 9.98203570e-01 -2.31009432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53771942099999 meters Centerline goodness : 0.965433 Centerline is valid? [True, True] Translation: X:76.17, Y:13.87, Z:-2.31 [[ 8.68257994e-01 -4.93052375e-01 -5.50219124e-02 7.61716247e+01] [ 4.92050356e-01 8.69999605e-01 -3.14186861e-02 1.38661238e+01] [ 6.33600999e-02 2.05973781e-04 9.97990709e-01 -2.30944383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56771942099999 meters Centerline goodness : 0.962598 Centerline is valid? [True, True] Translation: X:76.19, Y:13.88, Z:-2.31 [[ 8.70990495e-01 -4.88167579e-01 -5.53892746e-02 7.61937186e+01] [ 4.87141193e-01 8.72749723e-01 -3.16445839e-02 1.38835979e+01] [ 6.37888340e-02 5.79734508e-04 9.97963250e-01 -2.30840883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.597719421 meters Centerline goodness : 0.963057 Centerline is valid? [True, True] Translation: X:76.22, Y:13.90, Z:-2.31 [[ 8.73342982e-01 -4.83822581e-01 -5.64601353e-02 7.62156097e+01] [ 4.82745249e-01 8.75165601e-01 -3.22830449e-02 1.39008682e+01] [ 6.50312343e-02 9.38308701e-04 9.97882788e-01 -2.30683833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.627719421 meters Centerline goodness : 0.961788 Centerline is valid? [True, True] Translation: X:76.24, Y:13.92, Z:-2.31 [[ 8.77670733e-01 -4.75624328e-01 -5.89540682e-02 7.62352195e+01] [ 4.74429532e-01 8.79646988e-01 -3.37312158e-02 1.39207435e+01] [ 6.79021554e-02 1.63534995e-03 9.97690645e-01 -2.30675012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.657719421 meters Centerline goodness : 0.960912 Centerline is valid? [True, True] Translation: X:76.26, Y:13.94, Z:-2.31 [[ 8.79124737e-01 -4.72637445e-01 -6.12661608e-02 7.62562609e+01] [ 4.71338633e-01 8.81254804e-01 -3.50693989e-02 1.39376046e+01] [ 7.05662097e-02 1.95326757e-03 9.97505185e-01 -2.30564816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.687719421 meters Centerline goodness : 0.959462 Centerline is valid? [True, True] Translation: X:76.28, Y:13.96, Z:-2.31 [[ 8.81345722e-01 -4.68433729e-01 -6.16405692e-02 7.62768914e+01] [ 4.67107126e-01 8.83495581e-01 -3.53056810e-02 1.39584064e+01] [ 7.09975423e-02 2.32376174e-03 9.97473784e-01 -2.30700228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.717719421 meters Centerline goodness : 0.958283 Centerline is valid? [True, True] Translation: X:76.30, Y:13.98, Z:-2.31 [[ 8.81881484e-01 -4.67264052e-01 -6.28438852e-02 7.62995326e+01] [ 4.65880151e-01 8.84114307e-01 -3.60218857e-02 1.39760359e+01] [ 7.23929104e-02 2.48931528e-03 9.97373085e-01 -2.30550011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.747719421 meters Centerline goodness : 0.957959 Centerline is valid? [True, True] Translation: X:76.32, Y:13.99, Z:-2.30 [[ 8.81808443e-01 -4.67319834e-01 -6.34511059e-02 7.63229552e+01] [ 4.65907630e-01 8.84084716e-01 -3.63908638e-02 1.39899010e+01] [ 7.31023253e-02 2.52741653e-03 9.97321243e-01 -2.30377564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.777719421 meters Centerline goodness : 0.958196 Centerline is valid? [True, True] Translation: X:76.35, Y:14.00, Z:-2.30 [[ 8.82074682e-01 -4.66695325e-01 -6.43407261e-02 7.63470575e+01] [ 4.65240098e-01 8.84414237e-01 -3.69202947e-02 1.40046251e+01] [ 7.41343831e-02 2.63257153e-03 9.97244786e-01 -2.30266901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.807719421 meters Centerline goodness : 0.960611 Centerline is valid? [True, True] Translation: X:76.37, Y:14.02, Z:-2.30 [[ 8.82359232e-01 -4.66127543e-01 -6.45546294e-02 7.63707166e+01] [ 4.64658963e-01 8.84713369e-01 -3.70715953e-02 1.40192009e+01] [ 7.43924353e-02 2.71457717e-03 9.97225349e-01 -2.30147863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.837719421 meters Centerline goodness : 0.959495 Centerline is valid? [True, True] Translation: X:76.39, Y:14.03, Z:-2.30 [[ 8.83306249e-01 -4.64638628e-01 -6.22977982e-02 7.63933907e+01] [ 4.63265909e-01 8.85496096e-01 -3.57961195e-02 1.40338830e+01] [ 7.17967169e-02 2.75848997e-03 9.97415471e-01 -2.30081597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86771942099999 meters Centerline goodness : 0.961158 Centerline is valid? [True, True] Translation: X:76.42, Y:14.05, Z:-2.30 [[ 8.83780677e-01 -4.63811914e-01 -6.17270064e-02 7.64163621e+01] [ 4.62461424e-01 8.85929236e-01 -3.54798501e-02 1.40475490e+01] [ 7.11417368e-02 2.81004668e-03 9.97462258e-01 -2.29955143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89771942099999 meters Centerline goodness : 0.961310 Centerline is valid? [True, True] Translation: X:76.44, Y:14.06, Z:-2.30 [[ 8.85370797e-01 -4.60717629e-01 -6.21113353e-02 7.64395806e+01] [ 4.59341799e-01 8.87541395e-01 -3.57125189e-02 1.40612407e+01] [ 7.15797682e-02 3.08848886e-03 9.97430097e-01 -2.29792758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92771942099999 meters Centerline goodness : 0.960992 Centerline is valid? [True, True] Translation: X:76.46, Y:14.08, Z:-2.30 [[ 8.86187552e-01 -4.59233878e-01 -6.14480938e-02 7.64639560e+01] [ 4.57882532e-01 8.88309672e-01 -3.53484596e-02 1.40750284e+01] [ 7.08181462e-02 3.18935608e-03 9.97484144e-01 -2.29736667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.957719421 meters Centerline goodness : 0.963130 Centerline is valid? [True, True] Translation: X:76.49, Y:14.09, Z:-2.30 [[ 8.87130873e-01 -4.57519784e-01 -6.06173310e-02 7.64867014e+01] [ 4.56199399e-01 8.89193323e-01 -3.48904395e-02 1.40887570e+01] [ 6.98635923e-02 3.29879606e-03 9.97551100e-01 -2.29629088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.987719421 meters Centerline goodness : 0.962012 Centerline is valid? [True, True] Translation: X:76.51, Y:14.10, Z:-2.30 [[ 8.87417840e-01 -4.57030094e-01 -6.01088143e-02 7.65105635e+01] [ 4.55729888e-01 8.89445037e-01 -3.46091736e-02 1.41022870e+01] [ 6.92809205e-02 3.31941489e-03 9.97591668e-01 -2.29549090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.017719421 meters Centerline goodness : 0.960748 Centerline is valid? [True, True] Translation: X:76.54, Y:14.12, Z:-2.29 [[ 8.88130908e-01 -4.55868058e-01 -5.83763909e-02 7.65358412e+01] [ 4.54638199e-01 8.90041151e-01 -3.36282327e-02 1.41152166e+01] [ 6.72874273e-02 3.32613563e-03 9.97728089e-01 -2.29349256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.047719421 meters Centerline goodness : 0.963779 Centerline is valid? [True, True] Translation: X:76.56, Y:14.13, Z:-2.29 [[ 8.88492649e-01 -4.55181543e-01 -5.82286591e-02 7.65605458e+01] [ 4.53954650e-01 8.90392188e-01 -3.35697395e-02 1.41281732e+01] [ 6.71266690e-02 3.39329626e-03 9.97738691e-01 -2.29161602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.077719421 meters Centerline goodness : 0.959937 Centerline is valid? [True, True] Translation: X:76.59, Y:14.14, Z:-2.29 [[ 8.89285242e-01 -4.53519282e-01 -5.90933051e-02 7.65854050e+01] [ 4.52250520e-01 8.91239233e-01 -3.40895417e-02 1.41396895e+01] [ 6.81265364e-02 3.59034841e-03 9.97670228e-01 -2.29042287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.107719421 meters Centerline goodness : 0.961706 Centerline is valid? [True, True] Translation: X:76.61, Y:14.15, Z:-2.29 [[ 8.89460510e-01 -4.53068059e-01 -5.99110547e-02 7.66102835e+01] [ 4.51761646e-01 8.91468289e-01 -3.45789710e-02 1.41530774e+01] [ 6.90754327e-02 3.69111248e-03 9.97604611e-01 -2.29065924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.137719421 meters Centerline goodness : 0.957096 Centerline is valid? [True, True] Translation: X:76.64, Y:14.16, Z:-2.29 [[ 8.89912830e-01 -4.51807019e-01 -6.26543954e-02 7.66358037e+01] [ 4.50373333e-01 8.92106806e-01 -3.61843651e-02 1.41637175e+01] [ 7.22427627e-02 3.98306187e-03 9.97379125e-01 -2.29075510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.167719421 meters Centerline goodness : 0.956783 Centerline is valid? [True, True] Translation: X:76.66, Y:14.17, Z:-2.29 [[ 8.89945021e-01 -4.51923084e-01 -6.13464355e-02 7.66618256e+01] [ 4.50547995e-01 8.92048370e-01 -3.54430598e-02 1.41724365e+01] [ 7.07415246e-02 3.90286112e-03 9.97487045e-01 -2.29031540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.197719421 meters Centerline goodness : 0.956060 Centerline is valid? [True, True] Translation: X:76.69, Y:14.18, Z:-2.29 [[ 8.89998236e-01 -4.51836398e-01 -6.12128227e-02 7.66875811e+01] [ 4.50465595e-01 8.92092205e-01 -3.53870840e-02 1.41840732e+01] [ 7.05966545e-02 3.92017174e-03 9.97497240e-01 -2.28835211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22771942099999 meters Centerline goodness : 0.957250 Centerline is valid? [True, True] Translation: X:76.71, Y:14.20, Z:-2.29 [[ 8.89821630e-01 -4.52180483e-01 -6.12395186e-02 7.67128991e+01] [ 4.50807409e-01 8.91917853e-01 -3.54291268e-02 1.41964679e+01] [ 7.06409797e-02 3.91837465e-03 9.97494109e-01 -2.28724174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25771942099999 meters Centerline goodness : 0.957343 Centerline is valid? [True, True] Translation: X:76.74, Y:14.21, Z:-2.29 [[ 8.89229487e-01 -4.53162935e-01 -6.25641599e-02 7.67385002e+01] [ 4.51730622e-01 8.91418987e-01 -3.62165031e-02 1.42065351e+01] [ 7.21828568e-02 3.94263563e-03 9.97383623e-01 -2.28570062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28771942099999 meters Centerline goodness : 0.955011 Centerline is valid? [True, True] Translation: X:76.76, Y:14.22, Z:-2.28 [[ 8.88516498e-01 -4.54441909e-01 -6.34112323e-02 7.67637385e+01] [ 4.52972375e-01 8.90767806e-01 -3.67252467e-02 1.42186161e+01] [ 7.31741754e-02 3.90745109e-03 9.97311522e-01 -2.28433785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31771942099999 meters Centerline goodness : 0.955532 Centerline is valid? [True, True] Translation: X:76.79, Y:14.23, Z:-2.28 [[ 8.86137778e-01 -4.59118201e-01 -6.30104441e-02 7.67908690e+01] [ 4.57677003e-01 8.88368203e-01 -3.65198072e-02 1.42269441e+01] [ 7.27433833e-02 3.52314964e-03 9.97344468e-01 -2.28151880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.347719421 meters Centerline goodness : 0.958326 Centerline is valid? [True, True] Translation: X:76.82, Y:14.24, Z:-2.28 [[ 8.82761747e-01 -4.65877696e-01 -6.07426570e-02 7.68176702e+01] [ 4.64552625e-01 8.84844430e-01 -3.52305655e-02 1.42367694e+01] [ 7.01609364e-02 2.88203480e-03 9.97531522e-01 -2.27877273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.377719421 meters Centerline goodness : 0.957658 Centerline is valid? [True, True] Translation: X:76.84, Y:14.25, Z:-2.28 [[ 8.81015863e-01 -4.69234502e-01 -6.02497487e-02 7.68413933e+01] [ 4.67937149e-01 8.83069733e-01 -3.49667144e-02 1.42487497e+01] [ 6.96123183e-02 2.61313446e-03 9.97570698e-01 -2.27734397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.407719421 meters Centerline goodness : 0.957816 Centerline is valid? [True, True] Translation: X:76.87, Y:14.26, Z:-2.28 [[ 8.79260072e-01 -4.72667994e-01 -5.90482199e-02 7.68660738e+01] [ 4.71428265e-01 8.81237550e-01 -3.42895149e-02 1.42612142e+01] [ 6.82430649e-02 2.31240146e-03 9.97666045e-01 -2.27600646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.437719421 meters Centerline goodness : 0.960318 Centerline is valid? [True, True] Translation: X:76.89, Y:14.27, Z:-2.27 [[ 8.75185430e-01 -4.80308317e-01 -5.79170527e-02 7.68914482e+01] [ 4.79130984e-01 8.77098070e-01 -3.36522835e-02 1.42716555e+01] [ 6.69624068e-02 1.70213375e-03 9.97754047e-01 -2.27466829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.467719421 meters Centerline goodness : 0.959181 Centerline is valid? [True, True] Translation: X:76.92, Y:14.29, Z:-2.27 [[ 8.72922222e-01 -4.84438340e-01 -5.76739962e-02 7.69160225e+01] [ 4.83278781e-01 8.74824298e-01 -3.35271337e-02 1.42859267e+01] [ 6.66964422e-02 1.39396152e-03 9.97772339e-01 -2.27489061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.497719421 meters Centerline goodness : 0.956944 Centerline is valid? [True, True] Translation: X:76.94, Y:14.30, Z:-2.28 [[ 8.69145030e-01 -4.90931824e-01 -5.97734164e-02 7.69397910e+01] [ 4.89699628e-01 8.71197473e-01 -3.47740932e-02 1.43010073e+01] [ 6.91461583e-02 9.52710500e-04 9.97606085e-01 -2.27606776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.527719421 meters Centerline goodness : 0.952870 Centerline is valid? [True, True] Translation: X:76.97, Y:14.31, Z:-2.27 [[ 8.67238613e-01 -4.93958044e-01 -6.24711083e-02 7.69652804e+01] [ 4.92617734e-01 8.69485399e-01 -3.63718103e-02 1.43135130e+01] [ 7.22838648e-02 7.68662505e-04 9.97383804e-01 -2.27265359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.557719421 meters Centerline goodness : 0.957466 Centerline is valid? [True, True] Translation: X:76.99, Y:14.33, Z:-2.27 [[ 8.66462330e-01 -4.95362781e-01 -6.21188020e-02 7.69888417e+01] [ 4.94039628e-01 8.68685945e-01 -3.61880468e-02 1.43258005e+01] [ 7.18879417e-02 6.66429543e-04 9.97412492e-01 -2.27002738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.587719421 meters Centerline goodness : 0.956949 Centerline is valid? [True, True] Translation: X:77.01, Y:14.34, Z:-2.27 [[ 8.65013572e-01 -4.97990071e-01 -6.12977086e-02 7.70135223e+01] [ 4.96706968e-01 8.67182610e-01 -3.57282618e-02 1.43387243e+01] [ 7.09486266e-02 4.58432379e-04 9.97479866e-01 -2.26682776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61771942099999 meters Centerline goodness : 0.957761 Centerline is valid? [True, True] Translation: X:77.04, Y:14.35, Z:-2.27 [[ 8.64495845e-01 -4.98848321e-01 -6.16221299e-02 7.70363936e+01] [ 4.97551989e-01 8.66689208e-01 -3.59421176e-02 1.43532081e+01] [ 7.13369000e-02 4.11598062e-04 9.97452193e-01 -2.26637025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64771942099999 meters Centerline goodness : 0.955202 Centerline is valid? [True, True] Translation: X:77.06, Y:14.37, Z:-2.27 [[ 8.63882385e-01 -4.99823134e-01 -6.23222309e-02 7.70596167e+01] [ 4.98498003e-01 8.66127421e-01 -3.63735066e-02 1.43697650e+01] [ 7.21593132e-02 3.54923995e-04 9.97393056e-01 -2.26727488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67771942099999 meters Centerline goodness : 0.958635 Centerline is valid? [True, True] Translation: X:77.08, Y:14.39, Z:-2.27 [[ 8.64275151e-01 -4.99279216e-01 -6.12268548e-02 7.70824387e+01] [ 4.97997014e-01 8.66441049e-01 -3.57614851e-02 1.43857734e+01] [ 7.09044265e-02 4.16972051e-04 9.97483027e-01 -2.26639420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.707719421 meters Centerline goodness : 0.957929 Centerline is valid? [True, True] Translation: X:77.11, Y:14.40, Z:-2.26 [[ 8.64045482e-01 -4.99793930e-01 -6.02613653e-02 7.71066204e+01] [ 4.98551234e-01 8.66144257e-01 -3.52248957e-02 1.43993965e+01] [ 6.98002245e-02 3.92533992e-04 9.97560913e-01 -2.26436695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.737719421 meters Centerline goodness : 0.961693 Centerline is valid? [True, True] Translation: X:77.13, Y:14.41, Z:-2.26 [[ 8.63874591e-01 -5.00231585e-01 -5.90681986e-02 7.71300211e+01] [ 4.99037261e-01 8.65891578e-01 -3.45483182e-02 1.44130111e+01] [ 6.84288157e-02 3.68182198e-04 9.97655933e-01 -2.26044337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.767719421 meters Centerline goodness : 0.960936 Centerline is valid? [True, True] Translation: X:77.15, Y:14.43, Z:-2.26 [[ 8.65121806e-01 -4.98032782e-01 -5.93936850e-02 7.71510137e+01] [ 4.96818834e-01 8.67158021e-01 -3.47564666e-02 1.44331180e+01] [ 6.88135701e-02 5.60675848e-04 9.97629379e-01 -2.26073556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.797719421 meters Centerline goodness : 0.961796 Centerline is valid? [True, True] Translation: X:77.17, Y:14.45, Z:-2.26 [[ 8.66178479e-01 -4.96180056e-01 -5.94995400e-02 7.71722054e+01] [ 4.94955941e-01 8.68219340e-01 -3.48395410e-02 1.44508297e+01] [ 6.89453368e-02 7.27609812e-04 9.97620174e-01 -2.26147482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.827719421 meters Centerline goodness : 0.960118 Centerline is valid? [True, True] Translation: X:77.19, Y:14.47, Z:-2.26 [[ 8.68126639e-01 -4.92579642e-01 -6.10035620e-02 7.71943435e+01] [ 4.91282593e-01 8.70266730e-01 -3.57383773e-02 1.44693860e+01] [ 7.06933676e-02 1.05544925e-03 9.97497536e-01 -2.26007720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.857719421 meters Centerline goodness : 0.959705 Centerline is valid? [True, True] Translation: X:77.22, Y:14.48, Z:-2.26 [[ 8.68934003e-01 -4.91218173e-01 -6.04847401e-02 7.72188128e+01] [ 4.89937923e-01 8.71035771e-01 -3.54614944e-02 1.44837705e+01] [ 7.01037027e-02 1.17993034e-03 9.97539011e-01 -2.25793829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.887719421 meters Centerline goodness : 0.961582 Centerline is valid? [True, True] Translation: X:77.24, Y:14.50, Z:-2.26 [[ 8.70038855e-01 -4.89462497e-01 -5.88120226e-02 7.72411160e+01] [ 4.88246729e-01 8.72023375e-01 -3.45016736e-02 1.44996150e+01] [ 6.81727338e-02 1.30301896e-03 9.97672682e-01 -2.25599191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.917719421 meters Centerline goodness : 0.962506 Centerline is valid? [True, True] Translation: X:77.26, Y:14.52, Z:-2.26 [[ 8.72143457e-01 -4.85821529e-01 -5.78206913e-02 7.72608820e+01] [ 4.84637316e-01 8.74056611e-01 -3.39369038e-02 1.45217738e+01] [ 6.70258360e-02 1.57578395e-03 9.97749996e-01 -2.25763057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.947719421 meters Centerline goodness : 0.961670 Centerline is valid? [True, True] Translation: X:77.28, Y:14.54, Z:-2.26 [[ 8.74010596e-01 -4.82400075e-01 -5.82721699e-02 7.72835895e+01] [ 4.81187874e-01 8.75948999e-01 -3.42283767e-02 1.45389842e+01] [ 6.75552204e-02 1.87610236e-03 9.97713773e-01 -2.25779809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97771942099999 meters Centerline goodness : 0.961586 Centerline is valid? [True, True] Translation: X:77.31, Y:14.55, Z:-2.26 [[ 8.76198907e-01 -4.78358246e-01 -5.87270188e-02 7.73068122e+01] [ 4.77116504e-01 8.78161968e-01 -3.45166409e-02 1.45528796e+01] [ 6.80831543e-02 2.22381314e-03 9.97677172e-01 -2.25626181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00771942099999 meters Centerline goodness : 0.961543 Centerline is valid? [True, True] Translation: X:77.33, Y:14.56, Z:-2.25 [[ 8.78815834e-01 -4.73405446e-01 -5.97495954e-02 7.73322285e+01] [ 4.72107390e-01 8.80840599e-01 -3.51347520e-02 1.45640838e+01] [ 6.92628523e-02 2.66875083e-03 9.97594875e-01 -2.25265394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03771942099999 meters Centerline goodness : 0.962876 Centerline is valid? [True, True] Translation: X:77.36, Y:14.58, Z:-2.25 [[ 8.79330290e-01 -4.72191900e-01 -6.17499074e-02 7.73568427e+01] [ 4.70800427e-01 8.81491071e-01 -3.63379990e-02 1.45780780e+01] [ 7.15905008e-02 2.88122038e-03 9.97429947e-01 -2.25092414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06771942099999 meters Centerline goodness : 0.960756 Centerline is valid? [True, True] Translation: X:77.38, Y:14.59, Z:-2.25 [[ 8.79908342e-01 -4.71011738e-01 -6.25240086e-02 7.73789445e+01] [ 4.69580585e-01 8.82121726e-01 -3.68148718e-02 1.45931861e+01] [ 7.24940231e-02 3.03365232e-03 9.97364233e-01 -2.25401502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.097719421 meters Centerline goodness : 0.960432 Centerline is valid? [True, True] Translation: X:77.40, Y:14.61, Z:-2.25 [[ 8.80312668e-01 -4.70169211e-01 -6.31705614e-02 7.74031099e+01] [ 4.68704724e-01 8.82570665e-01 -3.72142760e-02 1.46079830e+01] [ 7.32494912e-02 3.15185803e-03 9.97308667e-01 -2.25321583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.127719421 meters Centerline goodness : 0.960040 Centerline is valid? [True, True] Translation: X:77.43, Y:14.62, Z:-2.25 [[ 8.81504295e-01 -4.67852324e-01 -6.37524933e-02 7.74268978e+01] [ 4.66353085e-01 8.83800138e-01 -3.75781400e-02 1.46198737e+01] [ 7.39254824e-02 3.39411986e-03 9.97257992e-01 -2.25228101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.157719421 meters Centerline goodness : 0.958933 Centerline is valid? [True, True] Translation: X:77.45, Y:14.63, Z:-2.25 [[ 8.82375556e-01 -4.66244716e-01 -6.34763146e-02 7.74524047e+01] [ 4.64753438e-01 8.84648770e-01 -3.74272053e-02 1.46293907e+01] [ 7.36044803e-02 3.52401569e-03 9.97281285e-01 -2.25007793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.187719421 meters Centerline goodness : 0.961017 Centerline is valid? [True, True] Translation: X:77.48, Y:14.64, Z:-2.25 [[ 8.82677008e-01 -4.65730887e-01 -6.30558527e-02 7.74776667e+01] [ 4.64256707e-01 8.84919247e-01 -3.71972607e-02 1.46413407e+01] [ 7.31232509e-02 3.55906425e-03 9.97316561e-01 -2.24827550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.217719421 meters Centerline goodness : 0.964304 Centerline is valid? [True, True] Translation: X:77.50, Y:14.65, Z:-2.25 [[ 8.83642962e-01 -4.64254578e-01 -6.03556287e-02 7.75041848e+01] [ 4.62898907e-01 8.85694708e-01 -3.56298450e-02 1.46523735e+01] [ 6.99979796e-02 3.54550719e-03 9.97540832e-01 -2.24678023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.247719421 meters Centerline goodness : 0.964304 Centerline is valid? [True, True] Translation: X:77.53, Y:14.67, Z:-2.25 [[ 8.83497622e-01 -4.64532619e-01 -6.03439929e-02 7.75286491e+01] [ 4.63176252e-01 8.85548908e-01 -3.56495438e-02 1.46670915e+01] [ 6.99979330e-02 3.54638268e-03 9.97540833e-01 -2.24558223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.277719421 meters Centerline goodness : 0.967068 Centerline is valid? [True, True] Translation: X:77.55, Y:14.68, Z:-2.25 [[ 8.84201293e-01 -4.63476783e-01 -5.81149393e-02 7.75524697e+01] [ 4.62215342e-01 8.86102103e-01 -3.43517315e-02 1.46803309e+01] [ 6.74169999e-02 3.51222879e-03 9.97718704e-01 -2.24517007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.307719421 meters Centerline goodness : 0.967725 Centerline is valid? [True, True] Translation: X:77.58, Y:14.69, Z:-2.24 [[ 8.84999991e-01 -4.62142870e-01 -5.65595603e-02 7.75771185e+01] [ 4.60944361e-01 8.86798455e-01 -3.34484170e-02 1.46946518e+01] [ 6.56148781e-02 3.53103837e-03 9.97838774e-01 -2.24479746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.337719421 meters Centerline goodness : 0.965971 Centerline is valid? [True, True] Translation: X:77.60, Y:14.70, Z:-2.24 [[ 8.86632345e-01 -4.59126192e-01 -5.55537979e-02 7.76044734e+01] [ 4.57962480e-01 8.88363315e-01 -3.28783673e-02 1.47038968e+01] [ 6.44472756e-02 3.70946880e-03 9.97914219e-01 -2.24398146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36771942099999 meters Centerline goodness : 0.966776 Centerline is valid? [True, True] Translation: X:77.63, Y:14.71, Z:-2.24 [[ 8.87804737e-01 -4.56701274e-01 -5.68040180e-02 7.76326940e+01] [ 4.55477882e-01 8.89611137e-01 -3.36440648e-02 1.47111927e+01] [ 6.58987743e-02 3.99638626e-03 9.97818310e-01 -2.24216287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39771942099999 meters Centerline goodness : 0.964471 Centerline is valid? [True, True] Translation: X:77.66, Y:14.72, Z:-2.24 [[ 8.87933773e-01 -4.56454903e-01 -5.67673905e-02 7.76587255e+01] [ 4.55230938e-01 8.89737402e-01 -3.36474138e-02 1.47226898e+01] [ 6.58665975e-02 4.03440264e-03 9.97820282e-01 -2.24159557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42771942099999 meters Centerline goodness : 0.965769 Centerline is valid? [True, True] Translation: X:77.69, Y:14.73, Z:-2.24 [[ 8.87899576e-01 -4.56567664e-01 -5.63942564e-02 7.76851091e+01] [ 4.55358370e-01 8.89679603e-01 -3.34508333e-02 1.47333961e+01] [ 6.54453885e-02 4.02138401e-03 9.97848049e-01 -2.23994633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.457719421 meters Centerline goodness : 0.966216 Centerline is valid? [True, True] Translation: X:77.71, Y:14.74, Z:-2.24 [[ 8.87746326e-01 -4.56836735e-01 -5.66273725e-02 7.77126080e+01] [ 4.55616650e-01 8.89541405e-01 -3.36088895e-02 1.47406750e+01] [ 6.57261678e-02 4.03579441e-03 9.97829536e-01 -2.24019392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.487719421 meters Centerline goodness : 0.965310 Centerline is valid? [True, True] Translation: X:77.74, Y:14.75, Z:-2.24 [[ 8.88640041e-01 -4.55057160e-01 -5.69373122e-02 7.77395200e+01] [ 4.53819330e-01 8.90452324e-01 -3.38034627e-02 1.47493244e+01] [ 6.60824697e-02 4.19985763e-03 9.97805326e-01 -2.24078215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.517719421 meters Centerline goodness : 0.963518 Centerline is valid? [True, True] Translation: X:77.77, Y:14.76, Z:-2.24 [[ 8.89068667e-01 -4.54205943e-01 -5.70426804e-02 7.77652725e+01] [ 4.52960780e-01 8.90886415e-01 -3.38810724e-02 1.47606359e+01] [ 6.62075335e-02 4.28450280e-03 9.97796675e-01 -2.24014803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.547719421 meters Centerline goodness : 0.964611 Centerline is valid? [True, True] Translation: X:77.79, Y:14.77, Z:-2.24 [[ 8.89162307e-01 -4.53940498e-01 -5.76924336e-02 7.77908504e+01] [ 4.52664952e-01 8.91021282e-01 -3.42858056e-02 1.47709289e+01] [ 6.69689018e-02 4.37030329e-03 9.97745492e-01 -2.23861926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.577719421 meters Centerline goodness : 0.963600 Centerline is valid? [True, True] Translation: X:77.82, Y:14.78, Z:-2.24 [[ 8.88451306e-01 -4.55120213e-01 -5.93284822e-02 7.78199539e+01] [ 4.53772699e-01 8.90419045e-01 -3.52740881e-02 1.47760170e+01] [ 6.88811609e-02 4.41766408e-03 9.97615091e-01 -2.23588190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.607719421 meters Centerline goodness : 0.962693 Centerline is valid? [True, True] Translation: X:77.85, Y:14.79, Z:-2.23 [[ 8.87990219e-01 -4.56024614e-01 -5.92867790e-02 7.78456289e+01] [ 4.54679707e-01 8.89956477e-01 -3.52680149e-02 1.47854829e+01] [ 6.88457359e-02 4.36115704e-03 9.97617785e-01 -2.23428518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.637719421 meters Centerline goodness : 0.958540 Centerline is valid? [True, True] Translation: X:77.87, Y:14.79, Z:-2.23 [[ 8.86313677e-01 -4.59366427e-01 -5.85709092e-02 7.78727395e+01] [ 4.58060041e-01 8.88237556e-01 -3.48574553e-02 1.47944807e+01] [ 6.80372259e-02 4.06564630e-03 9.97674499e-01 -2.23458329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.667719421 meters Centerline goodness : 0.959778 Centerline is valid? [True, True] Translation: X:77.90, Y:14.81, Z:-2.24 [[ 8.85268385e-01 -4.61483872e-01 -5.77280017e-02 7.78967133e+01] [ 4.60218122e-01 8.87140190e-01 -3.43738891e-02 1.48065960e+01] [ 6.70758258e-02 3.86264482e-03 9.97740404e-01 -2.23575125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.697719421 meters Centerline goodness : 0.955051 Centerline is valid? [True, True] Translation: X:77.92, Y:14.82, Z:-2.23 [[ 8.82809802e-01 -4.66144006e-01 -5.79363289e-02 7.79241446e+01] [ 4.64878045e-01 8.84701797e-01 -3.45128022e-02 1.48154251e+01] [ 6.73443102e-02 3.53491274e-03 9.97723533e-01 -2.23492929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72771942099999 meters Centerline goodness : 0.956191 Centerline is valid? [True, True] Translation: X:77.95, Y:14.83, Z:-2.23 [[ 8.81463246e-01 -4.68762745e-01 -5.73064976e-02 7.79501665e+01] [ 4.67528207e-01 8.83317881e-01 -3.41598852e-02 1.48266503e+01] [ 6.66327355e-02 3.31827924e-03 9.97772052e-01 -2.23366824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75771942099999 meters Centerline goodness : 0.956015 Centerline is valid? [True, True] Translation: X:77.98, Y:14.83, Z:-2.23 [[ 8.78224822e-01 -4.75051694e-01 -5.52000909e-02 7.79780555e+01] [ 4.73917297e-01 8.79953574e-01 -3.29257104e-02 1.48349983e+01] [ 6.42149318e-02 2.75589827e-03 9.97932286e-01 -2.23080675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78771942099999 meters Centerline goodness : 0.958484 Centerline is valid? [True, True] Translation: X:78.00, Y:14.85, Z:-2.23 [[ 8.76395392e-01 -4.78590290e-01 -5.36884700e-02 7.80036504e+01] [ 4.77522471e-01 8.78034933e-01 -3.20460030e-02 1.48467247e+01] [ 6.24772581e-02 2.44751847e-03 9.98043387e-01 -2.22988164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.81771942099999 meters Centerline goodness : 0.960363 Centerline is valid? [True, True] Translation: X:78.03, Y:14.86, Z:-2.23 [[ 8.72803127e-01 -4.85218884e-01 -5.27004474e-02 7.80284223e+01] [ 4.84200832e-01 8.74390539e-01 -3.14760229e-02 1.48582122e+01] [ 6.13535333e-02 1.95477065e-03 9.98114183e-01 -2.22985335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.847719421 meters Centerline goodness : 0.960309 Centerline is valid? [True, True] Translation: X:78.05, Y:14.87, Z:-2.23 [[ 8.70884832e-01 -4.88705309e-01 -5.22181009e-02 7.80526864e+01] [ 4.87711038e-01 8.72447249e-01 -3.12048298e-02 1.48724360e+01] [ 6.08075045e-02 1.70846872e-03 9.98148049e-01 -2.23008808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.877719421 meters Centerline goodness : 0.960796 Centerline is valid? [True, True] Translation: X:78.08, Y:14.88, Z:-2.23 [[ 8.67283390e-01 -4.95237783e-01 -5.05871457e-02 7.80775196e+01] [ 4.94314669e-01 8.68756600e-01 -3.02486076e-02 1.48842098e+01] [ 5.89281701e-02 1.22814671e-03 9.98261470e-01 -2.22903427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.907719421 meters Centerline goodness : 0.959551 Centerline is valid? [True, True] Translation: X:78.10, Y:14.90, Z:-2.23 [[ 8.65019450e-01 -4.99104161e-01 -5.13457689e-02 7.81027929e+01] [ 4.98158908e-01 8.66541429e-01 -3.07189560e-02 1.48966860e+01] [ 5.98251947e-02 9.94142267e-04 9.98208374e-01 -2.22616693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.937719421 meters Centerline goodness : 0.958953 Centerline is valid? [True, True] Translation: X:78.13, Y:14.91, Z:-2.22 [[ 8.60534748e-01 -5.06543366e-01 -5.37937230e-02 7.81272759e+01] [ 5.05518962e-01 8.62214329e-01 -3.22029371e-02 1.49082380e+01] [ 6.26939029e-02 5.17999331e-04 9.98032668e-01 -2.22459299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.967719421 meters Centerline goodness : 0.957794 Centerline is valid? [True, True] Translation: X:78.15, Y:14.92, Z:-2.22 [[ 8.58402860e-01 -5.10073211e-01 -5.44963245e-02 7.81500646e+01] [ 5.09028291e-01 8.60130946e-01 -3.26336336e-02 1.49228539e+01] [ 6.35195175e-02 2.72633497e-04 9.97980559e-01 -2.22409742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.997719421 meters Centerline goodness : 0.960002 Centerline is valid? [True, True] Translation: X:78.17, Y:14.94, Z:-2.22 [[ 8.55841561e-01 -5.14349587e-01 -5.45868550e-02 7.81732191e+01] [ 5.13308939e-01 8.57580609e-01 -3.27021684e-02 1.49394772e+01] [ 6.36329751e-02 -3.20458245e-05 9.97973368e-01 -2.22370480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.027719421 meters Centerline goodness : 0.957323 Centerline is valid? [True, True] Translation: X:78.20, Y:14.95, Z:-2.22 [[ 8.55146948e-01 -5.15568621e-01 -5.39693780e-02 7.81955545e+01] [ 5.14552683e-01 8.56848286e-01 -3.23504444e-02 1.49545965e+01] [ 6.29224431e-02 -1.05704418e-04 9.98018414e-01 -2.22326997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.057719421 meters Centerline goodness : 0.957943 Centerline is valid? [True, True] Translation: X:78.22, Y:14.97, Z:-2.22 [[ 8.53324527e-01 -5.18449876e-01 -5.51994414e-02 7.82182638e+01] [ 5.17392409e-01 8.55107962e-01 -3.30978754e-02 1.49698879e+01] [ 6.43610712e-02 -3.16543086e-04 9.97926627e-01 -2.22062086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.087719421 meters Centerline goodness : 0.956551 Centerline is valid? [True, True] Translation: X:78.24, Y:14.98, Z:-2.22 [[ 8.51883654e-01 -5.20717073e-01 -5.61067690e-02 7.82422320e+01] [ 5.19628469e-01 8.53729171e-01 -3.36564579e-02 1.49847395e+01] [ 6.54254776e-02 -4.83288125e-04 9.97857341e-01 -2.21818646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11771942099999 meters Centerline goodness : 0.958684 Centerline is valid? [True, True] Translation: X:78.26, Y:15.00, Z:-2.22 [[ 8.49828767e-01 -5.23637576e-01 -5.99562766e-02 7.82635713e+01] [ 5.22399767e-01 8.51940813e-01 -3.59907643e-02 1.50034560e+01] [ 6.99253156e-02 -7.35158077e-04 9.97551958e-01 -2.21555605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14771942099999 meters Centerline goodness : 0.955162 Centerline is valid? [True, True] Translation: X:78.28, Y:15.02, Z:-2.22 [[ 8.49414087e-01 -5.24296617e-01 -6.00730018e-02 7.82848274e+01] [ 5.23053829e-01 8.51535358e-01 -3.60863744e-02 1.50223554e+01] [ 7.00742491e-02 -7.69138830e-04 9.97541482e-01 -2.21536978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17771942099999 meters Centerline goodness : 0.955876 Centerline is valid? [True, True] Translation: X:78.30, Y:15.04, Z:-2.21 [[ 8.50879301e-01 -5.22068334e-01 -5.87287882e-02 7.83033365e+01] [ 5.20873802e-01 8.52903481e-01 -3.53006261e-02 1.50429609e+01] [ 6.85193270e-02 -5.53715195e-04 9.97649636e-01 -2.21223979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.207719421 meters Centerline goodness : 0.956629 Centerline is valid? [True, True] Translation: X:78.33, Y:15.06, Z:-2.21 [[ 8.52420636e-01 -5.19653168e-01 -5.77896574e-02 7.83253157e+01] [ 5.18489769e-01 8.54377242e-01 -3.47546925e-02 1.50602293e+01] [ 6.74345541e-02 -3.37728991e-04 9.97723643e-01 -2.20969245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.237719421 meters Centerline goodness : 0.960527 Centerline is valid? [True, True] Translation: X:78.34, Y:15.08, Z:-2.21 [[ 8.57251102e-01 -5.11461199e-01 -5.93968783e-02 7.83425596e+01] [ 5.10210837e-01 8.59306307e-01 -3.57431534e-02 1.50837702e+01] [ 6.93213483e-02 3.35926678e-04 9.97594325e-01 -2.20764231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.267719421 meters Centerline goodness : 0.961075 Centerline is valid? [True, True] Translation: X:78.36, Y:15.11, Z:-2.21 [[ 8.63705403e-01 -5.00560509e-01 -5.87550275e-02 7.83599123e+01] [ 4.99310661e-01 8.65700701e-01 -3.53717370e-02 1.51076981e+01] [ 6.85699632e-02 1.21374873e-03 9.97645572e-01 -2.20691814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.297719421 meters Centerline goodness : 0.963719 Centerline is valid? [True, True] Translation: X:78.38, Y:15.13, Z:-2.21 [[ 8.66603935e-01 -4.95612602e-01 -5.80152483e-02 7.83821481e+01] [ 4.94381621e-01 8.68542216e-01 -3.49461371e-02 1.51258975e+01] [ 6.77084382e-02 1.60278743e-03 9.97703863e-01 -2.20573528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.327719421 meters Centerline goodness : 0.962342 Centerline is valid? [True, True] Translation: X:78.40, Y:15.14, Z:-2.20 [[ 8.69442623e-01 -4.90602986e-01 -5.81225886e-02 7.84044323e+01] [ 4.89354423e-01 8.71380874e-01 -3.50374190e-02 1.51430225e+01] [ 6.78363744e-02 2.02047966e-03 9.97694414e-01 -2.20311146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.357719421 meters Centerline goodness : 0.964341 Centerline is valid? [True, True] Translation: X:78.42, Y:15.16, Z:-2.20 [[ 8.72844722e-01 -4.84518658e-01 -5.81701011e-02 7.84236736e+01] [ 4.83252939e-01 8.74777307e-01 -3.50893211e-02 1.51632160e+01] [ 6.78873151e-02 2.51665638e-03 9.97689821e-01 -2.20257985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.387719421 meters Centerline goodness : 0.963530 Centerline is valid? [True, True] Translation: X:78.45, Y:15.18, Z:-2.20 [[ 8.73006831e-01 -4.84263787e-01 -5.78589385e-02 7.84456846e+01] [ 4.83009630e-01 8.74918355e-01 -3.49223344e-02 1.51818682e+01] [ 6.75334692e-02 2.54101202e-03 9.97713773e-01 -2.20300419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.417719421 meters Centerline goodness : 0.960391 Centerline is valid? [True, True] Translation: X:78.47, Y:15.20, Z:-2.20 [[ 8.72797198e-01 -4.84703128e-01 -5.73404624e-02 7.84675748e+01] [ 4.83470631e-01 8.74675137e-01 -3.46345845e-02 1.52008196e+01] [ 6.69417683e-02 2.50653878e-03 9.97753736e-01 -2.20340506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.447719421 meters Centerline goodness : 0.959780 Centerline is valid? [True, True] Translation: X:78.49, Y:15.22, Z:-2.20 [[ 8.71984973e-01 -4.86041170e-01 -5.83625543e-02 7.84916849e+01] [ 4.84765490e-01 8.73932424e-01 -3.52780085e-02 1.52150313e+01] [ 6.81514930e-02 2.46974104e-03 9.97671927e-01 -2.20114604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47771942099999 meters Centerline goodness : 0.960409 Centerline is valid? [True, True] Translation: X:78.52, Y:15.23, Z:-2.20 [[ 8.70466469e-01 -4.88609125e-01 -5.95755743e-02 7.85166895e+01] [ 4.87284337e-01 8.72499670e-01 -3.60319469e-02 1.52266206e+01] [ 6.95852069e-02 2.33435734e-03 9.97573280e-01 -2.19753713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50771942099999 meters Centerline goodness : 0.960308 Centerline is valid? [True, True] Translation: X:78.54, Y:15.24, Z:-2.20 [[ 8.69566251e-01 -4.90132597e-01 -6.02044144e-02 7.85406565e+01] [ 4.88782065e-01 8.71644979e-01 -3.64297051e-02 1.52406690e+01] [ 7.03322615e-02 2.25120407e-03 9.97521080e-01 -2.19613427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53771942099999 meters Centerline goodness : 0.958534 Centerline is valid? [True, True] Translation: X:78.56, Y:15.26, Z:-2.20 [[ 8.68429941e-01 -4.92153427e-01 -6.01202286e-02 7.85632258e+01] [ 4.90810085e-01 8.70505936e-01 -3.63988434e-02 1.52562023e+01] [ 7.02488314e-02 2.10223097e-03 9.97527284e-01 -2.19743558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56771942099999 meters Centerline goodness : 0.957610 Centerline is valid? [True, True] Translation: X:78.59, Y:15.27, Z:-2.20 [[ 8.67929289e-01 -4.93024391e-01 -6.02137846e-02 7.85866566e+01] [ 4.91677740e-01 8.70013074e-01 -3.64726095e-02 1.52718187e+01] [ 7.03686659e-02 2.04986849e-03 9.97518947e-01 -2.19794275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.597719421 meters Centerline goodness : 0.954959 Centerline is valid? [True, True] Translation: X:78.61, Y:15.29, Z:-2.20 [[ 8.66941115e-01 -4.94433248e-01 -6.28400039e-02 7.86098393e+01] [ 4.92968319e-01 8.69213206e-01 -3.80872574e-02 1.52863695e+01] [ 7.34529676e-02 2.04127833e-03 9.97296593e-01 -2.19763456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.627719421 meters Centerline goodness : 0.956091 Centerline is valid? [True, True] Translation: X:78.63, Y:15.30, Z:-2.19 [[ 8.66214869e-01 -4.95635244e-01 -6.33837913e-02 7.86346885e+01] [ 4.94146379e-01 8.68528527e-01 -3.84389599e-02 1.53000340e+01] [ 7.41023341e-02 1.97552762e-03 9.97248686e-01 -2.19474640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.657719421 meters Centerline goodness : 0.955912 Centerline is valid? [True, True] Translation: X:78.66, Y:15.31, Z:-2.19 [[ 8.63238267e-01 -5.00916563e-01 -6.24683194e-02 7.86608181e+01] [ 4.99482276e-01 8.65494238e-01 -3.79101692e-02 1.53111462e+01] [ 7.30558021e-02 1.52369048e-03 9.97326691e-01 -2.18920529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.687719421 meters Centerline goodness : 0.955461 Centerline is valid? [True, True] Translation: X:78.69, Y:15.33, Z:-2.19 [[ 8.61074838e-01 -5.04624525e-01 -6.24836938e-02 7.86852742e+01] [ 5.03197213e-01 8.63338037e-01 -3.79473038e-02 1.53251528e+01] [ 7.30936897e-02 1.23384790e-03 9.97324315e-01 -2.18672211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.717719421 meters Centerline goodness : 0.958014 Centerline is valid? [True, True] Translation: X:78.71, Y:15.34, Z:-2.19 [[ 8.57663556e-01 -5.10348875e-01 -6.29066865e-02 7.87079229e+01] [ 5.08915290e-01 8.59967105e-01 -3.82335779e-02 1.53415168e+01] [ 7.36101445e-02 7.77371760e-04 9.97286790e-01 -2.18597325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.747719421 meters Centerline goodness : 0.957077 Centerline is valid? [True, True] Translation: X:78.73, Y:15.36, Z:-2.19 [[ 8.56367035e-01 -5.12673645e-01 -6.16541506e-02 7.87308918e+01] [ 5.11300595e-01 8.58583359e-01 -3.75008969e-02 1.53585616e+01] [ 7.21609493e-02 5.90728054e-04 9.97392826e-01 -2.18621881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.777719421 meters Centerline goodness : 0.956852 Centerline is valid? [True, True] Translation: X:78.75, Y:15.37, Z:-2.19 [[ 8.55044423e-01 -5.15036025e-01 -6.03069435e-02 7.87540914e+01] [ 5.13726264e-01 8.57168436e-01 -3.67096374e-02 1.53744372e+01] [ 7.05999941e-02 4.07109993e-04 9.97504624e-01 -2.18584808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.807719421 meters Centerline goodness : 0.953960 Centerline is valid? [True, True] Translation: X:78.78, Y:15.39, Z:-2.18 [[ 8.52883677e-01 -5.18442667e-01 -6.16979201e-02 7.87782048e+01] [ 5.17078433e-01 8.55112377e-01 -3.75861304e-02 1.53885703e+01] [ 7.22449088e-02 1.53933235e-04 9.97386911e-01 -2.18252441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.837719421 meters Centerline goodness : 0.952174 Centerline is valid? [True, True] Translation: X:78.80, Y:15.40, Z:-2.18 [[ 8.50982423e-01 -5.21340400e-01 -6.35067162e-02 7.88015780e+01] [ 5.19901198e-01 8.53348804e-01 -3.87112808e-02 1.54029049e+01] [ 7.43751350e-02 -7.45982447e-05 9.97230331e-01 -2.17923732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86771942099999 meters Centerline goodness : 0.952069 Centerline is valid? [True, True] Translation: X:78.83, Y:15.42, Z:-2.18 [[ 8.50105426e-01 -5.22699713e-01 -6.40763289e-02 7.88257288e+01] [ 5.21236836e-01 8.52516850e-01 -3.90791688e-02 1.54180674e+01] [ 7.50528204e-02 -1.77529590e-04 9.97179544e-01 -2.17728672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89771942099999 meters Centerline goodness : 0.952219 Centerline is valid? [True, True] Translation: X:78.85, Y:15.43, Z:-2.18 [[ 8.49044085e-01 -5.24373264e-01 -6.44734191e-02 7.88485400e+01] [ 5.22894698e-01 8.51488455e-01 -3.93515688e-02 1.54339782e+01] [ 7.55332826e-02 -3.01592305e-04 9.97143236e-01 -2.17569939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92771942099999 meters Centerline goodness : 0.955002 Centerline is valid? [True, True] Translation: X:78.87, Y:15.45, Z:-2.18 [[ 8.47985879e-01 -5.26319000e-01 -6.25160627e-02 7.88689655e+01] [ 5.24932657e-01 8.50287078e-01 -3.81784155e-02 1.54534114e+01] [ 7.32506258e-02 -4.41965662e-04 9.97313467e-01 -2.17681196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.957719421 meters Centerline goodness : 0.952681 Centerline is valid? [True, True] Translation: X:78.89, Y:15.47, Z:-2.17 [[ 8.47460371e-01 -5.27374445e-01 -6.07216140e-02 7.88908729e+01] [ 5.26068296e-01 8.49632826e-01 -3.70972864e-02 1.54699104e+01] [ 7.11552373e-02 -5.05235922e-04 9.97465126e-01 -2.17435255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.987719421 meters Centerline goodness : 0.953069 Centerline is valid? [True, True] Translation: X:78.91, Y:15.48, Z:-2.17 [[ 8.47031287e-01 -5.28126308e-01 -6.01714308e-02 7.89148518e+01] [ 5.26844086e-01 8.49165653e-01 -3.67831918e-02 1.54846788e+01] [ 7.05216836e-02 -5.44448116e-04 9.97510098e-01 -2.17114265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.017719421 meters Centerline goodness : 0.953265 Centerline is valid? [True, True] Translation: X:78.94, Y:15.50, Z:-2.17 [[ 8.46840411e-01 -5.28442565e-01 -6.00813991e-02 7.89381315e+01] [ 5.27163061e-01 8.48968878e-01 -3.67552815e-02 1.55007779e+01] [ 7.04302932e-02 -5.46836604e-04 9.97516554e-01 -2.16943853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.047719421 meters Centerline goodness : 0.951649 Centerline is valid? [True, True] Translation: X:78.96, Y:15.52, Z:-2.17 [[ 8.48220955e-01 -5.25888466e-01 -6.29486580e-02 7.89580853e+01] [ 5.24474962e-01 8.50553474e-01 -3.85331232e-02 1.55194451e+01] [ 7.38053248e-02 -3.30392494e-04 9.97272613e-01 -2.16946636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.077719421 meters Centerline goodness : 0.951971 Centerline is valid? [True, True] Translation: X:78.98, Y:15.54, Z:-2.17 [[ 8.49171903e-01 -5.24171164e-01 -6.44334527e-02 7.89797622e+01] [ 5.22683420e-01 8.51612919e-01 -3.94649022e-02 1.55373935e+01] [ 7.55587244e-02 -1.65811351e-04 9.97141340e-01 -2.16944250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.107719421 meters Centerline goodness : 0.946289 Centerline is valid? [True, False] Translation: X:78.95, Y:15.52, Z:-2.17 [[ 8.54398599e-01 -5.14852942e-01 -7.02102668e-02 7.89478575e+01] [ 5.13382312e-01 8.57274140e-01 -3.89826963e-02 1.55205905e+01] [ 8.02598020e-02 -2.73794790e-03 9.96770218e-01 -2.16822891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.137719421 meters Centerline goodness : 0.949513 Centerline is valid? [False, False] Translation: X:78.92, Y:15.50, Z:-2.16 [[ 8.57076062e-01 -5.09095250e-01 -7.90104443e-02 7.89227249e+01] [ 5.07928622e-01 8.60657695e-01 -3.57330031e-02 1.55043699e+01] [ 8.61924490e-02 -9.50576456e-03 9.96233157e-01 -2.16163650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.167719421 meters Centerline goodness : 0.949513 Centerline is valid? [False, False] Translation: X:78.91, Y:15.49, Z:-2.16 [[ 8.56652106e-01 -5.08316448e-01 -8.80997097e-02 7.89095430e+01] [ 5.07671259e-01 8.60983412e-01 -3.12643115e-02 1.54939412e+01] [ 9.17445524e-02 -1.79430523e-02 9.95620904e-01 -2.15615564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.197719421 meters Centerline goodness : 0.950313 Centerline is valid? [False, True] Translation: X:78.88, Y:15.48, Z:-2.16 [[ 8.63258465e-01 -4.96943585e-01 -8.84979983e-02 7.88829712e+01] [ 4.95495024e-01 8.67725230e-01 -3.92123226e-02 1.54805906e+01] [ 9.62782581e-02 -9.99994838e-03 9.95304224e-01 -2.15680653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22771942099999 meters Centerline goodness : 0.949227 Centerline is valid? [True, False] Translation: X:78.87, Y:15.47, Z:-2.15 [[ 8.64001655e-01 -4.94050851e-01 -9.70303931e-02 7.88697340e+01] [ 4.93285924e-01 8.69225417e-01 -3.34091369e-02 1.54732434e+01] [ 1.00847096e-01 -1.89981775e-02 9.94720530e-01 -2.15391422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25771942099999 meters Centerline goodness : 0.949269 Centerline is valid? [False, False] Translation: X:78.85, Y:15.47, Z:-2.15 [[ 8.65641652e-01 -4.89422523e-01 -1.05499408e-01 7.88547927e+01] [ 4.89282648e-01 8.71643315e-01 -2.89900248e-02 1.54680151e+01] [ 1.06146225e-01 -2.65240569e-02 9.93996707e-01 -2.15315221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28771942099999 meters Centerline goodness : 0.948159 Centerline is valid? [False, False] Translation: X:78.83, Y:15.45, Z:-2.15 [[ 8.67828888e-01 -4.84053578e-01 -1.12094406e-01 7.88296163e+01] [ 4.84226952e-01 8.74509898e-01 -2.75081323e-02 1.54514491e+01] [ 1.11343078e-01 -3.04067809e-02 9.93316740e-01 -2.14983119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.31771942099999 meters Centerline goodness : 0.947593 Centerline is valid? [False, False] Translation: X:78.81, Y:15.44, Z:-2.15 [[ 8.71143627e-01 -4.79273182e-01 -1.06798868e-01 7.88075182e+01] [ 4.78043676e-01 8.77491236e-01 -3.85146013e-02 1.54368461e+01] [ 1.12174086e-01 -1.75027738e-02 9.93534412e-01 -2.15204509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.347719421 meters Centerline goodness : 0.946978 Centerline is valid? [False, False] Translation: X:78.79, Y:15.42, Z:-2.15 [[ 8.71422594e-01 -4.77533689e-01 -1.12179495e-01 7.87854738e+01] [ 4.76159946e-01 8.78426245e-01 -4.04850302e-02 1.54190058e+01] [ 1.17874378e-01 -1.81358121e-02 9.92862892e-01 -2.14969404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.377719421 meters Centerline goodness : 0.948163 Centerline is valid? [False, False] Translation: X:78.78, Y:15.41, Z:-2.15 [[ 8.69248708e-01 -4.79492319e-01 -1.20390200e-01 7.87773317e+01] [ 4.78839386e-01 8.77155608e-01 -3.62060949e-02 1.54086073e+01] [ 1.22961483e-01 -2.61754680e-02 9.92066187e-01 -2.14632115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.407719421 meters Centerline goodness : 0.948232 Centerline is valid? [False, False] Translation: X:78.77, Y:15.40, Z:-2.14 [[ 8.67729873e-01 -4.79885895e-01 -1.29438770e-01 7.87690400e+01] [ 4.80302532e-01 8.76588041e-01 -3.00480418e-02 1.54004848e+01] [ 1.27884109e-01 -3.60961855e-02 9.91132040e-01 -2.14317586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.437719421 meters Centerline goodness : 0.946860 Centerline is valid? [False, False] Translation: X:78.74, Y:15.38, Z:-2.14 [[ 8.65000277e-01 -4.83454060e-01 -1.34337983e-01 7.87399700e+01] [ 4.84879244e-01 8.74248810e-01 -2.41067838e-02 1.53771495e+01] [ 1.29099344e-01 -4.42853246e-02 9.90642301e-01 -2.14221014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.467719421 meters Centerline goodness : 0.948682 Centerline is valid? [False, False] Translation: X:78.71, Y:15.36, Z:-2.14 [[ 8.64762179e-01 -4.82277776e-01 -1.39980434e-01 7.87134497e+01] [ 4.83703868e-01 8.74847336e-01 -2.59366023e-02 1.53552693e+01] [ 1.34970156e-01 -4.52800844e-02 9.89814513e-01 -2.13880458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.497719421 meters Centerline goodness : 0.950064 Centerline is valid? [False, True] Translation: X:78.69, Y:15.33, Z:-2.14 [[ 8.63539625e-01 -4.83324869e-01 -1.43862388e-01 7.86881347e+01] [ 4.84409271e-01 8.74335179e-01 -2.97599348e-02 1.53315962e+01] [ 1.40167664e-01 -4.39893917e-02 9.89150120e-01 -2.13556865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.527719421 meters Centerline goodness : 0.951469 Centerline is valid? [True, True] Translation: X:78.71, Y:15.36, Z:-2.15 [[ 8.62935473e-01 -4.90434114e-01 -1.21724072e-01 7.87081686e+01] [ 4.85351180e-01 8.71476590e-01 -7.04470319e-02 1.53561832e+01] [ 1.40629307e-01 1.71232095e-03 9.90060840e-01 -2.14577523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.557719421 meters Centerline goodness : 0.947150 Centerline is valid? [True, False] Translation: X:78.69, Y:15.34, Z:-2.15 [[ 8.58523196e-01 -4.95859554e-01 -1.30618626e-01 7.86894484e+01] [ 4.92109854e-01 8.68331093e-01 -6.18789523e-02 1.53434075e+01] [ 1.44103484e-01 -1.11541973e-02 9.89499757e-01 -2.14620642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.587719421 meters Centerline goodness : 0.947108 Centerline is valid? [False, False] Translation: X:78.66, Y:15.33, Z:-2.14 [[ 8.56383610e-01 -4.97169797e-01 -1.39389046e-01 7.86643104e+01] [ 4.95046384e-01 8.67308375e-01 -5.20121135e-02 1.53280646e+01] [ 1.46752139e-01 -2.44617215e-02 9.88870787e-01 -2.14499295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61771942099999 meters Centerline goodness : 0.948229 Centerline is valid? [False, False] Translation: X:78.64, Y:15.31, Z:-2.14 [[ 8.53459802e-01 -4.99972912e-01 -1.47083149e-01 7.86375588e+01] [ 4.99458313e-01 8.65264497e-01 -4.31131470e-02 1.53124206e+01] [ 1.48821232e-01 -3.66665635e-02 9.88184094e-01 -2.14204076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64771942099999 meters Centerline goodness : 0.948586 Centerline is valid? [False, False] Translation: X:78.60, Y:15.29, Z:-2.15 [[ 8.53514474e-01 -4.99815904e-01 -1.47299373e-01 7.86002495e+01] [ 4.99689158e-01 8.65254210e-01 -4.05696696e-02 1.52880556e+01] [ 1.47728769e-01 -3.89770997e-02 9.88259580e-01 -2.14662164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67771942099999 meters Centerline goodness : 0.946564 Centerline is valid? [False, False] Translation: X:78.57, Y:15.27, Z:-2.15 [[ 8.54086512e-01 -4.98530829e-01 -1.48334904e-01 7.85694105e+01] [ 4.97517774e-01 8.66203534e-01 -4.65564451e-02 1.52709268e+01] [ 1.51698042e-01 -3.40360196e-02 9.87840703e-01 -2.14848073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.707719421 meters Centerline goodness : 0.948771 Centerline is valid? [False, False] Translation: X:78.53, Y:15.25, Z:-2.15 [[ 8.55201579e-01 -4.95447778e-01 -1.52189876e-01 7.85345909e+01] [ 4.95556836e-01 8.67656963e-01 -3.99351567e-02 1.52505238e+01] [ 1.51834391e-01 -4.12661245e-02 9.87544138e-01 -2.15303525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.737719421 meters Centerline goodness : 0.946140 Centerline is valid? [False, False] Translation: X:78.50, Y:15.23, Z:-2.16 [[ 8.56469469e-01 -4.91916692e-01 -1.56454522e-01 7.84999575e+01] [ 4.93193573e-01 8.69282192e-01 -3.32951903e-02 1.52337558e+01] [ 1.52381590e-01 -4.86460507e-02 9.87123808e-01 -2.15823105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.767719421 meters Centerline goodness : 0.946203 Centerline is valid? [False, False] Translation: X:78.47, Y:15.22, Z:-2.16 [[ 8.58608255e-01 -4.89392334e-01 -1.52600813e-01 7.84732968e+01] [ 4.90159785e-01 8.70922594e-01 -3.51741433e-02 1.52194465e+01] [ 1.50117452e-01 -4.45979717e-02 9.87661770e-01 -2.16417088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.797719421 meters Centerline goodness : 0.949760 Centerline is valid? [False, False] Translation: X:78.47, Y:15.22, Z:-2.16 [[ 8.60451119e-01 -4.85841450e-01 -1.53564179e-01 7.84675685e+01] [ 4.87017810e-01 8.72789245e-01 -3.24435837e-02 1.52195829e+01] [ 1.49791601e-01 -4.68723721e-02 9.87605922e-01 -2.16071286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.827719421 meters Centerline goodness : 0.948455 Centerline is valid? [False, False] Translation: X:78.44, Y:15.21, Z:-2.16 [[ 8.62188566e-01 -4.82497084e-01 -1.54361394e-01 7.84439890e+01] [ 4.83936869e-01 8.74566094e-01 -3.06472674e-02 1.52080644e+01] [ 1.49786459e-01 -4.82774462e-02 9.87539014e-01 -2.16202311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.857719421 meters Centerline goodness : 0.948440 Centerline is valid? [False, False] Translation: X:78.42, Y:15.19, Z:-2.16 [[ 8.63328552e-01 -4.78153406e-01 -1.61347858e-01 7.84194477e+01] [ 4.79902633e-01 8.76790247e-01 -3.05340134e-02 1.51945217e+01] [ 1.56068171e-01 -5.10703762e-02 9.86425133e-01 -2.16052129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.887719421 meters Centerline goodness : 0.947357 Centerline is valid? [False, False] Translation: X:78.39, Y:15.18, Z:-2.17 [[ 8.66473373e-01 -4.72095386e-01 -1.62326338e-01 7.83888077e+01] [ 4.73148215e-01 8.80303084e-01 -3.46012528e-02 1.51782463e+01] [ 1.59231467e-01 -4.68233527e-02 9.86130272e-01 -2.16504853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.917719421 meters Centerline goodness : 0.946027 Centerline is valid? [False, False] Translation: X:78.38, Y:15.18, Z:-2.16 [[ 8.67843562e-01 -4.68689486e-01 -1.64856657e-01 7.83796470e+01] [ 4.68886391e-01 8.82343756e-01 -4.01876722e-02 1.51777208e+01] [ 1.64295781e-01 -4.24224304e-02 9.85498470e-01 -2.16381709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.947719421 meters Centerline goodness : 0.947303 Centerline is valid? [False, False] Translation: X:78.36, Y:15.17, Z:-2.16 [[ 8.67813504e-01 -4.68526122e-01 -1.65478082e-01 7.83638066e+01] [ 4.69687973e-01 8.82157366e-01 -3.45194059e-02 1.51710482e+01] [ 1.62150952e-01 -4.77666582e-02 9.85609159e-01 -2.16427697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97771942099999 meters Centerline goodness : 0.947866 Centerline is valid? [False, False] Translation: X:78.35, Y:15.16, Z:-2.16 [[ 8.68018798e-01 -4.68311171e-01 -1.65009130e-01 7.83462245e+01] [ 4.70343532e-01 8.82006538e-01 -2.90074056e-02 1.51645296e+01] [ 1.59123623e-01 -5.24320035e-02 9.85865385e-01 -2.16414312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00771942099999 meters Centerline goodness : 0.948351 Centerline is valid? [False, False] Translation: X:78.33, Y:15.16, Z:-2.17 [[ 8.67482779e-01 -4.69301981e-01 -1.65012967e-01 7.83308711e+01] [ 4.72126855e-01 8.81199477e-01 -2.41601870e-02 1.51584995e+01] [ 1.56747764e-01 -5.69485071e-02 9.85995439e-01 -2.16517628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03771942099999 meters Centerline goodness : 0.946319 Centerline is valid? [False, False] Translation: X:78.32, Y:15.15, Z:-2.17 [[ 8.66883416e-01 -4.69910847e-01 -1.66423972e-01 7.83156948e+01] [ 4.73509814e-01 8.80564118e-01 -1.98819079e-02 1.51530621e+01] [ 1.55889702e-01 -6.15680876e-02 9.85853829e-01 -2.16634330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06771942099999 meters Centerline goodness : 0.943180 Centerline is valid? [False, False] Translation: X:78.30, Y:15.15, Z:-2.17 [[ 8.68297395e-01 -4.66676392e-01 -1.68145113e-01 7.83026393e+01] [ 4.68815506e-01 8.82812067e-01 -2.92382440e-02 1.51489566e+01] [ 1.62085333e-01 -5.34415453e-02 9.85328547e-01 -2.16758585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.097719421 meters Centerline goodness : 0.941787 Centerline is valid? [False, False] Translation: X:78.28, Y:15.14, Z:-2.17 [[ 8.70156222e-01 -4.63749301e-01 -1.66627534e-01 7.82848092e+01] [ 4.63858621e-01 8.84975109e-01 -4.06722880e-02 1.51390885e+01] [ 1.66322965e-01 -4.19003738e-02 9.85180709e-01 -2.16995154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.127719421 meters Centerline goodness : 0.940922 Centerline is valid? [False, False] Translation: X:78.28, Y:15.14, Z:-2.17 [[ 8.71734510e-01 -4.61396264e-01 -1.64901278e-01 7.82770610e+01] [ 4.60770320e-01 8.86409613e-01 -4.43701519e-02 1.51369955e+01] [ 1.66642300e-01 -3.73026219e-02 9.85311554e-01 -2.17132299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.157719421 meters Centerline goodness : 0.940094 Centerline is valid? [False, False] Translation: X:78.28, Y:15.14, Z:-2.17 [[ 8.72066588e-01 -4.60732938e-01 -1.65000075e-01 7.82763586e+01] [ 4.60157741e-01 8.86744897e-01 -4.40265870e-02 1.51371157e+01] [ 1.66597474e-01 -3.75319465e-02 9.85310426e-01 -2.17100228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.187719421 meters Centerline goodness : 0.940836 Centerline is valid? [False, False] Translation: X:78.27, Y:15.13, Z:-2.17 [[ 8.71029573e-01 -4.59863391e-01 -1.72722740e-01 7.82660112e+01] [ 4.60785020e-01 8.86733387e-01 -3.71626977e-02 1.51293958e+01] [ 1.70248785e-01 -4.72182426e-02 9.84269165e-01 -2.16837705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.217719421 meters Centerline goodness : 0.938989 Centerline is valid? [False, False] Translation: X:78.26, Y:15.12, Z:-2.17 [[ 8.69953771e-01 -4.58722379e-01 -1.80981257e-01 7.82556297e+01] [ 4.61073777e-01 8.86805695e-01 -3.14106953e-02 1.51216800e+01] [ 1.74903998e-01 -5.61198588e-02 9.82984818e-01 -2.16596801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.247719421 meters Centerline goodness : 0.937143 Centerline is valid? [False, False] Translation: X:78.24, Y:15.11, Z:-2.17 [[ 8.68337477e-01 -4.59223171e-01 -1.87360895e-01 7.82437201e+01] [ 4.62533992e-01 8.86149361e-01 -2.83128466e-02 1.51136308e+01] [ 1.79031652e-01 -6.20756767e-02 9.81883027e-01 -2.16502356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.277719421 meters Centerline goodness : 0.936466 Centerline is valid? [False, False] Translation: X:78.24, Y:15.11, Z:-2.16 [[ 8.67263805e-01 -4.61675590e-01 -1.86303896e-01 7.82436714e+01] [ 4.64673699e-01 8.84975837e-01 -2.99352928e-02 1.51095465e+01] [ 1.78694840e-01 -6.06087243e-02 9.82036016e-01 -2.16350777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.307719421 meters Centerline goodness : 0.936583 Centerline is valid? [False, False] Translation: X:78.22, Y:15.09, Z:-2.17 [[ 8.67127297e-01 -4.63308363e-01 -1.82854072e-01 7.82217110e+01] [ 4.66007271e-01 8.84251898e-01 -3.05909179e-02 1.50941219e+01] [ 1.75862088e-01 -5.86851069e-02 9.82664024e-01 -2.16706941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.337719421 meters Centerline goodness : 0.936030 Centerline is valid? [False, False] Translation: X:78.21, Y:15.08, Z:-2.16 [[ 8.63745915e-01 -4.66677254e-01 -1.90145565e-01 7.82124856e+01] [ 4.70304853e-01 8.82045797e-01 -2.84351378e-02 1.50820038e+01] [ 1.80987128e-01 -6.48656478e-02 9.81344031e-01 -2.16351100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36771942099999 meters Centerline goodness : 0.935110 Centerline is valid? [False, False] Translation: X:78.20, Y:15.07, Z:-2.16 [[ 8.60780967e-01 -4.68970150e-01 -1.97795663e-01 7.82035062e+01] [ 4.73772084e-01 8.80282817e-01 -2.53411624e-02 1.50736313e+01] [ 1.86000373e-01 -7.18968734e-02 9.79915660e-01 -2.16092633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39771942099999 meters Centerline goodness : 0.934954 Centerline is valid? [False, False] Translation: X:78.19, Y:15.07, Z:-2.16 [[ 8.57729734e-01 -4.71611533e-01 -2.04651570e-01 7.81938050e+01] [ 4.77525958e-01 8.78325057e-01 -2.26727477e-02 1.50650477e+01] [ 1.90443331e-01 -7.82793471e-02 9.78572267e-01 -2.15900420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42771942099999 meters Centerline goodness : 0.932960 Centerline is valid? [False, False] Translation: X:78.17, Y:15.04, Z:-2.16 [[ 8.56543769e-01 -4.72404641e-01 -2.07765799e-01 7.81675210e+01] [ 4.77766225e-01 8.78076424e-01 -2.68556953e-02 1.50413089e+01] [ 1.95121005e-01 -7.62604030e-02 9.77809871e-01 -2.15888990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.457719421 meters Centerline goodness : 0.935698 Centerline is valid? [False, False] Translation: X:78.14, Y:15.02, Z:-2.17 [[ 8.56127004e-01 -4.76896778e-01 -1.99037725e-01 7.81399879e+01] [ 4.80526319e-01 8.76363869e-01 -3.28759191e-02 1.50178761e+01] [ 1.90107890e-01 -6.74969029e-02 9.79440227e-01 -2.16506035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.487719421 meters Centerline goodness : 0.938073 Centerline is valid? [False, False] Translation: X:78.13, Y:15.01, Z:-2.16 [[ 8.53946956e-01 -4.80785739e-01 -1.99046901e-01 7.81259276e+01] [ 4.85097908e-01 8.73951276e-01 -2.98192430e-02 1.50092088e+01] [ 1.88293960e-01 -7.10931837e-02 9.79536188e-01 -2.16494567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.517719421 meters Centerline goodness : 0.938754 Centerline is valid? [False, False] Translation: X:78.10, Y:14.99, Z:-2.17 [[ 8.55699552e-01 -4.80614929e-01 -1.91800851e-01 7.80974427e+01] [ 4.84204088e-01 8.74410248e-01 -3.08726321e-02 1.49901994e+01] [ 1.82550477e-01 -6.64530586e-02 9.80948171e-01 -2.17141198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.547719421 meters Centerline goodness : 0.939850 Centerline is valid? [False, False] Translation: X:78.08, Y:14.98, Z:-2.17 [[ 8.54671582e-01 -4.81862777e-01 -1.93247899e-01 7.80822047e+01] [ 4.86331802e-01 8.73361915e-01 -2.68392396e-02 1.49820503e+01] [ 1.81708186e-01 -7.10438636e-02 9.80782802e-01 -2.17194511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.577719421 meters Centerline goodness : 0.937094 Centerline is valid? [False, False] Translation: X:78.05, Y:14.96, Z:-2.18 [[ 8.56994741e-01 -4.78072930e-01 -1.92370184e-01 7.80537146e+01] [ 4.81761599e-01 8.75779989e-01 -3.02518219e-02 1.49632859e+01] [ 1.82936535e-01 -6.67509152e-02 9.80856024e-01 -2.17831407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.607719421 meters Centerline goodness : 0.935587 Centerline is valid? [False, False] Translation: X:78.03, Y:14.95, Z:-2.19 [[ 8.60192634e-01 -4.72573809e-01 -1.91683665e-01 7.80260314e+01] [ 4.75518340e-01 8.79073958e-01 -3.33359431e-02 1.49462113e+01] [ 1.84257812e-01 -6.24737656e-02 9.80890456e-01 -2.18608154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.637719421 meters Centerline goodness : 0.936917 Centerline is valid? [False, False] Translation: X:78.00, Y:14.93, Z:-2.19 [[ 8.62750840e-01 -4.69166727e-01 -1.88530024e-01 7.79991923e+01] [ 4.71064353e-01 8.81302148e-01 -3.74819764e-02 1.49292315e+01] [ 1.83737212e-01 -5.64721673e-02 9.81351890e-01 -2.19445010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.667719421 meters Centerline goodness : 0.935851 Centerline is valid? [False, False] Translation: X:77.98, Y:14.91, Z:-2.20 [[ 8.67144212e-01 -4.61340369e-01 -1.87685856e-01 7.79764629e+01] [ 4.60912902e-01 8.86113487e-01 -4.86023162e-02 1.49137641e+01] [ 1.88733179e-01 -4.43616155e-02 9.81025909e-01 -2.19938417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.697719421 meters Centerline goodness : 0.933542 Centerline is valid? [False, False] Translation: X:77.97, Y:14.91, Z:-2.20 [[ 8.68054454e-01 -4.59385765e-01 -1.88271569e-01 7.79747854e+01] [ 4.59209395e-01 8.87072309e-01 -4.72170597e-02 1.49127354e+01] [ 1.88701340e-01 -4.54690942e-02 9.80981328e-01 -2.19805609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72771942099999 meters Centerline goodness : 0.938848 Centerline is valid? [False, False] Translation: X:77.97, Y:14.91, Z:-2.20 [[ 8.71467338e-01 -4.52553865e-01 -1.89049407e-01 7.79677135e+01] [ 4.53168609e-01 8.90410496e-01 -4.25130706e-02 1.49070906e+01] [ 1.87571031e-01 -4.86225043e-02 9.81046870e-01 -2.19535367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75771942099999 meters Centerline goodness : 0.939063 Centerline is valid? [False, False] Translation: X:77.97, Y:14.91, Z:-2.19 [[ 8.72354353e-01 -4.50631745e-01 -1.89549236e-01 7.79659540e+01] [ 4.51536248e-01 8.91314307e-01 -4.09123788e-02 1.49062458e+01] [ 1.87384363e-01 -4.98982592e-02 9.81018483e-01 -2.19437292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78771942099999 meters Centerline goodness : 0.940653 Centerline is valid? [False, False] Translation: X:77.96, Y:14.90, Z:-2.19 [[ 8.74673147e-01 -4.45242116e-01 -1.91589001e-01 7.79581746e+01] [ 4.45648598e-01 8.94154474e-01 -4.34177740e-02 1.48995226e+01] [ 1.90641584e-01 -4.74050087e-02 9.80514432e-01 -2.19392867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81771942099999 meters Centerline goodness : 0.941033 Centerline is valid? [False, False] Translation: X:77.95, Y:14.89, Z:-2.19 [[ 8.75550910e-01 -4.44390365e-01 -1.89546323e-01 7.79520090e+01] [ 4.44035594e-01 8.94789094e-01 -4.67425790e-02 1.48934880e+01] [ 1.90375934e-01 -4.32398064e-02 9.80758545e-01 -2.19461521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.847719421 meters Centerline goodness : 0.942053 Centerline is valid? [False, False] Translation: X:77.94, Y:14.88, Z:-2.20 [[ 8.78063887e-01 -4.42157689e-01 -1.83031113e-01 7.79404407e+01] [ 4.40550261e-01 8.96242286e-01 -5.16258896e-02 1.48777734e+01] [ 1.86867008e-01 -3.53035754e-02 9.81750671e-01 -2.19886771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.877719421 meters Centerline goodness : 0.944816 Centerline is valid? [False, False] Translation: X:77.93, Y:14.86, Z:-2.20 [[ 8.77292839e-01 -4.40104340e-01 -1.91482229e-01 7.79310801e+01] [ 4.40271161e-01 8.96784370e-01 -4.40351923e-02 1.48647519e+01] [ 1.91098350e-01 -4.56723444e-02 9.80507755e-01 -2.19585351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.907719421 meters Centerline goodness : 0.945761 Centerline is valid? [False, False] Translation: X:77.93, Y:14.86, Z:-2.20 [[ 8.77644174e-01 -4.39193323e-01 -1.91963352e-01 7.79314904e+01] [ 4.39567639e-01 8.97180328e-01 -4.29854541e-02 1.48628865e+01] [ 1.91104667e-01 -4.66549440e-02 9.80460260e-01 -2.19538715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.937719421 meters Centerline goodness : 0.944517 Centerline is valid? [False, False] Translation: X:77.93, Y:14.86, Z:-2.19 [[ 8.78024759e-01 -4.38197642e-01 -1.92497660e-01 7.79315662e+01] [ 4.38797999e-01 8.97610803e-01 -4.18468943e-02 1.48607385e+01] [ 1.91125189e-01 -4.77249786e-02 9.80404757e-01 -2.19457037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.967719421 meters Centerline goodness : 0.947681 Centerline is valid? [False, False] Translation: X:77.93, Y:14.85, Z:-2.19 [[ 8.77915574e-01 -4.38631954e-01 -1.92005869e-01 7.79300619e+01] [ 4.39248783e-01 8.97397776e-01 -4.16861867e-02 1.48546749e+01] [ 1.90590533e-01 -4.77413916e-02 9.80508036e-01 -2.19203635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.997719421 meters Centerline goodness : 0.947456 Centerline is valid? [False, False] Translation: X:77.93, Y:14.85, Z:-2.19 [[ 8.77043659e-01 -4.40899423e-01 -1.90793395e-01 7.79294649e+01] [ 4.41182473e-01 8.96369395e-01 -4.33581990e-02 1.48513127e+01] [ 1.90137965e-01 -4.61476684e-02 9.80672191e-01 -2.19094840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.027719421 meters Centerline goodness : 0.949814 Centerline is valid? [False, False] Translation: X:77.93, Y:14.84, Z:-2.19 [[ 8.76153387e-01 -4.43112058e-01 -1.89754965e-01 7.79310600e+01] [ 4.43185959e-01 8.95327756e-01 -4.44343847e-02 1.48441204e+01] [ 1.89582299e-01 -4.51653997e-02 9.80825488e-01 -2.18994531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.057719421 meters Centerline goodness : 0.949814 Centerline is valid? [False, False] Translation: X:77.93, Y:14.84, Z:-2.19 [[ 8.76153387e-01 -4.43112058e-01 -1.89754965e-01 7.79310600e+01] [ 4.43185959e-01 8.95327756e-01 -4.44343847e-02 1.48441204e+01] [ 1.89582299e-01 -4.51653997e-02 9.80825488e-01 -2.18994531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.087719421 meters Centerline goodness : 0.951315 Centerline is valid? [False, True] Translation: X:77.93, Y:14.84, Z:-2.19 [[ 8.75380528e-01 -4.45068166e-01 -1.88741247e-01 7.79312012e+01] [ 4.44922081e-01 8.94410114e-01 -4.55509501e-02 1.48396899e+01] [ 1.89085358e-01 -4.41007338e-02 9.80969853e-01 -2.18898516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11771942099999 meters Centerline goodness : 0.951718 Centerline is valid? [True, True] Translation: X:77.95, Y:14.87, Z:-2.21 [[ 8.77248737e-01 -4.52124193e-01 -1.61302102e-01 7.79502037e+01] [ 4.42337037e-01 8.91883053e-01 -9.42473652e-02 1.48653325e+01] [ 1.86474125e-01 1.13284879e-02 9.82394557e-01 -2.20519396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14771942099999 meters Centerline goodness : 0.948804 Centerline is valid? [True, False] Translation: X:77.95, Y:14.86, Z:-2.20 [[ 8.76278348e-01 -4.50138766e-01 -1.71788675e-01 7.79454416e+01] [ 4.42193754e-01 8.92956011e-01 -8.42273501e-02 1.48576961e+01] [ 1.91313725e-01 -2.15727589e-03 9.81526568e-01 -2.20292533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17771942099999 meters Centerline goodness : 0.945040 Centerline is valid? [False, False] Translation: X:77.94, Y:14.85, Z:-2.20 [[ 8.74620738e-01 -4.49325443e-01 -1.82058265e-01 7.79414005e+01] [ 4.43237628e-01 8.93243609e-01 -7.52081131e-02 1.48455026e+01] [ 1.96415300e-01 -1.49164980e-02 9.80407328e-01 -2.19945765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.207719421 meters Centerline goodness : 0.943905 Centerline is valid? [False, False] Translation: X:77.94, Y:14.84, Z:-2.20 [[ 8.73316446e-01 -4.51999107e-01 -1.81700832e-01 7.79438209e+01] [ 4.45735117e-01 8.91903471e-01 -7.63439786e-02 1.48383337e+01] [ 1.96567013e-01 -1.43179896e-02 9.80385845e-01 -2.19778662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.237719421 meters Centerline goodness : 0.941656 Centerline is valid? [False, False] Translation: X:77.93, Y:14.83, Z:-2.19 [[ 8.70643754e-01 -4.53981960e-01 -1.89419732e-01 7.79349613e+01] [ 4.48948436e-01 8.90713519e-01 -7.12371263e-02 1.48271420e+01] [ 2.01059086e-01 -2.30175333e-02 9.79308653e-01 -2.19470791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.267719421 meters Centerline goodness : 0.942802 Centerline is valid? [False, False] Translation: X:77.93, Y:14.81, Z:-2.19 [[ 8.67036403e-01 -4.57083136e-01 -1.98299981e-01 7.79307673e+01] [ 4.53650651e-01 8.88794268e-01 -6.51600803e-02 1.48149167e+01] [ 2.06031460e-01 -3.34627538e-02 9.77973047e-01 -2.19139189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.297719421 meters Centerline goodness : 0.940141 Centerline is valid? [False, False] Translation: X:77.92, Y:14.81, Z:-2.19 [[ 8.64248265e-01 -4.58855836e-01 -2.06218956e-01 7.79229158e+01] [ 4.57022236e-01 8.87472288e-01 -5.93600309e-02 1.48059261e+01] [ 2.10251305e-01 -4.29448448e-02 9.76703706e-01 -2.18896862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.327719421 meters Centerline goodness : 0.940397 Centerline is valid? [False, False] Translation: X:77.91, Y:14.80, Z:-2.19 [[ 8.61327671e-01 -4.61024832e-01 -2.13473061e-01 7.79132985e+01] [ 4.60749403e-01 8.85877987e-01 -5.41311388e-02 1.47952531e+01] [ 2.14066885e-01 -5.17329379e-02 9.75448139e-01 -2.18581130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.357719421 meters Centerline goodness : 0.942807 Centerline is valid? [False, False] Translation: X:77.90, Y:14.78, Z:-2.18 [[ 8.55834393e-01 -4.69645428e-01 -2.16750235e-01 7.79022514e+01] [ 4.69703555e-01 8.81134764e-01 -5.45902797e-02 1.47811114e+01] [ 2.16624242e-01 -5.50881169e-02 9.74699562e-01 -2.18282482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.387719421 meters Centerline goodness : 0.942903 Centerline is valid? [False, False] Translation: X:77.89, Y:14.77, Z:-2.18 [[ 8.52762812e-01 -4.72689626e-01 -2.22171340e-01 7.78898579e+01] [ 4.73921071e-01 8.79074443e-01 -5.12537102e-02 1.47702068e+01] [ 2.19532244e-01 -6.15844212e-02 9.73659567e-01 -2.18044077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.417719421 meters Centerline goodness : 0.948815 Centerline is valid? [False, False] Translation: X:77.88, Y:14.76, Z:-2.18 [[ 8.48403444e-01 -4.79865137e-01 -2.23474933e-01 7.78781670e+01] [ 4.82026242e-01 8.74813119e-01 -4.85047409e-02 1.47604095e+01] [ 2.18774537e-01 -6.65691929e-02 9.73502052e-01 -2.17898857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.447719421 meters Centerline goodness : 0.948016 Centerline is valid? [False, False] Translation: X:77.85, Y:14.74, Z:-2.18 [[ 8.47966082e-01 -4.77737370e-01 -2.29609513e-01 7.78523185e+01] [ 4.80289736e-01 8.75771933e-01 -4.84281938e-02 1.47399649e+01] [ 2.24221525e-01 -6.92136267e-02 9.72077251e-01 -2.17766964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47771942099999 meters Centerline goodness : 0.946469 Centerline is valid? [False, False] Translation: X:77.83, Y:14.72, Z:-2.18 [[ 8.46828496e-01 -4.77088608e-01 -2.35091383e-01 7.78298644e+01] [ 4.80127407e-01 8.75883551e-01 -4.80174714e-02 1.47234380e+01] [ 2.28821264e-01 -7.22112530e-02 9.70786467e-01 -2.17690473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50771942099999 meters Centerline goodness : 0.945823 Centerline is valid? [False, False] Translation: X:77.81, Y:14.71, Z:-2.18 [[ 8.46271378e-01 -4.75900968e-01 -2.39464034e-01 7.78104743e+01] [ 4.79883980e-01 8.76160421e-01 -4.53241993e-02 1.47103506e+01] [ 2.31378739e-01 -7.65583813e-02 9.69846737e-01 -2.17732629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53771942099999 meters Centerline goodness : 0.944388 Centerline is valid? [False, False] Translation: X:77.80, Y:14.70, Z:-2.18 [[ 8.43959787e-01 -4.76943029e-01 -2.45473471e-01 7.77954235e+01] [ 4.82348601e-01 8.74986334e-01 -4.16982331e-02 1.47020171e+01] [ 2.34673614e-01 -8.32121532e-02 9.68506083e-01 -2.17530284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56771942099999 meters Centerline goodness : 0.942666 Centerline is valid? [False, False] Translation: X:77.78, Y:14.70, Z:-2.17 [[ 8.41280701e-01 -4.77889161e-01 -2.52722640e-01 7.77848684e+01] [ 4.85151998e-01 8.73645676e-01 -3.70239317e-02 1.46962028e+01] [ 2.38483377e-01 -9.14613746e-02 9.66830128e-01 -2.17375438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.597719421 meters Centerline goodness : 0.939665 Centerline is valid? [False, False] Translation: X:77.78, Y:14.69, Z:-2.17 [[ 8.37057530e-01 -4.81322087e-01 -2.60122550e-01 7.77760285e+01] [ 4.90100504e-01 8.70981959e-01 -3.45242537e-02 1.46907535e+01] [ 2.43179334e-01 -9.85874062e-02 9.64958204e-01 -2.17189580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.627719421 meters Centerline goodness : 0.940748 Centerline is valid? [False, False] Translation: X:77.76, Y:14.68, Z:-2.17 [[ 8.32751367e-01 -4.85713822e-01 -2.65720236e-01 7.77638900e+01] [ 4.95200366e-01 8.68079660e-01 -3.48468289e-02 1.46838547e+01] [ 2.47591918e-01 -1.02566014e-01 9.63420186e-01 -2.17174572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.657719421 meters Centerline goodness : 0.940083 Centerline is valid? [False, False] Translation: X:77.73, Y:14.66, Z:-2.18 [[ 8.32193782e-01 -4.83251540e-01 -2.71885010e-01 7.77332404e+01] [ 4.93279439e-01 8.69165667e-01 -3.50205581e-02 1.46648319e+01] [ 2.53236854e-01 -1.04971394e-01 9.61692311e-01 -2.17584986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.687719421 meters Centerline goodness : 0.940472 Centerline is valid? [False, False] Translation: X:77.70, Y:14.65, Z:-2.18 [[ 8.32193476e-01 -4.80982302e-01 -2.75880487e-01 7.76985722e+01] [ 4.93103788e-01 8.69504049e-01 -2.84844491e-02 1.46457300e+01] [ 2.53579716e-01 -1.12333140e-01 9.60769792e-01 -2.18435370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.717719421 meters Centerline goodness : 0.938309 Centerline is valid? [False, False] Translation: X:77.67, Y:14.63, Z:-2.19 [[ 8.32408449e-01 -4.78341883e-01 -2.79794956e-01 7.76697392e+01] [ 4.90026170e-01 8.71140035e-01 -3.14546088e-02 1.46277266e+01] [ 2.58786644e-01 -1.10923768e-01 9.59544366e-01 -2.18878353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.747719421 meters Centerline goodness : 0.936510 Centerline is valid? [False, False] Translation: X:77.64, Y:14.61, Z:-2.19 [[ 8.32812662e-01 -4.75890912e-01 -2.82755920e-01 7.76419170e+01] [ 4.87048797e-01 8.72702072e-01 -3.42718906e-02 1.46095208e+01] [ 2.63071358e-01 -1.09173866e-01 9.58579432e-01 -2.19378697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.777719421 meters Centerline goodness : 0.938761 Centerline is valid? [False, False] Translation: X:77.61, Y:14.59, Z:-2.20 [[ 8.32325646e-01 -4.73583683e-01 -2.88014782e-01 7.76104121e+01] [ 4.84605095e-01 8.73966208e-01 -3.66192555e-02 1.45931993e+01] [ 2.69057468e-01 -1.09094285e-01 9.56925554e-01 -2.19791632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.807719421 meters Centerline goodness : 0.939864 Centerline is valid? [False, False] Translation: X:77.57, Y:14.58, Z:-2.21 [[ 8.33913006e-01 -4.68260385e-01 -2.92098118e-01 7.75715385e+01] [ 4.82044272e-01 8.75710349e-01 -2.76533030e-02 1.45771867e+01] [ 2.68742291e-01 -1.17743775e-01 9.55988486e-01 -2.20583153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.837719421 meters Centerline goodness : 0.939959 Centerline is valid? [False, False] Translation: X:77.54, Y:14.56, Z:-2.21 [[ 8.34793365e-01 -4.64348002e-01 -2.95805629e-01 7.75379357e+01] [ 4.77903081e-01 8.77918969e-01 -2.94436527e-02 1.45606634e+01] [ 2.73365474e-01 -1.16787055e-01 9.54794272e-01 -2.21208602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86771942099999 meters Centerline goodness : 0.943365 Centerline is valid? [False, False] Translation: X:77.49, Y:14.54, Z:-2.22 [[ 8.36833888e-01 -4.62915597e-01 -2.92263911e-01 7.74918314e+01] [ 4.76969083e-01 8.78540728e-01 -2.58202025e-02 1.45419108e+01] [ 2.68718324e-01 -1.17793629e-01 9.55989081e-01 -2.22322648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89771942099999 meters Centerline goodness : 0.944067 Centerline is valid? [False, False] Translation: X:77.46, Y:14.53, Z:-2.23 [[ 8.38321919e-01 -4.64784467e-01 -2.84941676e-01 7.74566729e+01] [ 4.75960168e-01 8.78839555e-01 -3.32107701e-02 1.45252380e+01] [ 2.65853866e-01 -1.07779572e-01 9.57969355e-01 -2.23375743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92771942099999 meters Centerline goodness : 0.944879 Centerline is valid? [False, False] Translation: X:77.41, Y:14.51, Z:-2.24 [[ 8.37345351e-01 -4.69233936e-01 -2.80485787e-01 7.74126654e+01] [ 4.79614260e-01 8.76781711e-01 -3.49855969e-02 1.45064184e+01] [ 2.62341237e-01 -1.05229956e-01 9.59220377e-01 -2.24482676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.957719421 meters Centerline goodness : 0.947198 Centerline is valid? [False, False] Translation: X:77.38, Y:14.49, Z:-2.26 [[ 8.37053890e-01 -4.69134381e-01 -2.81520368e-01 7.73752795e+01] [ 4.80523811e-01 8.76407977e-01 -3.17163143e-02 1.44883872e+01] [ 2.61605910e-01 -1.08728976e-01 9.59030947e-01 -2.25577476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.987719421 meters Centerline goodness : 0.946621 Centerline is valid? [False, False] Translation: X:77.34, Y:14.47, Z:-2.27 [[ 8.37060360e-01 -4.68450264e-01 -2.82638114e-01 7.73369999e+01] [ 4.80701378e-01 8.76406972e-01 -2.89310205e-02 1.44708076e+01] [ 2.61258758e-01 -1.11647521e-01 9.58790223e-01 -2.26743067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.017719421 meters Centerline goodness : 0.946412 Centerline is valid? [False, False] Translation: X:77.29, Y:14.45, Z:-2.28 [[ 8.36525138e-01 -4.69113584e-01 -2.83122128e-01 7.72863046e+01] [ 4.83649256e-01 8.75014105e-01 -2.08257901e-02 1.44523320e+01] [ 2.57505516e-01 -1.19510510e-01 9.58857730e-01 -2.28393824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.047719421 meters Centerline goodness : 0.944361 Centerline is valid? [False, False] Translation: X:77.24, Y:14.44, Z:-2.30 [[ 8.37010798e-01 -4.70015532e-01 -2.80175524e-01 7.72436555e+01] [ 4.83816547e-01 8.74885101e-01 -2.23071336e-02 1.44359111e+01] [ 2.55606091e-01 -1.16882243e-01 9.59689568e-01 -2.29775045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.077719421 meters Centerline goodness : 0.944424 Centerline is valid? [False, False] Translation: X:77.20, Y:14.42, Z:-2.31 [[ 8.38346022e-01 -4.68842355e-01 -2.78141681e-01 7.72036994e+01] [ 4.82671679e-01 8.75548918e-01 -2.10271799e-02 1.44171235e+01] [ 2.53385080e-01 -1.16623059e-01 9.60309879e-01 -2.31151422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.107719421 meters Centerline goodness : 0.942699 Centerline is valid? [False, False] Translation: X:77.16, Y:14.40, Z:-2.33 [[ 8.40633447e-01 -4.66841601e-01 -2.74580275e-01 7.71617564e+01] [ 4.80238000e-01 8.76895369e-01 -2.06391823e-02 1.44031970e+01] [ 2.50413400e-01 -1.14513895e-01 9.61342653e-01 -2.32726667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.137719421 meters Centerline goodness : 0.942869 Centerline is valid? [False, False] Translation: X:77.12, Y:14.39, Z:-2.34 [[ 8.43166129e-01 -4.62865340e-01 -2.73544431e-01 7.71215091e+01] [ 4.76747769e-01 8.78863667e-01 -1.76130764e-02 1.43854050e+01] [ 2.48560744e-01 -1.15560948e-01 9.61698094e-01 -2.34130129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.167719421 meters Centerline goodness : 0.941754 Centerline is valid? [False, False] Translation: X:77.08, Y:14.37, Z:-2.36 [[ 8.46881824e-01 -4.56410089e-01 -2.72912086e-01 7.70801500e+01] [ 4.70472545e-01 8.82277487e-01 -1.55570206e-02 1.43734525e+01] [ 2.47884570e-01 -1.15222685e-01 9.61913184e-01 -2.35780666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.197719421 meters Centerline goodness : 0.939785 Centerline is valid? [False, False] Translation: X:77.05, Y:14.36, Z:-2.37 [[ 8.50231407e-01 -4.52019929e-01 -2.69786096e-01 7.70475423e+01] [ 4.64144934e-01 8.85512639e-01 -2.09008567e-02 1.43602194e+01] [ 2.48346602e-01 -1.07449285e-01 9.62693418e-01 -2.36959783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22771942099999 meters Centerline goodness : 0.938285 Centerline is valid? [False, False] Translation: X:77.02, Y:14.35, Z:-2.38 [[ 8.55133434e-01 -4.44835112e-01 -2.66211444e-01 7.70161663e+01] [ 4.55557654e-01 8.89892383e-01 -2.36383393e-02 1.43525724e+01] [ 2.47414699e-01 -1.01060727e-01 9.63624769e-01 -2.38229848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25771942099999 meters Centerline goodness : 0.940998 Centerline is valid? [False, False] Translation: X:76.98, Y:14.34, Z:-2.40 [[ 8.60954339e-01 -4.36186992e-01 -2.61722245e-01 7.69813884e+01] [ 4.45164926e-01 8.95033478e-01 -2.72628204e-02 1.43430633e+01] [ 2.46141859e-01 -9.30375202e-02 9.64758107e-01 -2.39553546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28771942099999 meters Centerline goodness : 0.939443 Centerline is valid? [False, False] Translation: X:76.95, Y:14.33, Z:-2.41 [[ 8.65320336e-01 -4.31051345e-01 -2.55764450e-01 7.69508078e+01] [ 4.38879223e-01 8.98086377e-01 -2.87382542e-02 1.43306166e+01] [ 2.42086231e-01 -8.73819073e-02 9.66311885e-01 -2.40693537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.31771942099999 meters Centerline goodness : 0.941403 Centerline is valid? [False, False] Translation: X:76.93, Y:14.32, Z:-2.41 [[ 8.67526207e-01 -4.28804384e-01 -2.52041823e-01 7.69275031e+01] [ 4.36730341e-01 8.99198982e-01 -2.66045112e-02 1.43238769e+01] [ 2.38043882e-01 -8.69942007e-02 9.67350567e-01 -2.41352422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.347719421 meters Centerline goodness : 0.943585 Centerline is valid? [False, False] Translation: X:76.91, Y:14.32, Z:-2.42 [[ 8.70575014e-01 -4.23197135e-01 -2.51004641e-01 7.69064562e+01] [ 4.32697718e-01 9.01340521e-01 -1.89195859e-02 1.43220049e+01] [ 2.34247369e-01 -9.21382167e-02 9.67800971e-01 -2.41607383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.377719421 meters Centerline goodness : 0.944709 Centerline is valid? [False, False] Translation: X:76.88, Y:14.31, Z:-2.43 [[ 8.74932953e-01 -4.17734798e-01 -2.44928494e-01 7.68770929e+01] [ 4.26548216e-01 9.04274383e-01 -1.85596457e-02 1.43095395e+01] [ 2.29235573e-01 -8.82353666e-02 9.69363488e-01 -2.42633012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.407719421 meters Centerline goodness : 0.944624 Centerline is valid? [False, False] Translation: X:76.87, Y:14.31, Z:-2.43 [[ 8.78127207e-01 -4.09723872e-01 -2.47020157e-01 7.68729523e+01] [ 4.19793428e-01 9.07527024e-01 -1.29683961e-02 1.43138814e+01] [ 2.29490929e-01 -9.23095370e-02 9.68923559e-01 -2.42600785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.437719421 meters Centerline goodness : 0.944828 Centerline is valid? [False, False] Translation: X:76.87, Y:14.32, Z:-2.43 [[ 8.79241173e-01 -4.06950492e-01 -2.47641387e-01 7.68708911e+01] [ 4.17391537e-01 9.08656881e-01 -1.12684722e-02 1.43163866e+01] [ 2.29606761e-01 -9.34557144e-02 9.68786233e-01 -2.42601234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.467719421 meters Centerline goodness : 0.947476 Centerline is valid? [False, False] Translation: X:76.85, Y:14.31, Z:-2.44 [[ 8.83934134e-01 -3.99543330e-01 -2.42951794e-01 7.68547437e+01] [ 4.07632238e-01 9.12962627e-01 -1.83084824e-02 1.43114055e+01] [ 2.29120940e-01 -8.28514913e-02 9.69865571e-01 -2.43516322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.497719421 meters Centerline goodness : 0.945707 Centerline is valid? [False, False] Translation: X:76.85, Y:14.31, Z:-2.44 [[ 8.84503220e-01 -3.98328597e-01 -2.42875243e-01 7.68536314e+01] [ 4.06440289e-01 9.13499733e-01 -1.80146890e-02 1.43130342e+01] [ 2.29042235e-01 -8.27802335e-02 9.69890245e-01 -2.43556279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.527719421 meters Centerline goodness : 0.947219 Centerline is valid? [False, False] Translation: X:76.85, Y:14.32, Z:-2.44 [[ 8.86517598e-01 -3.93115101e-01 -2.44022675e-01 7.68526577e+01] [ 4.02030369e-01 9.15514278e-01 -1.43244514e-02 1.43150910e+01] [ 2.29037401e-01 -8.54056476e-02 9.69663727e-01 -2.43652478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.557719421 meters Centerline goodness : 0.948649 Centerline is valid? [False, False] Translation: X:76.85, Y:14.31, Z:-2.44 [[ 8.87194101e-01 -3.91454196e-01 -2.44233986e-01 7.68503736e+01] [ 4.00642475e-01 9.16141955e-01 -1.30201853e-02 1.43144972e+01] [ 2.28849807e-01 -8.62990769e-02 9.69628916e-01 -2.43543040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.587719421 meters Centerline goodness : 0.950705 Centerline is valid? [False, True] Translation: X:76.85, Y:14.31, Z:-2.43 [[ 8.87079413e-01 -3.92092045e-01 -2.43626647e-01 7.68472394e+01] [ 4.01175809e-01 9.15904291e-01 -1.33153949e-02 1.43106712e+01] [ 2.28359552e-01 -8.59253047e-02 9.69777684e-01 -2.43280805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61771942099999 meters Centerline goodness : 0.951295 Centerline is valid? [True, True] Translation: X:76.86, Y:14.34, Z:-2.45 [[ 8.88974775e-01 -4.11810869e-01 -2.00338857e-01 7.68649687e+01] [ 3.99276559e-01 9.11213462e-01 -1.01332406e-01 1.43447443e+01] [ 2.24281250e-01 1.00913429e-02 9.74472209e-01 -2.45268719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64771942099999 meters Centerline goodness : 0.954167 Centerline is valid? [True, True] Translation: X:76.89, Y:14.35, Z:-2.45 [[ 8.87222602e-01 -4.15059237e-01 -2.01399812e-01 7.68918747e+01] [ 4.02461685e-01 9.09746191e-01 -1.01913984e-01 1.43519964e+01] [ 2.25523053e-01 9.36468204e-03 9.74192823e-01 -2.44691388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67771942099999 meters Centerline goodness : 0.952816 Centerline is valid? [True, True] Translation: X:76.92, Y:14.36, Z:-2.44 [[ 8.86252983e-01 -4.17534801e-01 -2.00550092e-01 7.69177747e+01] [ 4.05087338e-01 9.08618542e-01 -1.01570633e-01 1.43631805e+01] [ 2.24632806e-01 8.77697416e-03 9.74403955e-01 -2.44295099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.707719421 meters Centerline goodness : 0.951832 Centerline is valid? [True, True] Translation: X:76.94, Y:14.37, Z:-2.44 [[ 8.83681728e-01 -4.22649639e-01 -2.01181228e-01 7.69444678e+01] [ 4.10232563e-01 9.06261415e-01 -1.01977899e-01 1.43724517e+01] [ 2.25423707e-01 7.58491509e-03 9.74231298e-01 -2.43985591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.737719421 meters Centerline goodness : 0.951386 Centerline is valid? [True, True] Translation: X:76.97, Y:14.38, Z:-2.43 [[ 8.81725487e-01 -4.26155588e-01 -2.02364970e-01 7.69697166e+01] [ 4.13660163e-01 9.04624232e-01 -1.02665810e-01 1.43822327e+01] [ 2.26815864e-01 6.81273512e-03 9.73913831e-01 -2.43426093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.767719421 meters Centerline goodness : 0.948360 Centerline is valid? [True, False] Translation: X:76.96, Y:14.37, Z:-2.44 [[ 8.78297212e-01 -4.32316547e-01 -2.04196989e-01 7.69570154e+01] [ 4.23062526e-01 9.01686991e-01 -8.93234006e-02 1.43666557e+01] [ 2.22737753e-01 -7.93560029e-03 9.74846101e-01 -2.43680476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.797719421 meters Centerline goodness : 0.949412 Centerline is valid? [False, False] Translation: X:76.94, Y:14.35, Z:-2.44 [[ 8.75014649e-01 -4.38125764e-01 -2.05900895e-01 7.69441995e+01] [ 4.32126717e-01 8.98626923e-01 -7.57374077e-02 1.43537910e+01] [ 2.18210597e-01 -2.27039363e-02 9.75637569e-01 -2.43955800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.827719421 meters Centerline goodness : 0.948588 Centerline is valid? [False, False] Translation: X:76.93, Y:14.34, Z:-2.44 [[ 8.72147489e-01 -4.41175612e-01 -2.11477746e-01 7.69283751e+01] [ 4.38159939e-01 8.96647899e-01 -6.35485102e-02 1.43445688e+01] [ 2.17657129e-01 -3.72374025e-02 9.75314693e-01 -2.44271863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.857719421 meters Centerline goodness : 0.946661 Centerline is valid? [False, False] Translation: X:76.91, Y:14.34, Z:-2.45 [[ 8.70166032e-01 -4.42320737e-01 -2.17171458e-01 7.69138183e+01] [ 4.42755802e-01 8.95279971e-01 -4.94072167e-02 1.43358335e+01] [ 2.16283093e-01 -5.31614411e-02 9.74882293e-01 -2.44651191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.887719421 meters Centerline goodness : 0.943669 Centerline is valid? [False, False] Translation: X:76.89, Y:14.32, Z:-2.45 [[ 8.66986827e-01 -4.45212931e-01 -2.23873373e-01 7.68928998e+01] [ 4.48454655e-01 8.92950824e-01 -3.90800176e-02 1.43247352e+01] [ 2.17306842e-01 -6.65151958e-02 9.73834414e-01 -2.44918641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.917719421 meters Centerline goodness : 0.942224 Centerline is valid? [False, False] Translation: X:76.88, Y:14.32, Z:-2.45 [[ 8.64264022e-01 -4.47995192e-01 -2.28796871e-01 7.68823796e+01] [ 4.52546769e-01 8.91043963e-01 -3.52431407e-02 1.43188079e+01] [ 2.19656828e-01 -7.30819061e-02 9.72836015e-01 -2.44824383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.947719421 meters Centerline goodness : 0.938088 Centerline is valid? [False, False] Translation: X:76.85, Y:14.30, Z:-2.46 [[ 8.62832909e-01 -4.50517198e-01 -2.29245776e-01 7.68503737e+01] [ 4.56239469e-01 8.89332796e-01 -3.05405454e-02 1.42990425e+01] [ 2.17634828e-01 -7.82395834e-02 9.72889331e-01 -2.45513027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97771942099999 meters Centerline goodness : 0.938088 Centerline is valid? [False, False] Translation: X:76.84, Y:14.29, Z:-2.46 [[ 8.60568129e-01 -4.52795635e-01 -2.33235093e-01 7.68394007e+01] [ 4.59900600e-01 8.87582898e-01 -2.62304571e-02 1.42947533e+01] [ 2.18892517e-01 -8.46918640e-02 9.72066538e-01 -2.45525942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00771942099999 meters Centerline goodness : 0.938224 Centerline is valid? [False, False] Translation: X:76.81, Y:14.28, Z:-2.46 [[ 8.58846884e-01 -4.53983299e-01 -2.37236580e-01 7.68115431e+01] [ 4.62992344e-01 8.86145017e-01 -1.96238977e-02 1.42822337e+01] [ 2.19134935e-01 -9.29847968e-02 9.71253678e-01 -2.46237938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03771942099999 meters Centerline goodness : 0.935199 Centerline is valid? [False, False] Translation: X:76.80, Y:14.28, Z:-2.46 [[ 8.56476559e-01 -4.56945009e-01 -2.40102402e-01 7.67983225e+01] [ 4.66942447e-01 8.84125120e-01 -1.69565162e-02 1.42776901e+01] [ 2.20028761e-01 -9.75911447e-02 9.70599461e-01 -2.46317809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06771942099999 meters Centerline goodness : 0.935231 Centerline is valid? [False, False] Translation: X:76.76, Y:14.26, Z:-2.48 [[ 8.55975098e-01 -4.60273564e-01 -2.35488595e-01 7.67630225e+01] [ 4.70171637e-01 8.82434669e-01 -1.57380755e-02 1.42597213e+01] [ 2.15047121e-01 -9.72486576e-02 9.71749677e-01 -2.47514793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.097719421 meters Centerline goodness : 0.936057 Centerline is valid? [False, False] Translation: X:76.74, Y:14.25, Z:-2.48 [[ 8.51673388e-01 -4.70225092e-01 -2.31388857e-01 7.67436178e+01] [ 4.81133839e-01 8.76584599e-01 -1.04723605e-02 1.42522076e+01] [ 2.07756275e-01 -1.02409978e-01 9.72804979e-01 -2.48013912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.127719421 meters Centerline goodness : 0.936695 Centerline is valid? [False, False] Translation: X:76.71, Y:14.23, Z:-2.49 [[ 8.49744898e-01 -4.75416919e-01 -2.27842845e-01 7.67075250e+01] [ 4.85995785e-01 8.73892768e-01 -1.09328376e-02 1.42333568e+01] [ 2.04307871e-01 -1.01440539e-01 9.73636539e-01 -2.49050669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.157719421 meters Centerline goodness : 0.936324 Centerline is valid? [False, False] Translation: X:76.67, Y:14.21, Z:-2.50 [[ 8.49804520e-01 -4.76029094e-01 -2.26337315e-01 7.66719107e+01] [ 4.87010206e-01 8.73356791e-01 -8.30515969e-03 1.42148700e+01] [ 2.01626729e-01 -1.03170820e-01 9.74013575e-01 -2.50130798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.187719421 meters Centerline goodness : 0.935840 Centerline is valid? [False, False] Translation: X:76.64, Y:14.20, Z:-2.51 [[ 8.50500043e-01 -4.75309237e-01 -2.25235003e-01 7.66355920e+01] [ 4.86509180e-01 8.73650814e-01 -6.56302881e-03 1.41963815e+01] [ 1.99896212e-01 -1.03997040e-01 9.74282362e-01 -2.51328241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.217719421 meters Centerline goodness : 0.934928 Centerline is valid? [False, False] Translation: X:76.60, Y:14.18, Z:-2.53 [[ 8.51206824e-01 -4.74108486e-01 -2.25095724e-01 7.65995759e+01] [ 4.85401468e-01 8.74271636e-01 -5.87554388e-03 1.41824958e+01] [ 1.99580452e-01 -1.04260492e-01 9.74318938e-01 -2.52694372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.247719421 meters Centerline goodness : 0.934009 Centerline is valid? [False, False] Translation: X:76.56, Y:14.17, Z:-2.54 [[ 8.52233752e-01 -4.74069713e-01 -2.21258985e-01 7.65622913e+01] [ 4.84966404e-01 8.74513774e-01 -5.76589431e-03 1.41702170e+01] [ 1.96227466e-01 -1.02389285e-01 9.75198039e-01 -2.54144674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.277719421 meters Centerline goodness : 0.931735 Centerline is valid? [False, False] Translation: X:76.52, Y:14.15, Z:-2.55 [[ 8.54151593e-01 -4.72221918e-01 -2.17787779e-01 7.65238341e+01] [ 4.83110300e-01 8.75551693e-01 -3.69748773e-03 1.41541279e+01] [ 1.92430493e-01 -1.02057304e-01 9.75989145e-01 -2.55441574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.307719421 meters Centerline goodness : 0.932942 Centerline is valid? [False, False] Translation: X:76.50, Y:14.15, Z:-2.56 [[ 8.56970122e-01 -4.68780828e-01 -2.14118532e-01 7.64965599e+01] [ 4.78582454e-01 8.78015915e-01 -6.84744014e-03 1.41506813e+01] [ 1.91209428e-01 -9.66053208e-02 9.76783685e-01 -2.56400280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.337719421 meters Centerline goodness : 0.933293 Centerline is valid? [False, False] Translation: X:76.47, Y:14.14, Z:-2.57 [[ 8.59496684e-01 -4.66651480e-01 -2.08570962e-01 7.64668076e+01] [ 4.74549006e-01 8.80123920e-01 -1.36060766e-02 1.41387039e+01] [ 1.89917589e-01 -8.72827653e-02 9.77912587e-01 -2.57390000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36771942099999 meters Centerline goodness : 0.933862 Centerline is valid? [False, False] Translation: X:76.44, Y:14.13, Z:-2.58 [[ 8.62010280e-01 -4.64376977e-01 -2.03205070e-01 7.64380697e+01] [ 4.70503689e-01 8.82169543e-01 -2.00792659e-02 1.41306835e+01] [ 1.88585672e-01 -7.83002013e-02 9.78930295e-01 -2.58438075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39771942099999 meters Centerline goodness : 0.933979 Centerline is valid? [False, False] Translation: X:76.42, Y:14.13, Z:-2.59 [[ 8.61364361e-01 -4.65348094e-01 -2.03721843e-01 7.64169608e+01] [ 4.73187184e-01 8.80887491e-01 -1.14506084e-02 1.41253237e+01] [ 1.84784542e-01 -8.65354191e-02 9.78961845e-01 -2.59103469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42771942099999 meters Centerline goodness : 0.934424 Centerline is valid? [False, False] Translation: X:76.38, Y:14.12, Z:-2.60 [[ 8.60710217e-01 -4.65750178e-01 -2.05559466e-01 7.63833330e+01] [ 4.74369824e-01 8.80286868e-01 -8.26433181e-03 1.41185609e+01] [ 1.84800412e-01 -9.03980127e-02 9.78609732e-01 -2.59949675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.457719421 meters Centerline goodness : 0.936812 Centerline is valid? [False, False] Translation: X:76.36, Y:14.11, Z:-2.60 [[ 8.59161091e-01 -4.69447542e-01 -2.03620297e-01 7.63646485e+01] [ 4.77557162e-01 8.78538454e-01 -1.04566443e-02 1.41139863e+01] [ 1.83797106e-01 -8.82563891e-02 9.78994093e-01 -2.60279506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.487719421 meters Centerline goodness : 0.936591 Centerline is valid? [False, False] Translation: X:76.33, Y:14.10, Z:-2.61 [[ 8.58591185e-01 -4.72971292e-01 -1.97786081e-01 7.63260393e+01] [ 4.80462485e-01 8.76941668e-01 -1.13626789e-02 1.40990203e+01] [ 1.78821077e-01 -8.52728961e-02 9.80179349e-01 -2.61350261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.517719421 meters Centerline goodness : 0.939444 Centerline is valid? [False, False] Translation: X:76.29, Y:14.08, Z:-2.62 [[ 8.58785230e-01 -4.74395769e-01 -1.93485359e-01 7.62895703e+01] [ 4.81820557e-01 8.76215319e-01 -9.78090753e-03 1.40836044e+01] [ 1.74174857e-01 -8.48255246e-02 9.81054407e-01 -2.62407580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.547719421 meters Centerline goodness : 0.942558 Centerline is valid? [False, False] Translation: X:76.25, Y:14.07, Z:-2.63 [[ 8.58815409e-01 -4.76630779e-01 -1.87774313e-01 7.62496456e+01] [ 4.84028659e-01 8.75021684e-01 -7.30129731e-03 1.40724680e+01] [ 1.67786618e-01 -8.46176822e-02 9.82185063e-01 -2.63361809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.577719421 meters Centerline goodness : 0.944375 Centerline is valid? [False, False] Translation: X:76.21, Y:14.06, Z:-2.64 [[ 8.60263052e-01 -4.75089537e-01 -1.85033545e-01 7.62102792e+01] [ 4.82616412e-01 8.75817877e-01 -4.94420069e-03 1.40561895e+01] [ 1.64404625e-01 -8.50469124e-02 9.82719768e-01 -2.64324584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.607719421 meters Centerline goodness : 0.944449 Centerline is valid? [False, False] Translation: X:76.18, Y:14.05, Z:-2.65 [[ 8.59841702e-01 -4.76314788e-01 -1.83838163e-01 7.61752147e+01] [ 4.83614631e-01 8.75261751e-01 -5.80993999e-03 1.40508374e+01] [ 1.63673873e-01 -8.39111966e-02 9.82939354e-01 -2.65340733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.637719421 meters Centerline goodness : 0.945388 Centerline is valid? [False, False] Translation: X:76.14, Y:14.04, Z:-2.66 [[ 8.60969011e-01 -4.74684209e-01 -1.82776541e-01 7.61387829e+01] [ 4.81939705e-01 8.76188062e-01 -5.34798394e-03 1.40373379e+01] [ 1.62685227e-01 -8.34828239e-02 9.83139937e-01 -2.66378194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.667719421 meters Centerline goodness : 0.946201 Centerline is valid? [False, False] Translation: X:76.10, Y:14.03, Z:-2.67 [[ 8.60378386e-01 -4.76301450e-01 -1.81344871e-01 7.61043783e+01] [ 4.82971756e-01 8.75596373e-01 -8.32315858e-03 1.40327669e+01] [ 1.62749243e-01 -8.04233848e-02 9.83384341e-01 -2.67427164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.697719421 meters Centerline goodness : 0.945919 Centerline is valid? [False, False] Translation: X:76.07, Y:14.02, Z:-2.68 [[ 8.61051195e-01 -4.75330343e-01 -1.80698380e-01 7.60686681e+01] [ 4.82132324e-01 8.76069687e-01 -7.09409057e-03 1.40201529e+01] [ 1.61676410e-01 -8.10121547e-02 9.83512974e-01 -2.68329958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72771942099999 meters Centerline goodness : 0.951548 Centerline is valid? [False, True] Translation: X:76.03, Y:14.02, Z:-2.69 [[ 8.61566075e-01 -4.74471659e-01 -1.80500812e-01 7.60325617e+01] [ 4.81463267e-01 8.76447439e-01 -5.74542176e-03 1.40175117e+01] [ 1.60925514e-01 -8.19544499e-02 9.83558055e-01 -2.69206304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75771942099999 meters Centerline goodness : 0.952264 Centerline is valid? [True, True] Translation: X:76.04, Y:14.06, Z:-2.70 [[ 8.61318466e-01 -4.85861175e-01 -1.48557800e-01 7.60448281e+01] [ 4.80452274e-01 8.73993091e-01 -7.28126993e-02 1.40562688e+01] [ 1.65215354e-01 -8.66001030e-03 9.86219494e-01 -2.69804660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78771942099999 meters Centerline goodness : 0.950883 Centerline is valid? [True, True] Translation: X:76.06, Y:14.08, Z:-2.69 [[ 8.62037089e-01 -4.84165933e-01 -1.49918000e-01 7.60641267e+01] [ 4.78623407e-01 8.74936160e-01 -7.35278907e-02 1.40799788e+01] [ 1.66768379e-01 -8.37049528e-03 9.85960568e-01 -2.69295466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.81771942099999 meters Centerline goodness : 0.952744 Centerline is valid? [True, True] Translation: X:76.08, Y:14.10, Z:-2.69 [[ 8.63857661e-01 -4.80950578e-01 -1.49788127e-01 7.60827138e+01] [ 4.75358696e-01 8.76714035e-01 -7.35296586e-02 1.41035761e+01] [ 1.66685485e-01 -7.68393008e-03 9.85980175e-01 -2.68947559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.847719421 meters Centerline goodness : 0.952232 Centerline is valid? [True, True] Translation: X:76.10, Y:14.12, Z:-2.69 [[ 8.64995890e-01 -4.78942834e-01 -1.49652505e-01 7.61047189e+01] [ 4.73326052e-01 8.77816054e-01 -7.34943860e-02 1.41219632e+01] [ 1.66566981e-01 -7.26208744e-03 9.86003399e-01 -2.68518198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.877719421 meters Centerline goodness : 0.953691 Centerline is valid? [True, True] Translation: X:76.12, Y:14.15, Z:-2.68 [[ 8.68480175e-01 -4.72187438e-01 -1.50934451e-01 7.61239770e+01] [ 4.66360418e-01 8.81478049e-01 -7.41917069e-02 1.41454673e+01] [ 1.68077797e-01 -5.95582700e-03 9.85755742e-01 -2.67984466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.907719421 meters Centerline goodness : 0.952859 Centerline is valid? [True, True] Translation: X:76.15, Y:14.16, Z:-2.68 [[ 8.71027403e-01 -4.67386019e-01 -1.51200440e-01 7.61455691e+01] [ 4.61455065e-01 8.84039328e-01 -7.43887762e-02 1.41623020e+01] [ 1.68435409e-01 -4.97754626e-03 9.85700125e-01 -2.67533017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.937719421 meters Centerline goodness : 0.951971 Centerline is valid? [True, True] Translation: X:76.17, Y:14.18, Z:-2.67 [[ 8.76172588e-01 -4.56942886e-01 -1.53377947e-01 7.61654427e+01] [ 4.50673789e-01 8.89491043e-01 -7.54905381e-02 1.41829160e+01] [ 1.70923174e-01 -2.98068017e-03 9.85279851e-01 -2.67156352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.967719421 meters Centerline goodness : 0.952048 Centerline is valid? [True, True] Translation: X:76.19, Y:14.20, Z:-2.67 [[ 8.78380517e-01 -4.52320044e-01 -1.54448197e-01 7.61878093e+01] [ 4.45885711e-01 8.91853302e-01 -7.60501152e-02 1.41990257e+01] [ 1.72144126e-01 -2.06530447e-03 9.85069609e-01 -2.66734322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.997719421 meters Centerline goodness : 0.952349 Centerline is valid? [True, True] Translation: X:76.21, Y:14.22, Z:-2.66 [[ 8.83125987e-01 -4.42811085e-01 -1.54941390e-01 7.62083636e+01] [ 4.36177460e-01 8.96614924e-01 -7.63603388e-02 1.42190369e+01] [ 1.72735967e-01 -1.46142413e-04 9.84968154e-01 -2.66345568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.027719421 meters Centerline goodness : 0.951457 Centerline is valid? [True, True] Translation: X:76.23, Y:14.23, Z:-2.66 [[ 8.85137400e-01 -4.38550667e-01 -1.55579871e-01 7.62299784e+01] [ 4.31784351e-01 8.98706152e-01 -7.67432475e-02 1.42343519e+01] [ 1.73476390e-01 7.51364865e-04 9.84837742e-01 -2.65911685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.057719421 meters Centerline goodness : 0.949734 Centerline is valid? [True, False] Translation: X:76.23, Y:14.24, Z:-2.66 [[ 8.87690614e-01 -4.32860681e-01 -1.56961796e-01 7.62276251e+01] [ 4.26642131e-01 9.01458516e-01 -7.31371098e-02 1.42365410e+01] [ 1.73152727e-01 -2.04338929e-03 9.84892866e-01 -2.65827153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.087719421 meters Centerline goodness : 0.950378 Centerline is valid? [False, True] Translation: X:76.22, Y:14.23, Z:-2.66 [[ 8.87927676e-01 -4.31891552e-01 -1.58284965e-01 7.62198935e+01] [ 4.27077631e-01 9.01871885e-01 -6.50522876e-02 1.42319880e+01] [ 1.70848294e-01 -9.83824157e-03 9.85248227e-01 -2.66012491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11771942099999 meters Centerline goodness : 0.951048 Centerline is valid? [True, True] Translation: X:76.24, Y:14.25, Z:-2.66 [[ 8.88582379e-01 -4.32252657e-01 -1.53554538e-01 7.62438696e+01] [ 4.25378106e-01 9.01747677e-01 -7.68413592e-02 1.42455530e+01] [ 1.71682329e-01 2.96113944e-03 9.85147912e-01 -2.65695719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14771942099999 meters Centerline goodness : 0.954044 Centerline is valid? [True, True] Translation: X:76.27, Y:14.26, Z:-2.65 [[ 8.89106239e-01 -4.31660735e-01 -1.52181161e-01 7.62686544e+01] [ 4.24889656e-01 9.02030685e-01 -7.62195790e-02 1.42570413e+01] [ 1.70173076e-01 3.10710211e-03 9.85409291e-01 -2.65375758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17771942099999 meters Centerline goodness : 0.956193 Centerline is valid? [True, True] Translation: X:76.29, Y:14.27, Z:-2.65 [[ 8.88921163e-01 -4.33117116e-01 -1.49093024e-01 7.62938067e+01] [ 4.26634971e-01 9.01333307e-01 -7.47052238e-02 1.42686049e+01] [ 1.66738620e-01 2.79875637e-03 9.85997160e-01 -2.65109110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.207719421 meters Centerline goodness : 0.954336 Centerline is valid? [True, True] Translation: X:76.32, Y:14.28, Z:-2.65 [[ 8.88562475e-01 -4.33662251e-01 -1.49645512e-01 7.63187022e+01] [ 4.27128267e-01 9.01071252e-01 -7.50469387e-02 1.42793815e+01] [ 1.67386293e-01 2.76606559e-03 9.85887508e-01 -2.64729461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.237719421 meters Centerline goodness : 0.952641 Centerline is valid? [True, True] Translation: X:76.35, Y:14.29, Z:-2.64 [[ 8.87202995e-01 -4.35641600e-01 -1.51944866e-01 7.63456806e+01] [ 4.28927268e-01 9.00116855e-01 -7.62302145e-02 1.42859646e+01] [ 1.69977187e-01 2.45837837e-03 9.85444931e-01 -2.64406375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.267719421 meters Centerline goodness : 0.951450 Centerline is valid? [True, True] Translation: X:76.37, Y:14.30, Z:-2.64 [[ 8.86760037e-01 -4.36278666e-01 -1.52700892e-01 7.63719179e+01] [ 4.29500481e-01 8.99808462e-01 -7.66424691e-02 1.42955735e+01] [ 1.70839029e-01 2.37837227e-03 9.85296082e-01 -2.63969792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.297719421 meters Centerline goodness : 0.953622 Centerline is valid? [True, True] Translation: X:76.40, Y:14.30, Z:-2.64 [[ 8.86240614e-01 -4.37503257e-01 -1.52211939e-01 7.63996789e+01] [ 4.30775119e-01 8.99214144e-01 -7.64638473e-02 1.43025048e+01] [ 1.70324310e-01 2.19625094e-03 9.85385613e-01 -2.63607620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.327719421 meters Centerline goodness : 0.953884 Centerline is valid? [True, True] Translation: X:76.42, Y:14.31, Z:-2.63 [[ 8.85695153e-01 -4.38492981e-01 -1.52538525e-01 7.64248505e+01] [ 4.31738871e-01 8.98732229e-01 -7.66937326e-02 1.43114036e+01] [ 1.70720952e-01 2.07045659e-03 9.85317243e-01 -2.63225797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.357719421 meters Centerline goodness : 0.955596 Centerline is valid? [True, True] Translation: X:76.45, Y:14.32, Z:-2.63 [[ 8.84622710e-01 -4.40412466e-01 -1.53230283e-01 7.64506062e+01] [ 4.33618990e-01 8.97793870e-01 -7.70761878e-02 1.43217997e+01] [ 1.71514523e-01 1.73978542e-03 9.85180055e-01 -2.62796281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.387719421 meters Centerline goodness : 0.955954 Centerline is valid? [True, True] Translation: X:76.48, Y:14.33, Z:-2.62 [[ 8.82731250e-01 -4.44595980e-01 -1.52052473e-01 7.64770719e+01] [ 4.37957752e-01 8.95730683e-01 -7.65477006e-02 1.43280293e+01] [ 1.70230866e-01 9.78487977e-04 9.85403722e-01 -2.62465695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.417719421 meters Centerline goodness : 0.954988 Centerline is valid? [True, True] Translation: X:76.50, Y:14.34, Z:-2.62 [[ 8.78848943e-01 -4.52855328e-01 -1.50155209e-01 7.65039878e+01] [ 4.46496568e-01 8.91583823e-01 -7.56247382e-02 1.43354660e+01] [ 1.68123021e-01 -5.81064208e-04 9.85765851e-01 -2.62060865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.447719421 meters Centerline goodness : 0.955401 Centerline is valid? [True, True] Translation: X:76.53, Y:14.35, Z:-2.62 [[ 8.76405101e-01 -4.57078384e-01 -1.51635911e-01 7.65294219e+01] [ 4.50643713e-01 8.89425402e-01 -7.64375441e-02 1.43457517e+01] [ 1.69806780e-01 -1.34351621e-03 9.85476460e-01 -2.61640967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47771942099999 meters Centerline goodness : 0.954894 Centerline is valid? [True, True] Translation: X:76.56, Y:14.35, Z:-2.61 [[ 8.73567585e-01 -4.62707759e-01 -1.50934438e-01 7.65565838e+01] [ 4.56404741e-01 8.86507719e-01 -7.61497020e-02 1.43530535e+01] [ 1.69039602e-01 -2.36528192e-03 9.85606422e-01 -2.61184542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50771942099999 meters Centerline goodness : 0.957132 Centerline is valid? [True, True] Translation: X:76.58, Y:14.36, Z:-2.61 [[ 8.72983604e-01 -4.64551486e-01 -1.48632243e-01 7.65820797e+01] [ 4.58456248e-01 8.85542230e-01 -7.50521641e-02 1.43633178e+01] [ 1.66485722e-01 -2.62207171e-03 9.86040379e-01 -2.60743441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53771942099999 meters Centerline goodness : 0.955989 Centerline is valid? [True, True] Translation: X:76.61, Y:14.37, Z:-2.60 [[ 8.73108844e-01 -4.64650981e-01 -1.47581886e-01 7.66071602e+01] [ 4.58633177e-01 8.85490192e-01 -7.45836995e-02 1.43736575e+01] [ 1.65337702e-01 -2.56626177e-03 9.86233673e-01 -2.60287680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56771942099999 meters Centerline goodness : 0.954917 Centerline is valid? [True, True] Translation: X:76.63, Y:14.38, Z:-2.60 [[ 8.73828140e-01 -4.62866193e-01 -1.48927061e-01 7.66316025e+01] [ 4.56704428e-01 8.86425406e-01 -7.53064814e-02 1.43842538e+01] [ 1.66869555e-01 -2.21072580e-03 9.85976503e-01 -2.59962934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.597719421 meters Centerline goodness : 0.954365 Centerline is valid? [True, True] Translation: X:76.66, Y:14.40, Z:-2.60 [[ 8.75247044e-01 -4.59198492e-01 -1.51918918e-01 7.66559870e+01] [ 4.52724301e-01 8.88332402e-01 -7.68521375e-02 1.43976730e+01] [ 1.70244883e-01 -1.51277983e-03 9.85400625e-01 -2.59551435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.627719421 meters Centerline goodness : 0.952782 Centerline is valid? [True, True] Translation: X:76.68, Y:14.41, Z:-2.59 [[ 8.76770529e-01 -4.56074802e-01 -1.52542499e-01 7.66802135e+01] [ 4.49488809e-01 8.89941037e-01 -7.72318633e-02 1.44095772e+01] [ 1.70977337e-01 -8.51524504e-04 9.85274594e-01 -2.59123605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.657719421 meters Centerline goodness : 0.954065 Centerline is valid? [True, True] Translation: X:76.71, Y:14.42, Z:-2.59 [[ 8.79496550e-01 -4.50657564e-01 -1.52949594e-01 7.67056907e+01] [ 4.43948656e-01 8.92696872e-01 -7.74718366e-02 1.44200608e+01] [ 1.71450894e-01 2.34446163e-04 9.85192639e-01 -2.58556594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.687719421 meters Centerline goodness : 0.956855 Centerline is valid? [True, True] Translation: X:76.73, Y:14.43, Z:-2.58 [[ 8.80658083e-01 -4.47912544e-01 -1.54323343e-01 7.67303612e+01] [ 4.41027546e-01 8.94076981e-01 -7.82371721e-02 1.44319761e+01] [ 1.73020359e-01 8.39352820e-04 9.84917890e-01 -2.58082325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.717719421 meters Centerline goodness : 0.956428 Centerline is valid? [True, True] Translation: X:76.75, Y:14.44, Z:-2.58 [[ 8.82185066e-01 -4.44968606e-01 -1.54118296e-01 7.67536554e+01] [ 4.38045675e-01 8.95544952e-01 -7.81999036e-02 1.44443116e+01] [ 1.72816364e-01 1.47593417e-03 9.84952956e-01 -2.57689576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.747719421 meters Centerline goodness : 0.959372 Centerline is valid? [True, True] Translation: X:76.78, Y:14.46, Z:-2.58 [[ 8.86667199e-01 -4.37152370e-01 -1.50728507e-01 7.67766592e+01] [ 4.30415242e-01 8.99382582e-01 -7.65094172e-02 1.44579816e+01] [ 1.69008866e-01 2.96254409e-03 9.85610078e-01 -2.57510138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.777719421 meters Centerline goodness : 0.957363 Centerline is valid? [True, True] Translation: X:76.80, Y:14.47, Z:-2.57 [[ 8.89721582e-01 -4.30303230e-01 -1.52429123e-01 7.68016342e+01] [ 4.23306110e-01 9.02673942e-01 -7.74060190e-02 1.44710449e+01] [ 1.70901857e-01 4.34562658e-03 9.85278474e-01 -2.57183443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.807719421 meters Centerline goodness : 0.957360 Centerline is valid? [True, True] Translation: X:76.83, Y:14.48, Z:-2.57 [[ 8.90720213e-01 -4.27796232e-01 -1.53648579e-01 7.68258092e+01] [ 4.20637651e-01 9.03861787e-01 -7.80886413e-02 1.44825577e+01] [ 1.72283106e-01 4.92475404e-03 9.85035166e-01 -2.56813756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.837719421 meters Centerline goodness : 0.955465 Centerline is valid? [True, True] Translation: X:76.85, Y:14.49, Z:-2.56 [[ 8.91700181e-01 -4.25507558e-01 -1.54318194e-01 7.68515096e+01] [ 4.18245941e-01 9.04938625e-01 -7.84628410e-02 1.44942188e+01] [ 1.73035026e-01 5.42237140e-03 9.84900745e-01 -2.56418780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86771942099999 meters Centerline goodness : 0.955465 Centerline is valid? [True, True] Translation: X:76.88, Y:14.51, Z:-2.56 [[ 8.91608977e-01 -4.25708196e-01 -1.54291815e-01 7.68765291e+01] [ 4.18440597e-01 9.04844137e-01 -7.85146810e-02 1.45071897e+01] [ 1.73034388e-01 5.44243523e-03 9.84900747e-01 -2.55984023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89771942099999 meters Centerline goodness : 0.954967 Centerline is valid? [True, True] Translation: X:76.90, Y:14.52, Z:-2.56 [[ 8.92713765e-01 -4.22958356e-01 -1.55461771e-01 7.69014287e+01] [ 4.15530060e-01 9.06128840e-01 -7.91536061e-02 1.45160261e+01] [ 1.74347073e-01 6.06247482e-03 9.84665600e-01 -2.55524219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92771942099999 meters Centerline goodness : 0.957434 Centerline is valid? [True, True] Translation: X:76.93, Y:14.53, Z:-2.55 [[ 8.93332362e-01 -4.21667131e-01 -1.55415961e-01 7.69267399e+01] [ 4.14216012e-01 9.06728440e-01 -7.91746952e-02 1.45260711e+01] [ 1.74305439e-01 6.35353784e-03 9.84671136e-01 -2.55101921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.957719421 meters Centerline goodness : 0.956417 Centerline is valid? [True, True] Translation: X:76.95, Y:14.54, Z:-2.55 [[ 8.94205002e-01 -4.19834560e-01 -1.55358801e-01 7.69531003e+01] [ 4.12355534e-01 9.07575627e-01 -7.91795112e-02 1.45361195e+01] [ 1.74242157e-01 6.73965361e-03 9.84679769e-01 -2.54657129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.987719421 meters Centerline goodness : 0.957137 Centerline is valid? [True, True] Translation: X:76.98, Y:14.55, Z:-2.54 [[ 8.94423390e-01 -4.19016971e-01 -1.56306036e-01 7.69786177e+01] [ 4.11421100e-01 9.07951377e-01 -7.97306414e-02 1.45477572e+01] [ 1.75326772e-01 7.00534952e-03 9.84485372e-01 -2.54203792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.017719421 meters Centerline goodness : 0.955989 Centerline is valid? [True, True] Translation: X:77.00, Y:14.55, Z:-2.54 [[ 8.95116491e-01 -4.17292293e-01 -1.56950978e-01 7.70049884e+01] [ 4.09595306e-01 9.08741923e-01 -8.01236666e-02 1.45544295e+01] [ 1.76062922e-01 7.43363143e-03 9.84350846e-01 -2.53819698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.047719421 meters Centerline goodness : 0.957430 Centerline is valid? [True, True] Translation: X:77.03, Y:14.56, Z:-2.53 [[ 8.95689688e-01 -4.16641183e-01 -1.55403050e-01 7.70342181e+01] [ 4.09080842e-01 9.09039948e-01 -7.93677315e-02 1.45585742e+01] [ 1.74335446e-01 7.51644821e-03 9.84657634e-01 -2.53404511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.077719421 meters Centerline goodness : 0.956385 Centerline is valid? [True, True] Translation: X:77.06, Y:14.57, Z:-2.53 [[ 8.95891124e-01 -4.16642776e-01 -1.54233238e-01 7.70599333e+01] [ 4.09185706e-01 9.09039219e-01 -7.88337259e-02 1.45674561e+01] [ 1.73049565e-01 7.51639881e-03 9.84884436e-01 -2.53001750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.107719421 meters Centerline goodness : 0.957599 Centerline is valid? [True, True] Translation: X:77.09, Y:14.58, Z:-2.53 [[ 8.95819670e-01 -4.16759490e-01 -1.54332904e-01 7.70857694e+01] [ 4.09288442e-01 9.08985601e-01 -7.89186139e-02 1.45771994e+01] [ 1.73176469e-01 7.53017278e-03 9.84862024e-01 -2.52623588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.137719421 meters Centerline goodness : 0.955328 Centerline is valid? [True, True] Translation: X:77.11, Y:14.58, Z:-2.52 [[ 8.95449430e-01 -4.16968258e-01 -1.55909555e-01 7.71138606e+01] [ 4.09333503e-01 9.08889013e-01 -7.97925161e-02 1.45823478e+01] [ 1.74975428e-01 7.63115869e-03 9.84543227e-01 -2.52136287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.167719421 meters Centerline goodness : 0.954734 Centerline is valid? [True, True] Translation: X:77.14, Y:14.59, Z:-2.52 [[ 8.94915659e-01 -4.17238760e-01 -1.58233308e-01 7.71428340e+01] [ 4.09364208e-01 9.08763783e-01 -8.10514190e-02 1.45855494e+01] [ 1.77614493e-01 7.75913141e-03 9.84069554e-01 -2.51635061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.197719421 meters Centerline goodness : 0.952467 Centerline is valid? [True, True] Translation: X:77.17, Y:14.59, Z:-2.51 [[ 8.94309345e-01 -4.17890952e-01 -1.59931072e-01 7.71692394e+01] [ 4.09842487e-01 9.08463894e-01 -8.19907885e-02 1.45948704e+01] [ 1.79554813e-01 7.77858010e-03 9.83717217e-01 -2.51136307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22771942099999 meters Centerline goodness : 0.950783 Centerline is valid? [True, True] Translation: X:77.19, Y:14.60, Z:-2.51 [[ 8.94014870e-01 -4.18008947e-01 -1.61263550e-01 7.71946880e+01] [ 4.09814683e-01 9.08408729e-01 -8.27375788e-02 1.46043868e+01] [ 1.81078265e-01 7.88045502e-03 9.83437116e-01 -2.50684826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25771942099999 meters Centerline goodness : 0.952685 Centerline is valid? [True, True] Translation: X:77.22, Y:14.61, Z:-2.50 [[ 8.94313429e-01 -4.18011785e-01 -1.59592102e-01 7.72209495e+01] [ 4.09982792e-01 9.08407922e-01 -8.19094460e-02 1.46109450e+01] [ 1.79213843e-01 7.82270206e-03 9.83779042e-01 -2.50308904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28771942099999 meters Centerline goodness : 0.952051 Centerline is valid? [True, True] Translation: X:77.25, Y:14.62, Z:-2.50 [[ 8.94535446e-01 -4.17432885e-01 -1.59862826e-01 7.72474984e+01] [ 4.09360795e-01 9.08672672e-01 -8.20835833e-02 1.46197706e+01] [ 1.79527368e-01 7.98510136e-03 9.83720571e-01 -2.49778614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.31771942099999 meters Centerline goodness : 0.955329 Centerline is valid? [True, True] Translation: X:77.27, Y:14.62, Z:-2.49 [[ 8.95115865e-01 -4.16469868e-01 -1.59123967e-01 7.72745547e+01] [ 4.08446740e-01 9.09112577e-01 -8.17654144e-02 1.46244961e+01] [ 1.78714431e-01 8.19585414e-03 9.83866851e-01 -2.49233108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.347719421 meters Centerline goodness : 0.953582 Centerline is valid? [True, True] Translation: X:77.30, Y:14.63, Z:-2.49 [[ 8.95567792e-01 -4.15331236e-01 -1.59556552e-01 7.73021948e+01] [ 4.07239823e-01 9.09630736e-01 -8.20222587e-02 1.46304429e+01] [ 1.79203950e-01 8.47871089e-03 9.83775409e-01 -2.48840230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.377719421 meters Centerline goodness : 0.950149 Centerline is valid? [True, True] Translation: X:77.33, Y:14.64, Z:-2.48 [[ 8.95972598e-01 -4.14391639e-01 -1.59726871e-01 7.73283127e+01] [ 4.06255970e-01 9.10056718e-01 -8.21757683e-02 1.46397124e+01] [ 1.79413463e-01 8.73724166e-03 9.83734959e-01 -2.48435992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.407719421 meters Centerline goodness : 0.953567 Centerline is valid? [True, True] Translation: X:77.36, Y:14.65, Z:-2.48 [[ 8.97152516e-01 -4.12263298e-01 -1.58607490e-01 7.73564927e+01] [ 4.04197269e-01 9.11018708e-01 -8.16668917e-02 1.46454260e+01] [ 1.78162653e-01 9.15894293e-03 9.83958425e-01 -2.48050046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.437719421 meters Centerline goodness : 0.951714 Centerline is valid? [True, True] Translation: X:77.38, Y:14.65, Z:-2.48 [[ 8.97493868e-01 -4.11347792e-01 -1.59052669e-01 7.73822579e+01] [ 4.03210298e-01 9.11429723e-01 -8.19592290e-02 1.46539802e+01] [ 1.78679078e-01 9.42623135e-03 9.83862253e-01 -2.47671500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.467719421 meters Centerline goodness : 0.949344 Centerline is valid? [True, False] Translation: X:77.38, Y:14.64, Z:-2.47 [[ 8.97277192e-01 -4.07098846e-01 -1.70775203e-01 7.73796398e+01] [ 4.00817863e-01 9.13373465e-01 -7.13719373e-02 1.46398559e+01] [ 1.85036972e-01 -4.40934034e-03 9.82721668e-01 -2.47440082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.497719421 meters Centerline goodness : 0.951299 Centerline is valid? [False, True] Translation: X:77.38, Y:14.64, Z:-2.47 [[ 8.97512189e-01 -4.06196600e-01 -1.71686323e-01 7.73813171e+01] [ 4.00182866e-01 9.13766169e-01 -6.98932268e-02 1.46362509e+01] [ 1.85271545e-01 -5.97590193e-03 9.82669193e-01 -2.47390618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.527719421 meters Centerline goodness : 0.949680 Centerline is valid? [True, False] Translation: X:77.37, Y:14.63, Z:-2.47 [[ 8.96814078e-01 -4.03476523e-01 -1.81469573e-01 7.73746792e+01] [ 3.99366401e-01 9.14805315e-01 -6.03134528e-02 1.46261612e+01] [ 1.90344392e-01 -1.83828969e-02 9.81545252e-01 -2.47155761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.557719421 meters Centerline goodness : 0.952255 Centerline is valid? [False, True] Translation: X:77.38, Y:14.62, Z:-2.47 [[ 8.97049263e-01 -4.02468347e-01 -1.82542731e-01 7.73767879e+01] [ 3.98807581e-01 9.15198330e-01 -5.80045713e-02 1.46195071e+01] [ 1.90407807e-01 -2.07664671e-02 9.81485416e-01 -2.47026360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.587719421 meters Centerline goodness : 0.948890 Centerline is valid? [True, False] Translation: X:77.37, Y:14.60, Z:-2.47 [[ 8.94178784e-01 -4.05341900e-01 -1.90111140e-01 7.73703109e+01] [ 4.02897754e-01 9.13702053e-01 -5.31220962e-02 1.46046290e+01] [ 1.95237551e-01 -2.90947001e-02 9.80324333e-01 -2.46707760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61771942099999 meters Centerline goodness : 0.949062 Centerline is valid? [False, False] Translation: X:77.36, Y:14.59, Z:-2.46 [[ 8.91654573e-01 -4.07210118e-01 -1.97818205e-01 7.73625971e+01] [ 4.06033132e-01 9.12577126e-01 -4.83744195e-02 1.45930570e+01] [ 2.00222922e-01 -3.71874729e-02 9.79044367e-01 -2.46479084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64771942099999 meters Centerline goodness : 0.949544 Centerline is valid? [False, False] Translation: X:77.36, Y:14.58, Z:-2.46 [[ 8.88010359e-01 -4.12099277e-01 -2.03989678e-01 7.73581511e+01] [ 4.12702331e-01 9.09914354e-01 -4.16251557e-02 1.45813468e+01] [ 2.02766833e-01 -4.72234463e-02 9.78087704e-01 -2.46260759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67771942099999 meters Centerline goodness : 0.947154 Centerline is valid? [False, False] Translation: X:77.35, Y:14.57, Z:-2.46 [[ 8.85765673e-01 -4.13287616e-01 -2.11216757e-01 7.73477777e+01] [ 4.15456986e-01 9.08893906e-01 -3.61574461e-02 1.45712908e+01] [ 2.06917048e-01 -5.57244528e-02 9.76770250e-01 -2.45997894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.707719421 meters Centerline goodness : 0.950410 Centerline is valid? [False, True] Translation: X:77.34, Y:14.56, Z:-2.46 [[ 8.83308936e-01 -4.14887834e-01 -2.18250793e-01 7.73380289e+01] [ 4.18543152e-01 9.07651168e-01 -3.14799346e-02 1.45613563e+01] [ 2.11156230e-01 -6.35408676e-02 9.75384850e-01 -2.45765040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.737719421 meters Centerline goodness : 0.945864 Centerline is valid? [True, False] Translation: X:77.33, Y:14.55, Z:-2.46 [[ 8.80499717e-01 -4.16788791e-01 -2.25848072e-01 7.73304230e+01] [ 4.21823603e-01 9.06248873e-01 -2.78895863e-02 1.45488331e+01] [ 2.16298628e-01 -7.07112746e-02 9.73763225e-01 -2.45549131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.767719421 meters Centerline goodness : 0.944026 Centerline is valid? [False, False] Translation: X:77.31, Y:14.53, Z:-2.46 [[ 8.82076870e-01 -4.12773979e-01 -2.27063951e-01 7.73094146e+01] [ 4.17818674e-01 9.08107366e-01 -2.77230407e-02 1.45295775e+01] [ 2.17641796e-01 -7.04177059e-02 9.73485180e-01 -2.46148555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.797719421 meters Centerline goodness : 0.942415 Centerline is valid? [False, False] Translation: X:77.31, Y:14.53, Z:-2.46 [[ 8.82490118e-01 -4.11621814e-01 -2.27549276e-01 7.73098161e+01] [ 4.16907204e-01 9.08558075e-01 -2.66572380e-02 1.45274345e+01] [ 2.17714432e-01 -7.13421831e-02 9.73401623e-01 -2.46093930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.827719421 meters Centerline goodness : 0.944222 Centerline is valid? [False, False] Translation: X:77.30, Y:14.52, Z:-2.47 [[ 8.85869000e-01 -4.06667997e-01 -2.23287383e-01 7.72991356e+01] [ 4.10579862e-01 9.11304152e-01 -3.08045284e-02 1.45160723e+01] [ 2.16009935e-01 -6.43885262e-02 9.74265788e-01 -2.46682942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.857719421 meters Centerline goodness : 0.945805 Centerline is valid? [False, False] Translation: X:77.30, Y:14.51, Z:-2.47 [[ 8.86268230e-01 -4.05542670e-01 -2.23749338e-01 7.72993964e+01] [ 4.09690970e-01 9.11739616e-01 -2.97351817e-02 1.45142413e+01] [ 2.16060021e-01 -6.53147367e-02 9.74193026e-01 -2.46633492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.887719421 meters Centerline goodness : 0.945205 Centerline is valid? [False, False] Translation: X:77.30, Y:14.51, Z:-2.47 [[ 8.87075303e-01 -4.03441622e-01 -2.24348535e-01 7.72990944e+01] [ 4.08012357e-01 9.12554686e-01 -2.77463688e-02 1.45116910e+01] [ 2.15924347e-01 -6.69238563e-02 9.74113892e-01 -2.46569436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.917719421 meters Centerline goodness : 0.942045 Centerline is valid? [False, False] Translation: X:77.30, Y:14.51, Z:-2.47 [[ 8.87328122e-01 -4.02689185e-01 -2.24700300e-01 7.72998104e+01] [ 4.07444553e-01 9.12832832e-01 -2.69287533e-02 1.45101851e+01] [ 2.15957728e-01 -6.76582729e-02 9.74055757e-01 -2.46560828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.947719421 meters Centerline goodness : 0.941609 Centerline is valid? [False, False] Translation: X:77.28, Y:14.49, Z:-2.47 [[ 8.89643575e-01 -4.00792345e-01 -2.18860244e-01 7.72825436e+01] [ 4.02465945e-01 9.14607543e-01 -3.89127795e-02 1.44929690e+01] [ 2.15767174e-01 -5.34652905e-02 9.74979994e-01 -2.47258418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97771942099999 meters Centerline goodness : 0.942738 Centerline is valid? [False, False] Translation: X:77.28, Y:14.49, Z:-2.47 [[ 8.89020544e-01 -4.02688327e-01 -2.17909578e-01 7.72814448e+01] [ 4.04017221e-01 9.13855597e-01 -4.04726222e-02 1.44897474e+01] [ 2.15435740e-01 -5.20582296e-02 9.75129418e-01 -2.47122672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.007719421 meters Centerline goodness : 0.947625 Centerline is valid? [False, False] Translation: X:77.28, Y:14.49, Z:-2.47 [[ 8.89674366e-01 -4.00913854e-01 -2.18512252e-01 7.72812838e+01] [ 4.02653258e-01 9.14540815e-01 -3.85415468e-02 1.44862569e+01] [ 2.15290213e-01 -5.36952441e-02 9.75072789e-01 -2.47022715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.037719421 meters Centerline goodness : 0.947357 Centerline is valid? [False, False] Translation: X:77.28, Y:14.49, Z:-2.47 [[ 8.89999548e-01 -4.00115697e-01 -2.18650938e-01 7.72809418e+01] [ 4.02006311e-01 9.14856683e-01 -3.77912144e-02 1.44855967e+01] [ 2.15155130e-01 -5.42648933e-02 9.75071070e-01 -2.47008737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.067719421 meters Centerline goodness : 0.948383 Centerline is valid? [False, False] Translation: X:77.28, Y:14.48, Z:-2.47 [[ 8.90349605e-01 -3.99153519e-01 -2.18984128e-01 7.72809440e+01] [ 4.01262507e-01 9.15224896e-01 -3.67667006e-02 1.44838492e+01] [ 2.15095284e-01 -5.51349027e-02 9.75035467e-01 -2.46962024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.097719421 meters Centerline goodness : 0.946907 Centerline is valid? [False, False] Translation: X:77.28, Y:14.48, Z:-2.47 [[ 8.90078250e-01 -3.99840628e-01 -2.18833683e-01 7.72826932e+01] [ 4.01837309e-01 9.14950136e-01 -3.73232688e-02 1.44796190e+01] [ 2.15145267e-01 -5.47149085e-02 9.75048098e-01 -2.46928848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.127719421 meters Centerline goodness : 0.944680 Centerline is valid? [False, False] Translation: X:77.28, Y:14.47, Z:-2.47 [[ 8.88381296e-01 -3.98687072e-01 -2.27656082e-01 7.72750802e+01] [ 4.02402189e-01 9.14905179e-01 -3.19529754e-02 1.44702105e+01] [ 2.21022966e-01 -6.32228798e-02 9.73217199e-01 -2.46867232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.157719421 meters Centerline goodness : 0.943922 Centerline is valid? [False, False] Translation: X:77.28, Y:14.47, Z:-2.47 [[ 8.88510676e-01 -3.98222036e-01 -2.27964886e-01 7.72759870e+01] [ 4.02085083e-01 9.15066061e-01 -3.13319349e-02 1.44683996e+01] [ 2.21079997e-01 -6.38225214e-02 9.73165105e-01 -2.46849890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.187719421 meters Centerline goodness : 0.945669 Centerline is valid? [False, False] Translation: X:77.28, Y:14.46, Z:-2.47 [[ 8.87615832e-01 -4.00729620e-01 -2.27054852e-01 7.72763146e+01] [ 4.04203490e-01 9.14069683e-01 -3.31082073e-02 1.44648660e+01] [ 2.20811396e-01 -6.23889948e-02 9.73319033e-01 -2.46769577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.217719421 meters Centerline goodness : 0.944274 Centerline is valid? [False, False] Translation: X:77.28, Y:14.46, Z:-2.47 [[ 8.86597904e-01 -4.03662572e-01 -2.25833309e-01 7.72756573e+01] [ 4.06630083e-01 9.12907689e-01 -3.53769192e-02 1.44630001e+01] [ 2.20445302e-01 -6.04655147e-02 9.73523390e-01 -2.46700887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.247719421 meters Centerline goodness : 0.943372 Centerline is valid? [False, False] Translation: X:77.27, Y:14.46, Z:-2.47 [[ 8.85539863e-01 -4.06709473e-01 -2.24514045e-01 7.72749294e+01] [ 4.09161403e-01 9.11683359e-01 -3.76881814e-02 1.44612543e+01] [ 2.20013859e-01 -5.84880947e-02 9.73741775e-01 -2.46641729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.277719421 meters Centerline goodness : 0.945496 Centerline is valid? [False, False] Translation: X:77.28, Y:14.46, Z:-2.47 [[ 8.84373406e-01 -4.09690168e-01 -2.23690960e-01 7.72758897e+01] [ 4.11816054e-01 9.10419240e-01 -3.92981665e-02 1.44561040e+01] [ 2.19752626e-01 -5.73652752e-02 9.73867552e-01 -2.46512210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.307719421 meters Centerline goodness : 0.945775 Centerline is valid? [False, False] Translation: X:77.28, Y:14.45, Z:-2.46 [[ 8.83282015e-01 -4.12564830e-01 -2.22717632e-01 7.72774303e+01] [ 4.14370954e-01 9.09191637e-01 -4.08323396e-02 1.44505898e+01] [ 2.19338995e-01 -5.62212465e-02 9.74027503e-01 -2.46444207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.337719421 meters Centerline goodness : 0.946524 Centerline is valid? [False, False] Translation: X:77.28, Y:14.45, Z:-2.46 [[ 8.82305031e-01 -4.15398076e-01 -2.21319386e-01 7.72764153e+01] [ 4.16715920e-01 9.08018766e-01 -4.30088653e-02 1.44487994e+01] [ 2.18827955e-01 -5.42803731e-02 9.74252517e-01 -2.46385862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.367719421 meters Centerline goodness : 0.946334 Centerline is valid? [False, False] Translation: X:77.28, Y:14.44, Z:-2.46 [[ 8.81524123e-01 -4.17686129e-01 -2.20121599e-01 7.72758294e+01] [ 4.18718415e-01 9.07036138e-01 -4.42756640e-02 1.44445271e+01] [ 2.18151575e-01 -5.31389010e-02 9.74467109e-01 -2.46285686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.397719421 meters Centerline goodness : 0.948596 Centerline is valid? [False, False] Translation: X:77.28, Y:14.44, Z:-2.46 [[ 8.81720973e-01 -4.16982092e-01 -2.20667307e-01 7.72765044e+01] [ 4.18254406e-01 9.07299635e-01 -4.32507094e-02 1.44421743e+01] [ 2.18246138e-01 -5.41600159e-02 9.74389715e-01 -2.46216866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.427719421 meters Centerline goodness : 0.945208 Centerline is valid? [False, False] Translation: X:77.28, Y:14.44, Z:-2.46 [[ 8.80814908e-01 -4.19468880e-01 -2.19569937e-01 7.72762837e+01] [ 4.20346401e-01 9.06244166e-01 -4.50601212e-02 1.44393063e+01] [ 2.17885293e-01 -5.26058064e-02 9.74555606e-01 -2.46144018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.457719421 meters Centerline goodness : 0.944318 Centerline is valid? [False, False] Translation: X:77.28, Y:14.44, Z:-2.46 [[ 8.80982814e-01 -4.18756789e-01 -2.20254474e-01 7.72775233e+01] [ 4.19877160e-01 9.06511116e-01 -4.40541420e-02 1.44366570e+01] [ 2.18111100e-01 -5.36688811e-02 9.74447125e-01 -2.46079909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.487719421 meters Centerline goodness : 0.942397 Centerline is valid? [False, False] Translation: X:77.28, Y:14.43, Z:-2.46 [[ 8.80067136e-01 -4.21119802e-01 -2.19408176e-01 7.72795995e+01] [ 4.21919297e-01 9.05486811e-01 -4.55822532e-02 1.44319934e+01] [ 2.17866799e-01 -5.24571004e-02 9.74567756e-01 -2.46074770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.517719421 meters Centerline goodness : 0.942565 Centerline is valid? [False, False] Translation: X:77.28, Y:14.43, Z:-2.46 [[ 8.78895183e-01 -4.24378757e-01 -2.17820863e-01 7.72797406e+01] [ 4.24613563e-01 9.04093602e-01 -4.81464590e-02 1.44303977e+01] [ 2.17362783e-01 -5.01740018e-02 9.74800487e-01 -2.46102659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54771942099998 meters Centerline goodness : 0.941883 Centerline is valid? [False, False] Translation: X:77.28, Y:14.43, Z:-2.46 [[ 8.77830447e-01 -4.27271821e-01 -2.16454377e-01 7.72801380e+01] [ 4.27102435e-01 9.02819017e-01 -5.00133320e-02 1.44274015e+01] [ 2.16788416e-01 -4.85449660e-02 9.75010856e-01 -2.46103588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57771942099998 meters Centerline goodness : 0.942472 Centerline is valid? [False, False] Translation: X:77.28, Y:14.43, Z:-2.46 [[ 8.77862048e-01 -4.27037940e-01 -2.16787503e-01 7.72808694e+01] [ 4.27021377e-01 9.02892582e-01 -4.93733611e-02 1.44256967e+01] [ 2.16820127e-01 -4.92298983e-02 9.74969461e-01 -2.46066063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60771942099998 meters Centerline goodness : 0.944001 Centerline is valid? [False, False] Translation: X:77.27, Y:14.41, Z:-2.46 [[ 8.75828956e-01 -4.28468631e-01 -2.22122201e-01 7.72686693e+01] [ 4.30077273e-01 9.01737036e-01 -4.36332079e-02 1.44149069e+01] [ 2.18991276e-01 -5.73144835e-02 9.74042027e-01 -2.45888146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63771942099999 meters Centerline goodness : 0.944582 Centerline is valid? [False, False] Translation: X:77.25, Y:14.40, Z:-2.47 [[ 8.77028673e-01 -4.28871103e-01 -2.16541643e-01 7.72517845e+01] [ 4.27498688e-01 9.02303534e-01 -5.56165784e-02 1.44039388e+01] [ 2.19238633e-01 -4.37939340e-02 9.74687906e-01 -2.46524326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.667719421 meters Centerline goodness : 0.944787 Centerline is valid? [False, False] Translation: X:77.24, Y:14.39, Z:-2.46 [[ 8.74775185e-01 -4.30448759e-01 -2.22446040e-01 7.72398332e+01] [ 4.30487128e-01 9.01160054e-01 -5.09056937e-02 1.43918764e+01] [ 2.22371778e-01 -5.12291192e-02 9.73615103e-01 -2.46283270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.697719421 meters Centerline goodness : 0.947833 Centerline is valid? [False, False] Translation: X:77.23, Y:14.38, Z:-2.46 [[ 8.72707313e-01 -4.31137474e-01 -2.29134073e-01 7.72285076e+01] [ 4.32824626e-01 9.00326978e-01 -4.55431275e-02 1.43819994e+01] [ 2.25930937e-01 -5.94290493e-02 9.72328854e-01 -2.46073457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.727719421 meters Centerline goodness : 0.949640 Centerline is valid? [False, False] Translation: X:77.22, Y:14.37, Z:-2.46 [[ 8.70534552e-01 -4.32272317e-01 -2.35181285e-01 7.72160980e+01] [ 4.35408937e-01 8.99287716e-01 -4.12390833e-02 1.43720826e+01] [ 2.29322155e-01 -6.64999866e-02 9.71076259e-01 -2.45979761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.757719421 meters Centerline goodness : 0.949998 Centerline is valid? [False, False] Translation: X:77.21, Y:14.37, Z:-2.46 [[ 8.68718807e-01 -4.31066282e-01 -2.43945678e-01 7.72066652e+01] [ 4.36558170e-01 8.99032984e-01 -3.40096742e-02 1.43655497e+01] [ 2.33975634e-01 -7.69516350e-02 9.69192369e-01 -2.45781558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.787719421 meters Centerline goodness : 0.949998 Centerline is valid? [False, False] Translation: X:77.21, Y:14.37, Z:-2.46 [[ 8.68718807e-01 -4.31066282e-01 -2.43945678e-01 7.72066652e+01] [ 4.36558170e-01 8.99032984e-01 -3.40096742e-02 1.43655497e+01] [ 2.33975634e-01 -7.69516350e-02 9.69192369e-01 -2.45781558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.817719421 meters Centerline goodness : 0.944674 Centerline is valid? [False, False] Translation: X:77.20, Y:14.36, Z:-2.46 [[ 8.65611367e-01 -4.33295830e-01 -2.50941597e-01 7.71961656e+01] [ 4.40446909e-01 8.97276979e-01 -3.00090638e-02 1.43579090e+01] [ 2.38166921e-01 -8.45502642e-02 9.67536961e-01 -2.45605432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.847719421 meters Centerline goodness : 0.945867 Centerline is valid? [False, False] Translation: X:77.19, Y:14.35, Z:-2.46 [[ 8.64064311e-01 -4.39758128e-01 -2.44960517e-01 7.71891929e+01] [ 4.43876446e-01 8.95137739e-01 -4.12568587e-02 1.43540948e+01] [ 2.37416442e-01 -7.30836244e-02 9.68654849e-01 -2.46126757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.877719421 meters Centerline goodness : 0.946852 Centerline is valid? [False, False] Translation: X:77.18, Y:14.35, Z:-2.46 [[ 8.60385403e-01 -4.43662382e-01 -2.50800018e-01 7.71781266e+01] [ 4.48743306e-01 8.92771323e-01 -3.98598917e-02 1.43451679e+01] [ 2.41591398e-01 -7.82499600e-02 9.67217938e-01 -2.46036148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.907719421 meters Centerline goodness : 0.947359 Centerline is valid? [False, False] Translation: X:77.17, Y:14.34, Z:-2.46 [[ 8.54816236e-01 -4.50541167e-01 -2.57491476e-01 7.71712336e+01] [ 4.56659466e-01 8.88781137e-01 -3.91180554e-02 1.43385444e+01] [ 2.46477861e-01 -8.41471708e-02 9.65488435e-01 -2.45860270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.937719421 meters Centerline goodness : 0.952949 Centerline is valid? [False, True] Translation: X:77.16, Y:14.33, Z:-2.45 [[ 8.50251112e-01 -4.55557031e-01 -2.63705969e-01 7.71612650e+01] [ 4.63535187e-01 8.85387941e-01 -3.49760538e-02 1.43312540e+01] [ 2.49415672e-01 -9.24985668e-02 9.63968795e-01 -2.45497718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.967719421 meters Centerline goodness : 0.951382 Centerline is valid? [True, True] Translation: X:77.18, Y:14.37, Z:-2.49 [[ 8.49634933e-01 -4.81514755e-01 -2.15090727e-01 7.71783232e+01] [ 4.66241094e-01 8.76435808e-01 -1.20330864e-01 1.43728940e+01] [ 2.46454302e-01 1.95316936e-03 9.69152445e-01 -2.48860809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.997719421 meters Centerline goodness : 0.953311 Centerline is valid? [True, True] Translation: X:77.20, Y:14.39, Z:-2.48 [[ 8.46199410e-01 -4.87812470e-01 -2.14442424e-01 7.72002486e+01] [ 4.72820549e-01 8.72948435e-01 -1.20007329e-01 1.43865511e+01] [ 2.45738250e-01 1.57346618e-04 9.69336210e-01 -2.48223015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.027719421 meters Centerline goodness : 0.953617 Centerline is valid? [True, True] Translation: X:77.22, Y:14.40, Z:-2.48 [[ 8.44400523e-01 -4.90541920e-01 -2.15305322e-01 7.72232109e+01] [ 4.75503261e-01 8.71417388e-01 -1.20533747e-01 1.44016492e+01] [ 2.46747657e-01 -5.99623531e-04 9.69079581e-01 -2.47612591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.057719421 meters Centerline goodness : 0.953568 Centerline is valid? [True, True] Translation: X:77.24, Y:14.42, Z:-2.47 [[ 8.43312183e-01 -4.92736367e-01 -2.14558698e-01 7.72447254e+01] [ 4.77851822e-01 8.70177870e-01 -1.20200296e-01 1.44169804e+01] [ 2.45931288e-01 -1.16089083e-03 9.69286570e-01 -2.46999414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.087719421 meters Centerline goodness : 0.955951 Centerline is valid? [True, True] Translation: X:77.27, Y:14.44, Z:-2.46 [[ 8.42805994e-01 -4.93793343e-01 -2.14117235e-01 7.72653234e+01] [ 4.78988856e-01 8.69578141e-01 -1.20014715e-01 1.44355506e+01] [ 2.45454134e-01 -1.41064824e-03 9.69407179e-01 -2.46268529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.117719421 meters Centerline goodness : 0.953311 Centerline is valid? [True, True] Translation: X:77.29, Y:14.45, Z:-2.45 [[ 8.42707070e-01 -4.93072797e-01 -2.16157374e-01 7.72850548e+01] [ 4.77933790e-01 8.69987320e-01 -1.21249148e-01 1.44545238e+01] [ 2.47838831e-01 -1.13139842e-03 9.68800616e-01 -2.45446640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.147719421 meters Centerline goodness : 0.953862 Centerline is valid? [True, True] Translation: X:77.31, Y:14.47, Z:-2.45 [[ 8.42752526e-01 -4.92856194e-01 -2.16473905e-01 7.73065105e+01] [ 4.77642120e-01 8.70110220e-01 -1.21516300e-01 1.44721683e+01] [ 2.48246218e-01 -9.88886276e-04 9.68696463e-01 -2.44742268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.177719421 meters Centerline goodness : 0.954234 Centerline is valid? [True, True] Translation: X:77.33, Y:14.49, Z:-2.44 [[ 8.43326904e-01 -4.91813673e-01 -2.16608043e-01 7.73251058e+01] [ 4.76523488e-01 8.70700264e-01 -1.21681618e-01 1.44949039e+01] [ 2.48445363e-01 -6.01437506e-04 9.68645725e-01 -2.44117142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.207719421 meters Centerline goodness : 0.955471 Centerline is valid? [True, True] Translation: X:77.35, Y:14.51, Z:-2.43 [[ 8.43637314e-01 -4.90791723e-01 -2.17714415e-01 7.73468883e+01] [ 4.75282771e-01 8.71276902e-01 -1.22404445e-01 1.45120283e+01] [ 2.49764630e-01 -2.10953628e-04 9.68306555e-01 -2.43419713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.237719421 meters Centerline goodness : 0.957046 Centerline is valid? [True, True] Translation: X:77.37, Y:14.53, Z:-2.43 [[ 8.45388762e-01 -4.86866898e-01 -2.19723610e-01 7.73668330e+01] [ 4.70909135e-01 8.73475544e-01 -1.23632766e-01 1.45308079e+01] [ 2.52115901e-01 1.04789647e-03 9.67696478e-01 -2.42694392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.267719421 meters Centerline goodness : 0.958838 Centerline is valid? [True, True] Translation: X:77.39, Y:14.55, Z:-2.42 [[ 8.46263262e-01 -4.85340092e-01 -2.19735037e-01 7.73883459e+01] [ 4.69313661e-01 8.74324061e-01 -1.23701759e-01 1.45478504e+01] [ 2.52157053e-01 1.55959935e-03 9.67685067e-01 -2.42084913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29771942099998 meters Centerline goodness : 0.957949 Centerline is valid? [True, True] Translation: X:77.41, Y:14.57, Z:-2.42 [[ 8.47931024e-01 -4.82203359e-01 -2.20211032e-01 7.74085822e+01] [ 4.65975569e-01 8.76055483e-01 -1.24070786e-01 1.45683619e+01] [ 2.52744431e-01 2.59050780e-03 9.67529608e-01 -2.41613258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32771942099998 meters Centerline goodness : 0.957316 Centerline is valid? [True, True] Translation: X:77.43, Y:14.58, Z:-2.41 [[ 8.48094538e-01 -4.81419071e-01 -2.21294672e-01 7.74300253e+01] [ 4.64976573e-01 8.76485659e-01 -1.24778510e-01 1.45846527e+01] [ 2.54032361e-01 2.92713520e-03 9.67191290e-01 -2.40989806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35771942099998 meters Centerline goodness : 0.959686 Centerline is valid? [True, True] Translation: X:77.45, Y:14.60, Z:-2.40 [[ 8.48917864e-01 -4.79399526e-01 -2.22518662e-01 7.74512671e+01] [ 4.62689145e-01 8.77589387e-01 -1.25521407e-01 1.46034542e+01] [ 2.55454919e-01 3.60039506e-03 9.66814264e-01 -2.40419698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38771942099999 meters Centerline goodness : 0.958439 Centerline is valid? [True, True] Translation: X:77.47, Y:14.62, Z:-2.40 [[ 8.49457081e-01 -4.78194508e-01 -2.23053086e-01 7.74729998e+01] [ 4.61335651e-01 8.78244565e-01 -1.25920216e-01 1.46185529e+01] [ 2.56109516e-01 4.06147892e-03 9.66639240e-01 -2.39777098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.417719421 meters Centerline goodness : 0.961269 Centerline is valid? [True, True] Translation: X:77.49, Y:14.64, Z:-2.39 [[ 8.51752067e-01 -4.75368778e-01 -2.20324625e-01 7.74943495e+01] [ 4.58820744e-01 8.79773021e-01 -1.24430528e-01 1.46363702e+01] [ 2.52986049e-01 4.89445100e-03 9.67457546e-01 -2.39074295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.447719421 meters Centerline goodness : 0.962361 Centerline is valid? [True, True] Translation: X:77.52, Y:14.65, Z:-2.38 [[ 8.52796239e-01 -4.73749983e-01 -2.19771537e-01 7.75168584e+01] [ 4.57207563e-01 8.80642515e-01 -1.24217572e-01 1.46523858e+01] [ 2.52388232e-01 5.45106883e-03 9.67610700e-01 -2.38359969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.477719421 meters Centerline goodness : 0.959876 Centerline is valid? [True, True] Translation: X:77.54, Y:14.67, Z:-2.38 [[ 8.54990305e-01 -4.69734717e-01 -2.19865581e-01 7.75370158e+01] [ 4.53022566e-01 8.82781996e-01 -1.24364388e-01 1.46705948e+01] [ 2.52511647e-01 6.72627650e-03 9.67570476e-01 -2.37876790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.507719421 meters Centerline goodness : 0.962614 Centerline is valid? [True, True] Translation: X:77.56, Y:14.69, Z:-2.37 [[ 8.55921830e-01 -4.68037029e-01 -2.19861685e-01 7.75600696e+01] [ 4.51257378e-01 8.83678928e-01 -1.24411944e-01 1.46867800e+01] [ 2.52516535e-01 7.27269092e-03 9.67565247e-01 -2.37317414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.537719421 meters Centerline goodness : 0.961443 Centerline is valid? [True, True] Translation: X:77.58, Y:14.70, Z:-2.37 [[ 8.57710805e-01 -4.65660730e-01 -2.17927191e-01 7.75824094e+01] [ 4.49079814e-01 8.84927282e-01 -1.23414041e-01 1.47026032e+01] [ 2.50318789e-01 7.98685376e-03 9.68130525e-01 -2.36710047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.567719421 meters Centerline goodness : 0.962810 Centerline is valid? [True, True] Translation: X:77.60, Y:14.72, Z:-2.36 [[ 8.57742913e-01 -4.65801465e-01 -2.17499636e-01 7.76046988e+01] [ 4.49267534e-01 8.84852976e-01 -1.23263511e-01 1.47157611e+01] [ 2.49871524e-01 8.01287820e-03 9.68245844e-01 -2.36052808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.597719421 meters Centerline goodness : 0.963751 Centerline is valid? [True, True] Translation: X:77.63, Y:14.73, Z:-2.35 [[ 8.57410550e-01 -4.66797579e-01 -2.16672956e-01 7.76281875e+01] [ 4.50410435e-01 8.84330366e-01 -1.22842351e-01 1.47303863e+01] [ 2.48952986e-01 7.73456776e-03 9.68484686e-01 -2.35468602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.627719421 meters Centerline goodness : 0.962702 Centerline is valid? [True, True] Translation: X:77.65, Y:14.74, Z:-2.35 [[ 8.56767621e-01 -4.67913704e-01 -2.16808691e-01 7.76508418e+01] [ 4.51516757e-01 8.83742331e-01 -1.23012642e-01 1.47441034e+01] [ 2.49162319e-01 7.50049118e-03 9.68432693e-01 -2.34881657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.657719421 meters Centerline goodness : 0.963023 Centerline is valid? [True, True] Translation: X:77.67, Y:14.76, Z:-2.34 [[ 8.54342301e-01 -4.72096216e-01 -2.17311748e-01 7.76746668e+01] [ 4.55736732e-01 8.81524083e-01 -1.23366617e-01 1.47566845e+01] [ 2.49806453e-01 6.36037380e-03 9.68274900e-01 -2.34178156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.687719421 meters Centerline goodness : 0.962835 Centerline is valid? [True, True] Translation: X:77.70, Y:14.77, Z:-2.34 [[ 8.52900890e-01 -4.74606643e-01 -2.17505418e-01 7.76974781e+01] [ 4.58274380e-01 8.80179469e-01 -1.23566558e-01 1.47691349e+01] [ 2.50089313e-01 5.71286667e-03 9.68205918e-01 -2.33573773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.717719421 meters Centerline goodness : 0.961906 Centerline is valid? [True, True] Translation: X:77.72, Y:14.78, Z:-2.33 [[ 8.50219078e-01 -4.79003681e-01 -2.18364360e-01 7.77218253e+01] [ 4.62669694e-01 8.77801442e-01 -1.24102311e-01 1.47805769e+01] [ 2.51126014e-01 4.48358041e-03 9.67944018e-01 -2.32895806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.747719421 meters Centerline goodness : 0.961737 Centerline is valid? [True, True] Translation: X:77.75, Y:14.79, Z:-2.32 [[ 8.49170868e-01 -4.80935113e-01 -2.18197742e-01 7.77459061e+01] [ 4.64664577e-01 8.76747087e-01 -1.24102281e-01 1.47933721e+01] [ 2.50989379e-01 3.99528053e-03 9.67981595e-01 -2.32287381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.777719421 meters Centerline goodness : 0.958612 Centerline is valid? [True, True] Translation: X:77.77, Y:14.81, Z:-2.32 [[ 8.48054316e-01 -4.83069296e-01 -2.17825462e-01 7.77702273e+01] [ 4.66898347e-01 8.75575331e-01 -1.23991017e-01 1.48074553e+01] [ 2.50618854e-01 3.44876856e-03 9.68079695e-01 -2.31762674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.807719421 meters Centerline goodness : 0.960669 Centerline is valid? [True, True] Translation: X:77.79, Y:14.82, Z:-2.31 [[ 8.47859879e-01 -4.83386266e-01 -2.17879196e-01 7.77943354e+01] [ 4.67191606e-01 8.75400389e-01 -1.24121562e-01 1.48212660e+01] [ 2.50730191e-01 3.44636084e-03 9.68050874e-01 -2.31159828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.837719421 meters Centerline goodness : 0.954418 Centerline is valid? [True, True] Translation: X:77.82, Y:14.83, Z:-2.30 [[ 8.47869523e-01 -4.82428998e-01 -2.19953482e-01 7.78184333e+01] [ 4.65861732e-01 8.75926592e-01 -1.25401166e-01 1.48321993e+01] [ 2.53160262e-01 3.85591638e-03 9.67416670e-01 -2.30418959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.867719421 meters Centerline goodness : 0.955682 Centerline is valid? [True, True] Translation: X:77.84, Y:14.84, Z:-2.30 [[ 8.48265590e-01 -4.81681028e-01 -2.20065616e-01 7.78426919e+01] [ 4.65058244e-01 8.76336890e-01 -1.25516874e-01 1.48447565e+01] [ 2.53310715e-01 4.12831630e-03 9.67376162e-01 -2.29708502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.897719421 meters Centerline goodness : 0.958717 Centerline is valid? [True, True] Translation: X:77.87, Y:14.86, Z:-2.29 [[ 8.50408278e-01 -4.78219560e-01 -2.19344053e-01 7.78655570e+01] [ 4.61567526e-01 8.78224714e-01 -1.25206910e-01 1.48611428e+01] [ 2.52509762e-01 5.23490088e-03 9.67580186e-01 -2.29329604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.927719421 meters Centerline goodness : 0.956586 Centerline is valid? [True, True] Translation: X:77.89, Y:14.88, Z:-2.29 [[ 8.52045521e-01 -4.75436796e-01 -2.19039454e-01 7.78881367e+01] [ 4.58716443e-01 8.79728469e-01 -1.25128114e-01 1.48759673e+01] [ 2.52185754e-01 6.13784995e-03 9.67659378e-01 -2.28788180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.957719421 meters Centerline goodness : 0.957326 Centerline is valid? [True, True] Translation: X:77.91, Y:14.89, Z:-2.28 [[ 8.54115183e-01 -4.72172970e-01 -2.18036559e-01 7.79120245e+01] [ 4.55490436e-01 8.81477219e-01 -1.24604881e-01 1.48893432e+01] [ 2.51029316e-01 7.11335306e-03 9.67953347e-01 -2.28214705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.987719421 meters Centerline goodness : 0.959348 Centerline is valid? [True, True] Translation: X:77.94, Y:14.90, Z:-2.27 [[ 8.57778897e-01 -4.65970397e-01 -2.16995282e-01 7.79359026e+01] [ 4.49229925e-01 8.84754825e-01 -1.24102271e-01 1.49000016e+01] [ 2.49815607e-01 8.97153437e-03 9.68251865e-01 -2.27464102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.017719421 meters Centerline goodness : 0.957976 Centerline is valid? [True, True] Translation: X:77.96, Y:14.91, Z:-2.27 [[ 8.60251637e-01 -4.61152729e-01 -2.17497774e-01 7.79595695e+01] [ 4.44168887e-01 8.87259328e-01 -1.24438278e-01 1.49145491e+01] [ 2.50361980e-01 1.04424885e-02 9.68095983e-01 -2.26947555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04771942099998 meters Centerline goodness : 0.958745 Centerline is valid? [True, True] Translation: X:77.98, Y:14.93, Z:-2.26 [[ 8.61637877e-01 -4.58971258e-01 -2.16623068e-01 7.79833279e+01] [ 4.42033732e-01 8.88381553e-01 -1.24033850e-01 1.49288277e+01] [ 2.49371910e-01 1.11175600e-02 9.68343973e-01 -2.26291922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07771942099998 meters Centerline goodness : 0.958301 Centerline is valid? [True, True] Translation: X:78.01, Y:14.94, Z:-2.26 [[ 8.64588836e-01 -4.54552101e-01 -2.14169400e-01 7.80070217e+01] [ 4.37845572e-01 8.90634781e-01 -1.22723031e-01 1.49416414e+01] [ 2.46530728e-01 1.23318391e-02 9.69056513e-01 -2.25713733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10771942099998 meters Centerline goodness : 0.958249 Centerline is valid? [True, True] Translation: X:78.03, Y:14.95, Z:-2.25 [[ 8.65444193e-01 -4.52812939e-01 -2.14398673e-01 7.80305915e+01] [ 4.36001176e-01 8.91512201e-01 -1.22918549e-01 1.49536577e+01] [ 2.46798142e-01 1.29010706e-02 9.68981032e-01 -2.25042204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13771942099999 meters Centerline goodness : 0.956115 Centerline is valid? [True, True] Translation: X:78.06, Y:14.97, Z:-2.24 [[ 8.66027790e-01 -4.51675584e-01 -2.14441215e-01 7.80555765e+01] [ 4.34811704e-01 8.92083586e-01 -1.22986411e-01 1.49654320e+01] [ 2.46849448e-01 1.32680996e-02 9.68963006e-01 -2.24410042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.167719421 meters Centerline goodness : 0.955543 Centerline is valid? [True, True] Translation: X:78.08, Y:14.98, Z:-2.24 [[ 8.66611534e-01 -4.50112528e-01 -2.15367503e-01 7.80813629e+01] [ 4.33029534e-01 8.92864288e-01 -1.23607385e-01 1.49757690e+01] [ 2.47931185e-01 1.38590956e-02 9.68678509e-01 -2.23867018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.197719421 meters Centerline goodness : 0.955516 Centerline is valid? [True, True] Translation: X:78.11, Y:14.99, Z:-2.23 [[ 8.66740914e-01 -4.49751948e-01 -2.15600030e-01 7.81056664e+01] [ 4.32596584e-01 8.93042770e-01 -1.23833784e-01 1.49875645e+01] [ 2.48234534e-01 1.40639709e-02 9.68597863e-01 -2.23224862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.227719421 meters Centerline goodness : 0.956058 Centerline is valid? [True, True] Translation: X:78.13, Y:15.00, Z:-2.23 [[ 8.67180949e-01 -4.48715945e-01 -2.15988894e-01 7.81314227e+01] [ 4.31442486e-01 8.93557246e-01 -1.24148420e-01 1.49964911e+01] [ 2.48705817e-01 1.44723594e-02 9.68470943e-01 -2.22640205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.257719421 meters Centerline goodness : 0.954133 Centerline is valid? [True, True] Translation: X:78.16, Y:15.00, Z:-2.22 [[ 8.66574944e-01 -4.49493123e-01 -2.16803595e-01 7.81583477e+01] [ 4.32098087e-01 8.93168510e-01 -1.24664571e-01 1.50043614e+01] [ 2.49678011e-01 1.43507756e-02 9.68222570e-01 -2.22128668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.287719421 meters Centerline goodness : 0.953352 Centerline is valid? [True, True] Translation: X:78.18, Y:15.01, Z:-2.22 [[ 8.65921279e-01 -4.50543389e-01 -2.17234881e-01 7.81832358e+01] [ 4.33086835e-01 8.92642215e-01 -1.25002680e-01 1.50143959e+01] [ 2.50232156e-01 1.41609131e-02 9.68082298e-01 -2.21554089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.317719421 meters Centerline goodness : 0.952348 Centerline is valid? [True, True] Translation: X:78.21, Y:15.02, Z:-2.21 [[ 8.64708656e-01 -4.52373757e-01 -2.18258847e-01 7.82086542e+01] [ 4.34793684e-01 8.91722534e-01 -1.25639863e-01 1.50244772e+01] [ 2.51462509e-01 1.37443086e-02 9.67769446e-01 -2.20914511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.347719421 meters Centerline goodness : 0.954635 Centerline is valid? [True, True] Translation: X:78.24, Y:15.03, Z:-2.20 [[ 8.62269098e-01 -4.56903789e-01 -2.18474094e-01 7.82368551e+01] [ 4.39405533e-01 8.89427914e-01 -1.25860098e-01 1.50313843e+01] [ 2.51822913e-01 1.25265476e-02 9.67692258e-01 -2.20328368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.377719421 meters Centerline goodness : 0.951225 Centerline is valid? [True, True] Translation: X:78.26, Y:15.04, Z:-2.20 [[ 8.59368190e-01 -4.62919046e-01 -2.17237819e-01 7.82628517e+01] [ 4.45786800e-01 8.86334967e-01 -1.25237596e-01 1.50382785e+01] [ 2.50520344e-01 1.07834545e-02 9.68051277e-01 -2.19691434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.407719421 meters Centerline goodness : 0.952702 Centerline is valid? [True, True] Translation: X:78.29, Y:15.05, Z:-2.19 [[ 8.57586871e-01 -4.66706039e-01 -2.16171766e-01 7.82883969e+01] [ 4.49850522e-01 8.84359634e-01 -1.24669749e-01 1.50483334e+01] [ 2.49357708e-01 9.67015832e-03 9.68363166e-01 -2.19080782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.437719421 meters Centerline goodness : 0.953159 Centerline is valid? [True, True] Translation: X:78.32, Y:15.06, Z:-2.18 [[ 8.54957744e-01 -4.72738680e-01 -2.13460526e-01 7.83157073e+01] [ 4.56471491e-01 8.81167335e-01 -1.23198638e-01 1.50564857e+01] [ 2.46335204e-01 7.89098491e-03 9.69152568e-01 -2.18495492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.467719421 meters Centerline goodness : 0.952412 Centerline is valid? [True, True] Translation: X:78.34, Y:15.07, Z:-2.18 [[ 8.53290174e-01 -4.76154044e-01 -2.12539889e-01 7.83396832e+01] [ 4.60110982e-01 8.79334388e-01 -1.22755523e-01 1.50679948e+01] [ 2.45344172e-01 6.95414485e-03 9.69411098e-01 -2.17939937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.497719421 meters Centerline goodness : 0.949455 Centerline is valid? [True, False] Translation: X:78.32, Y:15.05, Z:-2.18 [[ 8.49810531e-01 -4.79509374e-01 -2.18844287e-01 7.83249903e+01] [ 4.67635181e-01 8.77459121e-01 -1.06690342e-01 1.50544476e+01] [ 2.43185934e-01 -1.16727115e-02 9.69909454e-01 -2.18123947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.527719421 meters Centerline goodness : 0.951084 Centerline is valid? [False, True] Translation: X:78.31, Y:15.04, Z:-2.18 [[ 8.47426944e-01 -4.80546580e-01 -2.25704584e-01 7.83083225e+01] [ 4.72678929e-01 8.76481924e-01 -9.14005848e-02 1.50427321e+01] [ 2.41748226e-01 -2.92304827e-02 9.69898641e-01 -2.18328694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.557719421 meters Centerline goodness : 0.949261 Centerline is valid? [True, False] Translation: X:78.30, Y:15.03, Z:-2.18 [[ 8.44482952e-01 -4.82155681e-01 -2.33183283e-01 7.83001647e+01] [ 4.76135103e-01 8.75219590e-01 -8.53582665e-02 1.50345592e+01] [ 2.45242550e-01 -3.89431454e-02 9.68679267e-01 -2.18105069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.587719421 meters Centerline goodness : 0.947849 Centerline is valid? [False, False] Translation: X:78.29, Y:15.03, Z:-2.18 [[ 8.42498344e-01 -4.81249390e-01 -2.42065210e-01 7.82917494e+01] [ 4.77614637e-01 8.75140459e-01 -7.75463399e-02 1.50263128e+01] [ 2.49160188e-01 -5.02812246e-02 9.67156140e-01 -2.17804582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.617719421 meters Centerline goodness : 0.946534 Centerline is valid? [False, False] Translation: X:78.27, Y:15.01, Z:-2.18 [[ 8.39794006e-01 -4.82095589e-01 -2.49659509e-01 7.82683923e+01] [ 4.82182539e-01 8.73649883e-01 -6.50836392e-02 1.50117372e+01] [ 2.49491536e-01 -6.57246058e-02 9.66144011e-01 -2.17891304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.647719421 meters Centerline goodness : 0.947570 Centerline is valid? [False, False] Translation: X:78.26, Y:15.01, Z:-2.18 [[ 8.38767118e-01 -4.78901402e-01 -2.59081396e-01 7.82586619e+01] [ 4.81876569e-01 8.74429312e-01 -5.62881098e-02 1.50054024e+01] [ 2.53504821e-01 -7.76326385e-02 9.64213918e-01 -2.17687216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.677719421 meters Centerline goodness : 0.948189 Centerline is valid? [False, False] Translation: X:78.25, Y:15.00, Z:-2.17 [[ 8.37493951e-01 -4.76289557e-01 -2.67865900e-01 7.82474238e+01] [ 4.81907409e-01 8.74858124e-01 -4.88723961e-02 1.49986804e+01] [ 2.57622071e-01 -8.81562259e-02 9.62215853e-01 -2.17497975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.707719421 meters Centerline goodness : 0.948189 Centerline is valid? [False, False] Translation: X:78.24, Y:14.99, Z:-2.17 [[ 8.35575310e-01 -4.74623316e-01 -2.76670579e-01 7.82377135e+01] [ 4.82815092e-01 8.74696640e-01 -4.23718690e-02 1.49919569e+01] [ 2.62113502e-01 -9.81758433e-02 9.60030216e-01 -2.17297188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.737719421 meters Centerline goodness : 0.947241 Centerline is valid? [False, False] Translation: X:78.22, Y:14.98, Z:-2.17 [[ 8.34055011e-01 -4.74166387e-01 -2.81990206e-01 7.82222664e+01] [ 4.83568759e-01 8.74391225e-01 -4.00155076e-02 1.49814503e+01] [ 2.65543770e-01 -1.02986519e-01 9.58582434e-01 -2.17435185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.767719421 meters Centerline goodness : 0.948088 Centerline is valid? [False, False] Translation: X:78.21, Y:14.97, Z:-2.17 [[ 8.32175465e-01 -4.72186284e-01 -2.90730302e-01 7.82120849e+01] [ 4.84212473e-01 8.74290469e-01 -3.39772892e-02 1.49738989e+01] [ 2.70226342e-01 -1.12500172e-01 9.56201566e-01 -2.17308557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79771942099998 meters Centerline goodness : 0.948060 Centerline is valid? [False, False] Translation: X:78.18, Y:14.96, Z:-2.18 [[ 8.30766807e-01 -4.72466782e-01 -2.94281587e-01 7.81798291e+01] [ 4.86265784e-01 8.73317574e-01 -2.93598757e-02 1.49558871e+01] [ 2.70872848e-01 -1.18707857e-01 9.55267682e-01 -2.18198529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82771942099998 meters Centerline goodness : 0.950759 Centerline is valid? [False, True] Translation: X:78.16, Y:14.94, Z:-2.19 [[ 8.29279901e-01 -4.78552668e-01 -2.88586538e-01 7.81562226e+01] [ 4.91595905e-01 8.70288387e-01 -3.05219602e-02 1.49444023e+01] [ 2.65759878e-01 -1.16556712e-01 9.56967199e-01 -2.18666235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85771942099998 meters Centerline goodness : 0.954050 Centerline is valid? [True, True] Translation: X:78.17, Y:14.99, Z:-2.22 [[ 8.29551638e-01 -5.09860464e-01 -2.27785838e-01 7.81718605e+01] [ 4.91713748e-01 8.60257101e-01 -1.34815842e-01 1.49938189e+01] [ 2.64691653e-01 -1.68725457e-04 9.64333086e-01 -2.22390836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88771942099999 meters Centerline goodness : 0.954164 Centerline is valid? [True, True] Translation: X:78.19, Y:15.01, Z:-2.22 [[ 8.28055904e-01 -5.12257843e-01 -2.27849344e-01 7.81931698e+01] [ 4.94163095e-01 8.58831289e-01 -1.34950553e-01 1.50087543e+01] [ 2.64813625e-01 -8.48134733e-04 9.64299240e-01 -2.21604963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.917719421 meters Centerline goodness : 0.955869 Centerline is valid? [True, True] Translation: X:78.21, Y:15.03, Z:-2.21 [[ 8.25371424e-01 -5.16211549e-01 -2.28664927e-01 7.82133225e+01] [ 4.98117450e-01 8.56458606e-01 -1.35490453e-01 1.50277321e+01] [ 2.65783781e-01 -2.07204169e-03 9.64030440e-01 -2.20903773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.947719421 meters Centerline goodness : 0.957503 Centerline is valid? [True, True] Translation: X:78.23, Y:15.05, Z:-2.20 [[ 8.23413030e-01 -5.19086505e-01 -2.29216453e-01 7.82340933e+01] [ 5.00993794e-01 8.54716630e-01 -1.35884880e-01 1.50453895e+01] [ 2.66451122e-01 -2.94663976e-03 9.63843928e-01 -2.20268284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.977719421 meters Centerline goodness : 0.958370 Centerline is valid? [True, True] Translation: X:78.25, Y:15.07, Z:-2.20 [[ 8.20917308e-01 -5.23739819e-01 -2.27577185e-01 7.82533392e+01] [ 5.06054495e-01 8.51867302e-01 -1.35022026e-01 1.50682748e+01] [ 2.64581974e-01 -4.32453913e-03 9.64353502e-01 -2.19774633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.007719421 meters Centerline goodness : 0.957914 Centerline is valid? [True, True] Translation: X:78.27, Y:15.09, Z:-2.19 [[ 8.18428860e-01 -5.27634605e-01 -2.27543236e-01 7.82723157e+01] [ 5.10072858e-01 8.49453712e-01 -1.35107623e-01 1.50862451e+01] [ 2.64574904e-01 -5.48765107e-03 9.64349525e-01 -2.18897964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.037719421 meters Centerline goodness : 0.959379 Centerline is valid? [True, True] Translation: X:78.29, Y:15.10, Z:-2.18 [[ 8.16811862e-01 -5.30111546e-01 -2.27596420e-01 7.82942753e+01] [ 5.12617706e-01 8.47905002e-01 -1.35204274e-01 1.51032787e+01] [ 2.64653490e-01 -6.23350044e-03 9.64323428e-01 -2.18168004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.067719421 meters Centerline goodness : 0.960381 Centerline is valid? [True, True] Translation: X:78.32, Y:15.12, Z:-2.17 [[ 8.15455449e-01 -5.32131139e-01 -2.27747365e-01 7.83154001e+01] [ 5.14660996e-01 8.46634655e-01 -1.35402440e-01 1.51199932e+01] [ 2.64870666e-01 -6.79802843e-03 9.64259984e-01 -2.17396439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.097719421 meters Centerline goodness : 0.957680 Centerline is valid? [True, True] Translation: X:78.33, Y:15.14, Z:-2.17 [[ 8.12379598e-01 -5.36211916e-01 -2.29164068e-01 7.83342463e+01] [ 5.18648008e-01 8.44044693e-01 -1.36355416e-01 1.51419696e+01] [ 2.66540114e-01 -8.08312907e-03 9.63789931e-01 -2.16786111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.127719421 meters Centerline goodness : 0.959199 Centerline is valid? [True, True] Translation: X:78.36, Y:15.16, Z:-2.16 [[ 8.11030664e-01 -5.37819850e-01 -2.30171829e-01 7.83552312e+01] [ 5.20130935e-01 8.43016387e-01 -1.37066337e-01 1.51603975e+01] [ 2.67755621e-01 -8.55448585e-03 9.63448882e-01 -2.16243766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.157719421 meters Centerline goodness : 0.957143 Centerline is valid? [True, True] Translation: X:78.37, Y:15.18, Z:-2.16 [[ 8.09940099e-01 -5.39034301e-01 -2.31168897e-01 7.83734092e+01] [ 5.21206962e-01 8.42236775e-01 -1.37769801e-01 1.51823532e+01] [ 2.68961594e-01 -8.90155262e-03 9.63109767e-01 -2.15660899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.187719421 meters Centerline goodness : 0.953917 Centerline is valid? [True, True] Translation: X:78.39, Y:15.20, Z:-2.15 [[ 8.10355904e-01 -5.38236953e-01 -2.31569192e-01 7.83943855e+01] [ 5.20292506e-01 8.42749853e-01 -1.38088356e-01 1.51991067e+01] [ 2.69479158e-01 -8.58300017e-03 9.62967972e-01 -2.14900559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.217719421 meters Centerline goodness : 0.958875 Centerline is valid? [True, True] Translation: X:78.41, Y:15.22, Z:-2.14 [[ 8.13431622e-01 -5.33971734e-01 -2.30658152e-01 7.84131685e+01] [ 5.15970876e-01 8.45473031e-01 -1.37656848e-01 1.52192262e+01] [ 2.68520113e-01 -7.03845577e-03 9.63248363e-01 -2.14086942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.247719421 meters Centerline goodness : 0.958728 Centerline is valid? [True, True] Translation: X:78.43, Y:15.24, Z:-2.14 [[ 8.15646493e-01 -5.30650302e-01 -2.30501746e-01 7.84327126e+01] [ 5.12514230e-01 8.47570699e-01 -1.37670163e-01 1.52377291e+01] [ 2.68421239e-01 -5.84523972e-03 9.63283900e-01 -2.13508682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.277719421 meters Centerline goodness : 0.958672 Centerline is valid? [True, True] Translation: X:78.45, Y:15.26, Z:-2.13 [[ 8.20444668e-01 -5.22961511e-01 -2.31045026e-01 7.84498866e+01] [ 5.04418956e-01 8.52350018e-01 -1.38061448e-01 1.52633577e+01] [ 2.69132056e-01 -3.27171139e-03 9.63097727e-01 -2.13101737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.307719421 meters Centerline goodness : 0.957521 Centerline is valid? [True, True] Translation: X:78.47, Y:15.28, Z:-2.13 [[ 8.23202607e-01 -5.18836457e-01 -2.30534594e-01 7.84692263e+01] [ 5.00188612e-01 8.54871575e-01 -1.37862044e-01 1.52818730e+01] [ 2.68605326e-01 -1.82238458e-03 9.63248596e-01 -2.12544159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.337719421 meters Centerline goodness : 0.955709 Centerline is valid? [True, True] Translation: X:78.49, Y:15.30, Z:-2.12 [[ 8.26965794e-01 -5.12744340e-01 -2.30696376e-01 7.84879907e+01] [ 4.93817808e-01 8.58541317e-01 -1.38024562e-01 1.53038096e+01] [ 2.68833683e-01 2.19612658e-04 9.63186588e-01 -2.11747236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.367719421 meters Centerline goodness : 0.955660 Centerline is valid? [True, True] Translation: X:78.51, Y:15.32, Z:-2.11 [[ 8.28763799e-01 -5.10068546e-01 -2.30175244e-01 7.85094532e+01] [ 4.91097896e-01 8.60132945e-01 -1.37819352e-01 1.53202423e+01] [ 2.68278626e-01 1.18111162e-03 9.63340637e-01 -2.10994599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.397719421 meters Centerline goodness : 0.957316 Centerline is valid? [True, True] Translation: X:78.53, Y:15.34, Z:-2.10 [[ 8.30271820e-01 -5.07918045e-01 -2.29495021e-01 7.85290553e+01] [ 4.88949969e-01 8.61403146e-01 -1.37522903e-01 1.53405675e+01] [ 2.67538097e-01 1.96980727e-03 9.63545270e-01 -2.10302757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.427719421 meters Centerline goodness : 0.956187 Centerline is valid? [True, True] Translation: X:78.55, Y:15.36, Z:-2.10 [[ 8.30601239e-01 -5.07462613e-01 -2.29310441e-01 7.85501019e+01] [ 4.88477470e-01 8.61670929e-01 -1.37524438e-01 1.53584031e+01] [ 2.67378651e-01 2.21498470e-03 9.63588995e-01 -2.09718964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.457719421 meters Centerline goodness : 0.954874 Centerline is valid? [True, True] Translation: X:78.57, Y:15.38, Z:-2.09 [[ 8.31198990e-01 -5.05587050e-01 -2.31278995e-01 7.85689396e+01] [ 4.86165987e-01 8.62770581e-01 -1.38814833e-01 1.53777753e+01] [ 2.69723695e-01 2.94276788e-03 9.62933263e-01 -2.09158667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.487719421 meters Centerline goodness : 0.956582 Centerline is valid? [True, True] Translation: X:78.59, Y:15.39, Z:-2.09 [[ 8.31599255e-01 -5.04572142e-01 -2.32055236e-01 7.85906671e+01] [ 4.84963295e-01 8.63363097e-01 -1.39336880e-01 1.53943978e+01] [ 2.70653435e-01 3.33417335e-03 9.62671076e-01 -2.08545846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.517719421 meters Centerline goodness : 0.953667 Centerline is valid? [True, True] Translation: X:78.61, Y:15.41, Z:-2.08 [[ 8.33657559e-01 -5.00909427e-01 -2.32604430e-01 7.86115180e+01] [ 4.81033860e-01 8.65487286e-01 -1.39779053e-01 1.54135210e+01] [ 2.71332822e-01 4.63725779e-03 9.62474413e-01 -2.07876339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54771942099998 meters Centerline goodness : 0.951897 Centerline is valid? [True, True] Translation: X:78.63, Y:15.43, Z:-2.07 [[ 8.35075532e-01 -4.98294989e-01 -2.33132923e-01 7.86327933e+01] [ 4.78196425e-01 8.66989482e-01 -1.40204912e-01 1.54279425e+01] [ 2.71987197e-01 5.59836160e-03 9.62284585e-01 -2.07147662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57771942099998 meters Centerline goodness : 0.952106 Centerline is valid? [True, True] Translation: X:78.66, Y:15.44, Z:-2.07 [[ 8.37867045e-01 -4.93107031e-01 -2.34145833e-01 7.86559179e+01] [ 4.72614308e-01 8.69937431e-01 -1.40870799e-01 1.54434522e+01] [ 2.73156606e-01 7.37032938e-03 9.61941343e-01 -2.06564504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60771942099998 meters Centerline goodness : 0.952203 Centerline is valid? [True, True] Translation: X:78.68, Y:15.46, Z:-2.06 [[ 8.39006521e-01 -4.91079640e-01 -2.34326364e-01 7.86782413e+01] [ 4.70444881e-01 8.71076650e-01 -1.41092467e-01 1.54596670e+01] [ 2.73403862e-01 8.13986139e-03 9.61864892e-01 -2.06002122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63771942099999 meters Centerline goodness : 0.948767 Centerline is valid? [True, False] Translation: X:78.66, Y:15.45, Z:-2.06 [[ 8.40790575e-01 -4.83442460e-01 -2.43627989e-01 7.86637318e+01] [ 4.67970091e-01 8.75300092e-01 -1.21875931e-01 1.54502055e+01] [ 2.72167601e-01 -1.15384779e-02 9.62180680e-01 -2.06298582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.667719421 meters Centerline goodness : 0.951337 Centerline is valid? [False, True] Translation: X:78.65, Y:15.44, Z:-2.07 [[ 8.40157669e-01 -4.80069360e-01 -2.52326180e-01 7.86464358e+01] [ 4.69020887e-01 8.76752946e-01 -1.06412781e-01 1.54370732e+01] [ 2.72313238e-01 -2.89427345e-02 9.61773268e-01 -2.06602257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.697719421 meters Centerline goodness : 0.951679 Centerline is valid? [True, True] Translation: X:78.67, Y:15.46, Z:-2.07 [[ 8.41181476e-01 -4.88931400e-01 -2.30997425e-01 7.86657819e+01] [ 4.68415079e-01 8.72265085e-01 -1.40502437e-01 1.54624474e+01] [ 2.70187042e-01 9.98537016e-03 9.62756072e-01 -2.06910930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.727719421 meters Centerline goodness : 0.950275 Centerline is valid? [True, True] Translation: X:78.69, Y:15.47, Z:-2.06 [[ 8.39962612e-01 -4.91646554e-01 -2.29666010e-01 7.86903344e+01] [ 4.71440200e-01 8.70746735e-01 -1.39800791e-01 1.54742917e+01] [ 2.68713506e-01 9.15364801e-03 9.63176652e-01 -2.06165026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.757719421 meters Centerline goodness : 0.951274 Centerline is valid? [True, True] Translation: X:78.71, Y:15.49, Z:-2.05 [[ 8.36208787e-01 -4.98812176e-01 -2.27906293e-01 7.87147011e+01] [ 4.79152484e-01 8.66682726e-01 -1.38830649e-01 1.54850970e+01] [ 2.66772865e-01 6.88954260e-03 9.63734804e-01 -2.05409932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.787719421 meters Centerline goodness : 0.951379 Centerline is valid? [True, True] Translation: X:78.74, Y:15.50, Z:-2.05 [[ 8.33559163e-01 -5.03672046e-01 -2.26921993e-01 7.87383346e+01] [ 4.84346931e-01 8.63878323e-01 -1.38283379e-01 1.54978146e+01] [ 2.65682463e-01 5.35840639e-03 9.64045702e-01 -2.04741494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.817719421 meters Centerline goodness : 0.952427 Centerline is valid? [True, True] Translation: X:78.76, Y:15.51, Z:-2.04 [[ 8.28996712e-01 -5.12650356e-01 -2.23504060e-01 7.87617599e+01] [ 4.94203976e-01 8.58593710e-01 -1.36305803e-01 1.55127820e+01] [ 2.61776398e-01 2.54046800e-03 9.65125206e-01 -2.04117522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.847719421 meters Centerline goodness : 0.953079 Centerline is valid? [True, True] Translation: X:78.78, Y:15.53, Z:-2.03 [[ 8.26481994e-01 -5.17348979e-01 -2.21985467e-01 7.87840768e+01] [ 4.99294357e-01 8.55773763e-01 -1.35485833e-01 1.55281157e+01] [ 2.60062796e-01 1.14051042e-03 9.65591032e-01 -2.03497159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.877719421 meters Centerline goodness : 0.948983 Centerline is valid? [True, False] Translation: X:78.75, Y:15.51, Z:-2.04 [[ 8.20522514e-01 -5.21904358e-01 -2.33149405e-01 7.87549469e+01] [ 5.08564513e-01 8.52748932e-01 -1.19085661e-01 1.55069758e+01] [ 2.60969232e-01 -2.08590481e-02 9.65121733e-01 -2.03763344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.907719421 meters Centerline goodness : 0.947504 Centerline is valid? [False, False] Translation: X:78.73, Y:15.49, Z:-2.04 [[ 8.17098309e-01 -5.23502491e-01 -2.41444602e-01 7.87290008e+01] [ 5.15047625e-01 8.51045060e-01 -1.02216682e-01 1.54891081e+01] [ 2.58990923e-01 -4.08343904e-02 9.65016194e-01 -2.04332439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.937719421 meters Centerline goodness : 0.945410 Centerline is valid? [False, False] Translation: X:78.70, Y:15.48, Z:-2.05 [[ 8.11339079e-01 -5.27316646e-01 -2.52321330e-01 7.87026875e+01] [ 5.23604918e-01 8.47463250e-01 -8.74295726e-02 1.54763324e+01] [ 2.59936123e-01 -6.11816603e-02 9.63685642e-01 -2.04963038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.967719421 meters Centerline goodness : 0.946322 Centerline is valid? [False, False] Translation: X:78.67, Y:15.46, Z:-2.06 [[ 8.08691233e-01 -5.26618909e-01 -2.62089706e-01 7.86694772e+01] [ 5.28087705e-01 8.46225993e-01 -7.08868441e-02 1.54570808e+01] [ 2.59117474e-01 -8.10807822e-02 9.62436513e-01 -2.05584991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.997719421 meters Centerline goodness : 0.944582 Centerline is valid? [False, False] Translation: X:78.63, Y:15.44, Z:-2.06 [[ 8.05131196e-01 -5.28255690e-01 -2.69647330e-01 7.86333958e+01] [ 5.34173226e-01 8.43427147e-01 -5.73551447e-02 1.54398580e+01] [ 2.57726059e-01 -9.78599676e-02 9.61249554e-01 -2.06287103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.027719421 meters Centerline goodness : 0.943939 Centerline is valid? [False, False] Translation: X:78.61, Y:15.42, Z:-2.07 [[ 8.02479465e-01 -5.28718821e-01 -2.76555812e-01 7.86058877e+01] [ 5.37290128e-01 8.41886245e-01 -5.04665171e-02 1.54236230e+01] [ 2.59511131e-01 -1.08092364e-01 9.59671826e-01 -2.06548336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.057719421 meters Centerline goodness : 0.945204 Centerline is valid? [False, False] Translation: X:78.58, Y:15.41, Z:-2.07 [[ 7.97480539e-01 -5.33865060e-01 -2.81092311e-01 7.85773827e+01] [ 5.43835618e-01 8.37801129e-01 -4.82917117e-02 1.54094205e+01] [ 2.61280713e-01 -1.14356310e-01 9.58464931e-01 -2.06825401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.087719421 meters Centerline goodness : 0.945679 Centerline is valid? [False, False] Translation: X:78.55, Y:15.39, Z:-2.08 [[ 7.96543477e-01 -5.33199941e-01 -2.84984758e-01 7.85460875e+01] [ 5.44863507e-01 8.37379835e-01 -4.38037677e-02 1.53905833e+01] [ 2.61996656e-01 -1.20386189e-01 9.57530635e-01 -2.07502877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.117719421 meters Centerline goodness : 0.948020 Centerline is valid? [False, False] Translation: X:78.50, Y:15.37, Z:-2.09 [[ 7.97484457e-01 -5.30273608e-01 -2.87799309e-01 7.84979150e+01] [ 5.44201244e-01 8.38166269e-01 -3.63635991e-02 1.53674023e+01] [ 2.60506330e-01 -1.27621337e-01 9.57000129e-01 -2.08999016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.147719421 meters Centerline goodness : 0.945153 Centerline is valid? [False, False] Translation: X:78.46, Y:15.35, Z:-2.10 [[ 8.00505273e-01 -5.25270336e-01 -2.88586870e-01 7.84601025e+01] [ 5.39837314e-01 8.41103030e-01 -3.34868128e-02 1.53457203e+01] [ 2.60320920e-01 -1.28983591e-01 9.56867939e-01 -2.10258352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.177719421 meters Centerline goodness : 0.945667 Centerline is valid? [False, False] Translation: X:78.42, Y:15.33, Z:-2.12 [[ 8.05509726e-01 -5.17992175e-01 -2.87816241e-01 7.84185017e+01] [ 5.32547850e-01 8.45803050e-01 -3.17803067e-02 1.53260085e+01] [ 2.59897804e-01 -1.27676574e-01 9.57158202e-01 -2.11838321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.207719421 meters Centerline goodness : 0.943353 Centerline is valid? [False, False] Translation: X:78.38, Y:15.30, Z:-2.13 [[ 8.09417564e-01 -5.12100787e-01 -2.87395184e-01 7.83794536e+01] [ 5.26987508e-01 8.49369132e-01 -2.92616443e-02 1.53036788e+01] [ 2.59089509e-01 -1.27768783e-01 9.57365011e-01 -2.13198774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.237719421 meters Centerline goodness : 0.946769 Centerline is valid? [False, False] Translation: X:78.35, Y:15.29, Z:-2.14 [[ 8.16297560e-01 -5.03400436e-01 -2.83277768e-01 7.83455908e+01] [ 5.16937350e-01 8.55475652e-01 -3.06134817e-02 1.52922423e+01] [ 2.57748073e-01 -1.21447149e-01 9.58549175e-01 -2.14248330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.267719421 meters Centerline goodness : 0.947999 Centerline is valid? [False, False] Translation: X:78.31, Y:15.27, Z:-2.16 [[ 8.20074263e-01 -4.98448416e-01 -2.81118087e-01 7.83073107e+01] [ 5.12291960e-01 8.58370368e-01 -2.75183251e-02 1.52735498e+01] [ 2.55019902e-01 -1.21447466e-01 9.59278564e-01 -2.15556930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29771942099998 meters Centerline goodness : 0.949407 Centerline is valid? [False, False] Translation: X:78.27, Y:15.26, Z:-2.17 [[ 8.26641544e-01 -4.89149727e-01 -2.78201911e-01 7.82749006e+01] [ 5.01513119e-01 8.64627888e-01 -3.00534093e-02 1.52643104e+01] [ 2.55241748e-01 -1.14678511e-01 9.60052337e-01 -2.16721742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32771942099998 meters Centerline goodness : 0.948558 Centerline is valid? [False, False] Translation: X:78.25, Y:15.25, Z:-2.18 [[ 8.29909073e-01 -4.84491337e-01 -2.76620814e-01 7.82478912e+01] [ 4.95204824e-01 8.68082327e-01 -3.47168026e-02 1.52511209e+01] [ 2.56949630e-01 -1.08172172e-01 9.60351846e-01 -2.17671092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35771942099998 meters Centerline goodness : 0.949127 Centerline is valid? [False, False] Translation: X:78.23, Y:15.25, Z:-2.18 [[ 8.30244494e-01 -4.80795852e-01 -2.82009625e-01 7.82342193e+01] [ 4.91492990e-01 8.70116918e-01 -3.64854783e-02 1.52531685e+01] [ 2.62923412e-01 -1.08313886e-01 9.58717571e-01 -2.18076090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38771942099999 meters Centerline goodness : 0.948348 Centerline is valid? [False, False] Translation: X:78.22, Y:15.25, Z:-2.19 [[ 8.30561867e-01 -4.79663382e-01 -2.83001811e-01 7.82172654e+01] [ 4.90609063e-01 8.70643609e-01 -3.58113531e-02 1.52480446e+01] [ 2.63571112e-01 -1.09099709e-01 9.58450584e-01 -2.18535763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.417719421 meters Centerline goodness : 0.944433 Centerline is valid? [False, False] Translation: X:78.20, Y:15.24, Z:-2.19 [[ 8.31369507e-01 -4.79438898e-01 -2.81003711e-01 7.81979636e+01] [ 4.90036051e-01 8.70951011e-01 -3.61801733e-02 1.52407056e+01] [ 2.62086649e-01 -1.07622856e-01 9.59024457e-01 -2.19134315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.447719421 meters Centerline goodness : 0.947024 Centerline is valid? [False, False] Translation: X:78.17, Y:15.23, Z:-2.20 [[ 8.34270625e-01 -4.76670828e-01 -2.77087435e-01 7.81737866e+01] [ 4.86050386e-01 8.73081237e-01 -3.85250107e-02 1.52275969e+01] [ 2.60283589e-01 -1.02538170e-01 9.60072069e-01 -2.19991192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.477719421 meters Centerline goodness : 0.947226 Centerline is valid? [False, False] Translation: X:78.16, Y:15.22, Z:-2.20 [[ 8.35219596e-01 -4.75712705e-01 -2.75872521e-01 7.81562857e+01] [ 4.85630615e-01 8.73428292e-01 -3.58597857e-02 1.52167370e+01] [ 2.58013821e-01 -1.04021346e-01 9.60525079e-01 -2.20397052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.507719421 meters Centerline goodness : 0.947992 Centerline is valid? [False, False] Translation: X:78.14, Y:15.21, Z:-2.21 [[ 8.35356601e-01 -4.75369394e-01 -2.76049431e-01 7.81409050e+01] [ 4.86213946e-01 8.73238300e-01 -3.24171361e-02 1.52075573e+01] [ 2.56467050e-01 -1.07139215e-01 9.60596607e-01 -2.20734892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.537719421 meters Centerline goodness : 0.949997 Centerline is valid? [False, False] Translation: X:78.13, Y:15.20, Z:-2.21 [[ 8.35601919e-01 -4.72807455e-01 -2.79682933e-01 7.81273249e+01] [ 4.85060370e-01 8.74021305e-01 -2.83407091e-02 1.51982744e+01] [ 2.57848540e-01 -1.11981556e-01 9.59674039e-01 -2.21049297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.567719421 meters Centerline goodness : 0.948999 Centerline is valid? [False, False] Translation: X:78.11, Y:15.18, Z:-2.22 [[ 8.36740639e-01 -4.71406585e-01 -2.78641230e-01 7.81064929e+01] [ 4.82601544e-01 8.75270934e-01 -3.15680415e-02 1.51841563e+01] [ 2.58767952e-01 -1.08058425e-01 9.59876306e-01 -2.21754489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.597719421 meters Centerline goodness : 0.948999 Centerline is valid? [False, False] Translation: X:78.10, Y:15.18, Z:-2.22 [[ 8.35849620e-01 -4.75115398e-01 -2.74992310e-01 7.80957258e+01] [ 4.86737883e-01 8.73067377e-01 -2.89756469e-02 1.51801324e+01] [ 2.53853591e-01 -1.09629891e-01 9.61009699e-01 -2.22290224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.627719421 meters Centerline goodness : 0.946446 Centerline is valid? [False, False] Translation: X:78.07, Y:15.16, Z:-2.23 [[ 8.37106618e-01 -4.72737434e-01 -2.75266830e-01 7.80747772e+01] [ 4.82988091e-01 8.74972139e-01 -3.38564447e-02 1.51601720e+01] [ 2.56856016e-01 -1.04609147e-01 9.60771520e-01 -2.23058001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.657719421 meters Centerline goodness : 0.946398 Centerline is valid? [False, False] Translation: X:78.06, Y:15.15, Z:-2.23 [[ 8.35807446e-01 -4.74075367e-01 -2.76908756e-01 7.80603075e+01] [ 4.85022980e-01 8.73908868e-01 -3.21869524e-02 1.51488361e+01] [ 2.57252059e-01 -1.07405015e-01 9.60356986e-01 -2.23245188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.687719421 meters Centerline goodness : 0.947468 Centerline is valid? [False, False] Translation: X:78.04, Y:15.14, Z:-2.24 [[ 8.35321548e-01 -4.76003268e-01 -2.75061448e-01 7.80434707e+01] [ 4.87260833e-01 8.72722429e-01 -3.05359221e-02 1.51350103e+01] [ 2.54587494e-01 -1.08519357e-01 9.60941599e-01 -2.23533019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.717719421 meters Centerline goodness : 0.947638 Centerline is valid? [False, False] Translation: X:78.03, Y:15.12, Z:-2.24 [[ 8.34933563e-01 -4.77165831e-01 -2.74223840e-01 7.80265536e+01] [ 4.88653451e-01 8.71979584e-01 -2.94857509e-02 1.51245080e+01] [ 2.53187183e-01 -1.09381783e-01 9.61213752e-01 -2.23937821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.747719421 meters Centerline goodness : 0.946596 Centerline is valid? [False, False] Translation: X:78.01, Y:15.11, Z:-2.24 [[ 8.35553523e-01 -4.76763711e-01 -2.73032369e-01 7.80090099e+01] [ 4.88629272e-01 8.72060060e-01 -2.74351379e-02 1.51114596e+01] [ 2.51180702e-01 -1.10488081e-01 9.61613560e-01 -2.24392086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.777719421 meters Centerline goodness : 0.948213 Centerline is valid? [False, False] Translation: X:77.99, Y:15.10, Z:-2.25 [[ 8.37279396e-01 -4.75791105e-01 -2.69417960e-01 7.79880127e+01] [ 4.87158163e-01 8.72879304e-01 -2.75435094e-02 1.50957019e+01] [ 2.48274318e-01 -1.08187545e-01 9.62629377e-01 -2.25087901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.807719421 meters Centerline goodness : 0.949173 Centerline is valid? [False, False] Translation: X:77.96, Y:15.08, Z:-2.26 [[ 8.40055141e-01 -4.74019573e-01 -2.63842384e-01 7.79648183e+01] [ 4.84289077e-01 8.74425548e-01 -2.90525555e-02 1.50771890e+01] [ 2.44482001e-01 -1.03370236e-01 9.64128179e-01 -2.25996356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.837719421 meters Centerline goodness : 0.949229 Centerline is valid? [False, False] Translation: X:77.94, Y:15.05, Z:-2.27 [[ 8.43846231e-01 -4.70494151e-01 -2.57989907e-01 7.79424711e+01] [ 4.80116662e-01 8.76741021e-01 -2.85161808e-02 1.50539459e+01] [ 2.39607031e-01 -9.98019814e-02 9.65726688e-01 -2.26843732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.867719421 meters Centerline goodness : 0.949030 Centerline is valid? [False, False] Translation: X:77.93, Y:15.04, Z:-2.27 [[ 8.43549453e-01 -4.66975324e-01 -2.65251518e-01 7.79322428e+01] [ 4.78495892e-01 8.77772276e-01 -2.36117213e-02 1.50414781e+01] [ 2.43856519e-01 -1.07004107e-01 9.63890097e-01 -2.26919535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.897719421 meters Centerline goodness : 0.946853 Centerline is valid? [False, False] Translation: X:77.92, Y:15.03, Z:-2.27 [[ 8.42774910e-01 -4.67174509e-01 -2.67354503e-01 7.79183114e+01] [ 4.79272283e-01 8.77381984e-01 -2.23367936e-02 1.50326229e+01] [ 2.45007205e-01 -1.09310714e-01 9.63339316e-01 -2.27274884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.927719421 meters Centerline goodness : 0.946701 Centerline is valid? [False, False] Translation: X:77.89, Y:15.01, Z:-2.28 [[ 8.45144622e-01 -4.64395286e-01 -2.64702827e-01 7.78936551e+01] [ 4.74996146e-01 8.79586412e-01 -2.65782802e-02 1.50132579e+01] [ 2.45171838e-01 -1.03270332e-01 9.63963697e-01 -2.28150072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.957719421 meters Centerline goodness : 0.942779 Centerline is valid? [False, False] Translation: X:77.88, Y:14.99, Z:-2.29 [[ 8.46848774e-01 -4.61597829e-01 -2.64148818e-01 7.78752435e+01] [ 4.71367630e-01 8.81454876e-01 -2.91523477e-02 1.49917781e+01] [ 2.46291924e-01 -9.98235724e-02 9.64041256e-01 -2.28942492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.987719421 meters Centerline goodness : 0.942610 Centerline is valid? [False, False] Translation: X:77.85, Y:14.97, Z:-2.30 [[ 8.48467590e-01 -4.60407146e-01 -2.61013426e-01 7.78529128e+01] [ 4.68817514e-01 8.82678184e-01 -3.30054932e-02 1.49722048e+01] [ 2.45586822e-01 -9.43635743e-02 9.64770765e-01 -2.29829820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.017719421 meters Centerline goodness : 0.941513 Centerline is valid? [False, False] Translation: X:77.86, Y:14.97, Z:-2.30 [[ 8.47395184e-01 -4.62725929e-01 -2.60396076e-01 7.78552070e+01] [ 4.70891892e-01 8.81532115e-01 -3.40874782e-02 1.49655817e+01] [ 2.45320664e-01 -9.37328358e-02 9.64899957e-01 -2.29690226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04771942099998 meters Centerline goodness : 0.944062 Centerline is valid? [False, False] Translation: X:77.85, Y:14.95, Z:-2.29 [[ 8.44308454e-01 -4.64532496e-01 -2.67119440e-01 7.78465626e+01] [ 4.74343771e-01 8.79803667e-01 -3.07163609e-02 1.49514475e+01] [ 2.49281410e-01 -1.00772359e-01 9.63173769e-01 -2.29445245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07771942099998 meters Centerline goodness : 0.944924 Centerline is valid? [False, False] Translation: X:77.84, Y:14.94, Z:-2.29 [[ 8.41671709e-01 -4.65964537e-01 -2.72884197e-01 7.78367115e+01] [ 4.77568623e-01 8.78192594e-01 -2.65702667e-02 1.49410684e+01] [ 2.52025683e-01 -1.07957489e-01 9.61679903e-01 -2.29329572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10771942099998 meters Centerline goodness : 0.944792 Centerline is valid? [False, False] Translation: X:77.81, Y:14.91, Z:-2.30 [[ 8.40301207e-01 -4.67725487e-01 -2.74092593e-01 7.78083899e+01] [ 4.80908268e-01 8.76510350e-01 -2.13739166e-02 1.49131616e+01] [ 2.50242120e-01 -1.13852866e-01 9.61465759e-01 -2.30074769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13771942099999 meters Centerline goodness : 0.944430 Centerline is valid? [False, False] Translation: X:77.80, Y:14.90, Z:-2.30 [[ 8.37529309e-01 -4.70802923e-01 -2.77289135e-01 7.77965187e+01] [ 4.84962769e-01 8.74313204e-01 -1.96858742e-02 1.49022076e+01] [ 2.51705719e-01 -1.17987410e-01 9.60584823e-01 -2.30149151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.167719421 meters Centerline goodness : 0.943105 Centerline is valid? [False, False] Translation: X:77.80, Y:14.90, Z:-2.30 [[ 8.36049139e-01 -4.74266989e-01 -2.75848982e-01 7.77977775e+01] [ 4.87752674e-01 8.72700994e-01 -2.21428044e-02 1.48998401e+01] [ 2.51235282e-01 -1.16033606e-01 9.60945907e-01 -2.30136603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.197719421 meters Centerline goodness : 0.941352 Centerline is valid? [False, False] Translation: X:77.77, Y:14.87, Z:-2.31 [[ 8.36778517e-01 -4.73467781e-01 -2.75009044e-01 7.77731417e+01] [ 4.84913433e-01 8.74068708e-01 -2.93744123e-02 1.48724566e+01] [ 2.54284637e-01 -1.08775702e-01 9.60992804e-01 -2.30816919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.227719421 meters Centerline goodness : 0.941660 Centerline is valid? [False, False] Translation: X:77.75, Y:14.85, Z:-2.32 [[ 8.40358985e-01 -4.69814099e-01 -2.70317385e-01 7.77481886e+01] [ 4.80369331e-01 8.76550115e-01 -3.00865585e-02 1.48474812e+01] [ 2.51081825e-01 -1.04568672e-01 9.62301050e-01 -2.31727193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.257719421 meters Centerline goodness : 0.943773 Centerline is valid? [False, False] Translation: X:77.72, Y:14.83, Z:-2.33 [[ 8.43606468e-01 -4.66116663e-01 -2.66577161e-01 7.77235528e+01] [ 4.76142691e-01 8.78859154e-01 -2.99119509e-02 1.48282101e+01] [ 2.48226237e-01 -1.01694851e-01 9.63349310e-01 -2.32602529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.287719421 meters Centerline goodness : 0.944348 Centerline is valid? [False, False] Translation: X:77.70, Y:14.80, Z:-2.33 [[ 8.48132407e-01 -4.59126530e-01 -2.64337378e-01 7.76959325e+01] [ 4.68445991e-01 8.82962260e-01 -3.05941286e-02 1.48036119e+01] [ 2.47446505e-01 -9.78799131e-02 9.63944889e-01 -2.33454194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.317719421 meters Centerline goodness : 0.945073 Centerline is valid? [False, False] Translation: X:77.67, Y:14.78, Z:-2.34 [[ 8.51422365e-01 -4.54919704e-01 -2.61013445e-01 7.76715749e+01] [ 4.63870450e-01 8.85394511e-01 -3.00127588e-02 1.47844417e+01] [ 2.44753267e-01 -9.55228900e-02 9.64868497e-01 -2.34317433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.347719421 meters Centerline goodness : 0.944680 Centerline is valid? [False, False] Translation: X:77.67, Y:14.78, Z:-2.34 [[ 8.52108815e-01 -4.54443518e-01 -2.59599031e-01 7.76679294e+01] [ 4.63284906e-01 8.85708326e-01 -2.97969316e-02 1.47806953e+01] [ 2.43470045e-01 -9.48780845e-02 9.65256694e-01 -2.34231824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.377719421 meters Centerline goodness : 0.943938 Centerline is valid? [False, False] Translation: X:77.67, Y:14.77, Z:-2.34 [[ 8.53348904e-01 -4.51664478e-01 -2.60374438e-01 7.76686754e+01] [ 4.61169645e-01 8.86899654e-01 -2.70474235e-02 1.47743782e+01] [ 2.43142359e-01 -9.69958979e-02 9.65128794e-01 -2.34119338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.407719421 meters Centerline goodness : 0.942341 Centerline is valid? [False, False] Translation: X:77.65, Y:14.75, Z:-2.35 [[ 8.55375187e-01 -4.46698784e-01 -2.62285125e-01 7.76458580e+01] [ 4.55236745e-01 8.89835960e-01 -3.08459184e-02 1.47488168e+01] [ 2.47169570e-01 -9.30169933e-02 9.64497300e-01 -2.34902408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.437719421 meters Centerline goodness : 0.943984 Centerline is valid? [False, False] Translation: X:77.64, Y:14.74, Z:-2.35 [[ 8.52884589e-01 -4.46834252e-01 -2.70050049e-01 7.76368107e+01] [ 4.56910304e-01 8.89070348e-01 -2.80515673e-02 1.47393253e+01] [ 2.52627892e-01 -9.94639003e-02 9.62437572e-01 -2.34851968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.467719421 meters Centerline goodness : 0.942519 Centerline is valid? [False, False] Translation: X:77.63, Y:14.73, Z:-2.35 [[ 8.50129892e-01 -4.46499932e-01 -2.79136127e-01 7.76317787e+01] [ 4.58583096e-01 8.88319580e-01 -2.42871984e-02 1.47274484e+01] [ 2.58806320e-01 -1.07359836e-01 9.59944350e-01 -2.34805221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.497719421 meters Centerline goodness : 0.940840 Centerline is valid? [False, False] Translation: X:77.62, Y:14.71, Z:-2.35 [[ 8.48101837e-01 -4.48141960e-01 -2.82651831e-01 7.76178070e+01] [ 4.60664532e-01 8.87236841e-01 -2.44739983e-02 1.47141730e+01] [ 2.61746943e-01 -1.09451231e-01 9.58910301e-01 -2.35075279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.527719421 meters Centerline goodness : 0.941968 Centerline is valid? [False, False] Translation: X:77.61, Y:14.70, Z:-2.35 [[ 8.44333260e-01 -4.51624894e-01 -2.88333662e-01 7.76085859e+01] [ 4.65434691e-01 8.84785365e-01 -2.29217340e-02 1.46977103e+01] [ 2.65465431e-01 -1.14846907e-01 9.57255605e-01 -2.34885347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.557719421 meters Centerline goodness : 0.942820 Centerline is valid? [False, False] Translation: X:77.58, Y:14.68, Z:-2.36 [[ 8.45174614e-01 -4.53529005e-01 -2.82827356e-01 7.75836438e+01] [ 4.65913061e-01 8.84449259e-01 -2.59716779e-02 1.46759014e+01] [ 2.61925355e-01 -1.09822357e-01 9.58819148e-01 -2.35721673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.587719421 meters Centerline goodness : 0.943989 Centerline is valid? [False, False] Translation: X:77.56, Y:14.66, Z:-2.36 [[ 8.45977745e-01 -4.55258983e-01 -2.77598476e-01 7.75603097e+01] [ 4.66956678e-01 8.83882580e-01 -2.65150123e-02 1.46556148e+01] [ 2.57435655e-01 -1.07195352e-01 9.60331214e-01 -2.36466038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.617719421 meters Centerline goodness : 0.948658 Centerline is valid? [False, False] Translation: X:77.54, Y:14.63, Z:-2.37 [[ 8.45938780e-01 -4.58938533e-01 -2.71593452e-01 7.75368211e+01] [ 4.69830196e-01 8.82326388e-01 -2.75632384e-02 1.46320518e+01] [ 2.52283902e-01 -1.04285993e-01 9.62017289e-01 -2.37066162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.647719421 meters Centerline goodness : 0.948877 Centerline is valid? [False, False] Translation: X:77.51, Y:14.61, Z:-2.37 [[ 8.45555736e-01 -4.59527791e-01 -2.71789823e-01 7.75139119e+01] [ 4.69899541e-01 8.82219382e-01 -2.97217566e-02 1.46090636e+01] [ 2.53436223e-01 -1.02582511e-01 9.61897557e-01 -2.37483219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.677719421 meters Centerline goodness : 0.948351 Centerline is valid? [False, False] Translation: X:77.51, Y:14.61, Z:-2.37 [[ 8.44222604e-01 -4.62879546e-01 -2.70241967e-01 7.75134372e+01] [ 4.72586767e-01 8.80697502e-01 -3.21505535e-02 1.46073122e+01] [ 2.52883258e-01 -1.00570553e-01 9.62255487e-01 -2.37428329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.707719421 meters Centerline goodness : 0.947413 Centerline is valid? [False, False] Translation: X:77.50, Y:14.60, Z:-2.37 [[ 8.41131908e-01 -4.64894182e-01 -2.76352154e-01 7.75027049e+01] [ 4.76199985e-01 8.78856971e-01 -2.90516666e-02 1.45957814e+01] [ 2.56379967e-01 -1.07162608e-01 9.60617243e-01 -2.37312689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.737719421 meters Centerline goodness : 0.946019 Centerline is valid? [False, False] Translation: X:77.48, Y:14.58, Z:-2.38 [[ 8.41763857e-01 -4.63221198e-01 -2.77235876e-01 7.74795892e+01] [ 4.74153694e-01 8.79912047e-01 -3.05460826e-02 1.45769091e+01] [ 2.58092780e-01 -1.05739826e-01 9.60316201e-01 -2.37933181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.767719421 meters Centerline goodness : 0.947228 Centerline is valid? [False, False] Translation: X:77.46, Y:14.55, Z:-2.39 [[ 8.41807761e-01 -4.63487245e-01 -2.76657309e-01 7.74551085e+01] [ 4.73254653e-01 8.80243118e-01 -3.46711168e-02 1.45540716e+01] [ 2.59595313e-01 -1.01742944e-01 9.60342984e-01 -2.38557171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79771942099998 meters Centerline goodness : 0.947148 Centerline is valid? [False, False] Translation: X:77.44, Y:14.54, Z:-2.39 [[ 8.40993721e-01 -4.62941162e-01 -2.80026859e-01 7.74377254e+01] [ 4.72759167e-01 8.80465428e-01 -3.57686993e-02 1.45392205e+01] [ 2.63112771e-01 -1.02304013e-01 9.59325575e-01 -2.39067831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82771942099998 meters Centerline goodness : 0.948678 Centerline is valid? [False, False] Translation: X:77.42, Y:14.53, Z:-2.39 [[ 8.40126428e-01 -4.60830904e-01 -2.86046261e-01 7.74222085e+01] [ 4.71983132e-01 8.80986987e-01 -3.30734171e-02 1.45286215e+01] [ 2.67244287e-01 -1.07223159e-01 9.57644864e-01 -2.39262583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85771942099998 meters Centerline goodness : 0.948152 Centerline is valid? [False, False] Translation: X:77.41, Y:14.52, Z:-2.40 [[ 8.39402470e-01 -4.59562776e-01 -2.90181922e-01 7.74066563e+01] [ 4.71607023e-01 8.81248471e-01 -3.14316403e-02 1.45185210e+01] [ 2.70167187e-01 -1.10468036e-01 9.56455176e-01 -2.39680543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88771942099999 meters Centerline goodness : 0.946770 Centerline is valid? [False, False] Translation: X:77.38, Y:14.50, Z:-2.40 [[ 8.41036615e-01 -4.55041279e-01 -2.92565968e-01 7.73821949e+01] [ 4.66639870e-01 8.83823827e-01 -3.32065543e-02 1.45001575e+01] [ 2.73687126e-01 -1.08595017e-01 9.55668603e-01 -2.40454433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.917719421 meters Centerline goodness : 0.943828 Centerline is valid? [False, False] Translation: X:77.37, Y:14.49, Z:-2.41 [[ 8.44564602e-01 -4.50538711e-01 -2.89353595e-01 7.73656773e+01] [ 4.59004502e-01 8.87438409e-01 -4.20468332e-02 1.44855088e+01] [ 2.75727220e-01 -9.73033360e-02 9.56298364e-01 -2.41170954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.947719421 meters Centerline goodness : 0.943932 Centerline is valid? [False, False] Translation: X:77.34, Y:14.47, Z:-2.42 [[ 8.47747299e-01 -4.44114929e-01 -2.89976633e-01 7.73422216e+01] [ 4.52577044e-01 8.90774870e-01 -4.11600456e-02 1.44671778e+01] [ 2.76583688e-01 -9.63434498e-02 9.56148212e-01 -2.42104467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.977719421 meters Centerline goodness : 0.944369 Centerline is valid? [False, False] Translation: X:77.33, Y:14.46, Z:-2.42 [[ 8.46452155e-01 -4.40995073e-01 -2.98399221e-01 7.73316991e+01] [ 4.52176083e-01 8.91261010e-01 -3.45050989e-02 1.44604388e+01] [ 2.81168170e-01 -1.05722076e-01 9.53817227e-01 -2.42069998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.007719421 meters Centerline goodness : 0.943823 Centerline is valid? [False, False] Translation: X:77.31, Y:14.44, Z:-2.43 [[ 8.50052383e-01 -4.34320175e-01 -2.97954579e-01 7.73057094e+01] [ 4.45892735e-01 8.94521167e-01 -3.18048725e-02 1.44440953e+01] [ 2.80340175e-01 -1.05819974e-01 9.54050061e-01 -2.42992052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.037719421 meters Centerline goodness : 0.940684 Centerline is valid? [False, False] Translation: X:77.28, Y:14.43, Z:-2.44 [[ 8.51778104e-01 -4.33199490e-01 -2.94639210e-01 7.72817688e+01] [ 4.44518606e-01 8.95227502e-01 -3.11597446e-02 1.44290895e+01] [ 2.77267509e-01 -1.04431423e-01 9.55100417e-01 -2.43853309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.067719421 meters Centerline goodness : 0.941804 Centerline is valid? [False, False] Translation: X:77.28, Y:14.43, Z:-2.44 [[ 8.50938818e-01 -4.35753313e-01 -2.93295378e-01 7.72795689e+01] [ 4.46436212e-01 8.94196580e-01 -3.32743722e-02 1.44274121e+01] [ 2.76763142e-01 -1.02623223e-01 9.55442639e-01 -2.43728109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.097719421 meters Centerline goodness : 0.947302 Centerline is valid? [False, False] Translation: X:77.25, Y:14.41, Z:-2.45 [[ 8.51567117e-01 -4.39494187e-01 -2.85794167e-01 7.72536481e+01] [ 4.48845878e-01 8.92896148e-01 -3.56909882e-02 1.44087898e+01] [ 2.70870493e-01 -9.78842619e-02 9.57626152e-01 -2.44656510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.127719421 meters Centerline goodness : 0.947064 Centerline is valid? [False, False] Translation: X:77.24, Y:14.40, Z:-2.45 [[ 8.46945356e-01 -4.45262234e-01 -2.90559987e-01 7.72430582e+01] [ 4.55795101e-01 8.89420211e-01 -3.43876869e-02 1.44016928e+01] [ 2.73741464e-01 -1.03311327e-01 9.56238663e-01 -2.44576981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.157719421 meters Centerline goodness : 0.947667 Centerline is valid? [False, False] Translation: X:77.23, Y:14.39, Z:-2.45 [[ 8.43286697e-01 -4.48382796e-01 -2.96345094e-01 7.72318607e+01] [ 4.60461454e-01 8.87105317e-01 -3.19281292e-02 1.43948188e+01] [ 2.77205333e-01 -1.09530926e-01 9.54547107e-01 -2.44529963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.187719421 meters Centerline goodness : 0.949345 Centerline is valid? [False, False] Translation: X:77.20, Y:14.38, Z:-2.45 [[ 8.38916731e-01 -4.55122564e-01 -2.98466363e-01 7.72041574e+01] [ 4.69023174e-01 8.82749240e-01 -2.77676504e-02 1.43776525e+01] [ 2.76108639e-01 -1.16692894e-01 9.54016136e-01 -2.45147428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.217719421 meters Centerline goodness : 0.949460 Centerline is valid? [False, False] Translation: X:77.18, Y:14.36, Z:-2.46 [[ 8.37197824e-01 -4.59603741e-01 -2.96418969e-01 7.71829313e+01] [ 4.72374485e-01 8.80831805e-01 -3.15860424e-02 1.43648088e+01] [ 2.75612318e-01 -1.13576992e-01 9.54535550e-01 -2.45828569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.247719421 meters Centerline goodness : 0.948398 Centerline is valid? [False, False] Translation: X:77.15, Y:14.35, Z:-2.47 [[ 8.33728014e-01 -4.65697415e-01 -2.96687574e-01 7.71520715e+01] [ 4.79079044e-01 8.77235179e-01 -3.06872812e-02 1.43457599e+01] [ 2.74555765e-01 -1.16551953e-01 9.54481416e-01 -2.46856882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.277719421 meters Centerline goodness : 0.948145 Centerline is valid? [False, False] Translation: X:77.12, Y:14.33, Z:-2.48 [[ 8.32679607e-01 -4.66855646e-01 -2.97809467e-01 7.71194531e+01] [ 4.81316064e-01 8.76110825e-01 -2.76526262e-02 1.43258573e+01] [ 2.73823883e-01 -1.20314703e-01 9.54224740e-01 -2.48081470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.307719421 meters Centerline goodness : 0.948648 Centerline is valid? [False, False] Translation: X:77.10, Y:14.31, Z:-2.49 [[ 8.32012296e-01 -4.67130346e-01 -2.99240336e-01 7.70956094e+01] [ 4.80355967e-01 8.76466704e-01 -3.26230186e-02 1.43110768e+01] [ 2.77513393e-01 -1.16599128e-01 9.53619924e-01 -2.48944016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.337719421 meters Centerline goodness : 0.947014 Centerline is valid? [False, False] Translation: X:77.07, Y:14.30, Z:-2.50 [[ 8.28890966e-01 -4.70993426e-01 -3.01835981e-01 7.70663854e+01] [ 4.85751266e-01 8.73607560e-01 -2.92495992e-02 1.42974986e+01] [ 2.77462564e-01 -1.22372481e-01 9.52911067e-01 -2.49897506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.367719421 meters Centerline goodness : 0.947781 Centerline is valid? [False, False] Translation: X:77.04, Y:14.28, Z:-2.51 [[ 8.29684119e-01 -4.72748519e-01 -2.96872195e-01 7.70367965e+01] [ 4.85236444e-01 8.73676043e-01 -3.51534573e-02 1.42840531e+01] [ 2.75988869e-01 -1.14886943e-01 9.54269948e-01 -2.50930018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.397719421 meters Centerline goodness : 0.946770 Centerline is valid? [False, False] Translation: X:77.01, Y:14.27, Z:-2.52 [[ 8.31149285e-01 -4.71118482e-01 -2.95361206e-01 7.70066639e+01] [ 4.81699668e-01 8.75386743e-01 -4.07857848e-02 1.42685350e+01] [ 2.77770221e-01 -1.08376319e-01 9.54514682e-01 -2.51939399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.427719421 meters Centerline goodness : 0.947045 Centerline is valid? [False, False] Translation: X:76.97, Y:14.25, Z:-2.53 [[ 8.32361131e-01 -4.68482840e-01 -2.96139792e-01 7.69700813e+01] [ 4.80033343e-01 8.76457183e-01 -3.72933802e-02 1.42498290e+01] [ 2.77025157e-01 -1.11115414e-01 9.54416276e-01 -2.53270844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.457719421 meters Centerline goodness : 0.950004 Centerline is valid? [False, True] Translation: X:76.94, Y:14.24, Z:-2.54 [[ 8.35278626e-01 -4.63573407e-01 -2.95650661e-01 7.69381516e+01] [ 4.73868196e-01 8.79663526e-01 -4.05094368e-02 1.42371068e+01] [ 2.78852201e-01 -1.06262779e-01 9.54436835e-01 -2.54283065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.487719421 meters Centerline goodness : 0.950261 Centerline is valid? [True, True] Translation: X:76.95, Y:14.29, Z:-2.57 [[ 8.36834468e-01 -4.90169587e-01 -2.43806990e-01 7.69524188e+01] [ 4.70940304e-01 8.71626452e-01 -1.35950572e-01 1.42852257e+01] [ 2.79147457e-01 -1.05041321e-03 9.60247673e-01 -2.57291660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.517719421 meters Centerline goodness : 0.950261 Centerline is valid? [True, True] Translation: X:76.98, Y:14.30, Z:-2.57 [[ 8.36679962e-01 -4.90447550e-01 -2.43778263e-01 7.69764531e+01] [ 4.71214821e-01 8.71470040e-01 -1.36002065e-01 1.42989254e+01] [ 2.79147332e-01 -1.08172807e-03 9.60247675e-01 -2.56569861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54771942099998 meters Centerline goodness : 0.949584 Centerline is valid? [True, False] Translation: X:76.95, Y:14.29, Z:-2.57 [[ 8.36997810e-01 -4.84427876e-01 -2.54488307e-01 7.69515695e+01] [ 4.70438507e-01 8.74570708e-01 -1.17531647e-01 1.42918583e+01] [ 2.79503625e-01 -2.13473680e-02 9.59907294e-01 -2.56811435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57771942099998 meters Centerline goodness : 0.950476 Centerline is valid? [False, True] Translation: X:76.93, Y:14.28, Z:-2.57 [[ 8.36644846e-01 -4.79904259e-01 -2.64040347e-01 7.69252089e+01] [ 4.70027180e-01 8.76528738e-01 -1.03787385e-01 1.42822185e+01] [ 2.81246961e-01 -3.72729587e-02 9.58911296e-01 -2.57019432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60771942099998 meters Centerline goodness : 0.949477 Centerline is valid? [True, False] Translation: X:76.90, Y:14.27, Z:-2.57 [[ 8.35395908e-01 -4.77161683e-01 -2.72819362e-01 7.69018199e+01] [ 4.71694077e-01 8.77176046e-01 -8.98158250e-02 1.42706496e+01] [ 2.82167279e-01 -5.36555046e-02 9.57863619e-01 -2.57215109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63771942099999 meters Centerline goodness : 0.952258 Centerline is valid? [False, True] Translation: X:76.87, Y:14.26, Z:-2.57 [[ 8.35950495e-01 -4.71277107e-01 -2.81219946e-01 7.68734774e+01] [ 4.70531134e-01 8.79214073e-01 -7.47199155e-02 1.42617409e+01] [ 2.82466320e-01 -6.98605900e-02 9.56729991e-01 -2.57487825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.667719421 meters Centerline goodness : 0.951717 Centerline is valid? [True, True] Translation: X:76.89, Y:14.30, Z:-2.59 [[ 8.38304638e-01 -4.87183552e-01 -2.44739700e-01 7.68880472e+01] [ 4.67066132e-01 8.73297636e-01 -1.38565750e-01 1.43013809e+01] [ 2.81237556e-01 1.85068601e-03 9.59636396e-01 -2.59105784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.697719421 meters Centerline goodness : 0.951734 Centerline is valid? [True, True] Translation: X:76.91, Y:14.32, Z:-2.58 [[ 8.40678071e-01 -4.84372041e-01 -2.42165455e-01 7.69066520e+01] [ 4.64553900e-01 8.74857601e-01 -1.37163598e-01 1.43230878e+01] [ 2.78298501e-01 2.81152244e-03 9.60490520e-01 -2.58471402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.727719421 meters Centerline goodness : 0.954301 Centerline is valid? [True, True] Translation: X:76.93, Y:14.34, Z:-2.58 [[ 8.41607392e-01 -4.82846477e-01 -2.41984043e-01 7.69287420e+01] [ 4.62963662e-01 8.75698349e-01 -1.37175252e-01 1.43395628e+01] [ 2.78139614e-01 3.41788734e-03 9.60534577e-01 -2.57705332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.757719421 meters Centerline goodness : 0.954154 Centerline is valid? [True, True] Translation: X:76.95, Y:14.36, Z:-2.57 [[ 8.44185336e-01 -4.78368324e-01 -2.41898461e-01 7.69492675e+01] [ 4.58286287e-01 8.78145074e-01 -1.37240329e-01 1.43576857e+01] [ 2.78073368e-01 4.99752603e-03 9.60546837e-01 -2.57016939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.787719421 meters Centerline goodness : 0.953682 Centerline is valid? [True, True] Translation: X:76.97, Y:14.37, Z:-2.56 [[ 8.45628006e-01 -4.75785735e-01 -2.41952909e-01 7.69704735e+01] [ 4.55559510e-01 8.79541109e-01 -1.37378933e-01 1.43737135e+01] [ 2.78170466e-01 5.94752496e-03 9.60513310e-01 -2.56384351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.817719421 meters Centerline goodness : 0.952232 Centerline is valid? [True, True] Translation: X:76.99, Y:14.39, Z:-2.56 [[ 8.48631602e-01 -4.69427973e-01 -2.43847868e-01 7.69920327e+01] [ 4.48602288e-01 8.82933123e-01 -1.38510243e-01 1.43902030e+01] [ 2.80321943e-01 8.15345805e-03 9.59871413e-01 -2.55755930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.847719421 meters Centerline goodness : 0.950093 Centerline is valid? [True, True] Translation: X:77.01, Y:14.40, Z:-2.55 [[ 8.50252891e-01 -4.66463446e-01 -2.43889063e-01 7.70147369e+01] [ 4.45480330e-01 8.84492319e-01 -1.38638429e-01 1.44036000e+01] [ 2.80387762e-01 9.22994472e-03 9.59842441e-01 -2.55073110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.877719421 meters Centerline goodness : 0.951188 Centerline is valid? [True, True] Translation: X:77.04, Y:14.42, Z:-2.55 [[ 8.52383590e-01 -4.62891084e-01 -2.43257189e-01 7.70383384e+01] [ 4.41860906e-01 8.86353845e-01 -1.38332216e-01 1.44190281e+01] [ 2.79644694e-01 1.04262692e-02 9.60046946e-01 -2.54542937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.907719421 meters Centerline goodness : 0.948126 Centerline is valid? [True, False] Translation: X:77.03, Y:14.41, Z:-2.55 [[ 8.52439348e-01 -4.59242667e-01 -2.49886636e-01 7.70261051e+01] [ 4.42998871e-01 8.88280743e-01 -1.21281991e-01 1.44093454e+01] [ 2.77667352e-01 -7.31395603e-03 9.60649441e-01 -2.54886227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.937719421 meters Centerline goodness : 0.949745 Centerline is valid? [False, False] Translation: X:77.01, Y:14.40, Z:-2.55 [[ 8.51127076e-01 -4.57362004e-01 -2.57687210e-01 7.70119106e+01] [ 4.45549639e-01 8.88943660e-01 -1.06135233e-01 1.43971951e+01] [ 2.77611634e-01 -2.44778728e-02 9.60381494e-01 -2.55246172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.967719421 meters Centerline goodness : 0.947352 Centerline is valid? [False, False] Translation: X:76.99, Y:14.38, Z:-2.56 [[ 8.48698545e-01 -4.57039273e-01 -2.66131327e-01 7.69941956e+01] [ 4.49285485e-01 8.88522153e-01 -9.31178655e-02 1.43836436e+01] [ 2.79022101e-01 -4.05399455e-02 9.59428569e-01 -2.55524840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.997719421 meters Centerline goodness : 0.950157 Centerline is valid? [False, True] Translation: X:76.97, Y:14.37, Z:-2.56 [[ 8.45249037e-01 -4.59023365e-01 -2.73590232e-01 7.69749935e+01] [ 4.55228673e-01 8.86663492e-01 -8.12078033e-02 1.43667279e+01] [ 2.79858750e-01 -5.59053009e-02 9.58412060e-01 -2.55732076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.027719421 meters Centerline goodness : 0.949791 Centerline is valid? [True, False] Translation: X:76.95, Y:14.35, Z:-2.56 [[ 8.42179815e-01 -4.59463959e-01 -2.82180845e-01 7.69544428e+01] [ 4.59692301e-01 8.85346345e-01 -6.96048645e-02 1.43510627e+01] [ 2.81808706e-01 -7.10965499e-02 9.56832866e-01 -2.55935881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.057719421 meters Centerline goodness : 0.946546 Centerline is valid? [False, False] Translation: X:76.93, Y:14.33, Z:-2.56 [[ 8.37028884e-01 -4.63566799e-01 -2.90669005e-01 7.69348213e+01] [ 4.66902110e-01 8.82112075e-01 -6.22953228e-02 1.43348903e+01] [ 2.85280682e-01 -8.35709870e-02 9.54793602e-01 -2.56235446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.087719421 meters Centerline goodness : 0.945879 Centerline is valid? [False, False] Translation: X:76.91, Y:14.32, Z:-2.57 [[ 8.34407023e-01 -4.63683303e-01 -2.97930720e-01 7.69095907e+01] [ 4.70311810e-01 8.80862731e-01 -5.37368685e-02 1.43169751e+01] [ 2.87352957e-01 -9.52819157e-02 9.53073783e-01 -2.56634828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.117719421 meters Centerline goodness : 0.945091 Centerline is valid? [False, False] Translation: X:76.88, Y:14.30, Z:-2.57 [[ 8.30936506e-01 -4.66373177e-01 -3.03381910e-01 7.68813654e+01] [ 4.75826308e-01 8.78287965e-01 -4.68996258e-02 1.42984374e+01] [ 2.88329408e-01 -1.05386483e-01 9.51714160e-01 -2.56925693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.147719421 meters Centerline goodness : 0.945171 Centerline is valid? [False, False] Translation: X:76.87, Y:14.29, Z:-2.57 [[ 8.27834114e-01 -4.68271242e-01 -3.08889501e-01 7.68695782e+01] [ 4.79519227e-01 8.76449784e-01 -4.35555574e-02 1.42901302e+01] [ 2.91121952e-01 -1.12061679e-01 9.50100094e-01 -2.56795178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.177719421 meters Centerline goodness : 0.945990 Centerline is valid? [False, False] Translation: X:76.83, Y:14.26, Z:-2.58 [[ 8.26136272e-01 -4.71896248e-01 -3.07916858e-01 7.68331943e+01] [ 4.82689651e-01 8.74617031e-01 -4.53403791e-02 1.42648482e+01] [ 2.90705283e-01 -1.11170949e-01 9.50332289e-01 -2.57927572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.207719421 meters Centerline goodness : 0.947235 Centerline is valid? [False, False] Translation: X:76.82, Y:14.26, Z:-2.58 [[ 8.22559986e-01 -4.74222733e-01 -3.13859632e-01 7.68204506e+01] [ 4.86246774e-01 8.72700572e-01 -4.42468813e-02 1.42573767e+01] [ 2.94888357e-01 -1.16217520e-01 9.48437844e-01 -2.57877040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.237719421 meters Centerline goodness : 0.946683 Centerline is valid? [False, False] Translation: X:76.79, Y:14.24, Z:-2.59 [[ 8.20013415e-01 -4.76493283e-01 -3.17068052e-01 7.67895271e+01] [ 4.90439023e-01 8.70561743e-01 -3.98975698e-02 1.42392116e+01] [ 2.95038240e-01 -1.22786003e-01 9.47563209e-01 -2.58567886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.267719421 meters Centerline goodness : 0.945249 Centerline is valid? [False, False] Translation: X:76.75, Y:14.22, Z:-2.60 [[ 8.20730764e-01 -4.75113751e-01 -3.17282110e-01 7.67538506e+01] [ 4.90064037e-01 8.70922472e-01 -3.64868063e-02 1.42162710e+01] [ 2.93663503e-01 -1.25542707e-01 9.47629028e-01 -2.59774014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29771942099998 meters Centerline goodness : 0.946174 Centerline is valid? [False, False] Translation: X:76.72, Y:14.20, Z:-2.61 [[ 8.20692938e-01 -4.75110647e-01 -3.17384583e-01 7.67192095e+01] [ 4.91153096e-01 8.70448006e-01 -3.29985703e-02 1.41968863e+01] [ 2.91944749e-01 -1.28802727e-01 9.47722597e-01 -2.60906731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32771942099998 meters Centerline goodness : 0.939901 Centerline is valid? [False, False] Translation: X:76.68, Y:14.17, Z:-2.62 [[ 8.21203753e-01 -4.74194656e-01 -3.17433181e-01 7.66823027e+01] [ 4.90125581e-01 8.71019221e-01 -3.32028727e-02 1.41737579e+01] [ 2.92235027e-01 -1.28315799e-01 9.47699185e-01 -2.62254033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35771942099998 meters Centerline goodness : 0.940516 Centerline is valid? [False, False] Translation: X:76.65, Y:14.15, Z:-2.64 [[ 8.22269847e-01 -4.72324038e-01 -3.17462284e-01 7.66461824e+01] [ 4.88698896e-01 8.71886996e-01 -3.14078879e-02 1.41501366e+01] [ 2.91625938e-01 -1.29317709e-01 9.47750623e-01 -2.63601954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38771942099999 meters Centerline goodness : 0.943380 Centerline is valid? [False, False] Translation: X:76.61, Y:14.13, Z:-2.65 [[ 8.21389206e-01 -4.72427460e-01 -3.19581082e-01 7.66140914e+01] [ 4.90214415e-01 8.71156701e-01 -2.78537089e-02 1.41339454e+01] [ 2.91564058e-01 -1.33784517e-01 9.47149462e-01 -2.64636125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.417719421 meters Centerline goodness : 0.940973 Centerline is valid? [False, False] Translation: X:76.58, Y:14.11, Z:-2.66 [[ 8.22556944e-01 -4.70071230e-01 -3.20051736e-01 7.65771891e+01] [ 4.88373240e-01 8.72249009e-01 -2.59469456e-02 1.41131899e+01] [ 2.91361722e-01 -1.34961863e-01 9.47044689e-01 -2.66035845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.447719421 meters Centerline goodness : 0.939581 Centerline is valid? [False, False] Translation: X:76.54, Y:14.10, Z:-2.68 [[ 8.22929338e-01 -4.69894219e-01 -3.19353610e-01 7.65412536e+01] [ 4.88354206e-01 8.72285775e-01 -2.50538557e-02 1.40966116e+01] [ 2.90340274e-01 -1.35340126e-01 9.47304373e-01 -2.67543272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.477719421 meters Centerline goodness : 0.939373 Centerline is valid? [False, False] Translation: X:76.50, Y:14.08, Z:-2.69 [[ 8.23430534e-01 -4.70765752e-01 -3.16767679e-01 7.65034042e+01] [ 4.88817578e-01 8.72019509e-01 -2.52854076e-02 1.40754242e+01] [ 2.88131100e-01 -1.34020833e-01 9.48166064e-01 -2.68959609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.507719421 meters Centerline goodness : 0.942483 Centerline is valid? [False, False] Translation: X:76.46, Y:14.05, Z:-2.70 [[ 8.23731314e-01 -4.71839306e-01 -3.14379376e-01 7.64638609e+01] [ 4.89090710e-01 8.71815970e-01 -2.69664924e-02 1.40526685e+01] [ 2.86804811e-01 -1.31546888e-01 9.48914336e-01 -2.70347857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.537719421 meters Centerline goodness : 0.943275 Centerline is valid? [False, False] Translation: X:76.43, Y:14.04, Z:-2.71 [[ 8.20325495e-01 -4.77964711e-01 -3.14031554e-01 7.64312583e+01] [ 4.95152953e-01 8.68348289e-01 -2.81922233e-02 1.40400439e+01] [ 2.86163651e-01 -1.32366852e-01 9.48993879e-01 -2.71395205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.567719421 meters Centerline goodness : 0.942092 Centerline is valid? [False, False] Translation: X:76.39, Y:14.03, Z:-2.73 [[ 8.19848052e-01 -4.78985856e-01 -3.13722364e-01 7.63937963e+01] [ 4.96111300e-01 8.67792788e-01 -2.84474102e-02 1.40273589e+01] [ 2.85871912e-01 -1.32318656e-01 9.49088522e-01 -2.72848190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.597719421 meters Centerline goodness : 0.941198 Centerline is valid? [False, False] Translation: X:76.36, Y:14.01, Z:-2.74 [[ 8.21270566e-01 -4.77239237e-01 -3.12661747e-01 7.63550582e+01] [ 4.94600765e-01 8.68706931e-01 -2.68020746e-02 1.40092322e+01] [ 2.84402428e-01 -1.32630984e-01 9.49486325e-01 -2.74255756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.627719421 meters Centerline goodness : 0.942133 Centerline is valid? [False, False] Translation: X:76.34, Y:14.01, Z:-2.75 [[ 8.21353648e-01 -4.77723284e-01 -3.11702821e-01 7.63350070e+01] [ 4.95140232e-01 8.68416860e-01 -2.62356250e-02 1.40100190e+01] [ 2.83221354e-01 -1.32787881e-01 9.49817374e-01 -2.74742536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.657719421 meters Centerline goodness : 0.944791 Centerline is valid? [False, False] Translation: X:76.30, Y:13.99, Z:-2.76 [[ 8.23505387e-01 -4.76024775e-01 -3.08608638e-01 7.62952599e+01] [ 4.92823043e-01 8.69726825e-01 -2.64706954e-02 1.39922697e+01] [ 2.81005918e-01 -1.30290688e-01 9.50820704e-01 -2.76307903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.687719421 meters Centerline goodness : 0.944594 Centerline is valid? [False, False] Translation: X:76.27, Y:13.98, Z:-2.77 [[ 8.25834819e-01 -4.74836666e-01 -3.04182499e-01 7.62651914e+01] [ 4.88905334e-01 8.71697316e-01 -3.33970545e-02 1.39803735e+01] [ 2.81013215e-01 -1.21135996e-01 9.52028174e-01 -2.77443630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.717719421 meters Centerline goodness : 0.946244 Centerline is valid? [False, False] Translation: X:76.23, Y:13.97, Z:-2.79 [[ 8.28374258e-01 -4.72548939e-01 -3.00821524e-01 7.62254152e+01] [ 4.86071065e-01 8.73284190e-01 -3.33113108e-02 1.39708051e+01] [ 2.78443905e-01 -1.18626406e-01 9.53098509e-01 -2.78947604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.747719421 meters Centerline goodness : 0.947433 Centerline is valid? [False, False] Translation: X:76.20, Y:13.97, Z:-2.80 [[ 8.30579545e-01 -4.70379121e-01 -2.98129337e-01 7.61995424e+01] [ 4.82291009e-01 8.75218961e-01 -3.72445040e-02 1.39700687e+01] [ 2.78447485e-01 -1.12850575e-01 9.53798587e-01 -2.79872388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.777719421 meters Centerline goodness : 0.945707 Centerline is valid? [False, False] Translation: X:76.17, Y:13.96, Z:-2.81 [[ 8.31663677e-01 -4.69209382e-01 -2.96947950e-01 7.61651221e+01] [ 4.81427156e-01 8.75768054e-01 -3.54712279e-02 1.39564399e+01] [ 2.76700962e-01 -1.13458676e-01 9.54234618e-01 -2.81215382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.807719421 meters Centerline goodness : 0.946284 Centerline is valid? [False, False] Translation: X:76.13, Y:13.95, Z:-2.83 [[ 8.32711584e-01 -4.68282631e-01 -2.95470464e-01 7.61301541e+01] [ 4.80095162e-01 8.76474606e-01 -3.60680072e-02 1.39487108e+01] [ 2.75862380e-01 -1.11819693e-01 9.54670783e-01 -2.82621900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.837719421 meters Centerline goodness : 0.945019 Centerline is valid? [False, False] Translation: X:76.10, Y:13.93, Z:-2.84 [[ 8.34274987e-01 -4.65822245e-01 -2.94948949e-01 7.60958923e+01] [ 4.77771174e-01 8.77789760e-01 -3.49262373e-02 1.39344852e+01] [ 2.75172586e-01 -1.11780020e-01 9.54874481e-01 -2.84065713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.867719421 meters Centerline goodness : 0.944394 Centerline is valid? [False, False] Translation: X:76.08, Y:13.94, Z:-2.85 [[ 8.34154489e-01 -4.64832188e-01 -2.96845627e-01 7.60781739e+01] [ 4.76064075e-01 8.78588468e-01 -3.80171165e-02 1.39355577e+01] [ 2.78476724e-01 -1.09605391e-01 9.54168419e-01 -2.84691074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.897719421 meters Centerline goodness : 0.943596 Centerline is valid? [False, False] Translation: X:76.06, Y:13.93, Z:-2.85 [[ 8.33479145e-01 -4.64774556e-01 -2.98826250e-01 7.60620136e+01] [ 4.76050209e-01 8.78567173e-01 -3.86771470e-02 1.39322065e+01] [ 2.80515088e-01 -1.10019703e-01 9.53523440e-01 -2.85116219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.927719421 meters Centerline goodness : 0.943069 Centerline is valid? [False, False] Translation: X:76.05, Y:13.93, Z:-2.86 [[ 8.33942032e-01 -4.62515039e-01 -3.01032433e-01 7.60452221e+01] [ 4.74723936e-01 8.79397493e-01 -3.60171228e-02 1.39276061e+01] [ 2.81385628e-01 -1.12871109e-01 9.52933493e-01 -2.85578084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.957719421 meters Centerline goodness : 0.942004 Centerline is valid? [False, False] Translation: X:76.03, Y:13.93, Z:-2.86 [[ 8.34931044e-01 -4.59402416e-01 -3.03050446e-01 7.60271960e+01] [ 4.71193687e-01 8.81224095e-01 -3.76908903e-02 1.39299884e+01] [ 2.84370641e-01 -1.11326163e-01 9.52228872e-01 -2.86005053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.987719421 meters Centerline goodness : 0.940575 Centerline is valid? [False, False] Translation: X:76.00, Y:13.92, Z:-2.87 [[ 8.38135711e-01 -4.54295303e-01 -3.01901154e-01 7.60042159e+01] [ 4.64961974e-01 8.84424670e-01 -4.00420428e-02 1.39243031e+01] [ 2.85199741e-01 -1.06811891e-01 9.52497941e-01 -2.86833790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.017719421 meters Centerline goodness : 0.940226 Centerline is valid? [False, False] Translation: X:75.99, Y:13.92, Z:-2.87 [[ 8.38964086e-01 -4.52674965e-01 -3.02034166e-01 7.59866662e+01] [ 4.63462878e-01 8.85240366e-01 -3.93910472e-02 1.39197282e+01] [ 2.85204177e-01 -1.06933950e-01 9.52482917e-01 -2.87326256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04771942099998 meters Centerline goodness : 0.941466 Centerline is valid? [False, False] Translation: X:75.98, Y:13.92, Z:-2.87 [[ 8.40941384e-01 -4.47963452e-01 -3.03556147e-01 7.59840708e+01] [ 4.59620116e-01 8.87376227e-01 -3.62323135e-02 1.39221491e+01] [ 2.85599261e-01 -1.09051260e-01 9.52124406e-01 -2.87280638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07771942099998 meters Centerline goodness : 0.946593 Centerline is valid? [False, False] Translation: X:75.96, Y:13.92, Z:-2.88 [[ 8.48976109e-01 -4.41744524e-01 -2.90002313e-01 7.59596880e+01] [ 4.49745069e-01 8.92152521e-01 -4.23468068e-02 1.39195657e+01] [ 2.77432764e-01 -9.44756829e-02 9.56088598e-01 -2.88260436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10771942099998 meters Centerline goodness : 0.947899 Centerline is valid? [False, False] Translation: X:75.94, Y:13.91, Z:-2.89 [[ 8.56074635e-01 -4.34644734e-01 -2.79678699e-01 7.59355572e+01] [ 4.39334667e-01 8.96974771e-01 -4.92068057e-02 1.39145046e+01] [ 2.72252216e-01 -8.07478502e-02 9.58831849e-01 -2.89094103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13771942099999 meters Centerline goodness : 0.947230 Centerline is valid? [False, False] Translation: X:75.91, Y:13.90, Z:-2.90 [[ 8.58837975e-01 -4.31498827e-01 -2.76054516e-01 7.59095245e+01] [ 4.34736492e-01 8.99012965e-01 -5.27244820e-02 1.39034848e+01] [ 2.70927141e-01 -7.47291847e-02 9.59694760e-01 -2.89982220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.167719421 meters Centerline goodness : 0.947814 Centerline is valid? [False, False] Translation: X:75.89, Y:13.90, Z:-2.90 [[ 8.59675088e-01 -4.30720936e-01 -2.74660186e-01 7.58916682e+01] [ 4.34128942e-01 8.99372506e-01 -5.15864050e-02 1.38974030e+01] [ 2.69241164e-01 -7.48903885e-02 9.60156563e-01 -2.90467372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.197719421 meters Centerline goodness : 0.944168 Centerline is valid? [False, False] Translation: X:75.88, Y:13.89, Z:-2.91 [[ 8.59302367e-01 -4.29977089e-01 -2.76982210e-01 7.58772172e+01] [ 4.34534660e-01 8.99371769e-01 -4.80629923e-02 1.38889300e+01] [ 2.69775966e-01 -7.90577275e-02 9.59672238e-01 -2.90731948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.227719421 meters Centerline goodness : 0.945066 Centerline is valid? [False, False] Translation: X:75.86, Y:13.88, Z:-2.91 [[ 8.58196824e-01 -4.30300817e-01 -2.79891798e-01 7.58636631e+01] [ 4.35733441e-01 8.98903406e-01 -4.59242272e-02 1.38808352e+01] [ 2.71356923e-01 -8.25461904e-02 9.58932504e-01 -2.91027294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.257719421 meters Centerline goodness : 0.945819 Centerline is valid? [False, False] Translation: X:75.86, Y:13.87, Z:-2.91 [[ 8.55257642e-01 -4.30966242e-01 -2.87754171e-01 7.58560782e+01] [ 4.38147215e-01 8.97897141e-01 -4.25175508e-02 1.38738266e+01] [ 2.76697277e-01 -8.97152286e-02 9.56760051e-01 -2.90981348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.287719421 meters Centerline goodness : 0.944597 Centerline is valid? [False, False] Translation: X:75.84, Y:13.86, Z:-2.91 [[ 8.54783859e-01 -4.31866655e-01 -2.87811998e-01 7.58412106e+01] [ 4.40204394e-01 8.97064089e-01 -3.86796108e-02 1.38628475e+01] [ 2.74890242e-01 -9.36333993e-02 9.56905503e-01 -2.91219220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.317719421 meters Centerline goodness : 0.944152 Centerline is valid? [False, False] Translation: X:75.83, Y:13.85, Z:-2.92 [[ 8.54340533e-01 -4.31628431e-01 -2.89480829e-01 7.58270026e+01] [ 4.40971754e-01 8.96808813e-01 -3.57472288e-02 1.38531285e+01] [ 2.75038479e-01 -9.71125624e-02 9.56516066e-01 -2.91566320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.347719421 meters Centerline goodness : 0.942017 Centerline is valid? [False, False] Translation: X:75.82, Y:13.84, Z:-2.92 [[ 8.52102490e-01 -4.29570215e-01 -2.98982905e-01 7.58211048e+01] [ 4.40862922e-01 8.96992630e-01 -3.23126280e-02 1.38439031e+01] [ 2.82066005e-01 -1.04276806e-01 9.53711233e-01 -2.91568102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.377719421 meters Centerline goodness : 0.941917 Centerline is valid? [False, False] Translation: X:75.82, Y:13.84, Z:-2.92 [[ 8.52041977e-01 -4.29312907e-01 -2.99524453e-01 7.58237800e+01] [ 4.40779369e-01 8.97048784e-01 -3.18908721e-02 1.38422611e+01] [ 2.82379209e-01 -1.04851838e-01 9.53555491e-01 -2.91598572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.407719421 meters Centerline goodness : 0.941917 Centerline is valid? [False, False] Translation: X:75.82, Y:13.84, Z:-2.92 [[ 8.52041977e-01 -4.29312907e-01 -2.99524453e-01 7.58237800e+01] [ 4.40779369e-01 8.97048784e-01 -3.18908721e-02 1.38422611e+01] [ 2.82379209e-01 -1.04851838e-01 9.53555491e-01 -2.91598572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.437719421 meters Centerline goodness : 0.939161 Centerline is valid? [False, False] Translation: X:75.79, Y:13.82, Z:-2.93 [[ 8.52152142e-01 -4.28257591e-01 -3.00719410e-01 7.57945696e+01] [ 4.40583572e-01 8.97234182e-01 -2.92735164e-02 1.38214367e+01] [ 2.82352339e-01 -1.07546542e-01 9.53263289e-01 -2.92784375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.467719421 meters Centerline goodness : 0.937685 Centerline is valid? [False, False] Translation: X:75.77, Y:13.80, Z:-2.94 [[ 8.49701041e-01 -4.30189070e-01 -3.04869654e-01 7.57715554e+01] [ 4.44502315e-01 8.95438589e-01 -2.46459883e-02 1.38019006e+01] [ 2.83594488e-01 -1.14573545e-01 9.52075138e-01 -2.93588633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.497719421 meters Centerline goodness : 0.938769 Centerline is valid? [False, False] Translation: X:75.76, Y:13.79, Z:-2.94 [[ 8.46350488e-01 -4.32760391e-01 -3.10498462e-01 7.57614507e+01] [ 4.48467913e-01 8.93505337e-01 -2.29073021e-02 1.37941395e+01] [ 2.87345406e-01 -1.19860991e-01 9.50297827e-01 -2.93594471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.527719421 meters Centerline goodness : 0.935927 Centerline is valid? [False, False] Translation: X:75.75, Y:13.78, Z:-2.94 [[ 8.41346033e-01 -4.38478126e-01 -3.16028142e-01 7.57527997e+01] [ 4.55087961e-01 8.90136965e-01 -2.34761921e-02 1.37846148e+01] [ 2.91602128e-01 -1.24069002e-01 9.48459320e-01 -2.93503376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.557719421 meters Centerline goodness : 0.937317 Centerline is valid? [False, False] Translation: X:75.73, Y:13.77, Z:-2.94 [[ 8.40461295e-01 -4.43041747e-01 -3.11991701e-01 7.57311635e+01] [ 4.56972780e-01 8.88929828e-01 -3.12991957e-02 1.37699676e+01] [ 2.91205580e-01 -1.16265952e-01 9.49569133e-01 -2.94357817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.587719421 meters Centerline goodness : 0.935709 Centerline is valid? [False, False] Translation: X:75.71, Y:13.76, Z:-2.95 [[ 8.35456740e-01 -4.50170767e-01 -3.15211541e-01 7.57095712e+01] [ 4.65690349e-01 8.84476570e-01 -2.88737995e-02 1.37561306e+01] [ 2.91795363e-01 -1.22668162e-01 9.48582094e-01 -2.94965724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.617719421 meters Centerline goodness : 0.936579 Centerline is valid? [False, False] Translation: X:75.69, Y:13.75, Z:-2.95 [[ 8.34297584e-01 -4.53608958e-01 -3.13347181e-01 7.56933430e+01] [ 4.69189656e-01 8.82637613e-01 -2.84940531e-02 1.37484109e+01] [ 2.89497165e-01 -1.23246736e-01 9.49211058e-01 -2.95348658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.647719421 meters Centerline goodness : 0.940185 Centerline is valid? [False, False] Translation: X:75.68, Y:13.74, Z:-2.96 [[ 8.32696200e-01 -4.58673627e-01 -3.10218541e-01 7.56755358e+01] [ 4.73901894e-01 8.80093283e-01 -2.92028713e-02 1.37401333e+01] [ 2.86415841e-01 -1.22696034e-01 9.50216633e-01 -2.95656099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.677719421 meters Centerline goodness : 0.940833 Centerline is valid? [False, False] Translation: X:75.65, Y:13.73, Z:-2.96 [[ 8.31703365e-01 -4.62999053e-01 -3.06433337e-01 7.56548333e+01] [ 4.78520865e-01 8.77651802e-01 -2.72964425e-02 1.37298997e+01] [ 2.81579997e-01 -1.23932202e-01 9.51500664e-01 -2.96430459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.707719421 meters Centerline goodness : 0.941191 Centerline is valid? [False, False] Translation: X:75.62, Y:13.71, Z:-2.97 [[ 8.30456533e-01 -4.64552384e-01 -3.07462241e-01 7.56246341e+01] [ 4.80856534e-01 8.76430559e-01 -2.54257446e-02 1.37123570e+01] [ 2.81280894e-01 -1.26730252e-01 9.51220533e-01 -2.97407401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.737719421 meters Centerline goodness : 0.939653 Centerline is valid? [False, False] Translation: X:75.59, Y:13.69, Z:-2.98 [[ 8.29025555e-01 -4.66629646e-01 -3.08177551e-01 7.55933532e+01] [ 4.83413059e-01 8.75048427e-01 -2.45370169e-02 1.36937632e+01] [ 2.81119981e-01 -1.28635239e-01 9.51012372e-01 -2.98400207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.767719421 meters Centerline goodness : 0.941581 Centerline is valid? [False, False] Translation: X:75.56, Y:13.67, Z:-2.99 [[ 8.26632462e-01 -4.71689642e-01 -3.06900074e-01 7.55606508e+01] [ 4.88580222e-01 8.72174885e-01 -2.45017455e-02 1.36729867e+01] [ 2.79227756e-01 -1.29691368e-01 9.51426303e-01 -2.99299174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79771942099998 meters Centerline goodness : 0.943103 Centerline is valid? [False, False] Translation: X:75.53, Y:13.65, Z:-3.00 [[ 8.26381398e-01 -4.73422292e-01 -3.04901817e-01 7.55272228e+01] [ 4.90531685e-01 8.71117400e-01 -2.30898469e-02 1.36522012e+01] [ 2.76536527e-01 -1.30482982e-01 9.52103850e-01 -3.00488327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82771942099998 meters Centerline goodness : 0.944724 Centerline is valid? [False, False] Translation: X:75.51, Y:13.64, Z:-3.01 [[ 8.20884645e-01 -4.80592114e-01 -3.08511945e-01 7.55069987e+01] [ 5.00137256e-01 8.65761079e-01 -1.79019097e-02 1.36413738e+01] [ 2.75701151e-01 -1.39602915e-01 9.51051997e-01 -3.00876861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85771942099998 meters Centerline goodness : 0.946082 Centerline is valid? [False, False] Translation: X:75.47, Y:13.62, Z:-3.02 [[ 8.20911992e-01 -4.82437593e-01 -3.05544547e-01 7.54716741e+01] [ 5.01185561e-01 8.65121584e-01 -1.94339507e-02 1.36188870e+01] [ 2.73708851e-01 -1.37180952e-01 9.51979438e-01 -3.02218913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88771942099999 meters Centerline goodness : 0.945011 Centerline is valid? [False, False] Translation: X:75.44, Y:13.60, Z:-3.04 [[ 8.20500602e-01 -4.85051667e-01 -3.02495691e-01 7.54371215e+01] [ 5.03133412e-01 8.63962127e-01 -2.06449281e-02 1.35970297e+01] [ 2.71358677e-01 -1.35256513e-01 9.52927145e-01 -3.03538031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.917719421 meters Centerline goodness : 0.947301 Centerline is valid? [False, False] Translation: X:75.40, Y:13.58, Z:-3.05 [[ 8.21280218e-01 -4.85280639e-01 -3.00002508e-01 7.54001979e+01] [ 5.02961423e-01 8.64058655e-01 -2.07953890e-02 1.35792431e+01] [ 2.69311363e-01 -1.33810846e-01 9.53711721e-01 -3.04960066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.947719421 meters Centerline goodness : 0.945471 Centerline is valid? [False, False] Translation: X:75.36, Y:13.56, Z:-3.06 [[ 8.23357438e-01 -4.82976654e-01 -2.98020270e-01 7.53644283e+01] [ 5.00419159e-01 8.65547932e-01 -2.01852293e-02 1.35597621e+01] [ 2.67699822e-01 -1.32515394e-01 9.54346098e-01 -3.06440567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.977719421 meters Centerline goodness : 0.943261 Centerline is valid? [False, False] Translation: X:75.33, Y:13.55, Z:-3.08 [[ 8.25204741e-01 -4.81563786e-01 -2.95183764e-01 7.53297419e+01] [ 4.98241694e-01 8.66778961e-01 -2.12001821e-02 1.35485802e+01] [ 2.66068316e-01 -1.29578368e-01 9.55205265e-01 -3.08136338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.007719421 meters Centerline goodness : 0.943612 Centerline is valid? [False, False] Translation: X:75.29, Y:13.53, Z:-3.10 [[ 8.28468359e-01 -4.78217100e-01 -2.91459402e-01 7.52905274e+01] [ 4.94044742e-01 8.69163594e-01 -2.17816168e-02 1.35310520e+01] [ 2.63742243e-01 -1.25948605e-01 9.56335181e-01 -3.09735167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.037719421 meters Centerline goodness : 0.941549 Centerline is valid? [False, False] Translation: X:75.26, Y:13.53, Z:-3.11 [[ 8.33607546e-01 -4.71935886e-01 -2.87010417e-01 7.52608642e+01] [ 4.85260649e-01 8.73933590e-01 -2.76076567e-02 1.35252078e+01] [ 2.63857088e-01 -1.16260910e-01 9.57529549e-01 -3.11082979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.067719421 meters Centerline goodness : 0.940252 Centerline is valid? [False, False] Translation: X:75.24, Y:13.52, Z:-3.12 [[ 8.36712859e-01 -4.68729734e-01 -2.83203156e-01 7.52351289e+01] [ 4.79846797e-01 8.76717573e-01 -3.33668942e-02 1.35162310e+01] [ 2.63929239e-01 -1.07975618e-01 9.58479328e-01 -3.12210943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.097719421 meters Centerline goodness : 0.942111 Centerline is valid? [False, False] Translation: X:75.22, Y:13.52, Z:-3.12 [[ 8.37945739e-01 -4.63508558e-01 -2.88108928e-01 7.52218169e+01] [ 4.73503787e-01 8.79949715e-01 -3.85053764e-02 1.35214019e+01] [ 2.71368941e-01 -1.04155252e-01 9.56823171e-01 -3.12234161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.127719421 meters Centerline goodness : 0.941895 Centerline is valid? [False, False] Translation: X:75.20, Y:13.52, Z:-3.13 [[ 8.39540854e-01 -4.60741832e-01 -2.87902968e-01 7.52031775e+01] [ 4.71155758e-01 8.81296353e-01 -3.64553003e-02 1.35179326e+01] [ 2.70524318e-01 -1.05041427e-01 9.56965460e-01 -3.12734112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.157719421 meters Centerline goodness : 0.942863 Centerline is valid? [False, False] Translation: X:75.18, Y:13.52, Z:-3.13 [[ 8.43361132e-01 -4.53645765e-01 -2.88006114e-01 7.51813609e+01] [ 4.65093816e-01 8.84697683e-01 -3.15872106e-02 1.35171654e+01] [ 2.69127746e-01 -1.07310437e-01 9.57107479e-01 -3.13204691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.187719421 meters Centerline goodness : 0.944684 Centerline is valid? [False, False] Translation: X:75.18, Y:13.52, Z:-3.13 [[ 8.45106933e-01 -4.49538824e-01 -2.89325282e-01 7.51795913e+01] [ 4.61733223e-01 8.86551962e-01 -2.87758401e-02 1.35193694e+01] [ 2.69437754e-01 -1.09272433e-01 9.56798219e-01 -3.13191775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.217719421 meters Centerline goodness : 0.942253 Centerline is valid? [False, False] Translation: X:75.15, Y:13.51, Z:-3.14 [[ 8.50256973e-01 -4.43697529e-01 -2.83188244e-01 7.51511968e+01] [ 4.54363729e-01 8.90287283e-01 -3.06945597e-02 1.35072706e+01] [ 2.65737993e-01 -1.02572203e-01 9.58573034e-01 -3.14266857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.247719421 meters Centerline goodness : 0.945703 Centerline is valid? [False, False] Translation: X:75.15, Y:13.51, Z:-3.14 [[ 8.50484719e-01 -4.43192485e-01 -2.83295190e-01 7.51503923e+01] [ 4.53893053e-01 8.90533062e-01 -3.05280683e-02 1.35072612e+01] [ 2.65813544e-01 -1.02622063e-01 9.58546750e-01 -3.14211339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.277719421 meters Centerline goodness : 0.942455 Centerline is valid? [False, False] Translation: X:75.13, Y:13.50, Z:-3.15 [[ 8.52340606e-01 -4.41486509e-01 -2.80366105e-01 7.51272760e+01] [ 4.50790462e-01 8.91977084e-01 -3.41297807e-02 1.34955245e+01] [ 2.65147978e-01 -9.72961678e-02 9.59286196e-01 -3.15046738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.307719421 meters Centerline goodness : 0.945418 Centerline is valid? [False, False] Translation: X:75.11, Y:13.49, Z:-3.16 [[ 8.52022614e-01 -4.41646072e-01 -2.81080437e-01 7.51126434e+01] [ 4.51534921e-01 8.91667999e-01 -3.23171033e-02 1.34882001e+01] [ 2.64903152e-01 -9.93827298e-02 9.59139924e-01 -3.15515993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.337719421 meters Centerline goodness : 0.939451 Centerline is valid? [False, False] Translation: X:75.10, Y:13.48, Z:-3.15 [[ 8.48723489e-01 -4.43375944e-01 -2.88246788e-01 7.51035698e+01] [ 4.55114073e-01 8.89964853e-01 -2.88745730e-02 1.34829956e+01] [ 2.69331801e-01 -1.06678642e-01 9.57120707e-01 -3.15407895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.367719421 meters Centerline goodness : 0.944043 Centerline is valid? [False, False] Translation: X:75.09, Y:13.47, Z:-3.16 [[ 8.46291571e-01 -4.48114010e-01 -2.88070147e-01 7.50885378e+01] [ 4.59891561e-01 8.87485588e-01 -2.94802293e-02 1.34734253e+01] [ 2.68868608e-01 -1.07532160e-01 9.57155424e-01 -3.15640136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.397719421 meters Centerline goodness : 0.943453 Centerline is valid? [False, False] Translation: X:75.07, Y:13.47, Z:-3.16 [[ 8.45089140e-01 -4.50901432e-01 -2.87249445e-01 7.50724922e+01] [ 4.62683788e-01 8.86029075e-01 -2.96005203e-02 1.34656580e+01] [ 2.67858277e-01 -1.07890583e-01 9.57398332e-01 -3.16067378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.427719421 meters Centerline goodness : 0.944532 Centerline is valid? [False, False] Translation: X:75.06, Y:13.46, Z:-3.17 [[ 8.44062977e-01 -4.52962240e-01 -2.87024213e-01 7.50564417e+01] [ 4.64782664e-01 8.84925670e-01 -2.97259753e-02 1.34587134e+01] [ 2.67459839e-01 -1.08313283e-01 9.57461993e-01 -3.16515894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.457719421 meters Centerline goodness : 0.944514 Centerline is valid? [False, False] Translation: X:75.04, Y:13.45, Z:-3.17 [[ 8.43020581e-01 -4.55742660e-01 -2.85683266e-01 7.50386597e+01] [ 4.67117679e-01 8.83643187e-01 -3.12376711e-02 1.34535052e+01] [ 2.66678411e-01 -1.07113704e-01 9.57814846e-01 -3.16995094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.487719421 meters Centerline goodness : 0.943789 Centerline is valid? [False, False] Translation: X:75.02, Y:13.45, Z:-3.17 [[ 8.42879888e-01 -4.56649517e-01 -2.84648401e-01 7.50219563e+01] [ 4.68236570e-01 8.83087170e-01 -3.01921330e-02 1.34463850e+01] [ 2.65156574e-01 -1.07834449e-01 9.58156419e-01 -3.17431765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.517719421 meters Centerline goodness : 0.944524 Centerline is valid? [False, False] Translation: X:75.00, Y:13.44, Z:-3.18 [[ 8.42036748e-01 -4.59201640e-01 -2.83033511e-01 7.50039046e+01] [ 4.70483575e-01 8.81862297e-01 -3.10498698e-02 1.34410206e+01] [ 2.63854733e-01 -1.07017486e-01 9.58607290e-01 -3.17860887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54771942099998 meters Centerline goodness : 0.945348 Centerline is valid? [False, False] Translation: X:74.99, Y:13.43, Z:-3.18 [[ 8.41311873e-01 -4.60999356e-01 -2.82265702e-01 7.49867334e+01] [ 4.72305292e-01 8.80891693e-01 -3.09440820e-02 1.34341914e+01] [ 2.62910714e-01 -1.07281961e-01 9.58837075e-01 -3.18271765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57771942099998 meters Centerline goodness : 0.943336 Centerline is valid? [False, False] Translation: X:74.96, Y:13.43, Z:-3.19 [[ 8.36399281e-01 -4.67185815e-01 -2.86659481e-01 7.49646678e+01] [ 4.79632936e-01 8.76963328e-01 -2.97920869e-02 1.34265864e+01] [ 2.65308293e-01 -1.12573249e-01 9.57569200e-01 -3.18868904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60771942099998 meters Centerline goodness : 0.941776 Centerline is valid? [False, False] Translation: X:74.95, Y:13.42, Z:-3.20 [[ 8.33771800e-01 -4.71191506e-01 -2.87755363e-01 7.49451358e+01] [ 4.84919256e-01 8.74161551e-01 -2.63609215e-02 1.34174730e+01] [ 2.63965717e-01 -1.17559124e-01 9.57341085e-01 -3.19684648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63771942099999 meters Centerline goodness : 0.942149 Centerline is valid? [False, False] Translation: X:74.91, Y:13.40, Z:-3.21 [[ 8.30749499e-01 -4.76711754e-01 -2.87404200e-01 7.49088369e+01] [ 4.91662055e-01 8.70490098e-01 -2.27027151e-02 1.34009704e+01] [ 2.61005161e-01 -1.22445470e-01 9.57540293e-01 -3.21041991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.667719421 meters Centerline goodness : 0.941836 Centerline is valid? [False, False] Translation: X:74.88, Y:13.38, Z:-3.22 [[ 8.30162087e-01 -4.77751630e-01 -2.87374823e-01 7.48753288e+01] [ 4.92941870e-01 8.69784326e-01 -2.19894971e-02 1.33842376e+01] [ 2.60459635e-01 -1.23404236e-01 9.57565754e-01 -3.21930894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.697719421 meters Centerline goodness : 0.946127 Centerline is valid? [False, False] Translation: X:74.85, Y:13.38, Z:-3.23 [[ 8.28407221e-01 -4.83217632e-01 -2.83270537e-01 7.48484740e+01] [ 4.99076964e-01 8.66362988e-01 -1.83672862e-02 1.33750214e+01] [ 2.54290505e-01 -1.26158207e-01 9.58864144e-01 -3.22598196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.727719421 meters Centerline goodness : 0.945557 Centerline is valid? [False, False] Translation: X:74.82, Y:13.37, Z:-3.23 [[ 8.25958630e-01 -4.88053311e-01 -2.82128174e-01 7.48239319e+01] [ 5.04835295e-01 8.63083752e-01 -1.50917741e-02 1.33673306e+01] [ 2.50865833e-01 -1.29963079e-01 9.59258011e-01 -3.23339519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.757719421 meters Centerline goodness : 0.942503 Centerline is valid? [False, False] Translation: X:74.79, Y:13.35, Z:-3.24 [[ 8.24964819e-01 -4.89589314e-01 -2.82374486e-01 7.47922390e+01] [ 5.05987449e-01 8.62374203e-01 -1.69539051e-02 1.33530755e+01] [ 2.51812923e-01 -1.28891571e-01 9.59154427e-01 -3.24343313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.787719421 meters Centerline goodness : 0.942693 Centerline is valid? [False, False] Translation: X:74.76, Y:13.34, Z:-3.26 [[ 8.25665993e-01 -4.90056848e-01 -2.79499471e-01 7.47573404e+01] [ 5.05296037e-01 8.62715602e-01 -1.99425566e-02 1.33361402e+01] [ 2.50901541e-01 -1.24764084e-01 9.59938717e-01 -3.25646272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.817719421 meters Centerline goodness : 0.938880 Centerline is valid? [False, False] Translation: X:74.72, Y:13.33, Z:-3.27 [[ 8.24569991e-01 -4.92853406e-01 -2.77812618e-01 7.47226889e+01] [ 5.06831327e-01 8.61700326e-01 -2.43834767e-02 1.33251860e+01] [ 2.51408703e-01 -1.20698255e-01 9.60325776e-01 -3.26694273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.847719421 meters Centerline goodness : 0.943799 Centerline is valid? [False, False] Translation: X:74.69, Y:13.31, Z:-3.28 [[ 8.24763548e-01 -4.92581390e-01 -2.77720478e-01 7.46908223e+01] [ 5.06552359e-01 8.61866224e-01 -2.43170477e-02 1.33119937e+01] [ 2.51336025e-01 -1.20624149e-01 9.60354110e-01 -3.27719148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.877719421 meters Centerline goodness : 0.944362 Centerline is valid? [False, False] Translation: X:74.67, Y:13.31, Z:-3.29 [[ 8.23802205e-01 -4.94729216e-01 -2.76754276e-01 7.46659625e+01] [ 5.09298978e-01 8.60311095e-01 -2.18945555e-02 1.33107539e+01] [ 2.48926650e-01 -1.22913887e-01 9.60691261e-01 -3.28658049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.907719421 meters Centerline goodness : 0.943626 Centerline is valid? [False, False] Translation: X:74.63, Y:13.30, Z:-3.30 [[ 8.23173293e-01 -4.97012554e-01 -2.74525503e-01 7.46315215e+01] [ 5.10165634e-01 8.59663986e-01 -2.66243684e-02 1.33042259e+01] [ 2.49232334e-01 -1.18137009e-01 9.61211158e-01 -3.29748368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.937719421 meters Centerline goodness : 0.945532 Centerline is valid? [False, False] Translation: X:74.60, Y:13.29, Z:-3.31 [[ 8.25199698e-01 -4.97043517e-01 -2.68315486e-01 7.46014564e+01] [ 5.09405763e-01 8.60113481e-01 -2.66564853e-02 1.32925792e+01] [ 2.44031200e-01 -1.14684531e-01 9.62962217e-01 -3.30970270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.967719421 meters Centerline goodness : 0.948026 Centerline is valid? [False, False] Translation: X:74.57, Y:13.29, Z:-3.32 [[ 8.27835483e-01 -4.95562192e-01 -2.62881201e-01 7.45747536e+01] [ 5.05706217e-01 8.62088579e-01 -3.26267385e-02 1.32903802e+01] [ 2.42795460e-01 -1.05931086e-01 9.64276397e-01 -3.31865507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.997719421 meters Centerline goodness : 0.948536 Centerline is valid? [False, False] Translation: X:74.56, Y:13.29, Z:-3.32 [[ 8.29712219e-01 -4.93220483e-01 -2.61364093e-01 7.45551623e+01] [ 5.03169331e-01 8.63582733e-01 -3.23340149e-02 1.32875845e+01] [ 2.41657316e-01 -1.04682469e-01 9.64698565e-01 -3.32401414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.027719421 meters Centerline goodness : 0.948789 Centerline is valid? [False, False] Translation: X:74.53, Y:13.29, Z:-3.33 [[ 8.31591382e-01 -4.89158998e-01 -2.63019482e-01 7.45348779e+01] [ 4.98387024e-01 8.66237419e-01 -3.52577428e-02 1.32941333e+01] [ 2.45083959e-01 -1.01765462e-01 9.64146070e-01 -3.32832022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.057719421 meters Centerline goodness : 0.946721 Centerline is valid? [False, False] Translation: X:74.52, Y:13.29, Z:-3.33 [[ 8.31732243e-01 -4.87772409e-01 -2.65140629e-01 7.45198964e+01] [ 4.96164847e-01 8.67343563e-01 -3.91865946e-02 1.32938518e+01] [ 2.49082157e-01 -9.89607051e-02 9.63413129e-01 -3.33275202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.087719421 meters Centerline goodness : 0.944961 Centerline is valid? [False, False] Translation: X:74.49, Y:13.29, Z:-3.34 [[ 8.32935705e-01 -4.84859419e-01 -2.66701059e-01 7.44864785e+01] [ 4.92880278e-01 8.69141368e-01 -4.07714832e-02 1.32865249e+01] [ 2.51569361e-01 -9.74916680e-02 9.62916523e-01 -3.34304072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.117719421 meters Centerline goodness : 0.944986 Centerline is valid? [False, False] Translation: X:74.45, Y:13.27, Z:-3.35 [[ 8.33542863e-01 -4.83870938e-01 -2.66599344e-01 7.44533608e+01] [ 4.91886638e-01 8.69712785e-01 -4.05857885e-02 1.32728951e+01] [ 2.51503142e-01 -9.73066610e-02 9.62952534e-01 -3.35205234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.147719421 meters Centerline goodness : 0.945108 Centerline is valid? [False, False] Translation: X:74.42, Y:13.26, Z:-3.36 [[ 8.32231598e-01 -4.86315101e-01 -2.66248362e-01 7.44203738e+01] [ 4.96453073e-01 8.67449749e-01 -3.26386167e-02 1.32638174e+01] [ 2.46829727e-01 -1.05016929e-01 9.63351717e-01 -3.36161358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.177719421 meters Centerline goodness : 0.944968 Centerline is valid? [False, False] Translation: X:74.38, Y:13.25, Z:-3.37 [[ 8.31924100e-01 -4.86416866e-01 -2.67022330e-01 7.43839440e+01] [ 4.98275800e-01 8.66620888e-01 -2.62576155e-02 1.32463584e+01] [ 2.44179276e-01 -1.11206422e-01 9.63332556e-01 -3.37484064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.207719421 meters Centerline goodness : 0.945505 Centerline is valid? [False, False] Translation: X:74.35, Y:13.23, Z:-3.39 [[ 8.30508320e-01 -4.88533142e-01 -2.67565506e-01 7.43455959e+01] [ 5.01929891e-01 8.64658867e-01 -2.07708486e-02 1.32322640e+01] [ 2.41500135e-01 -1.17048763e-01 9.63315769e-01 -3.38876547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.237719421 meters Centerline goodness : 0.945534 Centerline is valid? [False, False] Translation: X:74.31, Y:13.22, Z:-3.40 [[ 8.32278626e-01 -4.87634010e-01 -2.63676623e-01 7.43122821e+01] [ 5.01940579e-01 8.64773126e-01 -1.49363731e-02 1.32169993e+01] [ 2.35303941e-01 -1.19918773e-01 9.64495486e-01 -3.40231037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.267719421 meters Centerline goodness : 0.946176 Centerline is valid? [False, False] Translation: X:74.28, Y:13.21, Z:-3.41 [[ 8.32282215e-01 -4.87875712e-01 -2.63217789e-01 7.42782540e+01] [ 5.01463041e-01 8.64998458e-01 -1.76772557e-02 1.32082784e+01] [ 2.36307285e-01 -1.17281527e-01 9.64574471e-01 -3.41147471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29771942099998 meters Centerline goodness : 0.946176 Centerline is valid? [False, False] Translation: X:74.24, Y:13.19, Z:-3.42 [[ 8.32571536e-01 -4.87697009e-01 -2.62633328e-01 7.42421682e+01] [ 5.02151914e-01 8.64669610e-01 -1.37811627e-02 1.31887922e+01] [ 2.33812089e-01 -1.20408025e-01 9.64797292e-01 -3.42357418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32771942099998 meters Centerline goodness : 0.945627 Centerline is valid? [False, False] Translation: X:74.20, Y:13.17, Z:-3.44 [[ 8.32071338e-01 -4.88347773e-01 -2.63009014e-01 7.42007444e+01] [ 5.03679908e-01 8.63827061e-01 -1.04574595e-02 1.31717267e+01] [ 2.32301181e-01 -1.23771004e-01 9.64736700e-01 -3.43570325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35771942099998 meters Centerline goodness : 0.944194 Centerline is valid? [False, False] Translation: X:74.17, Y:13.17, Z:-3.44 [[ 8.32162536e-01 -4.90082927e-01 -2.59469148e-01 7.41745411e+01] [ 5.05274632e-01 8.62907954e-01 -9.34923219e-03 1.31684082e+01] [ 2.28479891e-01 -1.23323098e-01 9.65706142e-01 -3.44386038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38771942099999 meters Centerline goodness : 0.944575 Centerline is valid? [False, False] Translation: X:74.14, Y:13.15, Z:-3.46 [[ 8.32067411e-01 -4.90169983e-01 -2.59609727e-01 7.41368932e+01] [ 5.06210146e-01 8.62390368e-01 -5.84302830e-03 1.31536042e+01] [ 2.26749006e-01 -1.26555284e-01 9.65695940e-01 -3.45634906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.417719421 meters Centerline goodness : 0.942666 Centerline is valid? [False, False] Translation: X:74.11, Y:13.15, Z:-3.46 [[ 8.31908551e-01 -4.90547655e-01 -2.59405399e-01 7.41121411e+01] [ 5.07564516e-01 8.61612272e-01 -1.59834181e-03 1.31492328e+01] [ 2.24290938e-01 -1.30335302e-01 9.65767200e-01 -3.46498070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.447719421 meters Centerline goodness : 0.943821 Centerline is valid? [False, False] Translation: X:74.09, Y:13.15, Z:-3.47 [[ 8.32409520e-01 -4.92105480e-01 -2.54806961e-01 7.40933913e+01] [ 5.07673503e-01 8.61532699e-01 -5.38723699e-03 1.31454578e+01] [ 2.22175618e-01 -1.24874355e-01 9.66976934e-01 -3.47009184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.477719421 meters Centerline goodness : 0.943568 Centerline is valid? [False, False] Translation: X:74.07, Y:13.15, Z:-3.47 [[ 8.32280462e-01 -4.92339697e-01 -2.54776087e-01 7.40749910e+01] [ 5.06513670e-01 8.62156158e-01 -1.14307083e-02 1.31487486e+01] [ 2.25284564e-01 -1.19534016e-01 9.66932513e-01 -3.47382397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.507719421 meters Centerline goodness : 0.944480 Centerline is valid? [False, False] Translation: X:74.06, Y:13.15, Z:-3.48 [[ 8.31841486e-01 -4.90544954e-01 -2.59625482e-01 7.40612156e+01] [ 5.03864367e-01 8.63608594e-01 -1.73463478e-02 1.31532483e+01] [ 2.32723961e-01 -1.16386617e-01 9.65553579e-01 -3.47561166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.537719421 meters Centerline goodness : 0.943066 Centerline is valid? [False, False] Translation: X:74.05, Y:13.15, Z:-3.48 [[ 8.32363046e-01 -4.89227077e-01 -2.60439295e-01 7.40467198e+01] [ 5.01389333e-01 8.64934024e-01 -2.23130385e-02 1.31511446e+01] [ 2.36178950e-01 -1.12008936e-01 9.65232356e-01 -3.47837985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.567719421 meters Centerline goodness : 0.942862 Centerline is valid? [False, False] Translation: X:74.04, Y:13.15, Z:-3.48 [[ 8.33069806e-01 -4.83574682e-01 -2.68607941e-01 7.40362926e+01] [ 4.99681956e-01 8.66155652e-01 -9.60877782e-03 1.31498316e+01] [ 2.37302848e-01 -1.26213759e-01 9.63201664e-01 -3.48121664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.597719421 meters Centerline goodness : 0.945908 Centerline is valid? [False, False] Translation: X:74.03, Y:13.15, Z:-3.48 [[ 8.34361727e-01 -4.80588645e-01 -2.69953818e-01 7.40341901e+01] [ 4.97372597e-01 8.67507703e-01 -7.13341420e-03 1.31508458e+01] [ 2.37615254e-01 -1.28315784e-01 9.62846847e-01 -3.48039773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.627719421 meters Centerline goodness : 0.945563 Centerline is valid? [False, False] Translation: X:74.03, Y:13.15, Z:-3.48 [[ 8.35916381e-01 -4.77262936e-01 -2.71042236e-01 7.40278536e+01] [ 4.94678029e-01 8.69063837e-01 -4.65791032e-03 1.31541956e+01] [ 2.37776054e-01 -1.30185016e-01 9.62556185e-01 -3.47856787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.657719421 meters Centerline goodness : 0.948306 Centerline is valid? [False, False] Translation: X:74.03, Y:13.16, Z:-3.48 [[ 8.37077319e-01 -4.74326276e-01 -2.72609878e-01 7.40264090e+01] [ 4.92430111e-01 8.70348948e-01 -2.30108357e-03 1.31559461e+01] [ 2.38357185e-01 -1.32315128e-01 9.62121905e-01 -3.47799864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.687719421 meters Centerline goodness : 0.946469 Centerline is valid? [False, False] Translation: X:74.03, Y:13.16, Z:-3.48 [[ 8.37759770e-01 -4.72178266e-01 -2.74237585e-01 7.40253241e+01] [ 4.90798269e-01 8.71272854e-01 -8.20676379e-04 1.31596917e+01] [ 2.39323269e-01 -1.33907802e-01 9.61661621e-01 -3.47786236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.717719421 meters Centerline goodness : 0.947075 Centerline is valid? [False, False] Translation: X:74.02, Y:13.16, Z:-3.48 [[ 8.36228995e-01 -4.68963447e-01 -2.84243475e-01 7.40198433e+01] [ 4.88570245e-01 8.72521801e-01 -2.19609700e-03 1.31554524e+01] [ 2.49038518e-01 -1.37036464e-01 9.58749615e-01 -3.47671501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.747719421 meters Centerline goodness : 0.946777 Centerline is valid? [False, False] Translation: X:74.02, Y:13.16, Z:-3.48 [[ 8.36113527e-01 -4.69030539e-01 -2.84472361e-01 7.40171453e+01] [ 4.89851061e-01 8.71802965e-01 2.35131491e-03 1.31561786e+01] [ 2.46901009e-01 -1.41315054e-01 9.58681359e-01 -3.48170245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.777719421 meters Centerline goodness : 0.945088 Centerline is valid? [False, False] Translation: X:74.01, Y:13.16, Z:-3.48 [[ 8.33462514e-01 -4.65846265e-01 -2.97199420e-01 7.40118458e+01] [ 4.88080439e-01 8.72798373e-01 6.96124490e-04 1.31603167e+01] [ 2.59070883e-01 -1.45637417e-01 9.54815176e-01 -3.47959968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.807719421 meters Centerline goodness : 0.944297 Centerline is valid? [False, False] Translation: X:74.01, Y:13.16, Z:-3.48 [[ 8.33950318e-01 -4.62862530e-01 -3.00474866e-01 7.40084725e+01] [ 4.87705911e-01 8.72963080e-01 8.85464710e-03 1.31594058e+01] [ 2.58204981e-01 -1.53927704e-01 9.53748630e-01 -3.48318967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.837719421 meters Centerline goodness : 0.944719 Centerline is valid? [False, False] Translation: X:74.00, Y:13.16, Z:-3.48 [[ 8.35063632e-01 -4.61142839e-01 -3.00026688e-01 7.39987053e+01] [ 4.83976104e-01 8.75078817e-01 2.04819661e-03 1.31579096e+01] [ 2.61602488e-01 -1.46916122e-01 9.53928609e-01 -3.48365899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.867719421 meters Centerline goodness : 0.946568 Centerline is valid? [False, False] Translation: X:74.00, Y:13.16, Z:-3.48 [[ 8.35961064e-01 -4.59120526e-01 -3.00628412e-01 7.39952575e+01] [ 4.82095948e-01 8.76114670e-01 2.56533797e-03 1.31628232e+01] [ 2.62207162e-01 -1.47076262e-01 9.53737898e-01 -3.48369252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.897719421 meters Centerline goodness : 0.946142 Centerline is valid? [False, False] Translation: X:73.99, Y:13.16, Z:-3.48 [[ 8.37188242e-01 -4.55312591e-01 -3.02995532e-01 7.39859141e+01] [ 4.76888594e-01 8.78958094e-01 -3.15240017e-03 1.31615556e+01] [ 2.67755703e-01 -1.41855961e-01 9.52986763e-01 -3.48317859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.927719421 meters Centerline goodness : 0.946275 Centerline is valid? [False, False] Translation: X:73.97, Y:13.16, Z:-3.48 [[ 8.38685391e-01 -4.51213744e-01 -3.04980281e-01 7.39743791e+01] [ 4.70996627e-01 8.82080570e-01 -9.80026127e-03 1.31640672e+01] [ 2.73439193e-01 -1.35425348e-01 9.52308239e-01 -3.48433809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.957719421 meters Centerline goodness : 0.945645 Centerline is valid? [False, False] Translation: X:73.97, Y:13.16, Z:-3.48 [[ 8.39178914e-01 -4.42409357e-01 -3.16311099e-01 7.39686717e+01] [ 4.64692014e-01 8.85454623e-01 -5.60736232e-03 1.31589328e+01] [ 2.82559874e-01 -1.42281661e-01 9.48638944e-01 -3.48362500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.987719421 meters Centerline goodness : 0.946056 Centerline is valid? [False, False] Translation: X:73.96, Y:13.16, Z:-3.48 [[ 8.39182987e-01 -4.34118921e-01 -3.27586136e-01 7.39623421e+01] [ 4.57643872e-01 8.89115961e-01 -5.90718220e-03 1.31589160e+01] [ 2.93826482e-01 -1.44960581e-01 9.44802852e-01 -3.48107210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01771942099998 meters Centerline goodness : 0.948267 Centerline is valid? [False, False] Translation: X:73.96, Y:13.15, Z:-3.48 [[ 8.38851210e-01 -4.24808183e-01 -3.40391914e-01 7.39588396e+01] [ 4.50638127e-01 8.92699663e-01 -3.54821386e-03 1.31548073e+01] [ 3.05375057e-01 -1.50417151e-01 9.40276957e-01 -3.47780076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04771942099998 meters Centerline goodness : 0.946643 Centerline is valid? [False, False] Translation: X:73.95, Y:13.15, Z:-3.47 [[ 8.38484662e-01 -4.15256706e-01 -3.52853141e-01 7.39549930e+01] [ 4.43688112e-01 8.96181201e-01 -3.38884706e-04 1.31504101e+01] [ 3.16361076e-01 -1.56272594e-01 9.35678655e-01 -3.47466864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07771942099998 meters Centerline goodness : 0.950706 Centerline is valid? [False, True] Translation: X:73.95, Y:13.15, Z:-3.47 [[ 8.39819349e-01 -4.09667478e-01 -3.56196600e-01 7.39539303e+01] [ 4.39873119e-01 8.98049897e-01 4.24518523e-03 1.31541812e+01] [ 3.18143206e-01 -1.60246498e-01 9.34401391e-01 -3.47336674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10771942099998 meters Centerline goodness : 0.949519 Centerline is valid? [True, False] Translation: X:73.95, Y:13.16, Z:-3.48 [[ 8.40223981e-01 -4.09585686e-01 -3.55335374e-01 7.39524412e+01] [ 4.39110498e-01 8.98428938e-01 2.72288594e-03 1.31580000e+01] [ 3.18128328e-01 -1.58319327e-01 9.34734913e-01 -3.47517096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13771942099999 meters Centerline goodness : 0.946211 Centerline is valid? [False, False] Translation: X:73.95, Y:13.16, Z:-3.48 [[ 8.41344926e-01 -4.05786212e-01 -3.57038184e-01 7.39542335e+01] [ 4.36358141e-01 8.99755290e-01 5.65602486e-03 1.31585672e+01] [ 3.18951858e-01 -1.60555186e-01 9.34072665e-01 -3.47580576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.167719421 meters Centerline goodness : 0.947598 Centerline is valid? [False, False] Translation: X:73.95, Y:13.16, Z:-3.48 [[ 8.42637506e-01 -4.01832204e-01 -3.58459082e-01 7.39539076e+01] [ 4.33275468e-01 9.01223883e-01 8.23910062e-03 1.31610656e+01] [ 3.19741149e-01 -1.62254101e-01 9.33509081e-01 -3.47640097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.197719421 meters Centerline goodness : 0.949279 Centerline is valid? [False, False] Translation: X:73.96, Y:13.16, Z:-3.48 [[ 8.43281078e-01 -3.98403782e-01 -3.60765090e-01 7.39552491e+01] [ 4.31097975e-01 9.02234133e-01 1.13183730e-02 1.31621065e+01] [ 3.20985296e-01 -1.65069670e-01 9.32588035e-01 -3.47569836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.227719421 meters Centerline goodness : 0.950269 Centerline is valid? [False, True] Translation: X:73.96, Y:13.16, Z:-3.47 [[ 8.43788285e-01 -3.94890744e-01 -3.63431741e-01 7.39572250e+01] [ 4.29017631e-01 9.03176424e-01 1.47043875e-02 1.31630818e+01] [ 3.22436354e-01 -1.68326014e-01 9.31504777e-01 -3.47478332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.257719421 meters Centerline goodness : 0.950148 Centerline is valid? [True, True] Translation: X:73.95, Y:13.22, Z:-3.43 [[ 8.42134611e-01 -4.43957627e-01 -3.06122397e-01 7.39504151e+01] [ 4.25216469e-01 8.95796659e-01 -1.29380450e-01 1.32193992e+01] [ 3.31662858e-01 -2.12125294e-02 9.43159466e-01 -3.43410409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.287719421 meters Centerline goodness : 0.947008 Centerline is valid? [True, False] Translation: X:73.95, Y:13.22, Z:-3.43 [[ 8.42554306e-01 -4.41490613e-01 -3.08525980e-01 7.39513489e+01] [ 4.23516470e-01 8.96952212e-01 -1.26927259e-01 1.32217429e+01] [ 3.32770253e-01 -2.37227252e-02 9.42709494e-01 -3.43311908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.317719421 meters Centerline goodness : 0.949636 Centerline is valid? [False, False] Translation: X:73.95, Y:13.22, Z:-3.43 [[ 8.42542500e-01 -4.41467421e-01 -3.08591399e-01 7.39519778e+01] [ 4.23386959e-01 8.96970598e-01 -1.27229047e-01 1.32226034e+01] [ 3.32964891e-01 -2.34576944e-02 9.42647398e-01 -3.43354037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.347719421 meters Centerline goodness : 0.949780 Centerline is valid? [False, False] Translation: X:73.95, Y:13.22, Z:-3.43 [[ 8.44001160e-01 -4.37381985e-01 -3.10417526e-01 7.39530666e+01] [ 4.20346856e-01 8.98896722e-01 -1.23665694e-01 1.32219884e+01] [ 3.33122444e-01 -2.61090421e-02 9.42522019e-01 -3.43371058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.377719421 meters Centerline goodness : 0.953457 Centerline is valid? [False, True] Translation: X:73.95, Y:13.22, Z:-3.43 [[ 8.44848572e-01 -4.33878793e-01 -3.13017705e-01 7.39540403e+01] [ 4.17944391e-01 9.00493880e-01 -1.20138496e-01 1.32224713e+01] [ 3.33996073e-01 -2.93251575e-02 9.42118176e-01 -3.43250938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.407719421 meters Centerline goodness : 0.956360 Centerline is valid? [True, True] Translation: X:73.97, Y:13.24, Z:-3.42 [[ 8.45116072e-01 -4.36340687e-01 -3.08845639e-01 7.39737623e+01] [ 4.18071370e-01 8.99514499e-01 -1.26846347e-01 1.32393694e+01] [ 3.33159352e-01 -2.19196332e-02 9.42615709e-01 -3.42083725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.437719421 meters Centerline goodness : 0.954241 Centerline is valid? [True, True] Translation: X:74.00, Y:13.25, Z:-3.41 [[ 8.44802111e-01 -4.36624401e-01 -3.09303291e-01 7.39971813e+01] [ 4.18297332e-01 8.99374564e-01 -1.27093413e-01 1.32513983e+01] [ 3.33671597e-01 -2.20119575e-02 9.42432352e-01 -3.41152461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.467719421 meters Centerline goodness : 0.955185 Centerline is valid? [True, True] Translation: X:74.02, Y:13.26, Z:-3.40 [[ 8.44140366e-01 -4.37622826e-01 -3.09698731e-01 7.40219649e+01] [ 4.19267918e-01 8.98881616e-01 -1.27382308e-01 1.32627289e+01] [ 3.34127902e-01 -2.23181944e-02 9.42263468e-01 -3.40401704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.497719421 meters Centerline goodness : 0.952420 Centerline is valid? [True, True] Translation: X:74.05, Y:13.27, Z:-3.40 [[ 8.43222969e-01 -4.38893422e-01 -3.10399080e-01 7.40459584e+01] [ 4.20492743e-01 8.98250788e-01 -1.27794269e-01 1.32736310e+01] [ 3.34904282e-01 -2.27614981e-02 9.41977195e-01 -3.39651954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.527719421 meters Centerline goodness : 0.953942 Centerline is valid? [True, True] Translation: X:74.07, Y:13.29, Z:-3.39 [[ 8.41355862e-01 -4.41275356e-01 -3.12083920e-01 7.40697709e+01] [ 4.22796275e-01 8.97056922e-01 -1.28577557e-01 1.32856191e+01] [ 3.36695148e-01 -2.37684373e-02 9.41313677e-01 -3.38886038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.557719421 meters Centerline goodness : 0.954151 Centerline is valid? [True, True] Translation: X:74.09, Y:13.30, Z:-3.38 [[ 8.40398853e-01 -4.43082224e-01 -3.12102403e-01 7.40944494e+01] [ 4.24675754e-01 8.96149570e-01 -1.28710728e-01 1.32972567e+01] [ 3.36719870e-01 -2.43739757e-02 9.41289349e-01 -3.38101676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.587719421 meters Centerline goodness : 0.954671 Centerline is valid? [True, True] Translation: X:74.12, Y:13.31, Z:-3.37 [[ 8.38918361e-01 -4.45418022e-01 -3.12759923e-01 7.41156135e+01] [ 4.27044716e-01 8.94966469e-01 -1.29103949e-01 1.33118190e+01] [ 3.37414870e-01 -2.52547991e-02 9.41017216e-01 -3.37176402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.617719421 meters Centerline goodness : 0.951782 Centerline is valid? [True, True] Translation: X:74.14, Y:13.33, Z:-3.36 [[ 8.38549376e-01 -4.45171023e-01 -3.14098240e-01 7.41381119e+01] [ 4.26599000e-01 8.95090346e-01 -1.29717251e-01 1.33269857e+01] [ 3.38892664e-01 -2.52196756e-02 9.40486965e-01 -3.36309627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.647719421 meters Centerline goodness : 0.949306 Centerline is valid? [True, False] Translation: X:74.14, Y:13.33, Z:-3.36 [[ 8.39520317e-01 -4.41814161e-01 -3.16237069e-01 7.41406649e+01] [ 4.24065994e-01 8.96684934e-01 -1.26980951e-01 1.33283840e+01] [ 3.39666997e-01 -2.75022982e-02 9.40143582e-01 -3.36369859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.677719421 meters Centerline goodness : 0.951895 Centerline is valid? [False, True] Translation: X:74.14, Y:13.33, Z:-3.36 [[ 8.41272267e-01 -4.37705334e-01 -3.17293261e-01 7.41401096e+01] [ 4.20379224e-01 8.98678817e-01 -1.25130702e-01 1.33321019e+01] [ 3.39915108e-01 -2.81145059e-02 9.40035794e-01 -3.36489104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.707719421 meters Centerline goodness : 0.952547 Centerline is valid? [True, True] Translation: X:74.16, Y:13.35, Z:-3.35 [[ 8.42355225e-01 -4.37024752e-01 -3.15352249e-01 7.41622104e+01] [ 4.17931032e-01 8.99167694e-01 -1.29734767e-01 1.33464601e+01] [ 3.40251859e-01 -2.25127323e-02 9.40064811e-01 -3.35433508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.737719421 meters Centerline goodness : 0.952859 Centerline is valid? [True, True] Translation: X:74.19, Y:13.36, Z:-3.35 [[ 8.43224392e-01 -4.35145046e-01 -3.15628602e-01 7.41857509e+01] [ 4.15843815e-01 9.00099969e-01 -1.29976795e-01 1.33597322e+01] [ 3.40656054e-01 -2.16525981e-02 9.39938625e-01 -3.34514325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76771942099998 meters Centerline goodness : 0.952879 Centerline is valid? [True, True] Translation: X:74.21, Y:13.37, Z:-3.34 [[ 8.45730116e-01 -4.29424064e-01 -3.16757864e-01 7.42077264e+01] [ 4.09548419e-01 9.02896648e-01 -1.30566974e-01 1.33733813e+01] [ 3.42068214e-01 -1.93032602e-02 9.39476834e-01 -3.33602128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79771942099998 meters Centerline goodness : 0.951674 Centerline is valid? [True, True] Translation: X:74.23, Y:13.39, Z:-3.33 [[ 8.47637484e-01 -4.25845989e-01 -3.16489951e-01 7.42318750e+01] [ 4.05730863e-01 9.04621473e-01 -1.30546761e-01 1.33850965e+01] [ 3.41896421e-01 -1.77534126e-02 9.39569930e-01 -3.32703843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82771942099998 meters Centerline goodness : 0.953675 Centerline is valid? [True, True] Translation: X:74.25, Y:13.40, Z:-3.32 [[ 8.52233154e-01 -4.17648300e-01 -3.15069118e-01 7.42549270e+01] [ 3.97128275e-01 9.08496884e-01 -1.30086683e-01 1.33983968e+01] [ 3.40569794e-01 -1.42586716e-02 9.40111114e-01 -3.31727643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85771942099998 meters Centerline goodness : 0.954677 Centerline is valid? [True, True] Translation: X:74.28, Y:13.41, Z:-3.31 [[ 8.54744330e-01 -4.13512279e-01 -3.13719182e-01 7.42785791e+01] [ 3.92856101e-01 9.10413784e-01 -1.29656569e-01 1.34094547e+01] [ 3.39228851e-01 -1.24232777e-02 9.40621841e-01 -3.30893326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88771942099999 meters Centerline goodness : 0.955527 Centerline is valid? [True, True] Translation: X:74.30, Y:13.42, Z:-3.30 [[ 8.56869213e-01 -4.09072542e-01 -3.13743218e-01 7.43023751e+01] [ 3.88091359e-01 9.12440587e-01 -1.29758513e-01 1.34198751e+01] [ 3.39352691e-01 -1.05749564e-02 9.40599767e-01 -3.29980310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.917719421 meters Centerline goodness : 0.953367 Centerline is valid? [True, True] Translation: X:74.33, Y:13.43, Z:-3.29 [[ 8.60418983e-01 -4.01726981e-01 -3.13519707e-01 7.43256683e+01] [ 3.80255782e-01 9.15728452e-01 -1.29795776e-01 1.34319962e+01] [ 3.39241381e-01 -7.53893157e-03 9.40669150e-01 -3.28989686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.947719421 meters Centerline goodness : 0.956990 Centerline is valid? [True, True] Translation: X:74.35, Y:13.44, Z:-3.28 [[ 8.62066901e-01 -3.98752411e-01 -3.12789343e-01 7.43489682e+01] [ 3.77148519e-01 9.17037478e-01 -1.29619666e-01 1.34424243e+01] [ 3.38525705e-01 -6.22721324e-03 9.40936538e-01 -3.28050959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.977719421 meters Centerline goodness : 0.955862 Centerline is valid? [True, True] Translation: X:74.37, Y:13.45, Z:-3.27 [[ 8.64802246e-01 -3.93516580e-01 -3.11868204e-01 7.43742114e+01] [ 3.71690087e-01 9.19308381e-01 -1.29300349e-01 1.34510218e+01] [ 3.37584885e-01 -4.09908750e-03 9.41286164e-01 -3.27171837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.007719421 meters Centerline goodness : 0.955907 Centerline is valid? [True, True] Translation: X:74.40, Y:13.46, Z:-3.26 [[ 8.67198427e-01 -3.89200269e-01 -3.10628459e-01 7.43990443e+01] [ 3.67236106e-01 9.21150349e-01 -1.28917325e-01 1.34576293e+01] [ 3.36310171e-01 -2.27708446e-03 9.41748525e-01 -3.26402524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.037719421 meters Centerline goodness : 0.955404 Centerline is valid? [True, True] Translation: X:74.42, Y:13.47, Z:-3.26 [[ 8.68077246e-01 -3.87621686e-01 -3.10147262e-01 7.44226333e+01] [ 3.65598199e-01 9.21817197e-01 -1.28806100e-01 1.34659945e+01] [ 3.35827117e-01 -1.57563576e-03 9.41922324e-01 -3.25511966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.067719421 meters Centerline goodness : 0.955351 Centerline is valid? [True, True] Translation: X:74.45, Y:13.47, Z:-3.25 [[ 8.70160275e-01 -3.83242784e-01 -3.09751618e-01 7.44467824e+01] [ 3.60986999e-01 9.23647627e-01 -1.28699060e-01 1.34740091e+01] [ 3.35424333e-01 1.72502164e-04 9.42067135e-01 -3.24543254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.097719421 meters Centerline goodness : 0.954197 Centerline is valid? [True, True] Translation: X:74.47, Y:13.48, Z:-3.24 [[ 8.71488480e-01 -3.80298747e-01 -3.09646076e-01 7.44718310e+01] [ 3.57856303e-01 9.24862691e-01 -1.28716237e-01 1.34828429e+01] [ 3.35330727e-01 1.36591800e-03 9.42099484e-01 -3.23585210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.127719421 meters Centerline goodness : 0.952865 Centerline is valid? [True, True] Translation: X:74.50, Y:13.49, Z:-3.23 [[ 8.73257689e-01 -3.75663940e-01 -3.10318567e-01 7.44975877e+01] [ 3.52792011e-01 9.26750164e-01 -1.29119833e-01 1.34869067e+01] [ 3.36093448e-01 3.27697578e-03 9.41822943e-01 -3.22671668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.157719421 meters Centerline goodness : 0.949707 Centerline is valid? [True, False] Translation: X:74.50, Y:13.48, Z:-3.23 [[ 8.74147304e-01 -3.73617632e-01 -3.10284314e-01 7.45002574e+01] [ 3.51225875e-01 9.27579688e-01 -1.27421765e-01 1.34836953e+01] [ 3.35420445e-01 2.40551248e-03 9.42065464e-01 -3.22880522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.187719421 meters Centerline goodness : 0.949193 Centerline is valid? [False, False] Translation: X:74.50, Y:13.48, Z:-3.23 [[ 8.74678786e-01 -3.73720574e-01 -3.08658312e-01 7.45040310e+01] [ 3.51274153e-01 9.27535845e-01 -1.27607704e-01 1.34765938e+01] [ 3.33981273e-01 3.19206490e-03 9.42574305e-01 -3.23218081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.217719421 meters Centerline goodness : 0.949193 Centerline is valid? [False, False] Translation: X:74.50, Y:13.48, Z:-3.23 [[ 8.74678786e-01 -3.73720574e-01 -3.08658312e-01 7.45040310e+01] [ 3.51274153e-01 9.27535845e-01 -1.27607704e-01 1.34765938e+01] [ 3.33981273e-01 3.19206490e-03 9.42574305e-01 -3.23218081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.247719421 meters Centerline goodness : 0.950718 Centerline is valid? [False, True] Translation: X:74.51, Y:13.47, Z:-3.23 [[ 8.75015036e-01 -3.72312356e-01 -3.09406198e-01 7.45069959e+01] [ 3.50486026e-01 9.28106325e-01 -1.25611284e-01 1.34735497e+01] [ 3.33928483e-01 1.46921377e-03 9.42597268e-01 -3.23304016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.277719421 meters Centerline goodness : 0.948941 Centerline is valid? [True, False] Translation: X:74.51, Y:13.47, Z:-3.23 [[ 8.75261001e-01 -3.70880495e-01 -3.10428477e-01 7.45099821e+01] [ 3.49718042e-01 9.28680479e-01 -1.23490322e-01 1.34706878e+01] [ 3.34089018e-01 -4.76176490e-04 9.42541406e-01 -3.23344325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.307719421 meters Centerline goodness : 0.944957 Centerline is valid? [False, False] Translation: X:74.51, Y:13.46, Z:-3.24 [[ 8.75508571e-01 -3.70470282e-01 -3.10220104e-01 7.45143075e+01] [ 3.49726221e-01 9.28843153e-01 -1.22237341e-01 1.34635446e+01] [ 3.33431122e-01 -1.47226497e-03 9.42773313e-01 -3.23517318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.337719421 meters Centerline goodness : 0.943474 Centerline is valid? [False, False] Translation: X:74.52, Y:13.45, Z:-3.24 [[ 8.75809856e-01 -3.70824509e-01 -3.08943812e-01 7.45200294e+01] [ 3.50199386e-01 9.28701929e-01 -1.21955392e-01 1.34545071e+01] [ 3.32140763e-01 -1.38219929e-03 9.43228818e-01 -3.23861215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.367719421 meters Centerline goodness : 0.939923 Centerline is valid? [False, False] Translation: X:74.52, Y:13.45, Z:-3.24 [[ 8.76226270e-01 -3.69147829e-01 -3.09769921e-01 7.45239155e+01] [ 3.49290823e-01 9.29364108e-01 -1.19491744e-01 1.34495246e+01] [ 3.31999164e-01 -3.49798509e-03 9.43273194e-01 -3.23964964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.397719421 meters Centerline goodness : 0.942777 Centerline is valid? [False, False] Translation: X:74.53, Y:13.44, Z:-3.24 [[ 8.76484055e-01 -3.67609852e-01 -3.10867654e-01 7.45272157e+01] [ 3.48563429e-01 9.29961635e-01 -1.16939702e-01 1.34448460e+01] [ 3.32083178e-01 -5.86131154e-03 9.43231895e-01 -3.23983092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.427719421 meters Centerline goodness : 0.944498 Centerline is valid? [False, False] Translation: X:74.53, Y:13.43, Z:-3.24 [[ 8.76088311e-01 -3.68383886e-01 -3.11066847e-01 7.45308432e+01] [ 3.50030816e-01 9.29639012e-01 -1.15107496e-01 1.34346019e+01] [ 3.31583623e-01 -8.03865046e-03 9.43391584e-01 -3.23939439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.457719421 meters Centerline goodness : 0.944225 Centerline is valid? [False, False] Translation: X:74.53, Y:13.43, Z:-3.24 [[ 8.76069046e-01 -3.67362971e-01 -3.12325910e-01 7.45346766e+01] [ 3.49968123e-01 9.30012932e-01 -1.12241967e-01 1.34281549e+01] [ 3.31700677e-01 -1.09723996e-02 9.43320872e-01 -3.23914161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.487719421 meters Centerline goodness : 0.943447 Centerline is valid? [False, False] Translation: X:74.54, Y:13.41, Z:-3.24 [[ 8.75286567e-01 -3.67872422e-01 -3.13916082e-01 7.45405830e+01] [ 3.51918046e-01 9.29744120e-01 -1.08303095e-01 1.34143388e+01] [ 3.31703353e-01 -1.56764899e-02 9.43253483e-01 -3.23805722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51771942099998 meters Centerline goodness : 0.947772 Centerline is valid? [False, False] Translation: X:74.54, Y:13.41, Z:-3.24 [[ 8.75161523e-01 -3.66549199e-01 -3.15806892e-01 7.45438349e+01] [ 3.51899400e-01 9.30189952e-01 -1.04467532e-01 1.34071705e+01] [ 3.32052888e-01 -1.97062908e-02 9.43054899e-01 -3.23642521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54771942099998 meters Centerline goodness : 0.947316 Centerline is valid? [False, False] Translation: X:74.55, Y:13.39, Z:-3.23 [[ 8.73979717e-01 -3.68169076e-01 -3.17192350e-01 7.45485297e+01] [ 3.54767272e-01 9.29449421e-01 -1.01311189e-01 1.33938731e+01] [ 3.32113893e-01 -2.39855402e-02 9.42934280e-01 -3.23436882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57771942099998 meters Centerline goodness : 0.949404 Centerline is valid? [False, False] Translation: X:74.56, Y:13.38, Z:-3.23 [[ 8.72073849e-01 -3.69337511e-01 -3.21056078e-01 7.45567761e+01] [ 3.58143735e-01 9.28757831e-01 -9.56135774e-02 1.33777279e+01] [ 3.33497027e-01 -3.16021224e-02 9.42221332e-01 -3.23205469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60771942099998 meters Centerline goodness : 0.949404 Centerline is valid? [False, False] Translation: X:74.56, Y:13.37, Z:-3.23 [[ 8.70768643e-01 -3.72449905e-01 -3.21003174e-01 7.45597955e+01] [ 3.61305849e-01 9.27488236e-01 -9.60398665e-02 1.33707642e+01] [ 3.33496707e-01 -3.23518198e-02 9.42196002e-01 -3.23098496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63771942099999 meters Centerline goodness : 0.950993 Centerline is valid? [False, True] Translation: X:74.56, Y:13.36, Z:-3.23 [[ 8.69255412e-01 -3.75521450e-01 -3.21525536e-01 7.45639277e+01] [ 3.64528414e-01 9.26206172e-01 -9.62349333e-02 1.33643462e+01] [ 3.33937217e-01 -3.35524570e-02 9.41997966e-01 -3.22983418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.667719421 meters Centerline goodness : 0.951701 Centerline is valid? [True, True] Translation: X:74.59, Y:13.37, Z:-3.22 [[ 8.64110150e-01 -3.96346223e-01 -3.10198840e-01 7.45861368e+01] [ 3.75035124e-01 9.18084982e-01 -1.28330131e-01 1.33734884e+01] [ 3.35652060e-01 -5.44409140e-03 9.41970306e-01 -3.21681073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.697719421 meters Centerline goodness : 0.948313 Centerline is valid? [True, False] Translation: X:74.59, Y:13.37, Z:-3.22 [[ 8.63192228e-01 -3.95510135e-01 -3.13800750e-01 7.45933219e+01] [ 3.75287296e-01 9.18410681e-01 -1.25224861e-01 1.33684649e+01] [ 3.37725663e-01 -9.67230798e-03 9.41194891e-01 -3.21607283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.727719421 meters Centerline goodness : 0.946480 Centerline is valid? [False, False] Translation: X:74.61, Y:13.36, Z:-3.21 [[ 8.59299633e-01 -3.98787845e-01 -3.20269255e-01 7.46058708e+01] [ 3.79713581e-01 9.16903633e-01 -1.22903720e-01 1.33598438e+01] [ 3.42668553e-01 -1.59994641e-02 9.39320116e-01 -3.21481509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.757719421 meters Centerline goodness : 0.947554 Centerline is valid? [False, False] Translation: X:74.61, Y:13.35, Z:-3.21 [[ 8.58897638e-01 -3.98079181e-01 -3.22223234e-01 7.46111316e+01] [ 3.79798966e-01 9.17160304e-01 -1.20705102e-01 1.33549985e+01] [ 3.43580548e-01 -1.87067238e-02 9.38936881e-01 -3.21446268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.787719421 meters Centerline goodness : 0.945884 Centerline is valid? [False, False] Translation: X:74.62, Y:13.35, Z:-3.21 [[ 8.55884041e-01 -3.99101370e-01 -3.28908202e-01 7.46213401e+01] [ 3.83845479e-01 9.16435762e-01 -1.13173064e-01 1.33500634e+01] [ 3.46590763e-01 -2.93869072e-02 9.37556000e-01 -3.20822548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.817719421 meters Centerline goodness : 0.946129 Centerline is valid? [False, False] Translation: X:74.63, Y:13.35, Z:-3.20 [[ 8.55192540e-01 -3.95768860e-01 -3.34683029e-01 7.46278373e+01] [ 3.84062027e-01 9.17480057e-01 -1.03569805e-01 1.33481455e+01] [ 3.48054708e-01 -3.99669174e-02 9.36621891e-01 -3.20234588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.847719421 meters Centerline goodness : 0.945342 Centerline is valid? [False, False] Translation: X:74.63, Y:13.34, Z:-3.20 [[ 8.57355326e-01 -3.88549129e-01 -3.37596533e-01 7.46290928e+01] [ 3.78893264e-01 9.20341316e-01 -9.70142046e-02 1.33437922e+01] [ 3.48398823e-01 -4.47374074e-02 9.36278177e-01 -3.20130145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.877719421 meters Centerline goodness : 0.947029 Centerline is valid? [False, False] Translation: X:74.63, Y:13.34, Z:-3.20 [[ 8.59072096e-01 -3.82871651e-01 -3.39712281e-01 7.46296651e+01] [ 3.74657338e-01 9.22555502e-01 -9.23213140e-02 1.33422761e+01] [ 3.48750648e-01 -4.79650339e-02 9.35987362e-01 -3.20084733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.907719421 meters Centerline goodness : 0.948286 Centerline is valid? [False, False] Translation: X:74.63, Y:13.34, Z:-3.20 [[ 8.63037582e-01 -3.70456484e-01 -3.43406647e-01 7.46291246e+01] [ 3.65216358e-01 9.27263850e-01 -8.24546151e-02 1.33395921e+01] [ 3.48974417e-01 -5.42562935e-02 9.35560319e-01 -3.20030482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.937719421 meters Centerline goodness : 0.947447 Centerline is valid? [False, False] Translation: X:74.63, Y:13.34, Z:-3.20 [[ 8.66140011e-01 -3.59790140e-01 -3.46918632e-01 7.46301046e+01] [ 3.57314956e-01 9.31084727e-01 -7.35340281e-02 1.33364113e+01] [ 3.49467458e-01 -6.02684519e-02 9.35008133e-01 -3.19974964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.967719421 meters Centerline goodness : 0.948766 Centerline is valid? [False, False] Translation: X:74.63, Y:13.33, Z:-3.20 [[ 8.69068004e-01 -3.49640017e-01 -3.49960946e-01 7.46303828e+01] [ 3.49907194e-01 9.34543793e-01 -6.47522571e-02 1.33328437e+01] [ 3.49693810e-01 -6.61797378e-02 9.34523665e-01 -3.19914443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.997719421 meters Centerline goodness : 0.949886 Centerline is valid? [False, False] Translation: X:74.63, Y:13.33, Z:-3.20 [[ 8.72521938e-01 -3.38044209e-01 -3.52748608e-01 7.46314741e+01] [ 3.40927284e-01 9.38419128e-01 -5.60189809e-02 1.33309753e+01] [ 3.49962934e-01 -7.13838354e-02 9.34039771e-01 -3.20005602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.027719421 meters Centerline goodness : 0.945382 Centerline is valid? [False, False] Translation: X:74.64, Y:13.33, Z:-3.20 [[ 8.74765608e-01 -3.29723910e-01 -3.55059536e-01 7.46352490e+01] [ 3.34401460e-01 9.41099372e-01 -5.00763015e-02 1.33315816e+01] [ 3.50657660e-01 -7.49274008e-02 9.33501521e-01 -3.20214536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.057719421 meters Centerline goodness : 0.944073 Centerline is valid? [False, False] Translation: X:74.64, Y:13.33, Z:-3.20 [[ 8.75820460e-01 -3.24595160e-01 -3.57178532e-01 7.46380015e+01] [ 3.30827300e-01 9.42598386e-01 -4.54046215e-02 1.33293182e+01] [ 3.51414029e-01 -7.83981129e-02 9.32931893e-01 -3.20205943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.087719421 meters Centerline goodness : 0.945283 Centerline is valid? [False, False] Translation: X:74.64, Y:13.33, Z:-3.20 [[ 8.75861766e-01 -3.23692414e-01 -3.57895780e-01 7.46396119e+01] [ 3.30386997e-01 9.42811542e-01 -4.41681807e-02 1.33271159e+01] [ 3.51725177e-01 -7.95588910e-02 9.32716346e-01 -3.20166269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.117719421 meters Centerline goodness : 0.941972 Centerline is valid? [False, False] Translation: X:74.64, Y:13.32, Z:-3.20 [[ 8.74734792e-01 -3.26805153e-01 -3.57823191e-01 7.46430247e+01] [ 3.33257992e-01 9.41740867e-01 -4.54230144e-02 1.33220705e+01] [ 3.51821197e-01 -7.95143473e-02 9.32683930e-01 -3.20115054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.147719421 meters Centerline goodness : 0.943790 Centerline is valid? [False, False] Translation: X:74.65, Y:13.32, Z:-3.20 [[ 8.74513072e-01 -3.26347619e-01 -3.58781435e-01 7.46452070e+01] [ 3.33428161e-01 9.41752735e-01 -4.39027098e-02 1.33184036e+01] [ 3.52210942e-01 -8.12343403e-02 9.32388564e-01 -3.20021561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.177719421 meters Centerline goodness : 0.946102 Centerline is valid? [False, False] Translation: X:74.65, Y:13.31, Z:-3.20 [[ 8.73486761e-01 -3.29709847e-01 -3.58207056e-01 7.46453685e+01] [ 3.36628979e-01 9.40567615e-01 -4.48719458e-02 1.33125299e+01] [ 3.51712679e-01 -8.13878251e-02 9.32563249e-01 -3.19844629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.207719421 meters Centerline goodness : 0.945117 Centerline is valid? [False, False] Translation: X:74.65, Y:13.31, Z:-3.20 [[ 8.73336742e-01 -3.29129193e-01 -3.59105707e-01 7.46463043e+01] [ 3.36854287e-01 9.40581502e-01 -4.28442241e-02 1.33077353e+01] [ 3.51869470e-01 -8.35488616e-02 9.32312964e-01 -3.19667844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.237719421 meters Centerline goodness : 0.941969 Centerline is valid? [False, False] Translation: X:74.65, Y:13.31, Z:-3.20 [[ 8.73208860e-01 -3.28620361e-01 -3.59881848e-01 7.46486226e+01] [ 3.36723076e-01 9.40669228e-01 -4.19401205e-02 1.33055961e+01] [ 3.52312158e-01 -8.45580381e-02 9.32054763e-01 -3.19642743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26771942099998 meters Centerline goodness : 0.938470 Centerline is valid? [False, False] Translation: X:74.65, Y:13.30, Z:-3.20 [[ 8.72102251e-01 -3.31579231e-01 -3.59851189e-01 7.46538775e+01] [ 3.39382597e-01 9.39649950e-01 -4.33292471e-02 1.33007209e+01] [ 3.52501230e-01 -8.43396969e-02 9.32003057e-01 -3.19699868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29771942099998 meters Centerline goodness : 0.940123 Centerline is valid? [False, False] Translation: X:74.66, Y:13.30, Z:-3.20 [[ 8.71955048e-01 -3.31012040e-01 -3.60729017e-01 7.46561990e+01] [ 3.39354981e-01 9.39719583e-01 -4.20154940e-02 1.32976422e+01] [ 3.52891756e-01 -8.57795665e-02 9.31723819e-01 -3.19645447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32771942099998 meters Centerline goodness : 0.937424 Centerline is valid? [False, False] Translation: X:74.66, Y:13.30, Z:-3.20 [[ 8.71712795e-01 -3.30679202e-01 -3.61618679e-01 7.46595108e+01] [ 3.39506907e-01 9.39713788e-01 -4.09030048e-02 1.32952654e+01] [ 3.53343831e-01 -8.71163667e-02 9.31428406e-01 -3.19659486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35771942099998 meters Centerline goodness : 0.936338 Centerline is valid? [False, False] Translation: X:74.66, Y:13.29, Z:-3.20 [[ 8.71617994e-01 -3.30126968e-01 -3.62351014e-01 7.46617780e+01] [ 3.39261843e-01 9.39833663e-01 -4.01757127e-02 1.32940633e+01] [ 3.53812767e-01 -8.79139986e-02 9.31175416e-01 -3.19663786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38771942099999 meters Centerline goodness : 0.934009 Centerline is valid? [False, False] Translation: X:74.67, Y:13.29, Z:-3.20 [[ 8.71719833e-01 -3.28745031e-01 -3.63361029e-01 7.46650503e+01] [ 3.38684591e-01 9.40130367e-01 -3.80478648e-02 1.32890900e+01] [ 3.54114784e-01 -8.98977033e-02 9.30871163e-01 -3.19638697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.417719421 meters Centerline goodness : 0.935496 Centerline is valid? [False, False] Translation: X:74.67, Y:13.29, Z:-3.20 [[ 8.70655533e-01 -3.32789406e-01 -3.62229421e-01 7.46650490e+01] [ 3.41719628e-01 9.38897086e-01 -4.12305516e-02 1.32881578e+01] [ 3.53817239e-01 -8.78832952e-02 9.31176615e-01 -3.19609897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.447719421 meters Centerline goodness : 0.936886 Centerline is valid? [False, False] Translation: X:74.66, Y:13.28, Z:-3.19 [[ 8.70022413e-01 -3.26798356e-01 -3.69139316e-01 7.46616144e+01] [ 3.43532408e-01 9.38893967e-01 -2.15314663e-02 1.32762431e+01] [ 3.53619124e-01 -1.08078460e-01 9.29124621e-01 -3.19166898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.477719421 meters Centerline goodness : 0.938064 Centerline is valid? [False, False] Translation: X:74.66, Y:13.27, Z:-3.19 [[ 8.69192257e-01 -3.29913092e-01 -3.68323461e-01 7.46597791e+01] [ 3.45988555e-01 9.37940785e-01 -2.36432712e-02 1.32738276e+01] [ 3.53265821e-01 -1.06885154e-01 9.29397021e-01 -3.19009737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.507719421 meters Centerline goodness : 0.937024 Centerline is valid? [False, False] Translation: X:74.65, Y:13.26, Z:-3.20 [[ 8.70079909e-01 -3.29229911e-01 -3.66835955e-01 7.46455229e+01] [ 3.46504872e-01 9.37838367e-01 -1.98386083e-02 1.32627211e+01] [ 3.50564296e-01 -1.09849271e-01 9.30074089e-01 -3.19638770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.537719421 meters Centerline goodness : 0.935757 Centerline is valid? [False, False] Translation: X:74.65, Y:13.26, Z:-3.20 [[ 8.70161763e-01 -3.28770480e-01 -3.67053782e-01 7.46460208e+01] [ 3.46225191e-01 9.37952056e-01 -1.93405579e-02 1.32614043e+01] [ 3.50637454e-01 -1.10253852e-01 9.29998637e-01 -3.19619502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.567719421 meters Centerline goodness : 0.935945 Centerline is valid? [False, False] Translation: X:74.65, Y:13.26, Z:-3.20 [[ 8.70446777e-01 -3.27817041e-01 -3.67230713e-01 7.46455761e+01] [ 3.45505832e-01 9.38232592e-01 -1.85828533e-02 1.32602166e+01] [ 3.50639600e-01 -1.10704968e-01 9.29944236e-01 -3.19571590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.597719421 meters Centerline goodness : 0.937370 Centerline is valid? [False, False] Translation: X:74.62, Y:13.25, Z:-3.21 [[ 8.75083725e-01 -3.21830656e-01 -3.61460238e-01 7.46217112e+01] [ 3.38338915e-01 9.40840847e-01 -1.85817095e-02 1.32472835e+01] [ 3.46056720e-01 -1.06035513e-01 9.32202347e-01 -3.20524153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.627719421 meters Centerline goodness : 0.937390 Centerline is valid? [False, False] Translation: X:74.60, Y:13.24, Z:-3.21 [[ 8.79366687e-01 -3.15146395e-01 -3.56927135e-01 7.45999778e+01] [ 3.26658143e-01 9.44687881e-01 -2.93132398e-02 1.32387378e+01] [ 3.46422701e-01 -9.08160685e-02 9.33672188e-01 -3.21430319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.657719421 meters Centerline goodness : 0.936298 Centerline is valid? [False, False] Translation: X:74.60, Y:13.24, Z:-3.21 [[ 8.80665064e-01 -3.09957918e-01 -3.58266849e-01 7.46001107e+01] [ 3.22676117e-01 9.46168359e-01 -2.54078526e-02 1.32387568e+01] [ 3.46856121e-01 -9.32283476e-02 9.33273436e-01 -3.21429605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.687719421 meters Centerline goodness : 0.933566 Centerline is valid? [False, False] Translation: X:74.58, Y:13.23, Z:-3.22 [[ 8.84064088e-01 -3.03239523e-01 -3.55635318e-01 7.45790128e+01] [ 3.10866971e-01 9.49731731e-01 -3.70319588e-02 1.32308284e+01] [ 3.48987700e-01 -7.78166492e-02 9.33890869e-01 -3.22388673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.717719421 meters Centerline goodness : 0.930969 Centerline is valid? [False, False] Translation: X:74.58, Y:13.23, Z:-3.22 [[ 8.85284324e-01 -2.97873468e-01 -3.57131716e-01 7.45805232e+01] [ 3.07020889e-01 9.51155651e-01 -3.22661123e-02 1.32281107e+01] [ 3.49299068e-01 -8.10822136e-02 9.33496564e-01 -3.22382347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.747719421 meters Centerline goodness : 0.931481 Centerline is valid? [False, False] Translation: X:74.58, Y:13.23, Z:-3.22 [[ 8.85345003e-01 -2.97430378e-01 -3.57350523e-01 7.45816776e+01] [ 3.06744551e-01 9.51260931e-01 -3.17871150e-02 1.32265713e+01] [ 3.49388045e-01 -8.14727623e-02 9.33429260e-01 -3.22395067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.777719421 meters Centerline goodness : 0.928888 Centerline is valid? [False, False] Translation: X:74.58, Y:13.22, Z:-3.22 [[ 8.85527016e-01 -2.96576900e-01 -3.57608790e-01 7.45824105e+01] [ 3.06271170e-01 9.51450214e-01 -3.06669194e-02 1.32236104e+01] [ 3.49342060e-01 -8.23688770e-02 9.33367823e-01 -3.22368749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.807719421 meters Centerline goodness : 0.927860 Centerline is valid? [False, False] Translation: X:74.58, Y:13.22, Z:-3.22 [[ 8.85557649e-01 -2.96243184e-01 -3.57809483e-01 7.45823813e+01] [ 3.06108479e-01 9.51517674e-01 -3.01946169e-02 1.32220663e+01] [ 3.49406996e-01 -8.27894427e-02 9.33306305e-01 -3.22314460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.837719421 meters Centerline goodness : 0.928148 Centerline is valid? [False, False] Translation: X:74.58, Y:13.22, Z:-3.22 [[ 8.85204327e-01 -2.97930023e-01 -3.57282802e-01 7.45814574e+01] [ 3.07615486e-01 9.51009639e-01 -3.08768413e-02 1.32166330e+01] [ 3.48978526e-01 -8.25734091e-02 9.33485736e-01 -3.22169127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.867719421 meters Centerline goodness : 0.926768 Centerline is valid? [False, False] Translation: X:74.58, Y:13.21, Z:-3.22 [[ 8.84944975e-01 -2.99315557e-01 -3.56766854e-01 7.45801673e+01] [ 3.08783942e-01 9.50607052e-01 -3.16023787e-02 1.32132312e+01] [ 3.48604171e-01 -8.21975091e-02 9.33658772e-01 -3.22062323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.897719421 meters Centerline goodness : 0.928354 Centerline is valid? [False, False] Translation: X:74.58, Y:13.21, Z:-3.22 [[ 8.84297586e-01 -3.01590102e-01 -3.56456434e-01 7.45824509e+01] [ 3.10832126e-01 9.49906194e-01 -3.25824032e-02 1.32069113e+01] [ 3.48426705e-01 -8.19855707e-02 9.33743647e-01 -3.22018589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.927719421 meters Centerline goodness : 0.928703 Centerline is valid? [False, False] Translation: X:74.57, Y:13.20, Z:-3.23 [[ 8.85349876e-01 -3.01939887e-01 -3.53536280e-01 7.45686273e+01] [ 3.11680848e-01 9.49695266e-01 -3.05606017e-02 1.31972706e+01] [ 3.44979196e-01 -8.31336626e-02 9.34921466e-01 -3.22782206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.957719421 meters Centerline goodness : 0.928175 Centerline is valid? [False, False] Translation: X:74.57, Y:13.19, Z:-3.23 [[ 8.84589614e-01 -3.04455938e-01 -3.53281469e-01 7.45707910e+01] [ 3.13931165e-01 9.48916036e-01 -3.17108998e-02 1.31918249e+01] [ 3.44889022e-01 -8.28549303e-02 9.34979477e-01 -3.22733088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.987719421 meters Centerline goodness : 0.926184 Centerline is valid? [False, False] Translation: X:74.56, Y:13.18, Z:-3.23 [[ 8.84668935e-01 -3.04801027e-01 -3.52784934e-01 7.45559469e+01] [ 3.14977966e-01 9.48632811e-01 -2.97434304e-02 1.31782874e+01] [ 3.43729192e-01 -8.48063920e-02 9.35231585e-01 -3.23299454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01771942099998 meters Centerline goodness : 0.926363 Centerline is valid? [False, False] Translation: X:74.56, Y:13.17, Z:-3.23 [[ 8.84799462e-01 -3.03950881e-01 -3.53190846e-01 7.45571221e+01] [ 3.14534579e-01 9.48815745e-01 -2.85776249e-02 1.31748229e+01] [ 3.43799230e-01 -8.58052670e-02 9.35114723e-01 -3.23267217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04771942099998 meters Centerline goodness : 0.925966 Centerline is valid? [False, False] Translation: X:74.54, Y:13.16, Z:-3.24 [[ 8.86789678e-01 -3.04326960e-01 -3.47834972e-01 7.45361820e+01] [ 3.13460105e-01 9.49087978e-01 -3.12213395e-02 1.31629498e+01] [ 3.39627486e-01 -8.13456252e-02 9.37035784e-01 -3.24304370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07771942099998 meters Centerline goodness : 0.925361 Centerline is valid? [False, False] Translation: X:74.54, Y:13.16, Z:-3.24 [[ 8.86040872e-01 -3.07412578e-01 -3.47028932e-01 7.45364914e+01] [ 3.15975442e-01 9.48186714e-01 -3.31884868e-02 1.31592142e+01] [ 3.39250781e-01 -8.02462647e-02 9.37267008e-01 -3.24252702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10771942099998 meters Centerline goodness : 0.925361 Centerline is valid? [False, False] Translation: X:74.54, Y:13.16, Z:-3.24 [[ 8.86040872e-01 -3.07412578e-01 -3.47028932e-01 7.45364914e+01] [ 3.15975442e-01 9.48186714e-01 -3.31884868e-02 1.31592142e+01] [ 3.39250781e-01 -8.02462647e-02 9.37267008e-01 -3.24252702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13771942099999 meters Centerline goodness : 0.927785 Centerline is valid? [False, False] Translation: X:74.53, Y:13.15, Z:-3.24 [[ 8.83169150e-01 -3.08095760e-01 -3.53679594e-01 7.45271257e+01] [ 3.18564133e-01 9.47431527e-01 -2.98394991e-02 1.31508681e+01] [ 3.44280621e-01 -8.63163082e-02 9.34890555e-01 -3.24359627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.167719421 meters Centerline goodness : 0.925017 Centerline is valid? [False, False] Translation: X:74.51, Y:13.14, Z:-3.25 [[ 8.82643706e-01 -3.11762298e-01 -3.51773162e-01 7.45107950e+01] [ 3.21742875e-01 9.46306949e-01 -3.13796099e-02 1.31426138e+01] [ 3.42668367e-01 -8.54834934e-02 9.35559171e-01 -3.25002639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.197719421 meters Centerline goodness : 0.924218 Centerline is valid? [False, False] Translation: X:74.51, Y:13.14, Z:-3.25 [[ 8.81450745e-01 -3.16171933e-01 -3.50827440e-01 7.45112188e+01] [ 3.25247014e-01 9.45000591e-01 -3.44711930e-02 1.31401956e+01] [ 3.42430962e-01 -8.37209186e-02 9.35805452e-01 -3.24946067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.227719421 meters Centerline goodness : 0.923687 Centerline is valid? [False, False] Translation: X:74.51, Y:13.14, Z:-3.25 [[ 8.78881018e-01 -3.25743293e-01 -3.48510348e-01 7.45125319e+01] [ 3.32866000e-01 9.42077764e-01 -4.11061110e-02 1.31364638e+01] [ 3.41713890e-01 -7.98798648e-02 9.36403131e-01 -3.24926313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.257719421 meters Centerline goodness : 0.921567 Centerline is valid? [False, False] Translation: X:74.51, Y:13.14, Z:-3.25 [[ 8.77474604e-01 -3.30763468e-01 -3.47323836e-01 7.45137359e+01] [ 3.36885954e-01 9.40491185e-01 -4.45441858e-02 1.31350365e+01] [ 3.41388595e-01 -7.79221298e-02 9.36686697e-01 -3.24950890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.287719421 meters Centerline goodness : 0.919283 Centerline is valid? [False, False] Translation: X:74.51, Y:13.13, Z:-3.25 [[ 8.73657635e-01 -3.39790713e-01 -3.48230681e-01 7.45127390e+01] [ 3.47120064e-01 9.36823047e-01 -4.32462667e-02 1.31297831e+01] [ 3.40925208e-01 -8.30954253e-02 9.36410782e-01 -3.25476651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.317719421 meters Centerline goodness : 0.920543 Centerline is valid? [False, False] Translation: X:74.51, Y:13.13, Z:-3.25 [[ 8.72119032e-01 -3.44948483e-01 -3.47014320e-01 7.45134958e+01] [ 3.51231561e-01 9.35116657e-01 -4.68319111e-02 1.31287975e+01] [ 3.40653468e-01 -8.10393804e-02 9.36689828e-01 -3.25471617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.347719421 meters Centerline goodness : 0.919408 Centerline is valid? [False, False] Translation: X:74.49, Y:13.12, Z:-3.26 [[ 8.67791041e-01 -3.53592623e-01 -3.49157509e-01 7.44941356e+01] [ 3.62100336e-01 9.31146104e-01 -4.30148736e-02 1.31188171e+01] [ 3.40326396e-01 -8.91021294e-02 9.36076255e-01 -3.26004104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.377719421 meters Centerline goodness : 0.919070 Centerline is valid? [False, False] Translation: X:74.49, Y:13.12, Z:-3.26 [[ 8.66408738e-01 -3.58232667e-01 -3.47858095e-01 7.44940282e+01] [ 3.65716190e-01 9.29568866e-01 -4.64046460e-02 1.31176364e+01] [ 3.39981715e-01 -8.70119466e-02 9.36398075e-01 -3.25964690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.407719421 meters Centerline goodness : 0.921617 Centerline is valid? [False, False] Translation: X:74.48, Y:13.11, Z:-3.27 [[ 8.66113357e-01 -3.60511162e-01 -3.46235983e-01 7.44772131e+01] [ 3.68287057e-01 9.28592972e-01 -4.56041344e-02 1.31095327e+01] [ 3.37953099e-01 -8.80158810e-02 9.37038370e-01 -3.26513739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.437719421 meters Centerline goodness : 0.923261 Centerline is valid? [False, False] Translation: X:74.48, Y:13.11, Z:-3.27 [[ 8.64667607e-01 -3.65631061e-01 -3.44476207e-01 7.44759436e+01] [ 3.72294097e-01 9.26808142e-01 -4.92318430e-02 1.31096731e+01] [ 3.37264045e-01 -8.56772786e-02 9.37503263e-01 -3.26502611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.467719421 meters Centerline goodness : 0.924389 Centerline is valid? [False, False] Translation: X:74.45, Y:13.10, Z:-3.28 [[ 8.65360484e-01 -3.66480087e-01 -3.41823899e-01 7.44544429e+01] [ 3.75624374e-01 9.25834011e-01 -4.16859063e-02 1.31019874e+01] [ 3.31749246e-01 -9.23240521e-02 9.38839021e-01 -3.27586157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.497719421 meters Centerline goodness : 0.925493 Centerline is valid? [False, False] Translation: X:74.45, Y:13.10, Z:-3.28 [[ 8.64057259e-01 -3.71410913e-01 -3.39792564e-01 7.44510890e+01] [ 3.79519309e-01 9.24088848e-01 -4.49988324e-02 1.31039016e+01] [ 3.30711576e-01 -9.00762713e-02 9.39423291e-01 -3.27577065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.527719421 meters Centerline goodness : 0.925280 Centerline is valid? [False, False] Translation: X:74.45, Y:13.11, Z:-3.28 [[ 8.62133745e-01 -3.77635482e-01 -3.37811854e-01 7.44508062e+01] [ 3.84253237e-01 9.21878299e-01 -4.98984080e-02 1.31060825e+01] [ 3.30264827e-01 -8.67861970e-02 9.39890047e-01 -3.27628952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.557719421 meters Centerline goodness : 0.927531 Centerline is valid? [False, False] Translation: X:74.43, Y:13.10, Z:-3.28 [[ 8.62272980e-01 -3.78097907e-01 -3.36938096e-01 7.44340865e+01] [ 3.85167421e-01 9.21573849e-01 -4.84530645e-02 1.31008800e+01] [ 3.28833340e-01 -8.79978089e-02 9.40279225e-01 -3.28321919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.587719421 meters Centerline goodness : 0.926128 Centerline is valid? [False, False] Translation: X:74.43, Y:13.10, Z:-3.28 [[ 8.62009184e-01 -3.79064955e-01 -3.36526265e-01 7.44332771e+01] [ 3.85811872e-01 9.21251347e-01 -4.94485137e-02 1.31037778e+01] [ 3.28769473e-01 -8.72107551e-02 9.40374881e-01 -3.28369435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.617719421 meters Centerline goodness : 0.933116 Centerline is valid? [False, False] Translation: X:74.43, Y:13.11, Z:-3.29 [[ 8.62458788e-01 -3.78057042e-01 -3.36508116e-01 7.44311401e+01] [ 3.84827301e-01 9.21677502e-01 -4.91785550e-02 1.31123984e+01] [ 3.28744259e-01 -8.70830331e-02 9.40395532e-01 -3.28535503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.647719421 meters Centerline goodness : 0.930525 Centerline is valid? [False, False] Translation: X:74.43, Y:13.12, Z:-3.29 [[ 8.63355431e-01 -3.75335376e-01 -3.37254733e-01 7.44304278e+01] [ 3.82629224e-01 9.22687359e-01 -4.73594189e-02 1.31166212e+01] [ 3.28956345e-01 -8.81555056e-02 9.40221426e-01 -3.28624421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.677719421 meters Centerline goodness : 0.931312 Centerline is valid? [False, False] Translation: X:74.43, Y:13.13, Z:-3.29 [[ 8.64113946e-01 -3.73427459e-01 -3.37430023e-01 7.44276212e+01] [ 3.80728524e-01 9.23490903e-01 -4.70142927e-02 1.31261597e+01] [ 3.29169985e-01 -8.78435288e-02 9.40175854e-01 -3.28760059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.707719421 meters Centerline goodness : 0.931650 Centerline is valid? [False, False] Translation: X:74.43, Y:13.13, Z:-3.29 [[ 8.65029557e-01 -3.70669227e-01 -3.38124517e-01 7.44258040e+01] [ 3.78416764e-01 9.24521409e-01 -4.53973306e-02 1.31300992e+01] [ 3.29430748e-01 -8.86819528e-02 9.40005794e-01 -3.28776671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.737719421 meters Centerline goodness : 0.935313 Centerline is valid? [False, False] Translation: X:74.42, Y:13.14, Z:-3.29 [[ 8.66972587e-01 -3.65451732e-01 -3.38826746e-01 7.44202784e+01] [ 3.73820956e-01 9.26512661e-01 -4.28039864e-02 1.31403461e+01] [ 3.29570062e-01 -8.95506554e-02 9.39874595e-01 -3.28831889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76771942099998 meters Centerline goodness : 0.937942 Centerline is valid? [False, False] Translation: X:74.42, Y:13.15, Z:-3.29 [[ 8.67940783e-01 -3.62677884e-01 -3.39328085e-01 7.44176306e+01] [ 3.71358532e-01 9.27560786e-01 -4.15190139e-02 1.31466842e+01] [ 3.29805454e-01 -8.99763344e-02 9.39751362e-01 -3.28877251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79771942099998 meters Centerline goodness : 0.936609 Centerline is valid? [False, False] Translation: X:74.40, Y:13.15, Z:-3.30 [[ 8.70590594e-01 -3.56727301e-01 -3.38847533e-01 7.43959261e+01] [ 3.65823537e-01 9.29865396e-01 -3.90318407e-02 1.31532381e+01] [ 3.29006319e-01 -8.99776495e-02 9.40031311e-01 -3.29643787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82771942099998 meters Centerline goodness : 0.935941 Centerline is valid? [False, False] Translation: X:74.39, Y:13.16, Z:-3.30 [[ 8.72462377e-01 -3.51109376e-01 -3.39899408e-01 7.43923910e+01] [ 3.61090705e-01 9.31846253e-01 -3.57220439e-02 1.31619370e+01] [ 3.29276334e-01 -9.15683773e-02 9.39783128e-01 -3.29737622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85771942099998 meters Centerline goodness : 0.934359 Centerline is valid? [False, False] Translation: X:74.37, Y:13.16, Z:-3.30 [[ 8.74740296e-01 -3.47042037e-01 -3.38217738e-01 7.43742284e+01] [ 3.57490698e-01 9.33330130e-01 -3.30948670e-02 1.31594135e+01] [ 3.27154115e-01 -9.19602813e-02 9.40485774e-01 -3.30493509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88771942099999 meters Centerline goodness : 0.936484 Centerline is valid? [False, False] Translation: X:74.36, Y:13.16, Z:-3.31 [[ 8.77081230e-01 -3.42135461e-01 -3.37152550e-01 7.43557883e+01] [ 3.53220853e-01 9.35058945e-01 -2.99966360e-02 1.31574391e+01] [ 3.25520421e-01 -9.27798251e-02 9.40972029e-01 -3.31229479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.917719421 meters Centerline goodness : 0.937410 Centerline is valid? [False, False] Translation: X:74.33, Y:13.16, Z:-3.32 [[ 8.80890150e-01 -3.29209267e-01 -3.40079110e-01 7.43299931e+01] [ 3.44962136e-01 9.38497343e-01 -1.49620306e-02 1.31580405e+01] [ 3.24088981e-01 -1.04134511e-01 9.40277797e-01 -3.32308927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.947719421 meters Centerline goodness : 0.938546 Centerline is valid? [False, False] Translation: X:74.33, Y:13.16, Z:-3.32 [[ 8.83168765e-01 -3.20684734e-01 -3.42307220e-01 7.43293136e+01] [ 3.38256111e-01 9.41012431e-01 -8.85488070e-03 1.31614903e+01] [ 3.24954975e-01 -1.07967155e-01 9.39546358e-01 -3.32361856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.977719421 meters Centerline goodness : 0.939989 Centerline is valid? [False, False] Translation: X:74.31, Y:13.17, Z:-3.33 [[ 8.85696743e-01 -3.08945072e-01 -3.46546133e-01 7.43120117e+01] [ 3.26981627e-01 9.45006396e-01 -6.77689530e-03 1.31675181e+01] [ 3.29582000e-01 -1.07311944e-01 9.38008450e-01 -3.32853253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.007719421 meters Centerline goodness : 0.939478 Centerline is valid? [False, False] Translation: X:74.31, Y:13.17, Z:-3.33 [[ 8.87045268e-01 -3.04590984e-01 -3.46951042e-01 7.43100682e+01] [ 3.23072537e-01 9.46361915e-01 -4.82299225e-03 1.31722601e+01] [ 3.29810293e-01 -1.07812141e-01 9.37870840e-01 -3.32957058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.037719421 meters Centerline goodness : 0.939523 Centerline is valid? [False, False] Translation: X:74.31, Y:13.18, Z:-3.33 [[ 8.89468851e-01 -2.96827318e-01 -3.47474756e-01 7.43057369e+01] [ 3.16088031e-01 9.48728949e-01 -1.31869004e-03 1.31812497e+01] [ 3.30050783e-01 -1.08659678e-01 9.37688410e-01 -3.33118338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.067719421 meters Centerline goodness : 0.938847 Centerline is valid? [False, False] Translation: X:74.31, Y:13.18, Z:-3.33 [[ 8.91311247e-01 -2.88289915e-01 -3.49933117e-01 7.43060928e+01] [ 3.09688755e-01 9.50822211e-01 5.47709355e-03 1.31823996e+01] [ 3.31145189e-01 -1.13252147e-01 9.36758675e-01 -3.33111141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.097719421 meters Centerline goodness : 0.940340 Centerline is valid? [False, False] Translation: X:74.30, Y:13.19, Z:-3.33 [[ 8.92544709e-01 -2.84495908e-01 -3.49894300e-01 7.43033455e+01] [ 3.06038952e-01 9.51996011e-01 6.61478936e-03 1.31882253e+01] [ 3.31216097e-01 -1.12985280e-01 9.36765832e-01 -3.33241159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.127719421 meters Centerline goodness : 0.940465 Centerline is valid? [False, False] Translation: X:74.30, Y:13.19, Z:-3.33 [[ 8.93570103e-01 -2.79829049e-01 -3.51038708e-01 7.43036409e+01] [ 3.02392329e-01 9.53131556e-01 9.95573257e-03 1.31896834e+01] [ 3.31800167e-01 -1.15047557e-01 9.36308020e-01 -3.33285482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.157719421 meters Centerline goodness : 0.939927 Centerline is valid? [False, False] Translation: X:74.30, Y:13.19, Z:-3.33 [[ 8.94508122e-01 -2.76043587e-01 -3.51646353e-01 7.43035634e+01] [ 2.99073431e-01 9.54157661e-01 1.17575791e-02 1.31936034e+01] [ 3.32280458e-01 -1.15685332e-01 9.36059080e-01 -3.33428241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.187719421 meters Centerline goodness : 0.941687 Centerline is valid? [False, False] Translation: X:74.30, Y:13.19, Z:-3.34 [[ 8.94785045e-01 -2.75757617e-01 -3.51165859e-01 7.43029423e+01] [ 2.98531412e-01 9.54333296e-01 1.12675165e-02 1.31945753e+01] [ 3.32022168e-01 -1.14916045e-01 9.36245471e-01 -3.33502522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.217719421 meters Centerline goodness : 0.939894 Centerline is valid? [False, False] Translation: X:74.30, Y:13.19, Z:-3.34 [[ 8.96133190e-01 -2.70282604e-01 -3.51983836e-01 7.43027693e+01] [ 2.94146493e-01 9.55641678e-01 1.50606764e-02 1.31943394e+01] [ 3.32299784e-01 -1.17031183e-01 9.35884905e-01 -3.33551502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.247719421 meters Centerline goodness : 0.943535 Centerline is valid? [False, False] Translation: X:74.30, Y:13.20, Z:-3.34 [[ 8.96418885e-01 -2.69851778e-01 -3.51586690e-01 7.43020688e+01] [ 2.93422061e-01 9.55873593e-01 1.44626855e-02 1.31960409e+01] [ 3.32169652e-01 -1.16127916e-01 9.36043605e-01 -3.33630809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.277719421 meters Centerline goodness : 0.942856 Centerline is valid? [False, False] Translation: X:74.30, Y:13.20, Z:-3.34 [[ 8.97810521e-01 -2.63972298e-01 -3.52498078e-01 7.43012211e+01] [ 2.88833434e-01 9.57193749e-01 1.88513450e-02 1.31954084e+01] [ 3.32432724e-01 -1.18738166e-01 9.35622644e-01 -3.33616839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.307719421 meters Centerline goodness : 0.943426 Centerline is valid? [False, False] Translation: X:74.30, Y:13.19, Z:-3.34 [[ 8.98082551e-01 -2.63222774e-01 -3.52365580e-01 7.43012055e+01] [ 2.88186760e-01 9.57379084e-01 1.93308420e-02 1.31945662e+01] [ 3.32259119e-01 -1.18907787e-01 9.35662768e-01 -3.33639096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.337719421 meters Centerline goodness : 0.944208 Centerline is valid? [False, False] Translation: X:74.30, Y:13.19, Z:-3.34 [[ 8.97912564e-01 -2.65484213e-01 -3.51099930e-01 7.43010441e+01] [ 2.89835627e-01 9.56913429e-01 1.76634664e-02 1.31906828e+01] [ 3.31282866e-01 -1.17621517e-01 9.36171374e-01 -3.33640684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.367719421 meters Centerline goodness : 0.946703 Centerline is valid? [False, False] Translation: X:74.30, Y:13.19, Z:-3.34 [[ 8.97959614e-01 -2.64401079e-01 -3.51796249e-01 7.43020461e+01] [ 2.89444654e-01 9.56994997e-01 1.95542156e-02 1.31865343e+01] [ 3.31497095e-01 -1.19384440e-01 9.35872337e-01 -3.33504153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.397719421 meters Centerline goodness : 0.948812 Centerline is valid? [False, False] Translation: X:74.30, Y:13.18, Z:-3.33 [[ 8.97237239e-01 -2.66651276e-01 -3.51940952e-01 7.43049417e+01] [ 2.91724087e-01 9.56310531e-01 1.91631304e-02 1.31795982e+01] [ 3.31454966e-01 -1.19863527e-01 9.35826020e-01 -3.33378830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.427719421 meters Centerline goodness : 0.947808 Centerline is valid? [False, False] Translation: X:74.31, Y:13.18, Z:-3.33 [[ 8.96423450e-01 -2.69911687e-01 -3.51529059e-01 7.43071648e+01] [ 2.94216039e-01 9.55595740e-01 1.65440065e-02 1.31781907e+01] [ 3.31454251e-01 -1.18255923e-01 9.36030778e-01 -3.33409626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.457719421 meters Centerline goodness : 0.946129 Centerline is valid? [False, False] Translation: X:74.31, Y:13.17, Z:-3.33 [[ 8.95866429e-01 -2.70900520e-01 -3.52187806e-01 7.43129943e+01] [ 2.95214302e-01 9.55294804e-01 1.61354912e-02 1.31742346e+01] [ 3.32072068e-01 -1.18426122e-01 9.35790252e-01 -3.33482694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.487719421 meters Centerline goodness : 0.946318 Centerline is valid? [False, False] Translation: X:74.32, Y:13.17, Z:-3.33 [[ 8.95886836e-01 -2.69290715e-01 -3.53368489e-01 7.43164394e+01] [ 2.94374427e-01 9.55517779e-01 1.81513315e-02 1.31710940e+01] [ 3.32761888e-01 -1.20284185e-01 9.35308099e-01 -3.33458528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51771942099998 meters Centerline goodness : 0.944855 Centerline is valid? [False, False] Translation: X:74.32, Y:13.16, Z:-3.33 [[ 8.96027378e-01 -2.68022398e-01 -3.53975893e-01 7.43184134e+01] [ 2.93937444e-01 9.55605044e-01 2.04885213e-02 1.31630223e+01] [ 3.32769766e-01 -1.22405045e-01 9.35030100e-01 -3.33283765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54771942099998 meters Centerline goodness : 0.945326 Centerline is valid? [False, False] Translation: X:74.32, Y:13.16, Z:-3.33 [[ 8.95431419e-01 -2.70858557e-01 -3.53324520e-01 7.43186338e+01] [ 2.96171188e-01 9.54955328e-01 1.85188525e-02 1.31599003e+01] [ 3.32393143e-01 -1.21226905e-01 9.35317505e-01 -3.33202269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57771942099998 meters Centerline goodness : 0.945970 Centerline is valid? [False, False] Translation: X:74.32, Y:13.15, Z:-3.33 [[ 8.95838573e-01 -2.67834450e-01 -3.54595487e-01 7.43208902e+01] [ 2.94381004e-01 9.55433672e-01 2.20527510e-02 1.31528756e+01] [ 3.32885981e-01 -1.24141880e-01 9.34759711e-01 -3.33027911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60771942099998 meters Centerline goodness : 0.946557 Centerline is valid? [False, False] Translation: X:74.33, Y:13.15, Z:-3.33 [[ 8.94235833e-01 -2.70210973e-01 -3.56830920e-01 7.43262066e+01] [ 2.94859121e-01 9.55415975e-01 1.54406764e-02 1.31539496e+01] [ 3.36749721e-01 -1.19022457e-01 9.34041370e-01 -3.32511595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63771942099999 meters Centerline goodness : 0.945025 Centerline is valid? [False, False] Translation: X:74.33, Y:13.15, Z:-3.32 [[ 8.93459802e-01 -2.72718602e-01 -3.56867126e-01 7.43294008e+01] [ 2.97353523e-01 9.54650959e-01 1.49140791e-02 1.31469736e+01] [ 3.36616197e-01 -1.19440827e-01 9.34036094e-01 -3.32416700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.667719421 meters Centerline goodness : 0.944871 Centerline is valid? [False, False] Translation: X:74.33, Y:13.14, Z:-3.32 [[ 8.92617612e-01 -2.75733067e-01 -3.56658204e-01 7.43317258e+01] [ 2.99967144e-01 9.53856714e-01 1.33071902e-02 1.31431751e+01] [ 3.36531590e-01 -1.18863975e-01 9.34140163e-01 -3.32364533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.697719421 meters Centerline goodness : 0.947649 Centerline is valid? [False, False] Translation: X:74.33, Y:13.13, Z:-3.32 [[ 8.90901668e-01 -2.82208141e-01 -3.55883103e-01 7.43336053e+01] [ 3.05887885e-01 9.52006007e-01 1.08242895e-02 1.31327133e+01] [ 3.35748149e-01 -1.18503707e-01 9.34467791e-01 -3.32090274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.727719421 meters Centerline goodness : 0.948804 Centerline is valid? [False, False] Translation: X:74.33, Y:13.13, Z:-3.32 [[ 8.89195716e-01 -2.89721143e-01 -3.54108230e-01 7.43333854e+01] [ 3.11846884e-01 9.50115170e-01 5.71706742e-03 1.31287726e+01] [ 3.34787246e-01 -1.15511140e-01 9.35186974e-01 -3.31983474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.757719421 meters Centerline goodness : 0.949338 Centerline is valid? [False, False] Translation: X:74.34, Y:13.12, Z:-3.32 [[ 8.86156843e-01 -3.01294195e-01 -3.52062292e-01 7.43363312e+01] [ 3.21428225e-01 9.46933006e-01 -1.33384373e-03 1.31196170e+01] [ 3.33781284e-01 -1.11980763e-01 9.35975621e-01 -3.31813421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.787719421 meters Centerline goodness : 0.948323 Centerline is valid? [False, False] Translation: X:74.34, Y:13.11, Z:-3.32 [[ 8.84580976e-01 -3.07534817e-01 -3.50626343e-01 7.43362849e+01] [ 3.26445208e-01 9.45200351e-01 -5.46107297e-03 1.31143607e+01] [ 3.33091613e-01 -1.09629528e-01 9.36499516e-01 -3.31668491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.817719421 meters Centerline goodness : 0.948207 Centerline is valid? [False, False] Translation: X:74.34, Y:13.10, Z:-3.32 [[ 8.81271932e-01 -3.19599067e-01 -3.48161195e-01 7.43388157e+01] [ 3.36278305e-01 9.41669805e-01 -1.32242161e-02 1.31049710e+01] [ 3.32079332e-01 -1.05424926e-01 9.37341401e-01 -3.31505108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.847719421 meters Centerline goodness : 0.949606 Centerline is valid? [False, False] Translation: X:74.34, Y:13.10, Z:-3.31 [[ 8.79900327e-01 -3.24039776e-01 -3.47525018e-01 7.43407068e+01] [ 3.39990716e-01 9.40293930e-01 -1.59260244e-02 1.31012696e+01] [ 3.31936330e-01 -1.04141966e-01 9.37535452e-01 -3.31447159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.877719421 meters Centerline goodness : 0.951114 Centerline is valid? [False, True] Translation: X:74.34, Y:13.10, Z:-3.31 [[ 8.77674777e-01 -3.31702612e-01 -3.45919590e-01 7.43433206e+01] [ 3.46218969e-01 9.37920052e-01 -2.09380312e-02 1.30959157e+01] [ 3.31390120e-01 -1.01387142e-01 9.38030509e-01 -3.31398637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.907719421 meters Centerline goodness : 0.950337 Centerline is valid? [True, True] Translation: X:74.36, Y:13.13, Z:-3.31 [[ 8.77719339e-01 -3.64722134e-01 -3.10783730e-01 7.43588025e+01] [ 3.45336181e-01 9.31106580e-01 -1.17402973e-01 1.31316165e+01] [ 3.32192239e-01 -4.27800637e-03 9.43202001e-01 -3.30796373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.937719421 meters Centerline goodness : 0.951232 Centerline is valid? [True, True] Translation: X:74.38, Y:13.14, Z:-3.30 [[ 8.77901726e-01 -3.66095801e-01 -3.08646114e-01 7.43845663e+01] [ 3.47019642e-01 9.30565638e-01 -1.16726011e-01 1.31384741e+01] [ 3.29948371e-01 -4.63229772e-03 9.43987613e-01 -3.29990392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.967719421 meters Centerline goodness : 0.954282 Centerline is valid? [True, True] Translation: X:74.41, Y:13.14, Z:-3.29 [[ 8.78852168e-01 -3.65294971e-01 -3.06885078e-01 7.44106569e+01] [ 3.46349009e-01 9.30882459e-01 -1.16190412e-01 1.31438555e+01] [ 3.28117709e-01 -4.17514721e-03 9.44627618e-01 -3.29090469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.997719421 meters Centerline goodness : 0.953477 Centerline is valid? [True, True] Translation: X:74.43, Y:13.15, Z:-3.28 [[ 8.79785214e-01 -3.60501376e-01 -3.09865673e-01 7.44349515e+01] [ 3.40841767e-01 9.32755874e-01 -1.17445179e-01 1.31516991e+01] [ 3.31368175e-01 -2.28863115e-03 9.43498752e-01 -3.28168601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.027719421 meters Centerline goodness : 0.953477 Centerline is valid? [True, True] Translation: X:74.46, Y:13.16, Z:-3.27 [[ 8.79709249e-01 -3.60703397e-01 -3.09846246e-01 7.44602671e+01] [ 3.41037907e-01 9.32677725e-01 -1.17496412e-01 1.31615478e+01] [ 3.31368047e-01 -2.30663541e-03 9.43498753e-01 -3.27307217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.057719421 meters Centerline goodness : 0.951990 Centerline is valid? [True, True] Translation: X:74.49, Y:13.17, Z:-3.26 [[ 8.81060864e-01 -3.57104421e-01 -3.10174445e-01 7.44857057e+01] [ 3.37149823e-01 9.34064063e-01 -1.17704384e-01 1.31709261e+01] [ 3.31755558e-01 -8.70533235e-04 9.43364983e-01 -3.26466249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.087719421 meters Centerline goodness : 0.953881 Centerline is valid? [True, True] Translation: X:74.51, Y:13.18, Z:-3.26 [[ 8.85657069e-01 -3.46981364e-01 -3.08570072e-01 7.45107483e+01] [ 3.26596418e-01 9.37867106e-01 -1.17218047e-01 1.31786645e+01] [ 3.30070198e-01 3.03711201e-03 9.43951503e-01 -3.25751239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.117719421 meters Centerline goodness : 0.953779 Centerline is valid? [True, True] Translation: X:74.54, Y:13.19, Z:-3.25 [[ 8.87213898e-01 -3.43415621e-01 -3.08086369e-01 7.45352780e+01] [ 3.22865864e-01 9.39173141e-01 -1.17095882e-01 1.31887806e+01] [ 3.29558998e-01 4.41852192e-03 9.44124644e-01 -3.24969291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.147719421 meters Centerline goodness : 0.953851 Centerline is valid? [True, True] Translation: X:74.56, Y:13.20, Z:-3.24 [[ 8.88936330e-01 -3.38394924e-01 -3.08676330e-01 7.45595731e+01] [ 3.17425030e-01 9.40982278e-01 -1.17446600e-01 1.32001917e+01] [ 3.30202289e-01 6.42095610e-03 9.43888351e-01 -3.24101203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.177719421 meters Centerline goodness : 0.953468 Centerline is valid? [True, True] Translation: X:74.58, Y:13.21, Z:-3.23 [[ 8.89541019e-01 -3.36915541e-01 -3.08552578e-01 7.45849387e+01] [ 3.15832484e-01 9.41508157e-01 -1.17525450e-01 1.32091740e+01] [ 3.30100920e-01 7.09278125e-03 9.43918998e-01 -3.23311105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.207719421 meters Centerline goodness : 0.951804 Centerline is valid? [True, True] Translation: X:74.61, Y:13.21, Z:-3.22 [[ 8.89676605e-01 -3.35425064e-01 -3.09783092e-01 7.46106851e+01] [ 3.14036979e-01 9.42034578e-01 -1.18117019e-01 1.32144018e+01] [ 3.31445793e-01 7.80260177e-03 9.43441999e-01 -3.22428917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.237719421 meters Centerline goodness : 0.949423 Centerline is valid? [True, False] Translation: X:74.61, Y:13.21, Z:-3.23 [[ 8.88337964e-01 -3.32072054e-01 -3.17149513e-01 7.46060118e+01] [ 3.13753684e-01 9.43249714e-01 -1.08805340e-01 1.32078618e+01] [ 3.35282400e-01 -2.85091410e-03 9.42113361e-01 -3.22604330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26771942099998 meters Centerline goodness : 0.948593 Centerline is valid? [False, False] Translation: X:74.60, Y:13.20, Z:-3.23 [[ 8.87984395e-01 -3.25536260e-01 -3.24822811e-01 7.45987192e+01] [ 3.11293326e-01 9.45403472e-01 -9.64818168e-02 1.31999748e+01] [ 3.38496943e-01 -1.54408252e-02 9.40840795e-01 -3.22749131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29771942099998 meters Centerline goodness : 0.949561 Centerline is valid? [False, False] Translation: X:74.60, Y:13.20, Z:-3.23 [[ 8.89288429e-01 -3.20155285e-01 -3.26598657e-01 7.45991992e+01] [ 3.07244778e-01 9.47182168e-01 -9.19053098e-02 1.31981213e+01] [ 3.38772395e-01 -1.86154035e-02 9.40684182e-01 -3.22696395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32771942099998 meters Centerline goodness : 0.951083 Centerline is valid? [False, True] Translation: X:74.60, Y:13.19, Z:-3.23 [[ 8.91197719e-01 -3.12789271e-01 -3.28526252e-01 7.45980714e+01] [ 3.01763911e-01 9.49544638e-01 -8.54606470e-02 1.31924781e+01] [ 3.38681515e-01 -2.29750329e-02 9.40620529e-01 -3.22536812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35771942099998 meters Centerline goodness : 0.951553 Centerline is valid? [True, True] Translation: X:74.62, Y:13.21, Z:-3.22 [[ 8.93098990e-01 -3.21113859e-01 -3.15055684e-01 7.46214482e+01] [ 2.98195880e-01 9.46950095e-01 -1.19852972e-01 1.32088017e+01] [ 3.36828460e-01 1.30922617e-02 9.41475003e-01 -3.21836655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38771942099999 meters Centerline goodness : 0.951493 Centerline is valid? [True, True] Translation: X:74.65, Y:13.21, Z:-3.21 [[ 8.94237447e-01 -3.16569712e-01 -3.16422196e-01 7.46491853e+01] [ 2.93121403e-01 9.48450478e-01 -1.20505327e-01 1.32098478e+01] [ 3.38259119e-01 1.50102576e-02 9.40933292e-01 -3.20905402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.417719421 meters Centerline goodness : 0.950552 Centerline is valid? [True, True] Translation: X:74.67, Y:13.22, Z:-3.20 [[ 8.95065354e-01 -3.14806979e-01 -3.15839481e-01 7.46747913e+01] [ 2.91296237e-01 9.49024654e-01 -1.20410580e-01 1.32158370e+01] [ 3.37645545e-01 1.57724864e-02 9.41141177e-01 -3.20176429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.447719421 meters Centerline goodness : 0.948479 Centerline is valid? [True, False] Translation: X:74.67, Y:13.20, Z:-3.21 [[ 8.95494861e-01 -3.08551899e-01 -3.20756417e-01 7.46746936e+01] [ 2.89869905e-01 9.51205955e-01 -1.05748136e-01 1.32036747e+01] [ 3.37734202e-01 1.71928059e-03 9.41239955e-01 -3.20522390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.477719421 meters Centerline goodness : 0.948839 Centerline is valid? [False, False] Translation: X:74.67, Y:13.19, Z:-3.21 [[ 8.93959215e-01 -3.04352962e-01 -3.28947102e-01 7.46715264e+01] [ 2.89331860e-01 9.52504093e-01 -9.49896183e-02 1.31943966e+01] [ 3.42233833e-01 -1.02580324e-02 9.39558820e-01 -3.20644088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.507719421 meters Centerline goodness : 0.945072 Centerline is valid? [False, False] Translation: X:74.68, Y:13.18, Z:-3.21 [[ 8.93033184e-01 -3.01653915e-01 -3.33911137e-01 7.46818847e+01] [ 2.88449260e-01 9.53280301e-01 -8.97423606e-02 1.31836634e+01] [ 3.45382044e-01 -1.61735146e-02 9.38322792e-01 -3.20682109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.537719421 meters Centerline goodness : 0.944873 Centerline is valid? [False, False] Translation: X:74.68, Y:13.17, Z:-3.21 [[ 8.90853367e-01 -2.98820285e-01 -3.42179361e-01 7.46776309e+01] [ 2.89175477e-01 9.53912441e-01 -8.01785360e-02 1.31731961e+01] [ 3.50368123e-01 -2.75225613e-02 9.36207609e-01 -3.20717989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.567719421 meters Centerline goodness : 0.945286 Centerline is valid? [False, False] Translation: X:74.68, Y:13.16, Z:-3.20 [[ 8.89935347e-01 -3.01470145e-01 -3.42243817e-01 7.46797670e+01] [ 2.91864848e-01 9.53059159e-01 -8.05800905e-02 1.31603127e+01] [ 3.50471096e-01 -2.81778689e-02 9.36149571e-01 -3.20499314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.597719421 meters Centerline goodness : 0.944954 Centerline is valid? [False, False] Translation: X:74.68, Y:13.15, Z:-3.20 [[ 8.89997266e-01 -3.00448339e-01 -3.42980557e-01 7.46812733e+01] [ 2.91449831e-01 9.53332383e-01 -7.88312294e-02 1.31539001e+01] [ 3.50659184e-01 -2.98020468e-02 9.36028832e-01 -3.20400496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.627719421 meters Centerline goodness : 0.945049 Centerline is valid? [False, False] Translation: X:74.68, Y:13.15, Z:-3.20 [[ 8.90139371e-01 -2.98949924e-01 -3.43919822e-01 7.46830336e+01] [ 2.90667183e-01 9.53743109e-01 -7.67246442e-02 1.31483296e+01] [ 3.50947987e-01 -3.16705794e-02 9.35859223e-01 -3.20317676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.657719421 meters Centerline goodness : 0.947095 Centerline is valid? [False, False] Translation: X:74.68, Y:13.13, Z:-3.20 [[ 8.88256610e-01 -2.95383030e-01 -3.51779846e-01 7.46780515e+01] [ 2.91904381e-01 9.54288434e-01 -6.42294130e-02 1.31344821e+01] [ 3.54671717e-01 -4.56338773e-02 9.33876610e-01 -3.20146366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.687719421 meters Centerline goodness : 0.945584 Centerline is valid? [False, False] Translation: X:74.68, Y:13.13, Z:-3.20 [[ 8.88564973e-01 -2.93295350e-01 -3.52746546e-01 7.46791646e+01] [ 2.90617954e-01 9.54838220e-01 -6.18480210e-02 1.31283201e+01] [ 3.54955621e-01 -4.75584943e-02 9.33672692e-01 -3.20018892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.717719421 meters Centerline goodness : 0.948826 Centerline is valid? [False, False] Translation: X:74.67, Y:13.11, Z:-3.20 [[ 8.89292353e-01 -2.89032438e-01 -3.54428218e-01 7.46655022e+01] [ 2.89139069e-01 9.55766160e-01 -5.39411354e-02 1.31092202e+01] [ 3.54341235e-01 -5.45096057e-02 9.33526107e-01 -3.20319797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.747719421 meters Centerline goodness : 0.946471 Centerline is valid? [False, False] Translation: X:74.67, Y:13.10, Z:-3.20 [[ 8.90403723e-01 -2.83836950e-01 -3.55833944e-01 7.46680951e+01] [ 2.85410114e-01 9.57136946e-01 -4.92943518e-02 1.31006749e+01] [ 3.54573373e-01 -5.76667322e-02 9.33248236e-01 -3.20260049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.777719421 meters Centerline goodness : 0.948483 Centerline is valid? [False, False] Translation: X:74.67, Y:13.10, Z:-3.20 [[ 8.90900206e-01 -2.81259937e-01 -3.56636609e-01 7.46691765e+01] [ 2.83570529e-01 9.57799508e-01 -4.69878452e-02 1.30962509e+01] [ 3.54802167e-01 -5.92701510e-02 9.33060808e-01 -3.20192777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.807719421 meters Centerline goodness : 0.946174 Centerline is valid? [False, False] Translation: X:74.66, Y:13.08, Z:-3.20 [[ 8.90368074e-01 -2.73597898e-01 -3.63852832e-01 7.46595961e+01] [ 2.79146680e-01 9.59480731e-01 -3.83908488e-02 1.30786705e+01] [ 3.59613437e-01 -6.73863241e-02 9.30664955e-01 -3.20362761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.837719421 meters Centerline goodness : 0.946730 Centerline is valid? [False, False] Translation: X:74.65, Y:13.07, Z:-3.21 [[ 8.90133815e-01 -2.71520296e-01 -3.65976119e-01 7.46465519e+01] [ 2.79410394e-01 9.59626099e-01 -3.23663805e-02 1.30679325e+01] [ 3.59988364e-01 -7.34471217e-02 9.30061233e-01 -3.20808635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.867719421 meters Centerline goodness : 0.947698 Centerline is valid? [False, False] Translation: X:74.65, Y:13.06, Z:-3.21 [[ 8.91038949e-01 -2.70182665e-01 -3.64761454e-01 7.46452139e+01] [ 2.79241532e-01 9.59789049e-01 -2.87949336e-02 1.30615967e+01] [ 3.57873941e-01 -7.61991399e-02 9.30655647e-01 -3.20935489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.897719421 meters Centerline goodness : 0.946954 Centerline is valid? [False, False] Translation: X:74.65, Y:13.05, Z:-3.21 [[ 8.90878553e-01 -2.70621551e-01 -3.64827876e-01 7.46473874e+01] [ 2.79957290e-01 9.59598826e-01 -2.81781590e-02 1.30483388e+01] [ 3.57714019e-01 -7.70329059e-02 9.30648490e-01 -3.20762860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.927719421 meters Centerline goodness : 0.950375 Centerline is valid? [False, True] Translation: X:74.65, Y:13.03, Z:-3.21 [[ 8.90771955e-01 -2.71249144e-01 -3.64622032e-01 7.46494901e+01] [ 2.80934715e-01 9.59337235e-01 -2.73451335e-02 1.30348886e+01] [ 3.57212836e-01 -7.80767085e-02 9.30754005e-01 -3.20623985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.957719421 meters Centerline goodness : 0.950348 Centerline is valid? [True, True] Translation: X:74.67, Y:13.07, Z:-3.22 [[ 8.94537795e-01 -3.05252275e-01 -3.26532054e-01 7.46714279e+01] [ 2.78192358e-01 9.51981245e-01 -1.27830829e-01 1.30718317e+01] [ 3.49873043e-01 2.35107855e-02 9.36502054e-01 -3.22048178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.987719421 meters Centerline goodness : 0.949910 Centerline is valid? [True, False] Translation: X:74.67, Y:13.06, Z:-3.22 [[ 8.93185581e-01 -2.98550855e-01 -3.36283964e-01 7.46693598e+01] [ 2.76434682e-01 9.54360065e-01 -1.13051900e-01 1.30557407e+01] [ 3.54687727e-01 8.01577651e-03 9.34950461e-01 -3.21962806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01771942099998 meters Centerline goodness : 0.949576 Centerline is valid? [False, False] Translation: X:74.67, Y:13.04, Z:-3.22 [[ 8.91337929e-01 -2.93288027e-01 -3.45686028e-01 7.46652546e+01] [ 2.75463209e-01 9.56009153e-01 -1.00829161e-01 1.30447780e+01] [ 3.60050993e-01 -5.35092693e-03 9.32917279e-01 -3.21866409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04771942099998 meters Centerline goodness : 0.946109 Centerline is valid? [False, False] Translation: X:74.66, Y:13.03, Z:-3.22 [[ 8.89690159e-01 -2.87712563e-01 -3.54503742e-01 7.46593419e+01] [ 2.73939828e-01 9.57559560e-01 -8.96474188e-02 1.30262076e+01] [ 3.65251136e-01 -1.73542679e-02 9.30747247e-01 -3.21725785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07771942099998 meters Centerline goodness : 0.947757 Centerline is valid? [False, False] Translation: X:74.66, Y:13.02, Z:-3.22 [[ 8.89908308e-01 -2.85877754e-01 -3.55439323e-01 7.46615165e+01] [ 2.72845499e-01 9.58074658e-01 -8.74544644e-02 1.30197644e+01] [ 3.65538694e-01 -1.91535649e-02 9.30599057e-01 -3.21655324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10771942099998 meters Centerline goodness : 0.949596 Centerline is valid? [False, False] Translation: X:74.66, Y:13.01, Z:-3.22 [[ 8.89628222e-01 -2.86592206e-01 -3.55565090e-01 7.46643409e+01] [ 2.73971453e-01 9.57835143e-01 -8.65533516e-02 1.30088768e+01] [ 3.65378255e-01 -2.04143800e-02 9.30635258e-01 -3.21590582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13771942099999 meters Centerline goodness : 0.949073 Centerline is valid? [False, False] Translation: X:74.67, Y:13.00, Z:-3.22 [[ 8.89645684e-01 -2.85641239e-01 -3.56285897e-01 7.46664609e+01] [ 2.73641068e-01 9.58083524e-01 -8.48323489e-02 1.30037322e+01] [ 3.65583264e-01 -2.20237203e-02 9.30518045e-01 -3.21542338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.167719421 meters Centerline goodness : 0.949452 Centerline is valid? [False, False] Translation: X:74.66, Y:12.99, Z:-3.22 [[ 8.89218572e-01 -2.88248090e-01 -3.55251136e-01 7.46640534e+01] [ 2.80399868e-01 9.56978127e-01 -7.46242435e-02 1.29885713e+01] [ 3.61477862e-01 -3.32551082e-02 9.31787450e-01 -3.21731811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.197719421 meters Centerline goodness : 0.953861 Centerline is valid? [False, True] Translation: X:74.66, Y:12.98, Z:-3.22 [[ 8.88436708e-01 -2.91097641e-01 -3.54883614e-01 7.46647316e+01] [ 2.83081140e-01 9.56113229e-01 -7.55814827e-02 1.29807954e+01] [ 3.61310509e-01 -3.33114943e-02 9.31850342e-01 -3.21581099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.227719421 meters Centerline goodness : 0.958095 Centerline is valid? [True, True] Translation: X:74.69, Y:13.00, Z:-3.22 [[ 8.88082112e-01 -3.17534102e-01 -3.32388712e-01 7.46927894e+01] [ 2.90469056e-01 9.48065191e-01 -1.29615283e-01 1.29952809e+01] [ 3.56283440e-01 1.85603786e-02 9.34193568e-01 -3.22134653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.257719421 meters Centerline goodness : 0.958327 Centerline is valid? [True, True] Translation: X:74.72, Y:13.00, Z:-3.21 [[ 8.86983711e-01 -3.21429453e-01 -3.31576542e-01 7.47186674e+01] [ 2.94715811e-01 9.46779513e-01 -1.29426217e-01 1.30003111e+01] [ 3.55531275e-01 1.70780965e-02 9.34508347e-01 -3.21227562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.287719421 meters Centerline goodness : 0.956066 Centerline is valid? [True, True] Translation: X:74.75, Y:13.00, Z:-3.20 [[ 8.84224422e-01 -3.28404921e-01 -3.32110494e-01 7.47472060e+01] [ 3.02050939e-01 9.44427755e-01 -1.29697516e-01 1.30011835e+01] [ 3.56247671e-01 1.43674249e-02 9.34281100e-01 -3.20299193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.317719421 meters Centerline goodness : 0.955399 Centerline is valid? [True, True] Translation: X:74.77, Y:13.01, Z:-3.19 [[ 8.82723666e-01 -3.31966652e-01 -3.32561379e-01 7.47727165e+01] [ 3.05732871e-01 9.43200427e-01 -1.30001406e-01 1.30066192e+01] [ 3.56828166e-01 1.30803728e-02 9.34078457e-01 -3.19371167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.347719421 meters Centerline goodness : 0.952647 Centerline is valid? [True, True] Translation: X:74.80, Y:13.01, Z:-3.18 [[ 8.79360529e-01 -3.39849487e-01 -3.33507701e-01 7.48005933e+01] [ 3.13981147e-01 9.40426843e-01 -1.30434626e-01 1.30092826e+01] [ 3.57967736e-01 9.98393117e-03 9.33680578e-01 -3.18427436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.377719421 meters Centerline goodness : 0.951455 Centerline is valid? [True, True] Translation: X:74.83, Y:13.01, Z:-3.17 [[ 8.75881780e-01 -3.47834981e-01 -3.34427771e-01 7.48261220e+01] [ 3.22329677e-01 9.37530570e-01 -1.30919858e-01 1.30131520e+01] [ 3.59074765e-01 6.87432254e-03 9.33283481e-01 -3.17462500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.407719421 meters Centerline goodness : 0.951400 Centerline is valid? [True, True] Translation: X:74.85, Y:13.02, Z:-3.17 [[ 8.74250813e-01 -3.51916516e-01 -3.34425301e-01 7.48515955e+01] [ 3.26675319e-01 9.36016600e-01 -1.30981530e-01 1.30223555e+01] [ 3.59122196e-01 5.26221757e-03 9.33275713e-01 -3.16563359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.437719421 meters Centerline goodness : 0.948503 Centerline is valid? [True, False] Translation: X:74.84, Y:13.01, Z:-3.17 [[ 8.73434312e-01 -3.50970542e-01 -3.37538416e-01 7.48385225e+01] [ 3.32250918e-01 9.36299770e-01 -1.13807152e-01 1.30142098e+01] [ 3.55980099e-01 -1.27443765e-02 9.34406630e-01 -3.17023809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.467719421 meters Centerline goodness : 0.948805 Centerline is valid? [False, False] Translation: X:74.82, Y:13.01, Z:-3.17 [[ 8.71284157e-01 -3.53871143e-01 -3.40057542e-01 7.48236192e+01] [ 3.40854441e-01 9.34837331e-01 -9.94857546e-02 1.30058544e+01] [ 3.53103623e-01 -2.92297617e-02 9.35127506e-01 -3.17477825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.497719421 meters Centerline goodness : 0.949889 Centerline is valid? [False, False] Translation: X:74.81, Y:13.00, Z:-3.18 [[ 8.68807590e-01 -3.58133012e-01 -3.41927064e-01 7.48089523e+01] [ 3.49923789e-01 9.32660373e-01 -8.77380811e-02 1.29972192e+01] [ 3.50323727e-01 -4.34209031e-02 9.35621671e-01 -3.17855850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.527719421 meters Centerline goodness : 0.949908 Centerline is valid? [False, False] Translation: X:74.80, Y:12.99, Z:-3.18 [[ 8.66576403e-01 -3.57283151e-01 -3.48416543e-01 7.48003334e+01] [ 3.52527163e-01 9.32430555e-01 -7.93590505e-02 1.29919550e+01] [ 3.53227882e-01 -5.40556147e-02 9.33974332e-01 -3.17818374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.557719421 meters Centerline goodness : 0.950763 Centerline is valid? [False, True] Translation: X:74.79, Y:12.99, Z:-3.18 [[ 8.65151626e-01 -3.55855679e-01 -3.53382795e-01 7.47897706e+01] [ 3.55057057e-01 9.32255469e-01 -6.95286025e-02 1.29873528e+01] [ 3.54185191e-01 -6.53182717e-02 9.32891405e-01 -3.17918733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.587719421 meters Centerline goodness : 0.952636 Centerline is valid? [True, True] Translation: X:74.81, Y:13.02, Z:-3.19 [[ 8.65645550e-01 -3.78014501e-01 -3.28272478e-01 7.48109372e+01] [ 3.54471997e-01 9.25795840e-01 -1.31345601e-01 1.30232090e+01] [ 3.53563836e-01 -2.66466589e-03 9.35406603e-01 -3.19323779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.617719421 meters Centerline goodness : 0.952499 Centerline is valid? [True, True] Translation: X:74.83, Y:13.04, Z:-3.18 [[ 8.66403953e-01 -3.76881049e-01 -3.27574212e-01 7.48345133e+01] [ 3.53341494e-01 9.26259198e-01 -1.31124702e-01 1.30361415e+01] [ 3.52837042e-01 -2.13860177e-03 9.35682344e-01 -3.18435688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.647719421 meters Centerline goodness : 0.950423 Centerline is valid? [True, True] Translation: X:74.86, Y:13.05, Z:-3.17 [[ 8.68908496e-01 -3.72497287e-01 -3.25950604e-01 7.48570133e+01] [ 3.48853576e-01 9.28033252e-01 -1.30596575e-01 1.30512643e+01] [ 3.51139869e-01 -2.32559834e-04 9.36322988e-01 -3.17473065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.677719421 meters Centerline goodness : 0.950140 Centerline is valid? [True, True] Translation: X:74.88, Y:13.06, Z:-3.17 [[ 8.70533824e-01 -3.69189624e-01 -3.25376525e-01 7.48800846e+01] [ 3.45359154e-01 9.29353274e-01 -1.30497308e-01 1.30637386e+01] [ 3.50567990e-01 1.23055893e-03 9.36536476e-01 -3.16633469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.707719421 meters Centerline goodness : 0.952005 Centerline is valid? [True, True] Translation: X:74.90, Y:13.08, Z:-3.16 [[ 8.73686270e-01 -3.61720569e-01 -3.25316047e-01 7.49012335e+01] [ 3.37374602e-01 9.32276687e-01 -1.30531822e-01 1.30797129e+01] [ 3.50500612e-01 4.29048905e-03 9.36552675e-01 -3.15735612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.737719421 meters Centerline goodness : 0.948755 Centerline is valid? [True, False] Translation: X:74.89, Y:13.08, Z:-3.16 [[ 8.74932011e-01 -3.50400529e-01 -3.34235614e-01 7.48901270e+01] [ 3.31078116e-01 9.36547768e-01 -1.15176213e-01 1.30775891e+01] [ 3.53385424e-01 -9.88674200e-03 9.35425569e-01 -3.15679141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76771942099998 meters Centerline goodness : 0.952902 Centerline is valid? [False, True] Translation: X:74.88, Y:13.07, Z:-3.16 [[ 8.74755845e-01 -3.43095799e-01 -3.42180485e-01 7.48820598e+01] [ 3.28412280e-01 9.39014368e-01 -1.01967600e-01 1.30742191e+01] [ 3.56297047e-01 -2.31795195e-02 9.34085180e-01 -3.15692188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79771942099998 meters Centerline goodness : 0.950293 Centerline is valid? [True, True] Translation: X:74.91, Y:13.10, Z:-3.16 [[ 8.76101030e-01 -3.51698132e-01 -3.29780850e-01 7.49052697e+01] [ 3.25847359e-01 9.36072651e-01 -1.32632915e-01 1.30974243e+01] [ 3.55345583e-01 8.74161468e-03 9.34694121e-01 -3.15761138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82771942099998 meters Centerline goodness : 0.951920 Centerline is valid? [True, True] Translation: X:74.93, Y:13.11, Z:-3.15 [[ 8.77346331e-01 -3.49243019e-01 -3.29078606e-01 7.49268368e+01] [ 3.23290151e-01 9.36980481e-01 -1.32480396e-01 1.31123215e+01] [ 3.54608085e-01 9.84331725e-03 9.34963216e-01 -3.14904228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85771942099998 meters Centerline goodness : 0.951737 Centerline is valid? [True, True] Translation: X:74.95, Y:13.12, Z:-3.14 [[ 8.77573540e-01 -3.48055991e-01 -3.29729752e-01 7.49501861e+01] [ 3.21890811e-01 9.37415939e-01 -1.32806867e-01 1.31246132e+01] [ 3.55318150e-01 1.04108153e-02 9.34687449e-01 -3.14022939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88771942099999 meters Centerline goodness : 0.946693 Centerline is valid? [True, False] Translation: X:74.94, Y:13.12, Z:-3.14 [[ 8.76625923e-01 -3.41836383e-01 -3.38636795e-01 7.49436683e+01] [ 3.19732471e-01 9.39756796e-01 -1.20947554e-01 1.31225023e+01] [ 3.59580504e-01 -2.24741760e-03 9.33111360e-01 -3.14051330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.917719421 meters Centerline goodness : 0.946693 Centerline is valid? [False, False] Translation: X:74.94, Y:13.12, Z:-3.14 [[ 8.76985033e-01 -3.42498330e-01 -3.37034338e-01 7.49422082e+01] [ 3.21855611e-01 9.39501415e-01 -1.17243578e-01 1.31219944e+01] [ 3.56799967e-01 -5.65552986e-03 9.34163689e-01 -3.14423684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.947719421 meters Centerline goodness : 0.946346 Centerline is valid? [False, False] Translation: X:74.94, Y:13.12, Z:-3.14 [[ 8.75627295e-01 -3.38529570e-01 -3.44491756e-01 7.49354331e+01] [ 3.21792664e-01 9.40792422e-01 -1.06579078e-01 1.31184286e+01] [ 3.60175403e-01 -1.75313697e-02 9.32719856e-01 -3.14481046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.977719421 meters Centerline goodness : 0.945259 Centerline is valid? [False, False] Translation: X:74.93, Y:13.12, Z:-3.15 [[ 8.74704743e-01 -3.33200569e-01 -3.51950271e-01 7.49290751e+01] [ 3.20810567e-01 9.42380748e-01 -9.48636201e-02 1.31157450e+01] [ 3.63279772e-01 -2.99317076e-02 9.31199173e-01 -3.14571934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.007719421 meters Centerline goodness : 0.945598 Centerline is valid? [False, False] Translation: X:74.93, Y:13.12, Z:-3.15 [[ 8.75683510e-01 -3.28869894e-01 -3.53585892e-01 7.49299505e+01] [ 3.17539505e-01 9.43825949e-01 -9.14398232e-02 1.31161104e+01] [ 3.63795345e-01 -3.22051437e-02 9.30922003e-01 -3.14540159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.037719421 meters Centerline goodness : 0.945626 Centerline is valid? [False, False] Translation: X:74.93, Y:13.12, Z:-3.15 [[ 8.77727011e-01 -3.22639841e-01 -3.54258138e-01 7.49285845e+01] [ 3.13054058e-01 9.45852190e-01 -8.57950583e-02 1.31184624e+01] [ 3.62756739e-01 -3.55973075e-02 9.31203726e-01 -3.14667672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.067719421 meters Centerline goodness : 0.946644 Centerline is valid? [False, False] Translation: X:74.93, Y:13.12, Z:-3.15 [[ 8.78850586e-01 -3.17722278e-01 -3.55913193e-01 7.49292545e+01] [ 3.09349009e-01 9.47416547e-01 -8.18845320e-02 1.31178569e+01] [ 3.63214589e-01 -3.81371249e-02 9.30924660e-01 -3.14621005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.097719421 meters Centerline goodness : 0.945839 Centerline is valid? [False, False] Translation: X:74.93, Y:13.11, Z:-3.14 [[ 8.80449265e-01 -3.11464751e-01 -3.57489581e-01 7.49274879e+01] [ 3.04712516e-01 9.49353988e-01 -7.66634743e-02 1.31145160e+01] [ 3.63262129e-01 -4.14332500e-02 9.30765229e-01 -3.14434075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.127719421 meters Centerline goodness : 0.947652 Centerline is valid? [False, False] Translation: X:74.93, Y:13.11, Z:-3.14 [[ 8.81513020e-01 -3.06499953e-01 -3.59155361e-01 7.49275517e+01] [ 3.01095670e-01 9.50839494e-01 -7.24268934e-02 1.31120079e+01] [ 3.63697941e-01 -4.42948745e-02 9.30463203e-01 -3.14307225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.157719421 meters Centerline goodness : 0.950973 Centerline is valid? [False, True] Translation: X:74.93, Y:13.11, Z:-3.14 [[ 8.82695837e-01 -3.01508727e-01 -3.60472671e-01 7.49274738e+01] [ 2.97550283e-01 9.52288366e-01 -6.79021154e-02 1.31099101e+01] [ 3.63747011e-01 -4.73218304e-02 9.30294983e-01 -3.14236008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.187719421 meters Centerline goodness : 0.950686 Centerline is valid? [True, True] Translation: X:74.95, Y:13.14, Z:-3.15 [[ 8.84554100e-01 -3.23783643e-01 -3.35750200e-01 7.49507388e+01] [ 2.96272063e-01 9.45977763e-01 -1.31715361e-01 1.31424462e+01] [ 3.60259503e-01 1.70359584e-02 9.32696557e-01 -3.15260222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.217719421 meters Centerline goodness : 0.950153 Centerline is valid? [True, True] Translation: X:74.97, Y:13.15, Z:-3.14 [[ 8.84124975e-01 -3.23797013e-01 -3.36865735e-01 7.49744426e+01] [ 2.96044034e-01 9.45969686e-01 -1.32284855e-01 1.31520332e+01] [ 3.61498214e-01 1.72292530e-02 9.32213599e-01 -3.14422565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.247719421 meters Centerline goodness : 0.949484 Centerline is valid? [True, False] Translation: X:74.97, Y:13.15, Z:-3.14 [[ 8.82109842e-01 -3.20286285e-01 -3.45396760e-01 7.49689928e+01] [ 2.96260634e-01 9.47306919e-01 -1.21816407e-01 1.31453403e+01] [ 3.66212865e-01 5.12798864e-03 9.30516975e-01 -3.14350659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.277719421 meters Centerline goodness : 0.948922 Centerline is valid? [False, False] Translation: X:74.96, Y:13.14, Z:-3.14 [[ 8.79823082e-01 -3.17419429e-01 -3.53774294e-01 7.49642290e+01] [ 2.97156041e-01 9.48261133e-01 -1.11799427e-01 1.31386978e+01] [ 3.70957723e-01 -6.76245201e-03 9.28625133e-01 -3.14310734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.307719421 meters Centerline goodness : 0.950500 Centerline is valid? [False, True] Translation: X:74.96, Y:13.13, Z:-3.14 [[ 8.77095857e-01 -3.14799724e-01 -3.62772645e-01 7.49601905e+01] [ 2.98454141e-01 9.48969837e-01 -1.01889027e-01 1.31290185e+01] [ 3.76334935e-01 -1.89045542e-02 9.26290794e-01 -3.14188350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.337719421 meters Centerline goodness : 0.949761 Centerline is valid? [True, False] Translation: X:74.96, Y:13.12, Z:-3.15 [[ 8.78482886e-01 -3.13145329e-01 -3.60843209e-01 7.49558436e+01] [ 3.00489067e-01 9.49310884e-01 -9.22776593e-02 1.31227783e+01] [ 3.71448703e-01 -2.73650945e-02 9.28050113e-01 -3.14672009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.367719421 meters Centerline goodness : 0.952053 Centerline is valid? [False, True] Translation: X:74.95, Y:13.12, Z:-3.15 [[ 8.78747458e-01 -3.12081304e-01 -3.61120706e-01 7.49547966e+01] [ 2.99808263e-01 9.49637128e-01 -9.11281007e-02 1.31209988e+01] [ 3.71373007e-01 -2.81883847e-02 9.28055766e-01 -3.14592223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.397719421 meters Centerline goodness : 0.950759 Centerline is valid? [True, True] Translation: X:74.98, Y:13.14, Z:-3.15 [[ 8.81700846e-01 -3.28252753e-01 -3.38900795e-01 7.49803701e+01] [ 3.00436362e-01 9.44461322e-01 -1.33157061e-01 1.31433885e+01] [ 3.63787865e-01 1.55865717e-02 9.31351410e-01 -3.15116348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.427719421 meters Centerline goodness : 0.951904 Centerline is valid? [True, True] Translation: X:75.01, Y:13.15, Z:-3.14 [[ 8.81701538e-01 -3.28582396e-01 -3.38579396e-01 7.50053692e+01] [ 3.00793187e-01 9.44347012e-01 -1.33162233e-01 1.31504685e+01] [ 3.63491207e-01 1.55669703e-02 9.31467558e-01 -3.14044983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.457719421 meters Centerline goodness : 0.952827 Centerline is valid? [True, True] Translation: X:75.03, Y:13.15, Z:-3.13 [[ 8.80360494e-01 -3.28782703e-01 -3.41858647e-01 7.50310384e+01] [ 3.00389883e-01 9.44273532e-01 -1.34586088e-01 1.31546206e+01] [ 3.67057650e-01 1.57933962e-02 9.30064111e-01 -3.12882039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.487719421 meters Centerline goodness : 0.952032 Centerline is valid? [True, True] Translation: X:75.06, Y:13.16, Z:-3.12 [[ 8.79358902e-01 -3.30040100e-01 -3.43222164e-01 7.50551843e+01] [ 3.01448750e-01 9.43840040e-01 -1.35257639e-01 1.31626823e+01] [ 3.68587266e-01 1.54761167e-02 9.29464317e-01 -3.12012560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51771942099998 meters Centerline goodness : 0.950536 Centerline is valid? [True, True] Translation: X:75.08, Y:13.17, Z:-3.11 [[ 8.77529206e-01 -3.33883904e-01 -3.44186041e-01 7.50809951e+01] [ 3.05381819e-01 9.42510580e-01 -1.35704650e-01 1.31702202e+01] [ 3.69708583e-01 1.39766339e-02 9.29042635e-01 -3.11104731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54771942099998 meters Centerline goodness : 0.950673 Centerline is valid? [True, True] Translation: X:75.11, Y:13.18, Z:-3.10 [[ 8.76855235e-01 -3.36143080e-01 -3.43704418e-01 7.51060501e+01] [ 3.07836471e-01 9.41719222e-01 -1.35652547e-01 1.31783700e+01] [ 3.69271722e-01 1.31428906e-02 9.29228529e-01 -3.10043149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57771942099998 meters Centerline goodness : 0.953222 Centerline is valid? [True, True] Translation: X:75.13, Y:13.18, Z:-3.09 [[ 8.75395803e-01 -3.42189239e-01 -3.41450893e-01 7.51308974e+01] [ 3.14659665e-01 9.39570772e-01 -1.34892772e-01 1.31839340e+01] [ 3.66976135e-01 1.06437431e-02 9.30169462e-01 -3.08998210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60771942099998 meters Centerline goodness : 0.952970 Centerline is valid? [True, True] Translation: X:75.16, Y:13.19, Z:-3.08 [[ 8.74202152e-01 -3.45672606e-01 -3.41000068e-01 7.51552579e+01] [ 3.18450600e-01 9.38309810e-01 -1.34773574e-01 1.31923435e+01] [ 3.66551242e-01 9.22767228e-03 9.30352104e-01 -3.08033226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63771942099999 meters Centerline goodness : 0.954678 Centerline is valid? [True, True] Translation: X:75.18, Y:13.20, Z:-3.07 [[ 8.73579642e-01 -3.47431862e-01 -3.40807439e-01 7.51802769e+01] [ 3.20345961e-01 9.37666271e-01 -1.34760640e-01 1.32006211e+01] [ 3.66383781e-01 8.54786533e-03 9.30424559e-01 -3.07074576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.667719421 meters Centerline goodness : 0.956574 Centerline is valid? [True, True] Translation: X:75.21, Y:13.21, Z:-3.06 [[ 8.72349253e-01 -3.51820558e-01 -3.39454084e-01 7.52053459e+01] [ 3.25226040e-01 9.36042707e-01 -1.34358008e-01 1.32104504e+01] [ 3.65013429e-01 6.80780065e-03 9.30977363e-01 -3.06175604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.697719421 meters Centerline goodness : 0.955013 Centerline is valid? [True, True] Translation: X:75.23, Y:13.22, Z:-3.05 [[ 8.72031328e-01 -3.53821491e-01 -3.38188876e-01 7.52285955e+01] [ 3.27526694e-01 9.35293235e-01 -1.33988172e-01 1.32204662e+01] [ 3.63713663e-01 6.07599877e-03 9.31490984e-01 -3.05358213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.727719421 meters Centerline goodness : 0.954234 Centerline is valid? [True, True] Translation: X:75.25, Y:13.23, Z:-3.04 [[ 8.70988538e-01 -3.57602386e-01 -3.36896869e-01 7.52529461e+01] [ 3.31763838e-01 9.33862897e-01 -1.33539677e-01 1.32312746e+01] [ 3.62369593e-01 4.54132997e-03 9.32023420e-01 -3.04367406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.757719421 meters Centerline goodness : 0.956970 Centerline is valid? [True, True] Translation: X:75.28, Y:13.24, Z:-3.03 [[ 8.69579068e-01 -3.60049014e-01 -3.37930394e-01 7.52768770e+01] [ 3.34170632e-01 9.32926166e-01 -1.34084889e-01 1.32408022e+01] [ 3.63541239e-01 3.67099932e-03 9.31570873e-01 -3.03184807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.787719421 meters Centerline goodness : 0.954654 Centerline is valid? [True, True] Translation: X:75.30, Y:13.25, Z:-3.02 [[ 8.66918087e-01 -3.63605816e-01 -3.40945509e-01 7.53004258e+01] [ 3.37455325e-01 9.31549953e-01 -1.35420044e-01 1.32512325e+01] [ 3.66847289e-01 2.34420770e-03 9.30278223e-01 -3.02142772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.817719421 meters Centerline goodness : 0.953308 Centerline is valid? [True, True] Translation: X:75.32, Y:13.27, Z:-3.01 [[ 8.65646042e-01 -3.65254597e-01 -3.42412046e-01 7.53224499e+01] [ 3.38939017e-01 9.30905937e-01 -1.36141396e-01 1.32664371e+01] [ 3.68479677e-01 1.79345814e-03 9.29634074e-01 -3.01368713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.847719421 meters Centerline goodness : 0.953488 Centerline is valid? [True, True] Translation: X:75.35, Y:13.28, Z:-3.01 [[ 8.66504269e-01 -3.64882623e-01 -3.40633267e-01 7.53466171e+01] [ 3.38795860e-01 9.31051363e-01 -1.35501753e-01 1.32789453e+01] [ 3.66589303e-01 2.00770697e-03 9.30380703e-01 -3.00526720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.877719421 meters Centerline goodness : 0.955031 Centerline is valid? [True, True] Translation: X:75.37, Y:13.29, Z:-2.99 [[ 8.67352094e-01 -3.63992276e-01 -3.39425939e-01 7.53689879e+01] [ 3.37978101e-01 9.31398583e-01 -1.35157249e-01 1.32895211e+01] [ 3.65337033e-01 2.51038834e-03 9.30871930e-01 -2.99463950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.907719421 meters Centerline goodness : 0.956384 Centerline is valid? [True, True] Translation: X:75.39, Y:13.30, Z:-2.98 [[ 8.68097941e-01 -3.63154395e-01 -3.38415202e-01 7.53923074e+01] [ 3.37213625e-01 9.31724403e-01 -1.34820652e-01 1.33024125e+01] [ 3.64270414e-01 2.91931301e-03 9.31288646e-01 -2.98389797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.937719421 meters Centerline goodness : 0.956386 Centerline is valid? [True, True] Translation: X:75.41, Y:13.31, Z:-2.97 [[ 8.67444243e-01 -3.63544105e-01 -3.39670678e-01 7.54149673e+01] [ 3.37377978e-01 9.31572459e-01 -1.35457943e-01 1.33147935e+01] [ 3.65672785e-01 2.90480654e-03 9.30738941e-01 -2.97444267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.967719421 meters Centerline goodness : 0.954492 Centerline is valid? [True, True] Translation: X:75.44, Y:13.33, Z:-2.97 [[ 8.67200681e-01 -3.63390940e-01 -3.40455582e-01 7.54366188e+01] [ 3.37063411e-01 9.31631789e-01 -1.35832496e-01 1.33298501e+01] [ 3.66539541e-01 3.03891381e-03 9.30397512e-01 -2.96697007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.997719421 meters Centerline goodness : 0.953202 Centerline is valid? [True, True] Translation: X:75.46, Y:13.34, Z:-2.96 [[ 8.66951929e-01 -3.63352694e-01 -3.41129262e-01 7.54601763e+01] [ 3.36887545e-01 9.31646408e-01 -1.36168104e-01 1.33427490e+01] [ 3.67288899e-01 3.12900101e-03 9.30101647e-01 -2.95721549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.027719421 meters Centerline goodness : 0.951649 Centerline is valid? [True, True] Translation: X:75.48, Y:13.36, Z:-2.95 [[ 8.67094065e-01 -3.61366174e-01 -3.42873694e-01 7.54818130e+01] [ 3.34415087e-01 9.32414838e-01 -1.37000435e-01 1.33577378e+01] [ 3.69207843e-01 4.13012744e-03 9.29337673e-01 -2.94718884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.057719421 meters Centerline goodness : 0.949085 Centerline is valid? [True, False] Translation: X:75.47, Y:13.35, Z:-2.95 [[ 8.66406868e-01 -3.55622425e-01 -3.50530784e-01 7.54724486e+01] [ 3.32985499e-01 9.34592765e-01 -1.25128019e-01 1.33545836e+01] [ 3.72101864e-01 -8.30989330e-03 9.28154701e-01 -2.94741279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.087719421 meters Centerline goodness : 0.950196 Centerline is valid? [False, True] Translation: X:75.46, Y:13.35, Z:-2.95 [[ 8.65785831e-01 -3.49583315e-01 -3.58059215e-01 7.54611195e+01] [ 3.31220940e-01 9.36686988e-01 -1.13622954e-01 1.33549621e+01] [ 3.75110096e-01 -2.02235662e-02 9.26759636e-01 -2.94747957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.117719421 meters Centerline goodness : 0.948978 Centerline is valid? [True, False] Translation: X:75.45, Y:13.35, Z:-2.95 [[ 8.64482256e-01 -3.45903914e-01 -3.64720319e-01 7.54522501e+01] [ 3.31617935e-01 9.37737166e-01 -1.03337088e-01 1.33533840e+01] [ 3.77756501e-01 -3.16147203e-02 9.25365082e-01 -2.94829899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.147719421 meters Centerline goodness : 0.946545 Centerline is valid? [False, False] Translation: X:75.44, Y:13.35, Z:-2.95 [[ 8.63193008e-01 -3.46633464e-01 -3.67073661e-01 7.54388987e+01] [ 3.36989311e-01 9.36968711e-01 -9.23462974e-02 1.33537430e+01] [ 3.75946852e-01 -4.39872217e-02 9.25596612e-01 -2.95383875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.177719421 meters Centerline goodness : 0.946042 Centerline is valid? [False, False] Translation: X:75.43, Y:13.35, Z:-2.96 [[ 8.63043552e-01 -3.48642791e-01 -3.65518854e-01 7.54312981e+01] [ 3.41493372e-01 9.35906427e-01 -8.63796093e-02 1.33533845e+01] [ 3.72207072e-01 -5.02729011e-02 9.26787209e-01 -2.95848083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.207719421 meters Centerline goodness : 0.945916 Centerline is valid? [False, False] Translation: X:75.42, Y:13.35, Z:-2.96 [[ 8.60107807e-01 -3.53498475e-01 -3.67768118e-01 7.54218220e+01] [ 3.48975221e-01 9.33605319e-01 -8.12243985e-02 1.33536346e+01] [ 3.72062973e-01 -5.84802212e-02 9.26363432e-01 -2.96147937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.237719421 meters Centerline goodness : 0.945996 Centerline is valid? [False, False] Translation: X:75.41, Y:13.35, Z:-2.96 [[ 8.57692123e-01 -3.54349639e-01 -3.72559465e-01 7.54142034e+01] [ 3.53161881e-01 9.32630280e-01 -7.40097687e-02 1.33515645e+01] [ 3.73685573e-01 -6.80962058e-02 9.25052431e-01 -2.96306748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26771942099998 meters Centerline goodness : 0.946039 Centerline is valid? [False, False] Translation: X:75.41, Y:13.35, Z:-2.96 [[ 8.57101121e-01 -3.55986373e-01 -3.72359195e-01 7.54144844e+01] [ 3.54520433e-01 9.32034514e-01 -7.50128509e-02 1.33527398e+01] [ 3.73755174e-01 -6.77153446e-02 9.25052270e-01 -2.96299125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29771942099998 meters Centerline goodness : 0.946223 Centerline is valid? [False, False] Translation: X:75.40, Y:13.35, Z:-2.97 [[ 8.55122255e-01 -3.63755874e-01 -3.69388134e-01 7.53989528e+01] [ 3.65591874e-01 9.28301642e-01 -6.78132983e-02 1.33509110e+01] [ 3.67571097e-01 -7.70566398e-02 9.26797585e-01 -2.96928847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32771942099998 meters Centerline goodness : 0.944719 Centerline is valid? [False, False] Translation: X:75.39, Y:13.35, Z:-2.97 [[ 8.52417449e-01 -3.64440100e-01 -3.74923867e-01 7.53888896e+01] [ 3.69365042e-01 9.27244622e-01 -6.15376032e-02 1.33477726e+01] [ 3.70072909e-01 -8.60280431e-02 9.25010928e-01 -2.96957778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35771942099998 meters Centerline goodness : 0.946459 Centerline is valid? [False, False] Translation: X:75.37, Y:13.35, Z:-2.98 [[ 8.49717126e-01 -3.66476789e-01 -3.79045603e-01 7.53738255e+01] [ 3.76179198e-01 9.25133147e-01 -5.11651301e-02 1.33459989e+01] [ 3.69418484e-01 -9.91131838e-02 9.23962424e-01 -2.97533804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38771942099999 meters Centerline goodness : 0.947200 Centerline is valid? [False, False] Translation: X:75.36, Y:13.35, Z:-2.98 [[ 8.48519966e-01 -3.66335768e-01 -3.81853340e-01 7.53640912e+01] [ 3.79288511e-01 9.24238396e-01 -4.38590053e-02 1.33456929e+01] [ 3.68990641e-01 -1.07617343e-01 9.23181680e-01 -2.97807546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.417719421 meters Centerline goodness : 0.946405 Centerline is valid? [False, False] Translation: X:75.35, Y:13.35, Z:-2.98 [[ 8.49503905e-01 -3.66535590e-01 -3.79466438e-01 7.53520631e+01] [ 3.81143346e-01 9.23694662e-01 -3.89605109e-02 1.33496512e+01] [ 3.64791537e-01 -1.11534002e-01 9.24384823e-01 -2.98198292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.447719421 meters Centerline goodness : 0.949603 Centerline is valid? [False, False] Translation: X:75.33, Y:13.35, Z:-2.99 [[ 8.49815863e-01 -3.66473220e-01 -3.78827636e-01 7.53349023e+01] [ 3.81896399e-01 9.23477723e-01 -3.66610967e-02 1.33475714e+01] [ 3.63274192e-01 -1.13517728e-01 9.24740821e-01 -2.98743638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.477719421 meters Centerline goodness : 0.947768 Centerline is valid? [False, False] Translation: X:75.32, Y:13.35, Z:-2.99 [[ 8.51505823e-01 -3.62871630e-01 -3.78499687e-01 7.53178250e+01] [ 3.79205922e-01 9.24708126e-01 -3.34327741e-02 1.33507134e+01] [ 3.62133541e-01 -1.15061121e-01 9.24997425e-01 -2.99454474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.507719421 meters Centerline goodness : 0.948963 Centerline is valid? [False, False] Translation: X:75.30, Y:13.35, Z:-3.00 [[ 8.51315159e-01 -3.62217494e-01 -3.79553668e-01 7.53007548e+01] [ 3.78502862e-01 9.24983635e-01 -3.37765933e-02 1.33514925e+01] [ 3.63315404e-01 -1.14907624e-01 9.24552949e-01 -3.00115647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.537719421 meters Centerline goodness : 0.945834 Centerline is valid? [False, False] Translation: X:75.29, Y:13.36, Z:-3.00 [[ 8.50745392e-01 -3.56627921e-01 -3.86068393e-01 7.52891230e+01] [ 3.71787526e-01 9.27558130e-01 -3.75493123e-02 1.33596681e+01] [ 3.71492010e-01 -1.11590509e-01 9.21705617e-01 -3.00149351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.567719421 meters Centerline goodness : 0.946943 Centerline is valid? [False, False] Translation: X:75.29, Y:13.36, Z:-3.00 [[ 8.52094424e-01 -3.52002621e-01 -3.87336091e-01 7.52877363e+01] [ 3.67994557e-01 9.29173957e-01 -3.48678005e-02 1.33632044e+01] [ 3.72176165e-01 -1.12826915e-01 9.21278996e-01 -3.00153544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.597719421 meters Centerline goodness : 0.946959 Centerline is valid? [False, False] Translation: X:75.28, Y:13.37, Z:-3.00 [[ 8.54948860e-01 -3.42977865e-01 -3.89138320e-01 7.52825630e+01] [ 3.60438085e-01 9.32306346e-01 -2.98205295e-02 1.33709756e+01] [ 3.73023907e-01 -1.14765243e-01 9.20696532e-01 -3.00154155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.627719421 meters Centerline goodness : 0.947568 Centerline is valid? [False, False] Translation: X:75.28, Y:13.37, Z:-3.00 [[ 8.56291005e-01 -3.38412611e-01 -3.90182804e-01 7.52806956e+01] [ 3.56689944e-01 9.33828563e-01 -2.71384881e-02 1.33747075e+01] [ 3.73547854e-01 -1.15935839e-01 9.20337374e-01 -3.00163028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.657719421 meters Centerline goodness : 0.949982 Centerline is valid? [False, False] Translation: X:75.28, Y:13.38, Z:-3.00 [[ 8.58659334e-01 -3.30288344e-01 -3.91935911e-01 7.52780675e+01] [ 3.49956545e-01 9.36495588e-01 -2.25039932e-02 1.33822258e+01] [ 3.74479058e-01 -1.17837274e-01 9.19717246e-01 -3.00233351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.687719421 meters Centerline goodness : 0.950502 Centerline is valid? [False, True] Translation: X:75.28, Y:13.38, Z:-3.00 [[ 8.59740314e-01 -3.26158639e-01 -3.93023073e-01 7.52776564e+01] [ 3.46690087e-01 9.37769847e-01 -1.98418187e-02 1.33848366e+01] [ 3.75036767e-01 -1.19198392e-01 9.19314509e-01 -3.00262848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.717719421 meters Centerline goodness : 0.951083 Centerline is valid? [True, True] Translation: X:75.29, Y:13.44, Z:-3.02 [[ 8.63898890e-01 -3.67568593e-01 -3.44342907e-01 7.52929038e+01] [ 3.38784320e-01 9.29972570e-01 -1.42745242e-01 1.34391250e+01] [ 3.72698126e-01 6.65947861e-03 9.27928746e-01 -3.01740688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.747719421 meters Centerline goodness : 0.951516 Centerline is valid? [True, True] Translation: X:75.32, Y:13.45, Z:-3.01 [[ 8.64608955e-01 -3.66154824e-01 -3.44066855e-01 7.53153623e+01] [ 3.37259760e-01 9.30524602e-01 -1.42757906e-01 1.34508360e+01] [ 3.72434169e-01 7.38985927e-03 9.28029191e-01 -3.00906318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.777719421 meters Centerline goodness : 0.952785 Centerline is valid? [True, True] Translation: X:75.34, Y:13.46, Z:-3.00 [[ 8.65384055e-01 -3.65262462e-01 -3.43065258e-01 7.53392128e+01] [ 3.36449078e-01 9.30871794e-01 -1.42406888e-01 1.34642464e+01] [ 3.71365663e-01 7.81266044e-03 9.28453826e-01 -3.00076282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.807719421 meters Centerline goodness : 0.952814 Centerline is valid? [True, True] Translation: X:75.36, Y:13.47, Z:-2.99 [[ 8.65100722e-01 -3.66523816e-01 -3.42433983e-01 7.53621118e+01] [ 3.37864576e-01 9.30379363e-01 -1.42273572e-01 1.34744545e+01] [ 3.70740164e-01 7.38465703e-03 9.28707272e-01 -2.99184520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.837719421 meters Centerline goodness : 0.952814 Centerline is valid? [True, True] Translation: X:75.39, Y:13.49, Z:-2.98 [[ 8.64995879e-01 -3.66792470e-01 -3.42411177e-01 7.53867955e+01] [ 3.38131794e-01 9.30273887e-01 -1.42328442e-01 1.34850223e+01] [ 3.70741177e-01 7.33341001e-03 9.28707274e-01 -2.98219555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.867719421 meters Centerline goodness : 0.952549 Centerline is valid? [True, True] Translation: X:75.41, Y:13.50, Z:-2.97 [[ 8.64199845e-01 -3.68984211e-01 -3.42066194e-01 7.54115218e+01] [ 3.40499448e-01 9.29412864e-01 -1.42309012e-01 1.34950629e+01] [ 3.70430499e-01 6.51007584e-03 9.28837372e-01 -2.97216250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.897719421 meters Centerline goodness : 0.954523 Centerline is valid? [True, True] Translation: X:75.44, Y:13.51, Z:-2.96 [[ 8.61889994e-01 -3.75576579e-01 -3.40716702e-01 7.54359406e+01] [ 3.47767356e-01 9.26783594e-01 -1.41880359e-01 1.35051713e+01] [ 3.69057590e-01 3.79511466e-03 9.29398780e-01 -2.96181517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.927719421 meters Centerline goodness : 0.953291 Centerline is valid? [True, True] Translation: X:75.46, Y:13.52, Z:-2.95 [[ 8.58033414e-01 -3.84463295e-01 -3.40538744e-01 7.54594891e+01] [ 3.57300265e-01 9.23140271e-01 -1.41945624e-01 1.35171739e+01] [ 3.68937911e-01 1.19504723e-04 9.29454035e-01 -2.95296251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.957719421 meters Centerline goodness : 0.951447 Centerline is valid? [True, True] Translation: X:75.48, Y:13.53, Z:-2.94 [[ 8.55406007e-01 -3.89407015e-01 -3.41530000e-01 7.54835740e+01] [ 3.62399715e-01 9.21063884e-01 -1.42505326e-01 1.35275820e+01] [ 3.70063522e-01 -1.87046253e-03 9.29004570e-01 -2.94322353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.987719421 meters Centerline goodness : 0.947359 Centerline is valid? [True, False] Translation: X:75.47, Y:13.52, Z:-2.95 [[ 8.51021904e-01 -3.95331631e-01 -3.45651008e-01 7.54677733e+01] [ 3.73446041e-01 9.18368400e-01 -1.30910414e-01 1.35156947e+01] [ 3.69187991e-01 -1.76743709e-02 9.29186657e-01 -2.94918459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01771942099998 meters Centerline goodness : 0.947957 Centerline is valid? [False, False] Translation: X:75.46, Y:13.51, Z:-2.95 [[ 8.49443735e-01 -3.95645308e-01 -3.49156313e-01 7.54577175e+01] [ 3.78517894e-01 9.17883746e-01 -1.19220939e-01 1.35075714e+01] [ 3.67654110e-01 -3.08904329e-02 9.29449427e-01 -2.95436589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04771942099998 meters Centerline goodness : 0.949069 Centerline is valid? [False, False] Translation: X:75.44, Y:13.50, Z:-2.96 [[ 8.47911186e-01 -3.96370653e-01 -3.52046766e-01 7.54437395e+01] [ 3.85047183e-01 9.16909213e-01 -1.04957903e-01 1.35002314e+01] [ 3.64397156e-01 -4.65596350e-02 9.30078982e-01 -2.96105577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07771942099998 meters Centerline goodness : 0.947374 Centerline is valid? [False, False] Translation: X:75.43, Y:13.49, Z:-2.97 [[ 8.46592548e-01 -3.94040697e-01 -3.57789027e-01 7.54271146e+01] [ 3.88373564e-01 9.17002433e-01 -9.09533543e-02 1.34930687e+01] [ 3.63932731e-01 -6.19553677e-02 9.29362416e-01 -2.96695711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10771942099998 meters Centerline goodness : 0.948744 Centerline is valid? [False, False] Translation: X:75.42, Y:13.49, Z:-2.97 [[ 8.45510261e-01 -3.93010302e-01 -3.61462724e-01 7.54169923e+01] [ 3.91806590e-01 9.16557374e-01 -8.00635763e-02 1.34899679e+01] [ 3.62767135e-01 -7.39289019e-02 9.28942691e-01 -2.97273439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13771942099999 meters Centerline goodness : 0.947942 Centerline is valid? [False, False] Translation: X:75.40, Y:13.48, Z:-2.98 [[ 8.44646056e-01 -3.89875669e-01 -3.66837843e-01 7.53992257e+01] [ 3.94159707e-01 9.16623215e-01 -6.66333857e-02 1.34827043e+01] [ 3.62230818e-01 -8.83110700e-02 9.27895462e-01 -2.97888120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.167719421 meters Centerline goodness : 0.948385 Centerline is valid? [False, False] Translation: X:75.38, Y:13.48, Z:-2.98 [[ 8.46566466e-01 -3.83851013e-01 -3.68759567e-01 7.53825092e+01] [ 3.90761001e-01 9.18592310e-01 -5.91101374e-02 1.34792200e+01] [ 3.61429188e-01 -9.40561974e-02 9.27643452e-01 -2.98348470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.197719421 meters Centerline goodness : 0.943820 Centerline is valid? [False, False] Translation: X:75.37, Y:13.48, Z:-2.99 [[ 8.48304285e-01 -3.80924076e-01 -3.67799794e-01 7.53735120e+01] [ 3.90380043e-01 9.19205435e-01 -5.16216114e-02 1.34787621e+01] [ 3.57747485e-01 -9.97908652e-02 9.28471066e-01 -2.98729700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.227719421 meters Centerline goodness : 0.946210 Centerline is valid? [False, False] Translation: X:75.37, Y:13.48, Z:-2.99 [[ 8.51631028e-01 -3.71032159e-01 -3.70215787e-01 7.53702894e+01] [ 3.82381626e-01 9.22892843e-01 -4.53110534e-02 1.34840959e+01] [ 3.58481359e-01 -1.02975416e-01 9.27840061e-01 -2.98755552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.257719421 meters Centerline goodness : 0.948073 Centerline is valid? [False, False] Translation: X:75.37, Y:13.49, Z:-2.99 [[ 8.53701353e-01 -3.64700248e-01 -3.71736102e-01 7.53669367e+01] [ 3.77430506e-01 9.25136568e-01 -4.08478007e-02 1.34870622e+01] [ 3.58803865e-01 -1.05432723e-01 9.27439339e-01 -2.98720192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.287719421 meters Centerline goodness : 0.950783 Centerline is valid? [False, True] Translation: X:75.36, Y:13.49, Z:-2.99 [[ 8.56747400e-01 -3.55790606e-01 -3.73358993e-01 7.53608977e+01] [ 3.70201247e-01 9.28287992e-01 -3.51061355e-02 1.34931969e+01] [ 3.59075103e-01 -1.08140874e-01 9.27022449e-01 -2.98678650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.317719421 meters Centerline goodness : 0.952196 Centerline is valid? [True, True] Translation: X:75.37, Y:13.54, Z:-2.99 [[ 8.61161998e-01 -3.86854767e-01 -3.29762646e-01 7.53749564e+01] [ 3.60502942e-01 9.22138522e-01 -1.40350188e-01 1.35416960e+01] [ 3.58381978e-01 1.98384402e-03 9.33572934e-01 -2.99311437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.347719421 meters Centerline goodness : 0.950262 Centerline is valid? [True, True] Translation: X:75.40, Y:13.55, Z:-2.98 [[ 8.62052624e-01 -3.84645682e-01 -3.30019657e-01 7.53979790e+01] [ 3.58039610e-01 9.23059269e-01 -1.40603070e-01 1.35543827e+01] [ 3.58710067e-01 3.04713651e-03 9.33444054e-01 -2.98366401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.377719421 meters Centerline goodness : 0.952464 Centerline is valid? [True, True] Translation: X:75.42, Y:13.57, Z:-2.98 [[ 8.63970790e-01 -3.80192143e-01 -3.30164215e-01 7.54192817e+01] [ 3.53193542e-01 9.24893803e-01 -1.40804034e-01 1.35703278e+01] [ 3.58899423e-01 5.03870407e-03 9.33362639e-01 -2.97571178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.407719421 meters Centerline goodness : 0.950583 Centerline is valid? [True, True] Translation: X:75.44, Y:13.58, Z:-2.97 [[ 8.64414794e-01 -3.78784909e-01 -3.30619202e-01 7.54421588e+01] [ 3.51582083e-01 9.25467165e-01 -1.41069366e-01 1.35832494e+01] [ 3.59412162e-01 5.70265906e-03 9.33161496e-01 -2.96683607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.437719421 meters Centerline goodness : 0.952515 Centerline is valid? [True, True] Translation: X:75.47, Y:13.60, Z:-2.96 [[ 8.66119798e-01 -3.76200705e-01 -3.29104124e-01 7.54655859e+01] [ 3.49021393e-01 9.26512642e-01 -1.40564545e-01 1.35953548e+01] [ 3.57799612e-01 6.88135572e-03 9.33773037e-01 -2.95875403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.467719421 meters Centerline goodness : 0.952171 Centerline is valid? [True, True] Translation: X:75.49, Y:13.61, Z:-2.95 [[ 8.65956785e-01 -3.75707614e-01 -3.30094889e-01 7.54896763e+01] [ 3.48295751e-01 9.26710431e-01 -1.41059731e-01 1.36064278e+01] [ 3.58899592e-01 7.18098365e-03 9.33348550e-01 -2.94931810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.497719421 meters Centerline goodness : 0.949385 Centerline is valid? [True, False] Translation: X:75.49, Y:13.60, Z:-2.95 [[ 8.65334001e-01 -3.69012179e-01 -3.39156421e-01 7.54851017e+01] [ 3.45763855e-01 9.29407606e-01 -1.29030452e-01 1.36026703e+01] [ 3.62828366e-01 -5.61359483e-03 9.31839076e-01 -2.95106678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.527719421 meters Centerline goodness : 0.949037 Centerline is valid? [False, False] Translation: X:75.48, Y:13.60, Z:-2.95 [[ 8.64914448e-01 -3.64813164e-01 -3.44723588e-01 7.54797713e+01] [ 3.45487434e-01 9.30930362e-01 -1.18351569e-01 1.35992405e+01] [ 3.64089865e-01 -1.67336855e-02 9.31213484e-01 -2.95419490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.557719421 meters Centerline goodness : 0.947933 Centerline is valid? [False, False] Translation: X:75.47, Y:13.59, Z:-2.96 [[ 8.64383360e-01 -3.57274089e-01 -3.53831362e-01 7.54732820e+01] [ 3.42393387e-01 9.33537708e-01 -1.06179646e-01 1.35942367e+01] [ 3.68250155e-01 -2.93695993e-02 9.29262746e-01 -2.95521648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.587719421 meters Centerline goodness : 0.949364 Centerline is valid? [False, False] Translation: X:75.47, Y:13.59, Z:-2.96 [[ 8.63439806e-01 -3.53809221e-01 -3.59570211e-01 7.54650823e+01] [ 3.42607901e-01 9.34478420e-01 -9.67982920e-02 1.35886971e+01] [ 3.70258731e-01 -3.96120968e-02 9.28083700e-01 -2.95669539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.617719421 meters Centerline goodness : 0.949134 Centerline is valid? [False, False] Translation: X:75.45, Y:13.58, Z:-2.96 [[ 8.64744075e-01 -3.50710692e-01 -3.59471412e-01 7.54489867e+01] [ 3.41890486e-01 9.35405072e-01 -9.01567882e-02 1.35782780e+01] [ 3.67870332e-01 -4.49373073e-02 9.28790642e-01 -2.96021661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.647719421 meters Centerline goodness : 0.950210 Centerline is valid? [False, True] Translation: X:75.44, Y:13.57, Z:-2.96 [[ 8.64416020e-01 -3.48323536e-01 -3.62568143e-01 7.54401340e+01] [ 3.43048884e-01 9.35804780e-01 -8.11595815e-02 1.35719807e+01] [ 3.67562793e-01 -5.42229542e-02 9.28416644e-01 -2.96267225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.677719421 meters Centerline goodness : 0.948929 Centerline is valid? [True, False] Translation: X:75.42, Y:13.56, Z:-2.97 [[ 8.65738911e-01 -3.41003269e-01 -3.66350800e-01 7.54236385e+01] [ 3.41088310e-01 9.37658866e-01 -6.67429046e-02 1.35606232e+01] [ 3.66271625e-01 -6.71760459e-02 9.28079994e-01 -2.97200002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.707719421 meters Centerline goodness : 0.948772 Centerline is valid? [False, False] Translation: X:75.42, Y:13.55, Z:-2.97 [[ 8.64228418e-01 -3.36797036e-01 -3.73733860e-01 7.54155376e+01] [ 3.40727698e-01 9.38387285e-01 -5.77402767e-02 1.35545362e+01] [ 3.70153856e-01 -7.74406895e-02 9.25737038e-01 -2.97292782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.737719421 meters Centerline goodness : 0.949242 Centerline is valid? [False, False] Translation: X:75.40, Y:13.54, Z:-2.98 [[ 8.64828156e-01 -3.33376131e-01 -3.75409930e-01 7.54024633e+01] [ 3.39827305e-01 9.39098967e-01 -5.10933711e-02 1.35426347e+01] [ 3.69580388e-01 -8.33875589e-02 9.25449540e-01 -2.97799921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76771942099998 meters Centerline goodness : 0.946286 Centerline is valid? [False, False] Translation: X:75.39, Y:13.53, Z:-2.98 [[ 8.65455273e-01 -3.31777523e-01 -3.75380934e-01 7.53883016e+01] [ 3.39576686e-01 9.39385223e-01 -4.73611396e-02 1.35278173e+01] [ 3.68340664e-01 -8.64816656e-02 9.25659806e-01 -2.98393834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79771942099998 meters Centerline goodness : 0.946719 Centerline is valid? [False, False] Translation: X:75.37, Y:13.52, Z:-2.99 [[ 8.65534230e-01 -3.31057027e-01 -3.75834727e-01 7.53734162e+01] [ 3.40107002e-01 9.39348457e-01 -4.41780761e-02 1.35175921e+01] [ 3.67665233e-01 -8.95863853e-02 9.25633057e-01 -2.98948555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82771942099998 meters Centerline goodness : 0.948949 Centerline is valid? [False, False] Translation: X:75.36, Y:13.51, Z:-3.00 [[ 8.65568140e-01 -3.31061481e-01 -3.75752698e-01 7.53585522e+01] [ 3.40907494e-01 9.39151430e-01 -4.21505894e-02 1.35081153e+01] [ 3.66843120e-01 -9.16127035e-02 9.25760897e-01 -2.99587827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85771942099998 meters Centerline goodness : 0.945728 Centerline is valid? [False, False] Translation: X:75.35, Y:13.49, Z:-3.00 [[ 8.64461702e-01 -3.25608967e-01 -3.82994474e-01 7.53498537e+01] [ 3.38812592e-01 9.40217354e-01 -3.46028279e-02 1.34949287e+01] [ 3.71365041e-01 -9.98505308e-02 9.23102311e-01 -2.99763571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88771942099999 meters Centerline goodness : 0.945858 Centerline is valid? [False, False] Translation: X:75.34, Y:13.48, Z:-3.00 [[ 8.64314182e-01 -3.22833247e-01 -3.85667849e-01 7.53371616e+01] [ 3.38384222e-01 9.40561866e-01 -2.89740497e-02 1.34795132e+01] [ 3.72098258e-01 -1.05461233e-01 9.22182636e-01 -3.00152078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.917719421 meters Centerline goodness : 0.946836 Centerline is valid? [False, False] Translation: X:75.32, Y:13.47, Z:-3.01 [[ 8.64472320e-01 -3.23472712e-01 -3.84776575e-01 7.53230912e+01] [ 3.40543952e-01 9.39894784e-01 -2.50521856e-02 1.34691344e+01] [ 3.69753194e-01 -1.09376414e-01 9.22669700e-01 -3.00639176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.947719421 meters Centerline goodness : 0.949147 Centerline is valid? [False, False] Translation: X:75.30, Y:13.45, Z:-3.01 [[ 8.65928042e-01 -3.25073812e-01 -3.80125826e-01 7.53026804e+01] [ 3.41913507e-01 9.39412491e-01 -2.44811188e-02 1.34475508e+01] [ 3.65053119e-01 -1.08771267e-01 9.24610746e-01 -3.01334595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.977719421 meters Centerline goodness : 0.949069 Centerline is valid? [False, False] Translation: X:75.30, Y:13.44, Z:-3.01 [[ 8.65184939e-01 -3.27774624e-01 -3.79498113e-01 7.53034707e+01] [ 3.44200027e-01 9.38538785e-01 -2.59092662e-02 1.34416913e+01] [ 3.64666098e-01 -1.08206954e-01 9.24829656e-01 -3.01221735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.007719421 meters Centerline goodness : 0.949115 Centerline is valid? [False, False] Translation: X:75.30, Y:13.44, Z:-3.01 [[ 8.64448754e-01 -3.30562684e-01 -3.78756734e-01 7.53045855e+01] [ 3.46540396e-01 9.37634582e-01 -2.74070128e-02 1.34362552e+01] [ 3.64195148e-01 -1.07562551e-01 9.25090370e-01 -3.01151760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.037719421 meters Centerline goodness : 0.949301 Centerline is valid? [False, False] Translation: X:75.29, Y:13.41, Z:-3.02 [[ 8.66223290e-01 -3.30720894e-01 -3.74540921e-01 7.52864957e+01] [ 3.45489287e-01 9.37968431e-01 -2.91954517e-02 1.34145341e+01] [ 3.60963106e-01 -1.04110096e-01 9.26750627e-01 -3.02450895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.067719421 meters Centerline goodness : 0.946724 Centerline is valid? [False, False] Translation: X:75.29, Y:13.41, Z:-3.02 [[ 8.65518110e-01 -3.33290258e-01 -3.73893041e-01 7.52878019e+01] [ 3.47525582e-01 9.37160905e-01 -3.09096812e-02 1.34115313e+01] [ 3.60699836e-01 -1.03184508e-01 9.26956626e-01 -3.02439719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.097719421 meters Centerline goodness : 0.947647 Centerline is valid? [False, False] Translation: X:75.29, Y:13.40, Z:-3.02 [[ 8.65465537e-01 -3.32910940e-01 -3.74352387e-01 7.52928211e+01] [ 3.47498445e-01 9.37198380e-01 -3.00670324e-02 1.34048315e+01] [ 3.60852095e-01 -1.04064892e-01 9.26798934e-01 -3.02474148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.127719421 meters Centerline goodness : 0.941181 Centerline is valid? [False, False] Translation: X:75.30, Y:13.40, Z:-3.02 [[ 8.65426553e-01 -3.33337138e-01 -3.74063142e-01 7.52951805e+01] [ 3.48043848e-01 9.37005749e-01 -2.97608237e-02 1.33971609e+01] [ 3.60419702e-01 -1.04434568e-01 9.26925595e-01 -3.02436804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.157719421 meters Centerline goodness : 0.941616 Centerline is valid? [False, False] Translation: X:75.29, Y:13.39, Z:-3.02 [[ 8.64931112e-01 -3.35504719e-01 -3.73270352e-01 7.52948491e+01] [ 3.49756019e-01 9.36322941e-01 -3.11460663e-02 1.33929225e+01] [ 3.59951246e-01 -1.03614350e-01 9.27199637e-01 -3.02353054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.187719421 meters Centerline goodness : 0.944237 Centerline is valid? [False, False] Translation: X:75.30, Y:13.38, Z:-3.02 [[ 8.64650976e-01 -3.36717417e-01 -3.72827132e-01 7.52960821e+01] [ 3.50947181e-01 9.35871288e-01 -3.13210572e-02 1.33846752e+01] [ 3.59464554e-01 -1.03760848e-01 9.27372051e-01 -3.02233876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.217719421 meters Centerline goodness : 0.943895 Centerline is valid? [False, False] Translation: X:75.30, Y:13.38, Z:-3.02 [[ 8.63915874e-01 -3.39486090e-01 -3.72019566e-01 7.52964008e+01] [ 3.53071394e-01 9.35002797e-01 -3.33220696e-02 1.33823434e+01] [ 3.59151714e-01 -1.02562002e-01 9.27626586e-01 -3.02208265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.247719421 meters Centerline goodness : 0.940584 Centerline is valid? [False, False] Translation: X:75.30, Y:13.38, Z:-3.02 [[ 8.63532285e-01 -3.40818586e-01 -3.71691652e-01 7.52991686e+01] [ 3.54356335e-01 9.34505662e-01 -3.36266982e-02 1.33765311e+01] [ 3.58808557e-01 -1.02673552e-01 9.27747035e-01 -3.02208402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.277719421 meters Centerline goodness : 0.940331 Centerline is valid? [False, False] Translation: X:75.30, Y:13.37, Z:-3.02 [[ 8.62696415e-01 -3.43958547e-01 -3.70739011e-01 7.52995069e+01] [ 3.56828469e-01 9.33486427e-01 -3.57286230e-02 1.33734618e+01] [ 3.58368999e-01 -1.01467279e-01 9.28049595e-01 -3.02172062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.307719421 meters Centerline goodness : 0.938363 Centerline is valid? [False, False] Translation: X:75.30, Y:13.37, Z:-3.02 [[ 8.60974557e-01 -3.50061420e-01 -3.69025493e-01 7.53022638e+01] [ 3.61831726e-01 9.31412292e-01 -3.93566292e-02 1.33655975e+01] [ 3.57492118e-01 -9.96400747e-02 9.28585613e-01 -3.02129406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.337719421 meters Centerline goodness : 0.939724 Centerline is valid? [False, False] Translation: X:75.29, Y:13.35, Z:-3.02 [[ 8.56395128e-01 -3.55381795e-01 -3.74554621e-01 7.52942656e+01] [ 3.69066263e-01 9.28655392e-01 -3.72727234e-02 1.33504123e+01] [ 3.61078216e-01 -1.06315296e-01 9.26455385e-01 -3.02037335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.367719421 meters Centerline goodness : 0.939908 Centerline is valid? [False, False] Translation: X:75.29, Y:13.34, Z:-3.02 [[ 8.52038249e-01 -3.58926440e-01 -3.81054633e-01 7.52859566e+01] [ 3.74636614e-01 9.26510149e-01 -3.50192953e-02 1.33411864e+01] [ 3.65620336e-01 -1.12919239e-01 9.23889071e-01 -3.01998742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.397719421 meters Centerline goodness : 0.939100 Centerline is valid? [False, False] Translation: X:75.28, Y:13.33, Z:-3.02 [[ 8.47727294e-01 -3.63002506e-01 -3.86765584e-01 7.52771333e+01] [ 3.80754759e-01 9.24095346e-01 -3.27659066e-02 1.33323487e+01] [ 3.69302382e-01 -1.19486283e-01 9.21595778e-01 -3.01987309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.427719421 meters Centerline goodness : 0.943139 Centerline is valid? [False, False] Translation: X:75.27, Y:13.32, Z:-3.02 [[ 8.45078935e-01 -3.74389378e-01 -3.81672881e-01 7.52700231e+01] [ 3.93641541e-01 9.18785004e-01 -2.96724565e-02 1.33200947e+01] [ 3.61784372e-01 -1.25166733e-01 9.23821063e-01 -3.02127035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.457719421 meters Centerline goodness : 0.944287 Centerline is valid? [False, False] Translation: X:75.26, Y:13.31, Z:-3.02 [[ 8.40552671e-01 -3.81108445e-01 -3.85003326e-01 7.52595037e+01] [ 4.01810775e-01 9.15270845e-01 -2.87642390e-02 1.33110018e+01] [ 3.63344614e-01 -1.30520627e-01 9.22466833e-01 -3.02163438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.487719421 meters Centerline goodness : 0.945289 Centerline is valid? [False, False] Translation: X:75.24, Y:13.30, Z:-3.03 [[ 8.35733197e-01 -3.92654196e-01 -3.83891528e-01 7.52437122e+01] [ 4.15786236e-01 9.09126622e-01 -2.47101644e-02 1.32965329e+01] [ 3.58708558e-01 -1.38965709e-01 9.23047508e-01 -3.02813357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51771942099998 meters Centerline goodness : 0.944411 Centerline is valid? [False, False] Translation: X:75.21, Y:13.28, Z:-3.05 [[ 8.38146264e-01 -3.95200653e-01 -3.75935213e-01 7.52142558e+01] [ 4.18071386e-01 9.08133415e-01 -2.25835428e-02 1.32773016e+01] [ 3.50324360e-01 -1.38239444e-01 9.26370714e-01 -3.04728791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54771942099998 meters Centerline goodness : 0.944109 Centerline is valid? [False, False] Translation: X:75.19, Y:13.26, Z:-3.07 [[ 8.40675221e-01 -3.98527533e-01 -3.66661940e-01 7.51850093e+01] [ 4.21092412e-01 9.06794355e-01 -2.01290608e-02 1.32590851e+01] [ 3.40508962e-01 -1.37476558e-01 9.30136465e-01 -3.06619150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57771942099998 meters Centerline goodness : 0.945248 Centerline is valid? [False, False] Translation: X:75.16, Y:13.24, Z:-3.08 [[ 8.42761786e-01 -3.99242693e-01 -3.61051027e-01 7.51589298e+01] [ 4.19052387e-01 9.07604953e-01 -2.54626254e-02 1.32437317e+01] [ 3.37857468e-01 -1.29840367e-01 9.32198375e-01 -3.08102975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60771942099998 meters Centerline goodness : 0.944120 Centerline is valid? [False, False] Translation: X:75.13, Y:13.23, Z:-3.09 [[ 8.44718842e-01 -3.97827355e-01 -3.58027197e-01 7.51347879e+01] [ 4.16205788e-01 9.08842593e-01 -2.78905443e-02 1.32300705e+01] [ 3.36485988e-01 -1.25453324e-01 9.33294511e-01 -3.09410766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63771942099999 meters Centerline goodness : 0.943361 Centerline is valid? [False, False] Translation: X:75.12, Y:13.23, Z:-3.10 [[ 8.42540158e-01 -3.96838611e-01 -3.64204887e-01 7.51231639e+01] [ 4.16789514e-01 9.08635014e-01 -2.58633373e-02 1.32268400e+01] [ 3.41192884e-01 -1.30005878e-01 9.30959660e-01 -3.09836453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.667719421 meters Centerline goodness : 0.944078 Centerline is valid? [False, False] Translation: X:75.10, Y:13.21, Z:-3.11 [[ 8.44587133e-01 -3.94834761e-01 -3.61632529e-01 7.50990837e+01] [ 4.13423642e-01 9.10104519e-01 -2.81186326e-02 1.32149944e+01] [ 3.40225613e-01 -1.25758802e-01 9.31896591e-01 -3.11164728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.697719421 meters Centerline goodness : 0.941321 Centerline is valid? [False, False] Translation: X:75.08, Y:13.21, Z:-3.12 [[ 8.44624485e-01 -3.93838533e-01 -3.62630237e-01 7.50829857e+01] [ 4.13949466e-01 9.09979773e-01 -2.41382088e-02 1.32096652e+01] [ 3.39492738e-01 -1.29722871e-01 9.31620447e-01 -3.11680989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.727719421 meters Centerline goodness : 0.941321 Centerline is valid? [False, False] Translation: X:75.06, Y:13.20, Z:-3.13 [[ 8.44440694e-01 -3.96563938e-01 -3.60079099e-01 7.50644110e+01] [ 4.16060482e-01 9.08983251e-01 -2.53599167e-02 1.32021611e+01] [ 3.37362698e-01 -1.28399738e-01 9.32577030e-01 -3.12560071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.757719421 meters Centerline goodness : 0.941816 Centerline is valid? [False, False] Translation: X:75.04, Y:13.19, Z:-3.14 [[ 8.47486096e-01 -3.94500819e-01 -3.55156897e-01 7.50382493e+01] [ 4.12532083e-01 9.10542408e-01 -2.70148824e-02 1.31885678e+01] [ 3.34042809e-01 -1.23618877e-01 9.34416275e-01 -3.13890149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.787719421 meters Centerline goodness : 0.943711 Centerline is valid? [False, False] Translation: X:75.01, Y:13.17, Z:-3.15 [[ 8.51503124e-01 -3.89892568e-01 -3.50608351e-01 7.50096697e+01] [ 4.05856468e-01 9.13440804e-01 -3.01068998e-02 1.31745302e+01] [ 3.31998430e-01 -1.16660548e-01 9.36038118e-01 -3.15304063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.817719421 meters Centerline goodness : 0.942568 Centerline is valid? [False, False] Translation: X:74.99, Y:13.16, Z:-3.17 [[ 8.56524152e-01 -3.80441624e-01 -3.48755713e-01 7.49853335e+01] [ 3.96110466e-01 9.17765900e-01 -2.83240339e-02 1.31644303e+01] [ 3.30851742e-01 -1.13885569e-01 9.36785569e-01 -3.16803702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.847719421 meters Centerline goodness : 0.945832 Centerline is valid? [False, False] Translation: X:74.98, Y:13.17, Z:-3.17 [[ 8.58306555e-01 -3.75105698e-01 -3.50150786e-01 7.49839096e+01] [ 3.91892923e-01 9.19681893e-01 -2.45998435e-02 1.31664162e+01] [ 3.31254879e-01 -1.16107408e-01 9.36370266e-01 -3.16829344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.877719421 meters Centerline goodness : 0.946690 Centerline is valid? [False, False] Translation: X:74.98, Y:13.17, Z:-3.17 [[ 8.61932564e-01 -3.64111687e-01 -3.52838396e-01 7.49801549e+01] [ 3.83310790e-01 9.23470180e-01 -1.66031618e-02 1.31681419e+01] [ 3.31881142e-01 -1.20935959e-01 9.35536959e-01 -3.16765370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.907719421 meters Centerline goodness : 0.947026 Centerline is valid? [False, False] Translation: X:74.98, Y:13.17, Z:-3.17 [[ 8.62439952e-01 -3.62917201e-01 -3.52829186e-01 7.49779151e+01] [ 3.82247496e-01 9.23921636e-01 -1.59894412e-02 1.31684971e+01] [ 3.31789362e-01 -1.21078140e-01 9.35551123e-01 -3.16704860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.937719421 meters Centerline goodness : 0.946980 Centerline is valid? [False, False] Translation: X:74.98, Y:13.17, Z:-3.17 [[ 8.62578293e-01 -3.62533083e-01 -3.52885892e-01 7.49769431e+01] [ 3.81893847e-01 9.24070298e-01 -1.58484981e-02 1.31683203e+01] [ 3.31836976e-01 -1.21094380e-01 9.35532133e-01 -3.16646879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.967719421 meters Centerline goodness : 0.946327 Centerline is valid? [False, False] Translation: X:74.97, Y:13.17, Z:-3.17 [[ 8.61752731e-01 -3.65992438e-01 -3.51328573e-01 7.49749621e+01] [ 3.84248930e-01 9.23032811e-01 -1.90575568e-02 1.31686828e+01] [ 3.31262722e-01 -1.18574727e-01 9.36058248e-01 -3.16628493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.997719421 meters Centerline goodness : 0.945169 Centerline is valid? [False, False] Translation: X:74.98, Y:13.17, Z:-3.17 [[ 8.61397766e-01 -3.67039367e-01 -3.51106810e-01 7.49768190e+01] [ 3.84980187e-01 9.22706477e-01 -2.00751694e-02 1.31702853e+01] [ 3.31336905e-01 -1.17876459e-01 9.36120182e-01 -3.16755758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.027719421 meters Centerline goodness : 0.946285 Centerline is valid? [False, False] Translation: X:74.97, Y:13.17, Z:-3.17 [[ 8.59965410e-01 -3.69252230e-01 -3.52295735e-01 7.49656172e+01] [ 3.89393386e-01 9.20953304e-01 -1.47581072e-02 1.31667123e+01] [ 3.29897385e-01 -1.24490167e-01 9.35772362e-01 -3.17050816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.057719421 meters Centerline goodness : 0.947275 Centerline is valid? [False, False] Translation: X:74.95, Y:13.16, Z:-3.18 [[ 8.59268460e-01 -3.72011703e-01 -3.51091167e-01 7.49513803e+01] [ 3.93439772e-01 9.19282814e-01 -1.11469022e-02 1.31610147e+01] [ 3.26898854e-01 -1.28555047e-01 9.36274927e-01 -3.17531094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.087719421 meters Centerline goodness : 0.946654 Centerline is valid? [False, False] Translation: X:74.95, Y:13.16, Z:-3.18 [[ 8.58229949e-01 -3.75800949e-01 -3.49592621e-01 7.49501196e+01] [ 3.96258888e-01 9.18031140e-01 -1.40613052e-02 1.31606011e+01] [ 3.26221164e-01 -1.26461350e-01 9.36796285e-01 -3.17511360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.117719421 meters Centerline goodness : 0.947106 Centerline is valid? [False, False] Translation: X:74.93, Y:13.14, Z:-3.19 [[ 8.58844348e-01 -3.79879726e-01 -3.43624474e-01 7.49273692e+01] [ 3.97471270e-01 9.17380115e-01 -2.07440203e-02 1.31425494e+01] [ 3.23114492e-01 -1.18764972e-01 9.38878004e-01 -3.18852226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.147719421 meters Centerline goodness : 0.945182 Centerline is valid? [False, False] Translation: X:74.90, Y:13.13, Z:-3.20 [[ 8.60070453e-01 -3.81115986e-01 -3.39159876e-01 7.49028050e+01] [ 3.96375641e-01 9.17717865e-01 -2.60820117e-02 1.31255274e+01] [ 3.21193349e-01 -1.12002346e-01 9.40367113e-01 -3.20144506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.177719421 meters Centerline goodness : 0.945609 Centerline is valid? [False, False] Translation: X:74.88, Y:13.11, Z:-3.21 [[ 8.59603506e-01 -3.81199690e-01 -3.40247864e-01 7.48835951e+01] [ 3.96208370e-01 9.17756622e-01 -2.72343706e-02 1.31088856e+01] [ 3.22646464e-01 -1.11398291e-01 9.39941317e-01 -3.20889164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.207719421 meters Centerline goodness : 0.946870 Centerline is valid? [False, False] Translation: X:74.87, Y:13.10, Z:-3.21 [[ 8.58429889e-01 -3.82757945e-01 -3.41459342e-01 7.48693044e+01] [ 3.99399396e-01 9.16482489e-01 -2.32372454e-02 1.31008780e+01] [ 3.21835748e-01 -1.16431109e-01 9.39609253e-01 -3.21215716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.237719421 meters Centerline goodness : 0.947513 Centerline is valid? [False, False] Translation: X:74.85, Y:13.09, Z:-3.22 [[ 8.57977143e-01 -3.83255285e-01 -3.42038901e-01 7.48545042e+01] [ 4.01841630e-01 9.15534777e-01 -1.78710898e-02 1.30887139e+01] [ 3.19997699e-01 -1.22112483e-01 9.39515840e-01 -3.21518797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26771942099998 meters Centerline goodness : 0.945707 Centerline is valid? [False, False] Translation: X:74.83, Y:13.07, Z:-3.23 [[ 8.60231756e-01 -3.84000962e-01 -3.35476655e-01 7.48281668e+01] [ 4.00501023e-01 9.16042309e-01 -2.15735730e-02 1.30705791e+01] [ 3.15595082e-01 -1.15800471e-01 9.41801463e-01 -3.22848301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29771942099998 meters Centerline goodness : 0.948197 Centerline is valid? [False, False] Translation: X:74.83, Y:13.07, Z:-3.23 [[ 8.59736625e-01 -3.86096180e-01 -3.34339161e-01 7.48269236e+01] [ 4.02178608e-01 9.15277697e-01 -2.27838812e-02 1.30658049e+01] [ 3.14809947e-01 -1.14875921e-01 9.42177382e-01 -3.22716899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32771942099998 meters Centerline goodness : 0.947562 Centerline is valid? [False, False] Translation: X:74.80, Y:13.05, Z:-3.24 [[ 8.62523975e-01 -3.84406249e-01 -3.29065689e-01 7.48011839e+01] [ 3.99304303e-01 9.16504047e-01 -2.40084230e-02 1.30489645e+01] [ 3.10819023e-01 -1.10689505e-01 9.44001784e-01 -3.23976050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35771942099998 meters Centerline goodness : 0.947011 Centerline is valid? [False, False] Translation: X:74.78, Y:13.03, Z:-3.25 [[ 8.65187119e-01 -3.81736169e-01 -3.25159571e-01 7.47766873e+01] [ 3.95003019e-01 9.18282010e-01 -2.70326739e-02 1.30304272e+01] [ 3.08907534e-01 -1.05050691e-01 9.45272705e-01 -3.25394438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38771942099999 meters Centerline goodness : 0.945814 Centerline is valid? [False, False] Translation: X:74.78, Y:13.03, Z:-3.26 [[ 8.66163143e-01 -3.78828310e-01 -3.25960919e-01 7.47794134e+01] [ 3.92669209e-01 9.19339326e-01 -2.50219152e-02 1.30308087e+01] [ 3.09147702e-01 -1.06321756e-01 9.45052053e-01 -3.25584212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.417719421 meters Centerline goodness : 0.945390 Centerline is valid? [False, False] Translation: X:74.76, Y:13.02, Z:-3.27 [[ 8.68794129e-01 -3.76635676e-01 -3.21469018e-01 7.47551120e+01] [ 3.89897074e-01 9.20525276e-01 -2.47687032e-02 1.30168582e+01] [ 3.05249134e-01 -1.03820926e-01 9.46596103e-01 -3.26778037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.447719421 meters Centerline goodness : 0.945907 Centerline is valid? [False, False] Translation: X:74.75, Y:13.01, Z:-3.27 [[ 8.69435057e-01 -3.74711506e-01 -3.21984424e-01 7.47544618e+01] [ 3.88430322e-01 9.21186454e-01 -2.31819394e-02 1.30137198e+01] [ 3.05294229e-01 -1.04913323e-01 9.46461108e-01 -3.26654097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.477719421 meters Centerline goodness : 0.946218 Centerline is valid? [False, False] Translation: X:74.75, Y:13.01, Z:-3.27 [[ 8.69623305e-01 -3.74138997e-01 -3.22141769e-01 7.47547340e+01] [ 3.88026560e-01 9.21370800e-01 -2.26105657e-02 1.30122673e+01] [ 3.05271514e-01 -1.05336887e-01 9.46421388e-01 -3.26629834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.507719421 meters Centerline goodness : 0.947765 Centerline is valid? [False, False] Translation: X:74.75, Y:13.01, Z:-3.27 [[ 8.69930153e-01 -3.73228625e-01 -3.22369234e-01 7.47549865e+01] [ 3.87455961e-01 9.21638110e-01 -2.14725860e-02 1.30093167e+01] [ 3.05121955e-01 -1.06224231e-01 9.46370438e-01 -3.26574683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.537719421 meters Centerline goodness : 0.944506 Centerline is valid? [False, False] Translation: X:74.75, Y:13.01, Z:-3.27 [[ 8.69193516e-01 -3.76219243e-01 -3.20876477e-01 7.47532664e+01] [ 3.89740071e-01 9.20620624e-01 -2.36715762e-02 1.30078305e+01] [ 3.04311205e-01 -1.04483240e-01 9.46825191e-01 -3.26529048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.567719421 meters Centerline goodness : 0.945707 Centerline is valid? [False, False] Translation: X:74.73, Y:12.99, Z:-3.28 [[ 8.70496639e-01 -3.77041573e-01 -3.16346731e-01 7.47307046e+01] [ 3.89881646e-01 9.20543850e-01 -2.43171100e-02 1.29930262e+01] [ 3.00379599e-01 -1.02169822e-01 9.48331917e-01 -3.27626800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.597719421 meters Centerline goodness : 0.941846 Centerline is valid? [False, False] Translation: X:74.73, Y:12.99, Z:-3.28 [[ 8.69425738e-01 -3.80484815e-01 -3.15166927e-01 7.47328537e+01] [ 3.92673340e-01 9.19293842e-01 -2.65796895e-02 1.29894209e+01] [ 2.99844183e-01 -1.00648584e-01 9.48663970e-01 -3.27671815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.627719421 meters Centerline goodness : 0.941550 Centerline is valid? [False, False] Translation: X:74.74, Y:12.99, Z:-3.28 [[ 8.69355756e-01 -3.80177465e-01 -3.15730365e-01 7.47362931e+01] [ 3.92613729e-01 9.19337542e-01 -2.59411560e-02 1.29861565e+01] [ 3.00125021e-01 -1.01407983e-01 9.48494277e-01 -3.27707973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.657719421 meters Centerline goodness : 0.941561 Centerline is valid? [False, False] Translation: X:74.73, Y:12.98, Z:-3.28 [[ 8.69081781e-01 -3.81331393e-01 -3.15092410e-01 7.47343700e+01] [ 3.93521953e-01 9.18927396e-01 -2.67004316e-02 1.29836175e+01] [ 2.99728761e-01 -1.00790922e-01 9.48685332e-01 -3.27576575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.687719421 meters Centerline goodness : 0.942002 Centerline is valid? [False, False] Translation: X:74.73, Y:12.98, Z:-3.27 [[ 8.68427334e-01 -3.83491409e-01 -3.14274250e-01 7.47335527e+01] [ 3.95361491e-01 9.18104280e-01 -2.78176709e-02 1.29784343e+01] [ 2.99204372e-01 -1.00094310e-01 9.48924588e-01 -3.27382923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.717719421 meters Centerline goodness : 0.943084 Centerline is valid? [False, False] Translation: X:74.73, Y:12.98, Z:-3.27 [[ 8.67573340e-01 -3.86620370e-01 -3.12795764e-01 7.47325404e+01] [ 3.97864257e-01 9.16958417e-01 -2.98545617e-02 1.29759120e+01] [ 2.98363090e-01 -9.85492323e-02 9.49351102e-01 -3.27340161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.747719421 meters Centerline goodness : 0.944271 Centerline is valid? [False, False] Translation: X:74.73, Y:12.97, Z:-3.27 [[ 8.66651137e-01 -3.89591628e-01 -3.11663551e-01 7.47332726e+01] [ 4.00451379e-01 9.15785922e-01 -3.12224023e-02 1.29706748e+01] [ 2.97581079e-01 -9.77471686e-02 9.49679416e-01 -3.27275012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.777719421 meters Centerline goodness : 0.943710 Centerline is valid? [False, False] Translation: X:74.73, Y:12.96, Z:-3.28 [[ 8.65737957e-01 -3.97571169e-01 -3.04031176e-01 7.47269463e+01] [ 4.04346871e-01 9.13581610e-01 -4.32694919e-02 1.29636201e+01] [ 2.94959994e-01 -8.54740135e-02 9.51678935e-01 -3.28123093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.807719421 meters Centerline goodness : 0.942882 Centerline is valid? [False, False] Translation: X:74.73, Y:12.96, Z:-3.28 [[ 8.64483383e-01 -4.01517425e-01 -3.02410712e-01 7.47273644e+01] [ 4.07449003e-01 9.12058095e-01 -4.62097564e-02 1.29626420e+01] [ 2.94370160e-01 -8.32693766e-02 9.52056941e-01 -3.28179775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.837719421 meters Centerline goodness : 0.939960 Centerline is valid? [False, False] Translation: X:74.73, Y:12.96, Z:-3.28 [[ 8.63278078e-01 -4.05329520e-01 -3.00763928e-01 7.47274296e+01] [ 4.10430291e-01 9.10569550e-01 -4.90924756e-02 1.29617245e+01] [ 2.93765104e-01 -8.10621688e-02 9.52434243e-01 -3.28228607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.867719421 meters Centerline goodness : 0.939012 Centerline is valid? [False, False] Translation: X:74.72, Y:12.95, Z:-3.28 [[ 8.60718269e-01 -4.05379806e-01 -3.07946869e-01 7.47173991e+01] [ 4.12658498e-01 9.09808971e-01 -4.42786660e-02 1.29496067e+01] [ 2.98122501e-01 -8.89654356e-02 9.50372625e-01 -3.28165787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.897719421 meters Centerline goodness : 0.937800 Centerline is valid? [False, False] Translation: X:74.70, Y:12.93, Z:-3.29 [[ 8.60772545e-01 -4.02202558e-01 -3.11935456e-01 7.46965327e+01] [ 4.09822307e-01 9.11109483e-01 -4.38769443e-02 1.29295740e+01] [ 3.01854771e-01 -9.00700391e-02 9.49089609e-01 -3.28711470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.927719421 meters Centerline goodness : 0.939126 Centerline is valid? [False, False] Translation: X:74.69, Y:12.93, Z:-3.29 [[ 8.60042001e-01 -4.04913264e-01 -3.10440019e-01 7.46949949e+01] [ 4.11854642e-01 9.10085621e-01 -4.60425447e-02 1.29287730e+01] [ 3.01170234e-01 -8.82576405e-02 9.49477266e-01 -3.28714504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.957719421 meters Centerline goodness : 0.937712 Centerline is valid? [False, False] Translation: X:74.70, Y:12.93, Z:-3.29 [[ 8.60409573e-01 -4.03828466e-01 -3.10834260e-01 7.46951858e+01] [ 4.11128487e-01 9.10474120e-01 -4.48357304e-02 1.29263775e+01] [ 3.01112494e-01 -8.92157277e-02 9.49406035e-01 -3.28655994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.987719421 meters Centerline goodness : 0.939728 Centerline is valid? [False, False] Translation: X:74.70, Y:12.92, Z:-3.29 [[ 8.60653972e-01 -4.03046738e-01 -3.11172087e-01 7.46956493e+01] [ 4.10602826e-01 9.10752483e-01 -4.39912985e-02 1.29244446e+01] [ 3.01131300e-01 -8.99068528e-02 9.49334871e-01 -3.28614059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01771942099998 meters Centerline goodness : 0.936905 Centerline is valid? [False, False] Translation: X:74.67, Y:12.91, Z:-3.29 [[ 8.60826959e-01 -3.99782774e-01 -3.14882010e-01 7.46724609e+01] [ 4.07354659e-01 9.12184984e-01 -4.45054674e-02 1.29065018e+01] [ 3.05023160e-01 -8.99571477e-02 9.48086802e-01 -3.29224443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04771942099998 meters Centerline goodness : 0.937813 Centerline is valid? [False, False] Translation: X:74.67, Y:12.90, Z:-3.29 [[ 8.59886032e-01 -4.02888003e-01 -3.13492055e-01 7.46731013e+01] [ 4.09833247e-01 9.10969345e-01 -4.66000184e-02 1.29032540e+01] [ 3.04356240e-01 -8.84087618e-02 9.48446714e-01 -3.29236517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07771942099998 meters Centerline goodness : 0.937659 Centerline is valid? [False, False] Translation: X:74.67, Y:12.90, Z:-3.29 [[ 8.58792261e-01 -4.06157928e-01 -3.12268460e-01 7.46741072e+01] [ 4.12546948e-01 9.09640776e-01 -4.85661795e-02 1.28992266e+01] [ 3.03777663e-01 -8.71171411e-02 9.48751672e-01 -3.29207277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10771942099998 meters Centerline goodness : 0.939726 Centerline is valid? [False, False] Translation: X:74.67, Y:12.90, Z:-3.29 [[ 8.57585079e-01 -4.09791355e-01 -3.10835772e-01 7.46736040e+01] [ 4.15444598e-01 9.08181622e-01 -5.11070179e-02 1.28972526e+01] [ 3.03238550e-01 -8.53064265e-02 9.49088613e-01 -3.29158615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13771942099999 meters Centerline goodness : 0.942573 Centerline is valid? [False, False] Translation: X:74.67, Y:12.89, Z:-3.29 [[ 8.54950107e-01 -4.17546712e-01 -3.07758115e-01 7.46724831e+01] [ 4.21667239e-01 9.04991985e-01 -5.64468515e-02 1.28932988e+01] [ 3.02087825e-01 -8.15122729e-02 9.49788764e-01 -3.29053610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.167719421 meters Centerline goodness : 0.940656 Centerline is valid? [False, False] Translation: X:74.66, Y:12.88, Z:-3.29 [[ 8.52005564e-01 -4.17739707e-01 -3.15563079e-01 7.46628243e+01] [ 4.24556850e-01 9.03996353e-01 -5.04189966e-02 1.28835605e+01] [ 3.06329889e-01 -9.10172009e-02 9.47564176e-01 -3.28846030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.197719421 meters Centerline goodness : 0.941009 Centerline is valid? [False, False] Translation: X:74.66, Y:12.88, Z:-3.29 [[ 8.48735229e-01 -4.26563514e-01 -3.12557324e-01 7.46643747e+01] [ 4.31617168e-01 9.00278153e-01 -5.66203851e-02 1.28798357e+01] [ 3.05540720e-01 -8.68493915e-02 9.48209920e-01 -3.28797748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.227719421 meters Centerline goodness : 0.941369 Centerline is valid? [False, False] Translation: X:74.65, Y:12.87, Z:-3.29 [[ 8.45865454e-01 -4.27113121e-01 -3.19509022e-01 7.46539935e+01] [ 4.34953367e-01 8.99045120e-01 -5.03332912e-02 1.28700549e+01] [ 3.08751036e-01 -9.63963327e-02 9.46245499e-01 -3.28591166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.257719421 meters Centerline goodness : 0.942104 Centerline is valid? [False, False] Translation: X:74.59, Y:12.83, Z:-3.31 [[ 8.50815599e-01 -4.22229056e-01 -3.12786575e-01 7.45917436e+01] [ 4.33011799e-01 9.00592659e-01 -3.78635009e-02 1.28255323e+01] [ 2.97680364e-01 -1.03225420e-01 9.49068445e-01 -3.31310658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.287719421 meters Centerline goodness : 0.943336 Centerline is valid? [False, False] Translation: X:74.53, Y:12.78, Z:-3.34 [[ 8.56306292e-01 -4.14531605e-01 -3.08063439e-01 7.45275248e+01] [ 4.27171028e-01 9.03716432e-01 -2.86622273e-02 1.27827610e+01] [ 2.90283391e-01 -1.07052130e-01 9.50933959e-01 -3.33890614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.317719421 meters Centerline goodness : 0.942937 Centerline is valid? [False, False] Translation: X:74.46, Y:12.74, Z:-3.36 [[ 8.62628098e-01 -4.04961856e-01 -3.03114929e-01 7.44643717e+01] [ 4.18559759e-01 9.07927062e-01 -2.18214922e-02 1.27421356e+01] [ 2.84043119e-01 -1.08047879e-01 9.52704132e-01 -3.36412757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.347719421 meters Centerline goodness : 0.941693 Centerline is valid? [False, False] Translation: X:74.41, Y:12.71, Z:-3.38 [[ 8.68889405e-01 -3.94409588e-01 -2.99119172e-01 7.44109910e+01] [ 4.09278558e-01 9.12301301e-01 -1.40498424e-02 1.27091415e+01] [ 2.78428202e-01 -1.10215304e-01 9.54112322e-01 -3.38314302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.377719421 meters Centerline goodness : 0.942196 Centerline is valid? [False, False] Translation: X:74.36, Y:12.68, Z:-3.40 [[ 8.77259876e-01 -3.80206047e-01 -2.93016163e-01 7.43581627e+01] [ 3.95133594e-01 9.18580318e-01 -8.92423083e-03 1.26770731e+01] [ 2.72551927e-01 -1.07951660e-01 9.56065838e-01 -3.40033969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.407719421 meters Centerline goodness : 0.945897 Centerline is valid? [False, False] Translation: X:74.35, Y:12.68, Z:-3.40 [[ 8.78567344e-01 -3.78346882e-01 -2.91501387e-01 7.43535299e+01] [ 3.93205561e-01 9.19413734e-01 -8.23239505e-03 1.26763409e+01] [ 2.71125080e-01 -1.07387253e-01 9.56534981e-01 -3.40151736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.437719421 meters Centerline goodness : 0.943182 Centerline is valid? [False, False] Translation: X:74.33, Y:12.67, Z:-3.41 [[ 8.82364703e-01 -3.70029121e-01 -2.90707723e-01 7.43337031e+01] [ 3.82645228e-01 9.23782717e-01 -1.44263939e-02 1.26678191e+01] [ 2.73888956e-01 -9.85085823e-02 9.56703140e-01 -3.40926164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.467719421 meters Centerline goodness : 0.941312 Centerline is valid? [False, False] Translation: X:74.29, Y:12.65, Z:-3.42 [[ 8.86905075e-01 -3.58838500e-01 -2.90919782e-01 7.42935039e+01] [ 3.72940857e-01 9.27824963e-01 -7.48034208e-03 1.26451571e+01] [ 2.72606871e-01 -1.01861519e-01 9.56718206e-01 -3.42332457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.497719421 meters Centerline goodness : 0.938400 Centerline is valid? [False, False] Translation: X:74.29, Y:12.65, Z:-3.42 [[ 8.86982083e-01 -3.58802366e-01 -2.90729509e-01 7.42937930e+01] [ 3.72797456e-01 9.27880153e-01 -7.77674940e-03 1.26459591e+01] [ 2.72552457e-01 -1.01485384e-01 9.56773680e-01 -3.42412377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.527719421 meters Centerline goodness : 0.938539 Centerline is valid? [False, False] Translation: X:74.26, Y:12.62, Z:-3.44 [[ 8.88971144e-01 -3.55775927e-01 -2.88363998e-01 7.42567945e+01] [ 3.68924149e-01 9.29412356e-01 -9.36184790e-03 1.26236791e+01] [ 2.71339783e-01 -9.80620300e-02 9.57475096e-01 -3.43749155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.557719421 meters Centerline goodness : 0.941497 Centerline is valid? [False, False] Translation: X:74.22, Y:12.60, Z:-3.45 [[ 8.90215117e-01 -3.55104739e-01 -2.85337816e-01 7.42177527e+01] [ 3.66868873e-01 9.30181327e-01 -1.30357102e-02 1.26020688e+01] [ 2.70044951e-01 -9.30769767e-02 9.58338354e-01 -3.45157909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.587719421 meters Centerline goodness : 0.942237 Centerline is valid? [False, False] Translation: X:74.18, Y:12.58, Z:-3.47 [[ 8.91364090e-01 -3.55076690e-01 -2.81763383e-01 7.41779008e+01] [ 3.66013837e-01 9.30493137e-01 -1.47103323e-02 1.25795351e+01] [ 2.67402190e-01 -9.00170348e-02 9.59371149e-01 -3.46554366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.617719421 meters Centerline goodness : 0.943673 Centerline is valid? [False, False] Translation: X:74.13, Y:12.56, Z:-3.48 [[ 8.92932028e-01 -3.54852131e-01 -2.77042161e-01 7.41338269e+01] [ 3.64603281e-01 9.31001620e-01 -1.73329650e-02 1.25567095e+01] [ 2.64077340e-01 -8.55333211e-02 9.60701415e-01 -3.48415536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.647719421 meters Centerline goodness : 0.943479 Centerline is valid? [False, False] Translation: X:74.10, Y:12.54, Z:-3.50 [[ 8.95102486e-01 -3.53086067e-01 -2.72253134e-01 7.41006972e+01] [ 3.62577294e-01 9.31809386e-01 -1.64004509e-02 1.25352031e+01] [ 2.59478797e-01 -8.40327203e-02 9.62085888e-01 -3.50005079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.677719421 meters Centerline goodness : 0.943479 Centerline is valid? [False, False] Translation: X:74.07, Y:12.52, Z:-3.52 [[ 8.97732380e-01 -3.49858315e-01 -2.67723240e-01 7.40672470e+01] [ 3.58455893e-01 9.33377870e-01 -1.77517147e-02 1.25157620e+01] [ 2.56097532e-01 -8.00306840e-02 9.63332312e-01 -3.51510855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.707719421 meters Centerline goodness : 0.943844 Centerline is valid? [False, False] Translation: X:74.04, Y:12.49, Z:-3.53 [[ 9.01339437e-01 -3.44915780e-01 -2.61954814e-01 7.40366243e+01] [ 3.53144898e-01 9.35422040e-01 -1.65616320e-02 1.24930891e+01] [ 2.50750674e-01 -7.75803540e-02 9.64938023e-01 -3.52907637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.737719421 meters Centerline goodness : 0.942557 Centerline is valid? [False, False] Translation: X:74.01, Y:12.48, Z:-3.54 [[ 9.04010453e-01 -3.41899275e-01 -2.56651489e-01 7.40088748e+01] [ 3.48317938e-01 9.37129598e-01 -2.15111697e-02 1.24752830e+01] [ 2.47870360e-01 -6.99499950e-02 9.66264603e-01 -3.54382767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76771942099998 meters Centerline goodness : 0.942714 Centerline is valid? [False, False] Translation: X:73.98, Y:12.45, Z:-3.56 [[ 9.07934701e-01 -3.35475314e-01 -2.51218812e-01 7.39790764e+01] [ 3.41776912e-01 9.39579138e-01 -1.94829676e-02 1.24542515e+01] [ 2.42576009e-01 -6.81715273e-02 9.67734221e-01 -3.55810539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79771942099998 meters Centerline goodness : 0.942004 Centerline is valid? [False, False] Translation: X:73.95, Y:12.44, Z:-3.57 [[ 9.12453779e-01 -3.28677164e-01 -2.43719968e-01 7.39507872e+01] [ 3.34893159e-01 9.42107766e-01 -1.67191066e-02 1.24359317e+01] [ 2.35105663e-01 -6.63647381e-02 9.69701525e-01 -3.57281906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82771942099998 meters Centerline goodness : 0.942505 Centerline is valid? [False, False] Translation: X:73.93, Y:12.42, Z:-3.59 [[ 9.19403198e-01 -3.16666943e-01 -2.33280534e-01 7.39329822e+01] [ 3.22868288e-01 9.46365791e-01 -1.21597179e-02 1.24193059e+01] [ 2.24619298e-01 -6.41392032e-02 9.72333448e-01 -3.58675049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85771942099998 meters Centerline goodness : 0.944309 Centerline is valid? [False, False] Translation: X:73.90, Y:12.40, Z:-3.60 [[ 9.22409391e-01 -3.12309367e-01 -2.27208661e-01 7.39045846e+01] [ 3.17263910e-01 9.48212984e-01 -1.53541118e-02 1.24037089e+01] [ 2.20237435e-01 -5.79223311e-02 9.73725051e-01 -3.60013017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88771942099999 meters Centerline goodness : 0.942118 Centerline is valid? [False, False] Translation: X:73.89, Y:12.39, Z:-3.61 [[ 9.27924067e-01 -3.03698012e-01 -2.16158374e-01 7.38869795e+01] [ 3.07902429e-01 9.51302850e-01 -1.47979937e-02 1.23880263e+01] [ 2.10126198e-01 -5.28242739e-02 9.76246166e-01 -3.61289140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.917719421 meters Centerline goodness : 0.943449 Centerline is valid? [False, False] Translation: X:73.87, Y:12.37, Z:-3.63 [[ 9.32828779e-01 -2.96312254e-01 -2.05011016e-01 7.38697121e+01] [ 2.99339352e-01 9.53998383e-01 -1.68237235e-02 1.23733519e+01] [ 2.00565253e-01 -4.56742111e-02 9.78615065e-01 -3.62636416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.947719421 meters Centerline goodness : 0.945883 Centerline is valid? [False, False] Translation: X:73.86, Y:12.36, Z:-3.64 [[ 9.36479816e-01 -2.91082623e-01 -1.95643707e-01 7.38565068e+01] [ 2.93580669e-01 9.55787217e-01 -1.67686392e-02 1.23605309e+01] [ 1.91874814e-01 -4.17337184e-02 9.80531668e-01 -3.63722680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.977719421 meters Centerline goodness : 0.943672 Centerline is valid? [False, False] Translation: X:73.85, Y:12.35, Z:-3.65 [[ 9.39320476e-01 -2.86665080e-01 -1.88414903e-01 7.38476897e+01] [ 2.89041781e-01 9.57193503e-01 -1.53442674e-02 1.23519078e+01] [ 1.84748187e-01 -4.00465948e-02 9.81969642e-01 -3.64722200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.007719421 meters Centerline goodness : 0.941961 Centerline is valid? [False, False] Translation: X:73.84, Y:12.34, Z:-3.66 [[ 9.42528867e-01 -2.81004932e-01 -1.80763833e-01 7.38389740e+01] [ 2.83337774e-01 9.58927553e-01 -1.33286643e-02 1.23395929e+01] [ 1.77084841e-01 -3.86545713e-02 9.83436212e-01 -3.65872715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.037719421 meters Centerline goodness : 0.942776 Centerline is valid? [False, False] Translation: X:73.84, Y:12.34, Z:-3.66 [[ 9.43135451e-01 -2.79308014e-01 -1.80229174e-01 7.38378627e+01] [ 2.82022188e-01 9.59345752e-01 -1.09185077e-02 1.23352029e+01] [ 1.75951719e-01 -4.05309942e-02 9.83564045e-01 -3.65915429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.067719421 meters Centerline goodness : 0.941337 Centerline is valid? [False, False] Translation: X:73.82, Y:12.32, Z:-3.67 [[ 9.46335776e-01 -2.75051547e-01 -1.69691617e-01 7.38240181e+01] [ 2.76328415e-01 9.60921264e-01 -1.65206472e-02 1.23222937e+01] [ 1.67604313e-01 -3.12565360e-02 9.85358728e-01 -3.67289331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.097719421 meters Centerline goodness : 0.940400 Centerline is valid? [False, False] Translation: X:73.82, Y:12.32, Z:-3.68 [[ 9.47709580e-01 -2.72970858e-01 -1.65328350e-01 7.38177682e+01] [ 2.74476192e-01 9.61490164e-01 -1.41238866e-02 1.23157367e+01] [ 1.62816992e-01 -3.19933533e-02 9.86137441e-01 -3.67722855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.127719421 meters Centerline goodness : 0.942368 Centerline is valid? [False, False] Translation: X:73.81, Y:12.31, Z:-3.68 [[ 9.48467962e-01 -2.71328549e-01 -1.63674505e-01 7.38146530e+01] [ 2.73057546e-01 9.61919326e-01 -1.22794986e-02 1.23120137e+01] [ 1.60773448e-01 -3.30458477e-02 9.86437971e-01 -3.67796326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.157719421 meters Centerline goodness : 0.941864 Centerline is valid? [False, False] Translation: X:73.81, Y:12.31, Z:-3.68 [[ 9.48753475e-01 -2.70443514e-01 -1.63484402e-01 7.38130307e+01] [ 2.72311660e-01 9.62142660e-01 -1.13075528e-02 1.23103172e+01] [ 1.60353371e-01 -3.37906288e-02 9.86481115e-01 -3.67688139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.187719421 meters Centerline goodness : 0.943861 Centerline is valid? [False, False] Translation: X:73.81, Y:12.31, Z:-3.68 [[ 9.49184905e-01 -2.69388741e-01 -1.62719768e-01 7.38104207e+01] [ 2.71369376e-01 9.62419553e-01 -1.03569265e-02 1.23077023e+01] [ 1.59394726e-01 -3.43265237e-02 9.86617966e-01 -3.67572659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.217719421 meters Centerline goodness : 0.944195 Centerline is valid? [False, False] Translation: X:73.81, Y:12.31, Z:-3.67 [[ 9.49499580e-01 -2.67775125e-01 -1.63545192e-01 7.38112206e+01] [ 2.69872531e-01 9.62847423e-01 -9.67766087e-03 1.23063007e+01] [ 1.60060503e-01 -3.49474199e-02 9.86488375e-01 -3.67474471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.247719421 meters Centerline goodness : 0.944845 Centerline is valid? [False, False] Translation: X:73.79, Y:12.29, Z:-3.69 [[ 9.53398130e-01 -2.60311668e-01 -1.52544552e-01 7.37907342e+01] [ 2.60796999e-01 9.65240858e-01 -1.71758748e-02 1.22925372e+01] [ 1.51713315e-01 -2.34077145e-02 9.88147332e-01 -3.68895580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.277719421 meters Centerline goodness : 0.946948 Centerline is valid? [False, False] Translation: X:73.79, Y:12.29, Z:-3.69 [[ 9.53581266e-01 -2.59397394e-01 -1.52956729e-01 7.37903398e+01] [ 2.60071756e-01 9.65457764e-01 -1.59370131e-02 1.22881991e+01] [ 1.51807281e-01 -2.45824878e-02 9.88104372e-01 -3.68724946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.307719421 meters Centerline goodness : 0.946782 Centerline is valid? [False, False] Translation: X:73.79, Y:12.28, Z:-3.69 [[ 9.53962614e-01 -2.58906331e-01 -1.51402918e-01 7.37895098e+01] [ 2.59511425e-01 9.65605860e-01 -1.60979230e-02 1.22848226e+01] [ 1.50363399e-01 -2.39339705e-02 9.88341041e-01 -3.68923899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.337719421 meters Centerline goodness : 0.947490 Centerline is valid? [False, False] Translation: X:73.79, Y:12.28, Z:-3.69 [[ 9.54015269e-01 -2.58697908e-01 -1.51427402e-01 7.37904587e+01] [ 2.59462753e-01 9.65636085e-01 -1.50343093e-02 1.22825984e+01] [ 1.50113108e-01 -2.49468101e-02 9.88354042e-01 -3.69026983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.367719421 meters Centerline goodness : 0.943953 Centerline is valid? [False, False] Translation: X:73.79, Y:12.28, Z:-3.69 [[ 9.53207374e-01 -2.62164291e-01 -1.50550942e-01 7.37921477e+01] [ 2.62774066e-01 9.64721559e-01 -1.61896432e-02 1.22793716e+01] [ 1.49484085e-01 -2.41287958e-02 9.88469681e-01 -3.69237451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.397719421 meters Centerline goodness : 0.944028 Centerline is valid? [False, False] Translation: X:73.79, Y:12.27, Z:-3.69 [[ 9.52180330e-01 -2.66251281e-01 -1.49876197e-01 7.37940097e+01] [ 2.66637295e-01 9.63630908e-01 -1.78892703e-02 1.22738320e+01] [ 1.49188377e-01 -2.29287725e-02 9.88542917e-01 -3.69326408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.427719421 meters Centerline goodness : 0.945845 Centerline is valid? [False, False] Translation: X:73.80, Y:12.27, Z:-3.69 [[ 9.51324656e-01 -2.69593979e-01 -1.49333467e-01 7.37952364e+01] [ 2.69506365e-01 9.62764972e-01 -2.12115198e-02 1.22729370e+01] [ 1.49491530e-01 -2.00672781e-02 9.88559349e-01 -3.69356638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.457719421 meters Centerline goodness : 0.945462 Centerline is valid? [False, False] Translation: X:73.80, Y:12.27, Z:-3.69 [[ 9.50565801e-01 -2.72580857e-01 -1.48742511e-01 7.37969785e+01] [ 2.72236208e-01 9.61953812e-01 -2.30718541e-02 1.22701123e+01] [ 1.49372372e-01 -1.85617818e-02 9.88606775e-01 -3.69481243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.487719421 meters Centerline goodness : 0.947745 Centerline is valid? [False, False] Translation: X:73.80, Y:12.27, Z:-3.69 [[ 9.50694600e-01 -2.71952085e-01 -1.49069922e-01 7.37973777e+01] [ 2.71787315e-01 9.62108720e-01 -2.18738932e-02 1.22672426e+01] [ 1.49370123e-01 -1.97199216e-02 9.88584691e-01 -3.69451568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51771942099998 meters Centerline goodness : 0.943979 Centerline is valid? [False, False] Translation: X:73.80, Y:12.27, Z:-3.69 [[ 9.50039592e-01 -2.74501867e-01 -1.48571527e-01 7.37979894e+01] [ 2.73936166e-01 9.61431539e-01 -2.46652215e-02 1.22658175e+01] [ 1.49612001e-01 -1.72661775e-02 9.88594016e-01 -3.69429112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54771942099998 meters Centerline goodness : 0.945575 Centerline is valid? [False, False] Translation: X:73.80, Y:12.26, Z:-3.69 [[ 9.50187515e-01 -2.73734146e-01 -1.49041278e-01 7.37983153e+01] [ 2.73277343e-01 9.61637305e-01 -2.39413357e-02 1.22636988e+01] [ 1.49877214e-01 -1.79808462e-02 9.88541102e-01 -3.69349898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57771942099998 meters Centerline goodness : 0.944025 Centerline is valid? [False, False] Translation: X:73.80, Y:12.26, Z:-3.69 [[ 9.50535073e-01 -2.71762430e-01 -1.50426914e-01 7.38005714e+01] [ 2.71507456e-01 9.62170217e-01 -2.26312986e-02 1.22597825e+01] [ 1.50886633e-01 -1.93301857e-02 9.88362063e-01 -3.69260484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60771942099998 meters Centerline goodness : 0.945673 Centerline is valid? [False, False] Translation: X:73.80, Y:12.26, Z:-3.69 [[ 9.51687944e-01 -2.66521108e-01 -1.52501007e-01 7.38025202e+01] [ 2.67007812e-01 9.63532483e-01 -1.76630270e-02 1.22558476e+01] [ 1.51647243e-01 -2.39092703e-02 9.88145465e-01 -3.69195374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63771942099999 meters Centerline goodness : 0.945312 Centerline is valid? [False, False] Translation: X:73.80, Y:12.26, Z:-3.69 [[ 9.51839658e-01 -2.65984997e-01 -1.52490153e-01 7.38023275e+01] [ 2.66447355e-01 9.63685532e-01 -1.77764563e-02 1.22564034e+01] [ 1.51680825e-01 -2.37102619e-02 9.88145106e-01 -3.69189325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.667719421 meters Centerline goodness : 0.948359 Centerline is valid? [False, False] Translation: X:73.80, Y:12.26, Z:-3.69 [[ 9.52337998e-01 -2.63839314e-01 -1.53105043e-01 7.38000150e+01] [ 2.64332344e-01 9.64272865e-01 -1.75001190e-02 1.22559568e+01] [ 1.52252258e-01 -2.38045866e-02 9.88054954e-01 -3.68839435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.697719421 meters Centerline goodness : 0.950105 Centerline is valid? [False, True] Translation: X:73.80, Y:12.25, Z:-3.69 [[ 9.52516240e-01 -2.62718599e-01 -1.53921249e-01 7.37993614e+01] [ 2.63164414e-01 9.64585997e-01 -1.78422648e-02 1.22549541e+01] [ 1.53157776e-01 -2.35115483e-02 9.87922013e-01 -3.68563445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.727719421 meters Centerline goodness : 0.951673 Centerline is valid? [True, True] Translation: X:73.82, Y:12.27, Z:-3.70 [[ 9.54364153e-01 -2.62261737e-01 -1.42856030e-01 7.38243207e+01] [ 2.57942205e-01 9.64952510e-01 -4.82956730e-02 1.22701018e+01] [ 1.50515392e-01 9.24305961e-03 9.88564455e-01 -3.69713286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.757719421 meters Centerline goodness : 0.952178 Centerline is valid? [True, True] Translation: X:73.85, Y:12.28, Z:-3.69 [[ 9.54628608e-01 -2.61518306e-01 -1.42451381e-01 7.38510686e+01] [ 2.57211417e-01 9.65153156e-01 -4.81837478e-02 1.22788805e+01] [ 1.50088332e-01 9.35746261e-03 9.88628308e-01 -3.69379537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.787719421 meters Centerline goodness : 0.951498 Centerline is valid? [True, True] Translation: X:73.88, Y:12.29, Z:-3.69 [[ 9.54980147e-01 -2.60434235e-01 -1.42080709e-01 7.38785290e+01] [ 2.56130753e-01 9.65444363e-01 -4.81063263e-02 1.22863646e+01] [ 1.49699554e-01 9.54934760e-03 9.88685417e-01 -3.69267459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.817719421 meters Centerline goodness : 0.949910 Centerline is valid? [True, False] Translation: X:73.88, Y:12.28, Z:-3.69 [[ 9.55015786e-01 -2.60061790e-01 -1.42522676e-01 7.38799117e+01] [ 2.55899726e-01 9.65554319e-01 -4.71188624e-02 1.22839241e+01] [ 1.49867201e-01 8.52774373e-03 9.88669358e-01 -3.69298611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.847719421 meters Centerline goodness : 0.953209 Centerline is valid? [False, True] Translation: X:73.88, Y:12.28, Z:-3.69 [[ 9.54105304e-01 -2.63652792e-01 -1.42022089e-01 7.38816403e+01] [ 2.59083213e-01 9.64554897e-01 -5.00973034e-02 1.22801296e+01] [ 1.50196396e-01 1.10025637e-02 9.88594956e-01 -3.69322329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.877719421 meters Centerline goodness : 0.954295 Centerline is valid? [True, True] Translation: X:73.91, Y:12.29, Z:-3.69 [[ 9.53488922e-01 -2.65540632e-01 -1.42643077e-01 7.39092816e+01] [ 2.61247898e-01 9.64058990e-01 -4.83714815e-02 1.22862615e+01] [ 1.50360935e-01 8.85646765e-03 9.88591499e-01 -3.68872986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.907719421 meters Centerline goodness : 0.954742 Centerline is valid? [True, True] Translation: X:73.94, Y:12.29, Z:-3.69 [[ 9.52574451e-01 -2.67836286e-01 -1.44449435e-01 7.39355442e+01] [ 2.63452561e-01 9.63425627e-01 -4.90286641e-02 1.22912178e+01] [ 1.52297943e-01 8.64787898e-03 9.88296793e-01 -3.68509614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.937719421 meters Centerline goodness : 0.953439 Centerline is valid? [True, True] Translation: X:73.96, Y:12.30, Z:-3.68 [[ 9.52349924e-01 -2.68540526e-01 -1.44622295e-01 7.39622431e+01] [ 2.64150404e-01 9.63230263e-01 -4.91123712e-02 1.22998329e+01] [ 1.52493233e-01 8.57012537e-03 9.88267356e-01 -3.68256539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.967719421 meters Centerline goodness : 0.951716 Centerline is valid? [True, True] Translation: X:73.99, Y:12.31, Z:-3.68 [[ 9.52532625e-01 -2.67866195e-01 -1.44669622e-01 7.39889795e+01] [ 2.63458544e-01 9.63416618e-01 -4.91733172e-02 1.23059514e+01] [ 1.52548988e-01 8.72474085e-03 9.88257398e-01 -3.68009795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.997719421 meters Centerline goodness : 0.954167 Centerline is valid? [True, True] Translation: X:74.02, Y:12.31, Z:-3.67 [[ 9.52249997e-01 -2.68845544e-01 -1.44713566e-01 7.40175897e+01] [ 2.64442535e-01 9.63144954e-01 -4.92132509e-02 1.23090768e+01] [ 1.52610904e-01 8.59489563e-03 9.88248977e-01 -3.67431586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.027719421 meters Centerline goodness : 0.957531 Centerline is valid? [True, True] Translation: X:74.04, Y:12.32, Z:-3.67 [[ 9.52047246e-01 -2.69512991e-01 -1.44806037e-01 7.40444773e+01] [ 2.65104745e-01 9.62958895e-01 -4.92913820e-02 1.23158285e+01] [ 1.52726930e-01 8.53895688e-03 9.88231537e-01 -3.67029103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.057719421 meters Centerline goodness : 0.956538 Centerline is valid? [True, True] Translation: X:74.07, Y:12.32, Z:-3.67 [[ 9.51694737e-01 -2.70652451e-01 -1.44997856e-01 7.40707904e+01] [ 2.66238924e-01 9.62640400e-01 -4.93993571e-02 1.23229248e+01] [ 1.52950851e-01 8.40903501e-03 9.88198019e-01 -3.66843044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.087719421 meters Centerline goodness : 0.956084 Centerline is valid? [True, True] Translation: X:74.10, Y:12.33, Z:-3.66 [[ 9.51543739e-01 -2.71216906e-01 -1.44934136e-01 7.40977845e+01] [ 2.66810006e-01 9.62482136e-01 -4.94019987e-02 1.23312899e+01] [ 1.52895174e-01 8.33828485e-03 9.88207235e-01 -3.66499423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.117719421 meters Centerline goodness : 0.958451 Centerline is valid? [True, True] Translation: X:74.12, Y:12.34, Z:-3.66 [[ 9.51671179e-01 -2.71318802e-01 -1.43903001e-01 7.41240600e+01] [ 2.66969336e-01 9.62453717e-01 -4.90939556e-02 1.23366938e+01] [ 1.51820092e-01 8.30361402e-03 9.88373264e-01 -3.66086522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.147719421 meters Centerline goodness : 0.959662 Centerline is valid? [True, True] Translation: X:74.15, Y:12.34, Z:-3.66 [[ 9.51714373e-01 -2.71742432e-01 -1.42813877e-01 7.41512373e+01] [ 2.67460126e-01 9.62335121e-01 -4.87462456e-02 1.23446276e+01] [ 1.50681233e-01 8.19548501e-03 9.88548431e-01 -3.65706931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.177719421 meters Centerline goodness : 0.961100 Centerline is valid? [True, True] Translation: X:74.18, Y:12.35, Z:-3.65 [[ 9.51471503e-01 -2.72430197e-01 -1.43121512e-01 7.41785996e+01] [ 2.68129870e-01 9.62141034e-01 -4.88978923e-02 1.23520991e+01] [ 1.51024342e-01 8.14979860e-03 9.88496449e-01 -3.65289998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.207719421 meters Centerline goodness : 0.958487 Centerline is valid? [True, True] Translation: X:74.20, Y:12.36, Z:-3.65 [[ 9.51226286e-01 -2.72801897e-01 -1.44040544e-01 7.42038762e+01] [ 2.68443005e-01 9.62035384e-01 -4.92572092e-02 1.23599011e+01] [ 1.52009561e-01 8.18807564e-03 9.88345106e-01 -3.64958912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.237719421 meters Centerline goodness : 0.958928 Centerline is valid? [True, True] Translation: X:74.23, Y:12.37, Z:-3.65 [[ 9.51195288e-01 -2.72950727e-01 -1.43963279e-01 7.42305414e+01] [ 2.68594391e-01 9.61993202e-01 -4.92557852e-02 1.23689732e+01] [ 1.51936098e-01 8.18414141e-03 9.88356435e-01 -3.64663734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26771942099998 meters Centerline goodness : 0.959498 Centerline is valid? [True, True] Translation: X:74.26, Y:12.38, Z:-3.64 [[ 9.51224064e-01 -2.72852386e-01 -1.43959562e-01 7.42568994e+01] [ 2.68487874e-01 9.62020573e-01 -4.93019165e-02 1.23767540e+01] [ 1.51944206e-01 8.24577265e-03 9.88354676e-01 -3.64245624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29771942099998 meters Centerline goodness : 0.958633 Centerline is valid? [True, True] Translation: X:74.28, Y:12.38, Z:-3.64 [[ 9.51095600e-01 -2.73173896e-01 -1.44198411e-01 7.42834480e+01] [ 2.68791016e-01 9.61929245e-01 -4.94319381e-02 1.23844752e+01] [ 1.52212184e-01 8.25526135e-03 9.88313362e-01 -3.63724004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32771942099998 meters Centerline goodness : 0.960429 Centerline is valid? [True, True] Translation: X:74.31, Y:12.39, Z:-3.63 [[ 9.51174871e-01 -2.73236824e-01 -1.43554877e-01 7.43089757e+01] [ 2.68887287e-01 9.61911418e-01 -4.92549654e-02 1.23916620e+01] [ 1.51545346e-01 8.25000393e-03 9.88415877e-01 -3.63337604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35771942099998 meters Centerline goodness : 0.960406 Centerline is valid? [True, True] Translation: X:74.34, Y:12.40, Z:-3.63 [[ 9.51043473e-01 -2.73258119e-01 -1.44382520e-01 7.43350206e+01] [ 2.68854338e-01 9.61904771e-01 -4.95636532e-02 1.24007291e+01] [ 1.52425906e-01 8.31932199e-03 9.88279885e-01 -3.63041055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38771942099999 meters Centerline goodness : 0.959766 Centerline is valid? [True, True] Translation: X:74.36, Y:12.41, Z:-3.63 [[ 9.51105270e-01 -2.72709949e-01 -1.45010516e-01 7.43604714e+01] [ 2.68254467e-01 9.62058865e-01 -4.98225001e-02 1.24083909e+01] [ 1.53095744e-01 8.48672379e-03 9.88174918e-01 -3.62791193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.417719421 meters Centerline goodness : 0.960123 Centerline is valid? [True, True] Translation: X:74.39, Y:12.42, Z:-3.62 [[ 9.51286352e-01 -2.72345026e-01 -1.44507657e-01 7.43870784e+01] [ 2.67912730e-01 9.62161774e-01 -4.96738323e-02 1.24168965e+01] [ 1.52568165e-01 8.53859772e-03 9.88256064e-01 -3.62435545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.447719421 meters Centerline goodness : 0.961736 Centerline is valid? [True, True] Translation: X:74.41, Y:12.42, Z:-3.62 [[ 9.51519963e-01 -2.71802774e-01 -1.43989623e-01 7.44140622e+01] [ 2.67389242e-01 9.62314205e-01 -4.95415508e-02 1.24244882e+01] [ 1.52028790e-01 8.63849848e-03 9.88338314e-01 -3.62030511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.477719421 meters Centerline goodness : 0.962326 Centerline is valid? [True, True] Translation: X:74.44, Y:12.43, Z:-3.62 [[ 9.51494941e-01 -2.72415683e-01 -1.42993262e-01 7.44403635e+01] [ 2.68063366e-01 9.62141897e-01 -4.92443129e-02 1.24329368e+01] [ 1.50994731e-01 8.52445952e-03 9.88497812e-01 -3.61674579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.507719421 meters Centerline goodness : 0.961662 Centerline is valid? [True, True] Translation: X:74.47, Y:12.44, Z:-3.61 [[ 9.51659700e-01 -2.71957511e-01 -1.42768790e-01 7.44667589e+01] [ 2.67606630e-01 9.62270568e-01 -4.92142823e-02 1.24413046e+01] [ 1.50766398e-01 8.62937442e-03 9.88531753e-01 -3.61255208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.537719421 meters Centerline goodness : 0.961662 Centerline is valid? [True, True] Translation: X:74.49, Y:12.45, Z:-3.61 [[ 9.51584462e-01 -2.72228334e-01 -1.42754143e-01 7.44935389e+01] [ 2.67874127e-01 9.62193965e-01 -4.92567340e-02 1.24507629e+01] [ 1.50766253e-01 8.63180134e-03 9.88531754e-01 -3.60884567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.567719421 meters Centerline goodness : 0.963517 Centerline is valid? [True, True] Translation: X:74.52, Y:12.46, Z:-3.61 [[ 9.51610301e-01 -2.72786088e-01 -1.41511784e-01 7.45192102e+01] [ 2.68507791e-01 9.62037097e-01 -4.88691220e-02 1.24578705e+01] [ 1.49470402e-01 8.50734339e-03 9.88729601e-01 -3.60585519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.597719421 meters Centerline goodness : 0.962348 Centerline is valid? [True, True] Translation: X:74.55, Y:12.47, Z:-3.60 [[ 9.51128725e-01 -2.73760331e-01 -1.42861573e-01 7.45460733e+01] [ 2.69406526e-01 9.61760735e-01 -4.93600313e-02 1.24651764e+01] [ 1.50911470e-01 8.45990352e-03 9.88511081e-01 -3.60048611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.627719421 meters Centerline goodness : 0.962520 Centerline is valid? [True, True] Translation: X:74.57, Y:12.47, Z:-3.60 [[ 9.49588911e-01 -2.78300920e-01 -1.44324284e-01 7.45736999e+01] [ 2.73901116e-01 9.60461709e-01 -4.99147779e-02 1.24717113e+01] [ 1.52509277e-01 7.86793709e-03 9.88270720e-01 -3.59636829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.657719421 meters Centerline goodness : 0.962302 Centerline is valid? [True, True] Translation: X:74.60, Y:12.48, Z:-3.59 [[ 9.48967387e-01 -2.81221205e-01 -1.42742892e-01 7.46009261e+01] [ 2.76943369e-01 9.59614729e-01 -4.94160156e-02 1.24803381e+01] [ 1.50875013e-01 7.36248969e-03 9.88525429e-01 -3.59369258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.687719421 meters Centerline goodness : 0.962944 Centerline is valid? [True, True] Translation: X:74.63, Y:12.49, Z:-3.59 [[ 9.47830596e-01 -2.86188467e-01 -1.40404141e-01 7.46279505e+01] [ 2.82097480e-01 9.58151244e-01 -4.86539350e-02 1.24888857e+01] [ 1.48452598e-01 6.50803388e-03 9.88898110e-01 -3.59191748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.717719421 meters Centerline goodness : 0.962818 Centerline is valid? [True, True] Translation: X:74.65, Y:12.50, Z:-3.59 [[ 9.47402561e-01 -2.87771349e-01 -1.40057268e-01 7.46539620e+01] [ 2.83710705e-01 9.57678485e-01 -4.85814247e-02 1.24979243e+01] [ 1.48110174e-01 6.29042009e-03 9.88950862e-01 -3.58909410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.747719421 meters Centerline goodness : 0.961736 Centerline is valid? [True, True] Translation: X:74.68, Y:12.51, Z:-3.58 [[ 9.47023590e-01 -2.88147008e-01 -1.41836602e-01 7.46793521e+01] [ 2.83979116e-01 9.57565087e-01 -4.92439403e-02 1.25062365e+01] [ 1.50007273e-01 6.35654020e-03 9.88664459e-01 -3.58495238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.777719421 meters Centerline goodness : 0.962477 Centerline is valid? [True, True] Translation: X:74.71, Y:12.52, Z:-3.58 [[ 9.46902601e-01 -2.86148482e-01 -1.46610064e-01 7.47052922e+01] [ 2.81665210e-01 9.58160235e-01 -5.09281291e-02 1.25158876e+01] [ 1.55048941e-01 6.92902333e-03 9.87882490e-01 -3.57945937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.807719421 meters Centerline goodness : 0.960601 Centerline is valid? [True, True] Translation: X:74.73, Y:12.53, Z:-3.58 [[ 9.47303544e-01 -2.84489438e-01 -1.47247259e-01 7.47306191e+01] [ 2.79939695e-01 9.58651554e-01 -5.11953566e-02 1.25262808e+01] [ 1.55723352e-01 7.27718994e-03 9.87773901e-01 -3.57639551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.837719421 meters Centerline goodness : 0.960817 Centerline is valid? [True, True] Translation: X:74.76, Y:12.54, Z:-3.57 [[ 9.47923371e-01 -2.82402118e-01 -1.47276364e-01 7.47555486e+01] [ 2.77822133e-01 9.59265672e-01 -5.12272581e-02 1.25364834e+01] [ 1.55743847e-01 7.64288144e-03 9.87767908e-01 -3.57290556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.867719421 meters Centerline goodness : 0.962946 Centerline is valid? [True, True] Translation: X:74.78, Y:12.55, Z:-3.57 [[ 9.48970149e-01 -2.78947086e-01 -1.47119612e-01 7.47816883e+01] [ 2.74331596e-01 9.60271235e-01 -5.11989347e-02 1.25477938e+01] [ 1.55556525e-01 8.22670282e-03 9.87792736e-01 -3.56915748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.897719421 meters Centerline goodness : 0.960270 Centerline is valid? [True, True] Translation: X:74.81, Y:12.56, Z:-3.57 [[ 9.49313928e-01 -2.77883511e-01 -1.46914330e-01 7.48073861e+01] [ 2.73260464e-01 9.60577720e-01 -5.11777545e-02 1.25577975e+01] [ 1.55344086e-01 8.43787709e-03 9.87824386e-01 -3.56600180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.927719421 meters Centerline goodness : 0.961259 Centerline is valid? [True, True] Translation: X:74.83, Y:12.57, Z:-3.56 [[ 9.49676083e-01 -2.76675098e-01 -1.46854442e-01 7.48326532e+01] [ 2.72034324e-01 9.60924351e-01 -5.12027241e-02 1.25674224e+01] [ 1.55282528e-01 8.67655380e-03 9.87831997e-01 -3.56249763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.957719421 meters Centerline goodness : 0.962054 Centerline is valid? [True, True] Translation: X:74.86, Y:12.58, Z:-3.56 [[ 9.49627029e-01 -2.77193412e-01 -1.46192744e-01 7.48580127e+01] [ 2.72597386e-01 9.60775891e-01 -5.09936522e-02 1.25767205e+01] [ 1.54593569e-01 8.57319040e-03 9.87940954e-01 -3.55795521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.987719421 meters Centerline goodness : 0.961663 Centerline is valid? [True, True] Translation: X:74.88, Y:12.59, Z:-3.55 [[ 9.49474100e-01 -2.78063830e-01 -1.45531577e-01 7.48844245e+01] [ 2.73515746e-01 9.60525719e-01 -5.07885884e-02 1.25866328e+01] [ 1.53909292e-01 8.41727149e-03 9.88049128e-01 -3.55451343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01771942099998 meters Centerline goodness : 0.962261 Centerline is valid? [True, True] Translation: X:74.91, Y:12.60, Z:-3.55 [[ 9.49667748e-01 -2.78414714e-01 -1.43584176e-01 7.49093349e+01] [ 2.73985684e-01 9.60425192e-01 -5.01527231e-02 1.25952045e+01] [ 1.51865116e-01 8.28841476e-03 9.88366475e-01 -3.55099976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04771942099998 meters Centerline goodness : 0.962243 Centerline is valid? [True, True] Translation: X:74.94, Y:12.60, Z:-3.55 [[ 9.49708909e-01 -2.78734684e-01 -1.42688346e-01 7.49356804e+01] [ 2.74361008e-01 9.60333066e-01 -4.98642028e-02 1.26044613e+01] [ 1.50927220e-01 8.20835911e-03 9.88510798e-01 -3.54638591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07771942099998 meters Centerline goodness : 0.963487 Centerline is valid? [True, True] Translation: X:74.96, Y:12.61, Z:-3.54 [[ 9.49634575e-01 -2.79411071e-01 -1.41857775e-01 7.49605784e+01] [ 2.75089396e-01 9.60137451e-01 -4.96175292e-02 1.26133230e+01] [ 1.50066649e-01 8.09495163e-03 9.88642743e-01 -3.54247063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10771942099998 meters Centerline goodness : 0.963670 Centerline is valid? [True, True] Translation: X:74.99, Y:12.62, Z:-3.54 [[ 9.48899625e-01 -2.82510593e-01 -1.40631667e-01 7.49864408e+01] [ 2.78293977e-01 9.59234383e-01 -4.92124097e-02 1.26233625e+01] [ 1.48801757e-01 7.56069118e-03 9.88838143e-01 -3.53939910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13771942099999 meters Centerline goodness : 0.962050 Centerline is valid? [True, True] Translation: X:75.01, Y:12.63, Z:-3.54 [[ 9.48030570e-01 -2.85371265e-01 -1.40717020e-01 7.50116708e+01] [ 2.81173743e-01 9.58390295e-01 -4.92886183e-02 1.26329005e+01] [ 1.48927382e-01 7.16118573e-03 9.88822205e-01 -3.53675246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.167719421 meters Centerline goodness : 0.959241 Centerline is valid? [True, True] Translation: X:75.04, Y:12.64, Z:-3.53 [[ 9.46092909e-01 -2.91555145e-01 -1.41080848e-01 7.50385653e+01] [ 2.87398562e-01 9.56533677e-01 -4.94508865e-02 1.26424393e+01] [ 1.49366243e-01 6.23870014e-03 9.88762259e-01 -3.53424594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.197719421 meters Centerline goodness : 0.962406 Centerline is valid? [True, True] Translation: X:75.06, Y:12.65, Z:-3.53 [[ 9.43627059e-01 -2.98270253e-01 -1.43536859e-01 7.50649851e+01] [ 2.94036100e-01 9.54466652e-01 -5.03605118e-02 1.26513145e+01] [ 1.52022188e-01 5.31652329e-03 9.88362782e-01 -3.52968938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.227719421 meters Centerline goodness : 0.960338 Centerline is valid? [True, True] Translation: X:75.09, Y:12.66, Z:-3.53 [[ 9.42796902e-01 -3.00348826e-01 -1.44653324e-01 7.50917697e+01] [ 2.96064846e-01 9.53815967e-01 -5.08006729e-02 1.26601578e+01] [ 1.53230573e-01 5.06795290e-03 9.88177468e-01 -3.52588637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.257719421 meters Centerline goodness : 0.961160 Centerline is valid? [True, True] Translation: X:75.12, Y:12.67, Z:-3.52 [[ 9.42206463e-01 -3.01845525e-01 -1.45383149e-01 7.51166413e+01] [ 2.97528699e-01 9.53344295e-01 -5.11011514e-02 1.26687352e+01] [ 1.54024849e-01 4.89217603e-03 9.88054863e-01 -3.52182028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.287719421 meters Centerline goodness : 0.957297 Centerline is valid? [True, True] Translation: X:75.14, Y:12.68, Z:-3.52 [[ 9.42375325e-01 -3.01310253e-01 -1.45399030e-01 7.51429086e+01] [ 2.96982252e-01 9.53513024e-01 -5.11317370e-02 1.26798745e+01] [ 1.54046385e-01 5.00435597e-03 9.88050944e-01 -3.51867413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.317719421 meters Centerline goodness : 0.955156 Centerline is valid? [True, True] Translation: X:75.17, Y:12.69, Z:-3.52 [[ 9.42976222e-01 -2.98892815e-01 -1.46488666e-01 7.51682465e+01] [ 2.94462711e-01 9.54270913e-01 -5.15629277e-02 1.26933785e+01] [ 1.55201662e-01 5.48716485e-03 9.87867570e-01 -3.51751085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.347719421 meters Centerline goodness : 0.954727 Centerline is valid? [True, True] Translation: X:75.19, Y:12.70, Z:-3.51 [[ 9.43373171e-01 -2.97302075e-01 -1.47168391e-01 7.51949202e+01] [ 2.92803674e-01 9.54765717e-01 -5.18501216e-02 1.27030528e+01] [ 1.55926483e-01 5.82256823e-03 9.87751502e-01 -3.51365085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.377719421 meters Centerline goodness : 0.956366 Centerline is valid? [True, True] Translation: X:75.22, Y:12.71, Z:-3.51 [[ 9.44332728e-01 -2.93584514e-01 -1.48471656e-01 7.52203864e+01] [ 2.88952784e-01 9.55910764e-01 -5.23536002e-02 1.27098565e+01] [ 1.57295860e-01 6.53791981e-03 9.87529882e-01 -3.50674722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.407719421 meters Centerline goodness : 0.958110 Centerline is valid? [True, True] Translation: X:75.25, Y:12.72, Z:-3.50 [[ 9.45612482e-01 -2.90321795e-01 -1.46732031e-01 7.52465155e+01] [ 2.85755818e-01 9.56903323e-01 -5.17652681e-02 1.27199414e+01] [ 1.55436954e-01 7.02035210e-03 9.87820868e-01 -3.50277493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.437719421 meters Centerline goodness : 0.957786 Centerline is valid? [True, True] Translation: X:75.27, Y:12.73, Z:-3.50 [[ 9.46021565e-01 -2.89527542e-01 -1.45660569e-01 7.52727102e+01] [ 2.85011750e-01 9.57143028e-01 -5.14346886e-02 1.27310805e+01] [ 1.54309757e-01 7.14335077e-03 9.87996696e-01 -3.50069352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.467719421 meters Centerline goodness : 0.955334 Centerline is valid? [True, True] Translation: X:75.30, Y:12.74, Z:-3.50 [[ 9.46738919e-01 -2.87975104e-01 -1.44068589e-01 7.52989242e+01] [ 2.83532947e-01 9.57609610e-01 -5.09205459e-02 1.27420064e+01] [ 1.52625315e-01 7.36027085e-03 9.88256717e-01 -3.49847481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.497719421 meters Centerline goodness : 0.954968 Centerline is valid? [True, True] Translation: X:75.33, Y:12.75, Z:-3.49 [[ 9.46776506e-01 -2.87868882e-01 -1.44033865e-01 7.53250128e+01] [ 2.83420151e-01 9.57641065e-01 -5.09569212e-02 1.27506420e+01] [ 1.52601656e-01 7.42271602e-03 9.88259904e-01 -3.49494772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.527719421 meters Centerline goodness : 0.958707 Centerline is valid? [True, True] Translation: X:75.35, Y:12.76, Z:-3.49 [[ 9.46732503e-01 -2.88722377e-01 -1.42607702e-01 7.53514913e+01] [ 2.84364578e-01 9.57385371e-01 -5.04979115e-02 1.27563230e+01] [ 1.51110404e-01 7.25543523e-03 9.88490265e-01 -3.48948738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.557719421 meters Centerline goodness : 0.960260 Centerline is valid? [True, True] Translation: X:75.38, Y:12.77, Z:-3.48 [[ 9.46370697e-01 -2.90316102e-01 -1.41771173e-01 7.53781703e+01] [ 2.86022167e-01 9.56905257e-01 -5.02359245e-02 1.27652776e+01] [ 1.50245879e-01 6.99210854e-03 9.88623936e-01 -3.48477896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.587719421 meters Centerline goodness : 0.960418 Centerline is valid? [True, True] Translation: X:75.40, Y:12.78, Z:-3.48 [[ 9.45655457e-01 -2.93083834e-01 -1.40846099e-01 7.54026505e+01] [ 2.88870109e-01 9.56064308e-01 -4.99509647e-02 1.27761671e+01] [ 1.49297748e-01 6.55017438e-03 9.88770589e-01 -3.48240483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.617719421 meters Centerline goodness : 0.957905 Centerline is valid? [True, True] Translation: X:75.43, Y:12.79, Z:-3.48 [[ 9.45240099e-01 -2.95006922e-01 -1.39614006e-01 7.54285990e+01] [ 2.90884461e-01 9.55474917e-01 -4.95369879e-02 1.27867495e+01] [ 1.48011435e-01 6.21280254e-03 9.88966135e-01 -3.48005070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.647719421 meters Centerline goodness : 0.961299 Centerline is valid? [True, True] Translation: X:75.46, Y:12.80, Z:-3.48 [[ 9.44506194e-01 -2.97712482e-01 -1.38835616e-01 7.54556679e+01] [ 2.93658359e-01 9.54637961e-01 -4.93064964e-02 1.27950094e+01] [ 1.47216909e-01 5.80005189e-03 9.89087226e-01 -3.47571531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.677719421 meters Centerline goodness : 0.961184 Centerline is valid? [True, True] Translation: X:75.48, Y:12.80, Z:-3.47 [[ 9.44088433e-01 -2.99438795e-01 -1.37961726e-01 7.54814185e+01] [ 2.95447902e-01 9.54099449e-01 -4.90385431e-02 1.28034576e+01] [ 1.46313249e-01 5.53621873e-03 9.89222818e-01 -3.47223247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.707719421 meters Centerline goodness : 0.959740 Centerline is valid? [True, True] Translation: X:75.51, Y:12.81, Z:-3.47 [[ 9.42812389e-01 -3.02315846e-01 -1.40392051e-01 7.55068155e+01] [ 2.98210247e-01 9.53193602e-01 -4.99260051e-02 1.28138257e+01] [ 1.48914228e-01 5.20450784e-03 9.88836420e-01 -3.46852184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.737719421 meters Centerline goodness : 0.959362 Centerline is valid? [True, True] Translation: X:75.53, Y:12.82, Z:-3.47 [[ 9.42633187e-01 -3.02733114e-01 -1.40695898e-01 7.55319320e+01] [ 2.98607809e-01 9.53061234e-01 -5.00765441e-02 1.28244840e+01] [ 1.49251634e-01 5.19091856e-03 9.88785621e-01 -3.46588113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76771942099998 meters Centerline goodness : 0.958806 Centerline is valid? [True, True] Translation: X:75.56, Y:12.84, Z:-3.46 [[ 9.42542224e-01 -3.03077442e-01 -1.40563939e-01 7.55572630e+01] [ 2.98960256e-01 9.52951995e-01 -5.00525809e-02 1.28361533e+01] [ 1.49120494e-01 5.15363984e-03 9.88805602e-01 -3.46412626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79771942099998 meters Centerline goodness : 0.958700 Centerline is valid? [True, True] Translation: X:75.58, Y:12.84, Z:-3.46 [[ 9.42636608e-01 -3.02342070e-01 -1.41511479e-01 7.55839581e+01] [ 2.98153609e-01 9.53184475e-01 -5.04359114e-02 1.28445005e+01] [ 1.50135443e-01 5.35057829e-03 9.88650960e-01 -3.45853283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82771942099998 meters Centerline goodness : 0.959140 Centerline is valid? [True, True] Translation: X:75.61, Y:12.85, Z:-3.45 [[ 9.42758279e-01 -3.01651549e-01 -1.42173030e-01 7.56101347e+01] [ 2.97408532e-01 9.53402190e-01 -5.07191225e-02 1.28538962e+01] [ 1.50847580e-01 5.53240047e-03 9.88541552e-01 -3.45364195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85771942099998 meters Centerline goodness : 0.956571 Centerline is valid? [True, True] Translation: X:75.63, Y:12.87, Z:-3.45 [[ 9.43452089e-01 -2.99596987e-01 -1.41914765e-01 7.56349943e+01] [ 2.95339760e-01 9.54047655e-01 -5.06704820e-02 1.28661108e+01] [ 1.50574172e-01 5.89209948e-03 9.88581156e-01 -3.45248345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88771942099999 meters Centerline goodness : 0.956749 Centerline is valid? [True, True] Translation: X:75.66, Y:12.88, Z:-3.45 [[ 9.43732227e-01 -2.98675885e-01 -1.41993661e-01 7.56603316e+01] [ 2.94399825e-01 9.54335328e-01 -5.07230127e-02 1.28772597e+01] [ 1.50659308e-01 6.06603273e-03 9.88567133e-01 -3.45026731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.917719421 meters Centerline goodness : 0.955980 Centerline is valid? [True, True] Translation: X:75.69, Y:12.89, Z:-3.45 [[ 9.44703621e-01 -2.95437260e-01 -1.42309149e-01 7.56854569e+01] [ 2.91098634e-01 9.55339059e-01 -5.08809164e-02 1.28879115e+01] [ 1.50985607e-01 6.64138688e-03 9.88513651e-01 -3.44716302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.947719421 meters Centerline goodness : 0.958936 Centerline is valid? [True, True] Translation: X:75.71, Y:12.90, Z:-3.44 [[ 9.45265175e-01 -2.93797542e-01 -1.41974481e-01 7.57118832e+01] [ 2.89457345e-01 9.55842691e-01 -5.07857832e-02 1.28978929e+01] [ 1.50626008e-01 6.91047581e-03 9.88566665e-01 -3.44280028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.977719421 meters Centerline goodness : 0.956540 Centerline is valid? [True, True] Translation: X:75.74, Y:12.91, Z:-3.44 [[ 9.46227684e-01 -2.90304569e-01 -1.42746021e-01 7.57380470e+01] [ 2.85870078e-01 9.56904488e-01 -5.11086954e-02 1.29083732e+01] [ 1.51431396e-01 7.55364623e-03 9.88438908e-01 -3.43791932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.007719421 meters Centerline goodness : 0.955830 Centerline is valid? [True, True] Translation: X:75.76, Y:12.92, Z:-3.43 [[ 9.46548331e-01 -2.88933140e-01 -1.43401175e-01 7.57629370e+01] [ 2.84434985e-01 9.57317066e-01 -5.13884621e-02 1.29184776e+01] [ 1.52128221e-01 7.85335206e-03 9.88329565e-01 -3.43368398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.037719421 meters Centerline goodness : 0.957382 Centerline is valid? [True, True] Translation: X:75.79, Y:12.93, Z:-3.43 [[ 9.47658538e-01 -2.86578872e-01 -1.40768769e-01 7.57889446e+01] [ 2.82216120e-01 9.58022409e-01 -5.04690535e-02 1.29300098e+01] [ 1.49322999e-01 8.10021380e-03 9.88755292e-01 -3.43089421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.067719421 meters Centerline goodness : 0.956723 Centerline is valid? [True, True] Translation: X:75.81, Y:12.94, Z:-3.43 [[ 9.47717671e-01 -2.88323930e-01 -1.36749871e-01 7.58144795e+01] [ 2.84219834e-01 9.57502448e-01 -4.90728766e-02 1.29412373e+01] [ 1.45087221e-01 7.64020667e-03 9.89389370e-01 -3.42851416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.097719421 meters Centerline goodness : 0.957096 Centerline is valid? [True, True] Translation: X:75.84, Y:12.95, Z:-3.42 [[ 9.47165824e-01 -2.90580165e-01 -1.35794217e-01 7.58396610e+01] [ 2.86550030e-01 9.56822909e-01 -4.87750012e-02 1.29497318e+01] [ 1.44104066e-01 7.28617716e-03 9.89535714e-01 -3.42458124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.127719421 meters Centerline goodness : 0.959655 Centerline is valid? [True, True] Translation: X:75.86, Y:12.96, Z:-3.42 [[ 9.45186936e-01 -2.96496869e-01 -1.36789118e-01 7.58648308e+01] [ 2.92463890e-01 9.55011959e-01 -4.91633201e-02 1.29577738e+01] [ 1.45212014e-01 6.46265024e-03 9.89379455e-01 -3.42056641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.157719421 meters Centerline goodness : 0.956786 Centerline is valid? [True, True] Translation: X:75.89, Y:12.97, Z:-3.42 [[ 9.44431403e-01 -2.98783661e-01 -1.37031566e-01 7.58912065e+01] [ 2.94756815e-01 9.54301092e-01 -4.92731842e-02 1.29675732e+01] [ 1.45491395e-01 6.14415459e-03 9.89340438e-01 -3.41682339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.187719421 meters Centerline goodness : 0.958274 Centerline is valid? [True, True] Translation: X:75.92, Y:12.98, Z:-3.41 [[ 9.43938106e-01 -3.00759459e-01 -1.36105105e-01 7.59169369e+01] [ 2.96801260e-01 9.53682142e-01 -4.89835135e-02 1.29763783e+01] [ 1.44533263e-01 5.84123824e-03 9.89482701e-01 -3.41284676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.217719421 meters Centerline goodness : 0.959309 Centerline is valid? [True, True] Translation: X:75.94, Y:12.98, Z:-3.41 [[ 9.43917491e-01 -3.00775315e-01 -1.36212992e-01 7.59431765e+01] [ 2.96807632e-01 9.53676992e-01 -4.90451235e-02 1.29848156e+01] [ 1.44654759e-01 5.86549442e-03 9.89464803e-01 -3.40798056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.247719421 meters Centerline goodness : 0.957410 Centerline is valid? [True, True] Translation: X:75.97, Y:12.99, Z:-3.40 [[ 9.44246594e-01 -2.99248265e-01 -1.37291102e-01 7.59684390e+01] [ 2.95194548e-01 9.54155198e-01 -4.94776454e-02 1.29941355e+01] [ 1.45803118e-01 6.19151336e-03 9.89294251e-01 -3.40482837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.277719421 meters Centerline goodness : 0.959549 Centerline is valid? [True, True] Translation: X:75.99, Y:13.00, Z:-3.40 [[ 9.44113428e-01 -2.99482159e-01 -1.37696304e-01 7.59949062e+01] [ 2.95403326e-01 9.54081778e-01 -4.96471134e-02 1.30048023e+01] [ 1.46241959e-01 6.19656045e-03 9.89229444e-01 -3.40324183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.307719421 meters Centerline goodness : 0.957066 Centerline is valid? [True, True] Translation: X:76.02, Y:13.01, Z:-3.40 [[ 9.44244428e-01 -2.98340076e-01 -1.39268302e-01 7.60217453e+01] [ 2.94147342e-01 9.54437540e-01 -5.02625415e-02 1.30130573e+01] [ 1.47918226e-01 6.49472374e-03 9.88978269e-01 -3.40073792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.337719421 meters Centerline goodness : 0.955320 Centerline is valid? [True, True] Translation: X:76.05, Y:13.02, Z:-3.40 [[ 9.44156271e-01 -2.98453447e-01 -1.39622618e-01 7.60484224e+01] [ 2.94233214e-01 9.54401784e-01 -5.04385863e-02 1.30215606e+01] [ 1.48309645e-01 6.54029607e-03 9.88919346e-01 -3.39723694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.367719421 meters Centerline goodness : 0.958406 Centerline is valid? [True, True] Translation: X:76.08, Y:13.03, Z:-3.39 [[ 9.44531156e-01 -2.97143562e-01 -1.39880658e-01 7.60750558e+01] [ 2.92886131e-01 9.54808564e-01 -5.05798414e-02 1.30305808e+01] [ 1.48588724e-01 6.80513141e-03 9.88875665e-01 -3.39351614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.397719421 meters Centerline goodness : 0.957423 Centerline is valid? [True, True] Translation: X:76.10, Y:13.04, Z:-3.39 [[ 9.44620150e-01 -2.96535266e-01 -1.40568874e-01 7.61014165e+01] [ 2.92221487e-01 9.54996376e-01 -5.08775481e-02 1.30400917e+01] [ 1.49329752e-01 6.98271183e-03 9.88762796e-01 -3.38961413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.427719421 meters Centerline goodness : 0.958583 Centerline is valid? [True, True] Translation: X:76.13, Y:13.05, Z:-3.39 [[ 9.45093668e-01 -2.94640970e-01 -1.41367106e-01 7.61263454e+01] [ 2.90249780e-01 9.55579619e-01 -5.12118901e-02 1.30489122e+01] [ 1.50176646e-01 7.36826170e-03 9.88631723e-01 -3.38515413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.457719421 meters Centerline goodness : 0.958747 Centerline is valid? [True, True] Translation: X:76.15, Y:13.06, Z:-3.38 [[ 9.45298161e-01 -2.93636303e-01 -1.42088384e-01 7.61514525e+01] [ 2.89185349e-01 9.55887099e-01 -5.14945312e-02 1.30582898e+01] [ 1.50941117e-01 7.58780682e-03 9.88513634e-01 -3.38198104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.487719421 meters Centerline goodness : 0.958747 Centerline is valid? [True, True] Translation: X:76.18, Y:13.07, Z:-3.38 [[ 9.45244632e-01 -2.93812024e-01 -1.42081242e-01 7.61780471e+01] [ 2.89360087e-01 9.55833157e-01 -5.15142285e-02 1.30681121e+01] [ 1.50941462e-01 7.58090731e-03 9.88513634e-01 -3.37826869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51771942099998 meters Centerline goodness : 0.959235 Centerline is valid? [True, True] Translation: X:76.20, Y:13.08, Z:-3.38 [[ 9.46683301e-01 -2.90601278e-01 -1.39074174e-01 7.62026480e+01] [ 2.86298372e-01 9.56811244e-01 -5.04528030e-02 1.30794586e+01] [ 1.47729382e-01 7.94611656e-03 9.88995899e-01 -3.37602471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54771942099998 meters Centerline goodness : 0.958964 Centerline is valid? [True, True] Translation: X:76.23, Y:13.09, Z:-3.37 [[ 9.47300523e-01 -2.89456860e-01 -1.37245932e-01 7.62280188e+01] [ 2.85250379e-01 9.57157234e-01 -4.98221967e-02 1.30912138e+01] [ 1.45787313e-01 8.04713890e-03 9.89283227e-01 -3.37366019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57771942099998 meters Centerline goodness : 0.959546 Centerline is valid? [True, True] Translation: X:76.25, Y:13.10, Z:-3.37 [[ 9.47848593e-01 -2.87907572e-01 -1.36719696e-01 7.62524791e+01] [ 2.83711060e-01 9.57622270e-01 -4.96751610e-02 1.31038711e+01] [ 1.45227681e-01 8.29564147e-03 9.89363484e-01 -3.37106041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60771942099998 meters Centerline goodness : 0.958838 Centerline is valid? [True, True] Translation: X:76.28, Y:13.11, Z:-3.37 [[ 9.47749028e-01 -2.88258423e-01 -1.36670635e-01 7.62778127e+01] [ 2.84065210e-01 9.57517017e-01 -4.96801589e-02 1.31141683e+01] [ 1.45185183e-01 8.26094964e-03 9.89370011e-01 -3.36680920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63771942099999 meters Centerline goodness : 0.962374 Centerline is valid? [True, True] Translation: X:76.30, Y:13.12, Z:-3.36 [[ 9.47466995e-01 -2.90088218e-01 -1.34740930e-01 7.63024631e+01] [ 2.86025792e-01 9.56967260e-01 -4.90194782e-02 1.31238620e+01] [ 1.43162631e-01 7.90495670e-03 9.89667607e-01 -3.36238585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.667719421 meters Centerline goodness : 0.962154 Centerline is valid? [True, True] Translation: X:76.33, Y:13.13, Z:-3.36 [[ 9.46162062e-01 -2.93645343e-01 -1.36197519e-01 7.63285121e+01] [ 2.89527312e-01 9.55885253e-01 -4.95713524e-02 1.31339600e+01] [ 1.44745596e-01 7.46963160e-03 9.89440709e-01 -3.35775377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.697719421 meters Centerline goodness : 0.961496 Centerline is valid? [True, True] Translation: X:76.35, Y:13.14, Z:-3.35 [[ 9.45270533e-01 -2.96036400e-01 -1.37208123e-01 7.63541298e+01] [ 2.91874809e-01 9.55149508e-01 -4.99851301e-02 1.31443255e+01] [ 1.45851689e-01 7.20187596e-03 9.89280252e-01 -3.35455421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.727719421 meters Centerline goodness : 0.958955 Centerline is valid? [True, True] Translation: X:76.38, Y:13.16, Z:-3.35 [[ 9.43589653e-01 -3.00454269e-01 -1.39161056e-01 7.63799902e+01] [ 2.96213048e-01 9.53772967e-01 -5.07440306e-02 1.31557535e+01] [ 1.47974314e-01 6.66022149e-03 9.88968778e-01 -3.35263576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.757719421 meters Centerline goodness : 0.957436 Centerline is valid? [True, True] Translation: X:76.41, Y:13.17, Z:-3.35 [[ 9.43025559e-01 -3.01968955e-01 -1.39705210e-01 7.64066655e+01] [ 2.97703440e-01 9.53295632e-01 -5.09911784e-02 1.31654422e+01] [ 1.48578119e-01 6.49526286e-03 9.88879343e-01 -3.34951474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.787719421 meters Centerline goodness : 0.958505 Centerline is valid? [True, True] Translation: X:76.43, Y:13.17, Z:-3.35 [[ 9.41902397e-01 -3.05076973e-01 -1.40527276e-01 7.64328336e+01] [ 3.00787693e-01 9.52308234e-01 -5.13399566e-02 1.31741866e+01] [ 1.49487920e-01 6.08835304e-03 9.88744807e-01 -3.34715175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.817719421 meters Centerline goodness : 0.959892 Centerline is valid? [True, True] Translation: X:76.46, Y:13.18, Z:-3.34 [[ 9.41425546e-01 -3.06330272e-01 -1.40995410e-01 7.64581894e+01] [ 3.02019301e-01 9.51906681e-01 -5.15559103e-02 1.31821248e+01] [ 1.50007609e-01 5.95271580e-03 9.88666922e-01 -3.34260886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.847719421 meters Centerline goodness : 0.961399 Centerline is valid? [True, True] Translation: X:76.48, Y:13.19, Z:-3.34 [[ 9.40518060e-01 -3.09319732e-01 -1.40524312e-01 7.64846803e+01] [ 3.05067118e-01 9.50942303e-01 -5.14080772e-02 1.31890189e+01] [ 1.49532045e-01 5.48087827e-03 9.88741689e-01 -3.33677664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.877719421 meters Centerline goodness : 0.962207 Centerline is valid? [True, True] Translation: X:76.51, Y:13.20, Z:-3.33 [[ 9.40339478e-01 -3.10230607e-01 -1.39709112e-01 7.65101796e+01] [ 3.06030576e-01 9.50646287e-01 -5.11558757e-02 1.31981716e+01] [ 1.48684067e-01 5.34862937e-03 9.88870285e-01 -3.33304296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.907719421 meters Centerline goodness : 0.962463 Centerline is valid? [True, True] Translation: X:76.54, Y:13.21, Z:-3.33 [[ 9.40533892e-01 -3.10216159e-01 -1.38426636e-01 7.65361676e+01] [ 3.06088204e-01 9.50651089e-01 -5.07200003e-02 1.32080814e+01] [ 1.47329596e-01 5.33311889e-03 9.89073075e-01 -3.33197372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.937719421 meters Centerline goodness : 0.962411 Centerline is valid? [True, True] Translation: X:76.56, Y:13.22, Z:-3.33 [[ 9.41092047e-01 -3.08731447e-01 -1.37951634e-01 7.65632330e+01] [ 3.04609331e-01 9.51132822e-01 -5.05915986e-02 1.32157213e+01] [ 1.46829545e-01 5.58999619e-03 9.89146014e-01 -3.32765382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.967719421 meters Centerline goodness : 0.962023 Centerline is valid? [True, True] Translation: X:76.59, Y:13.22, Z:-3.32 [[ 9.41224079e-01 -3.08307095e-01 -1.37999883e-01 7.65896568e+01] [ 3.04170682e-01 9.51269791e-01 -5.06555194e-02 1.32242722e+01] [ 1.46892576e-01 5.70267603e-03 9.89136012e-01 -3.32370978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.997719421 meters Centerline goodness : 0.964447 Centerline is valid? [True, True] Translation: X:76.62, Y:13.23, Z:-3.32 [[ 9.41747646e-01 -3.07717292e-01 -1.35725604e-01 7.66155353e+01] [ 3.03704319e-01 9.51460518e-01 -4.98655122e-02 1.32324385e+01] [ 1.44482034e-01 5.74027659e-03 9.89490774e-01 -3.31991960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.027719421 meters Centerline goodness : 0.966003 Centerline is valid? [True, True] Translation: X:76.64, Y:13.24, Z:-3.32 [[ 9.41850390e-01 -3.07438429e-01 -1.35644596e-01 7.66412894e+01] [ 3.03422539e-01 9.51550229e-01 -4.98690729e-02 1.32421328e+01] [ 1.44404315e-01 5.81157805e-03 9.89501702e-01 -3.31697271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.057719421 meters Centerline goodness : 0.963178 Centerline is valid? [True, True] Translation: X:76.67, Y:13.25, Z:-3.31 [[ 9.42378855e-01 -3.05420610e-01 -1.36529649e-01 7.66663183e+01] [ 3.01324217e-01 9.52197330e-01 -5.02390457e-02 1.32517908e+01] [ 1.45347207e-01 6.20452483e-03 9.89361255e-01 -3.31470260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.087719421 meters Centerline goodness : 0.963033 Centerline is valid? [True, True] Translation: X:76.69, Y:13.26, Z:-3.31 [[ 9.42230531e-01 -3.05834698e-01 -1.36626364e-01 7.66928038e+01] [ 3.01733375e-01 9.52064651e-01 -5.02978133e-02 1.32621080e+01] [ 1.45459948e-01 6.16740145e-03 9.89344918e-01 -3.31243084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.117719421 meters Centerline goodness : 0.962160 Centerline is valid? [True, True] Translation: X:76.72, Y:13.27, Z:-3.31 [[ 9.42040713e-01 -3.05742573e-01 -1.38133176e-01 7.67189324e+01] [ 3.01541918e-01 9.52093404e-01 -5.08981497e-02 1.32700337e+01] [ 1.47077417e-01 6.29518644e-03 9.89104951e-01 -3.30899800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.147719421 meters Centerline goodness : 0.962325 Centerline is valid? [True, True] Translation: X:76.74, Y:13.28, Z:-3.31 [[ 9.41652099e-01 -3.06501508e-01 -1.39097628e-01 7.67448424e+01] [ 3.02244682e-01 9.51849629e-01 -5.12877708e-02 1.32793171e+01] [ 1.48119804e-01 6.25371876e-03 9.88949652e-01 -3.30528837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.177719421 meters Centerline goodness : 0.964025 Centerline is valid? [True, True] Translation: X:76.77, Y:13.29, Z:-3.30 [[ 9.41327197e-01 -3.06660230e-01 -1.40934776e-01 7.67698210e+01] [ 3.02284245e-01 9.51797821e-01 -5.20109922e-02 1.32882011e+01] [ 1.50091115e-01 6.35699923e-03 9.88651731e-01 -3.30120902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.207719421 meters Centerline goodness : 0.962213 Centerline is valid? [True, True] Translation: X:76.80, Y:13.30, Z:-3.30 [[ 9.41241188e-01 -3.06758098e-01 -1.41295776e-01 7.67962282e+01] [ 3.02356819e-01 9.51766116e-01 -5.21690901e-02 1.32981289e+01] [ 1.50483823e-01 6.38195505e-03 9.88591872e-01 -3.29713295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.237719421 meters Centerline goodness : 0.962462 Centerline is valid? [True, True] Translation: X:76.82, Y:13.31, Z:-3.29 [[ 9.41298000e-01 -3.06661247e-01 -1.41127445e-01 7.68228051e+01] [ 3.02262219e-01 9.51796967e-01 -5.21544371e-02 1.33078343e+01] [ 1.50318418e-01 6.43537274e-03 9.88616690e-01 -3.29346629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26771942099998 meters Centerline goodness : 0.961488 Centerline is valid? [True, True] Translation: X:76.85, Y:13.32, Z:-3.29 [[ 9.41013475e-01 -3.07396650e-01 -1.41424681e-01 7.68486009e+01] [ 3.02980339e-01 9.51560120e-01 -5.23091956e-02 1.33155693e+01] [ 1.50653758e-01 6.37476022e-03 9.88566036e-01 -3.29016497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29771942099998 meters Centerline goodness : 0.963257 Centerline is valid? [True, True] Translation: X:76.88, Y:13.33, Z:-3.29 [[ 9.40783406e-01 -3.07991180e-01 -1.41661627e-01 7.68752301e+01] [ 3.03562854e-01 9.51368259e-01 -5.24216599e-02 1.33254887e+01] [ 1.50917784e-01 6.31421993e-03 9.88526152e-01 -3.28671311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32771942099998 meters Centerline goodness : 0.961571 Centerline is valid? [True, True] Translation: X:76.90, Y:13.34, Z:-3.28 [[ 9.40625306e-01 -3.08398093e-01 -1.41826128e-01 7.69012799e+01] [ 3.03956650e-01 9.51236508e-01 -5.25305796e-02 1.33358052e+01] [ 1.51110521e-01 6.30259794e-03 9.88496782e-01 -3.28484742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35771942099998 meters Centerline goodness : 0.963051 Centerline is valid? [True, True] Translation: X:76.93, Y:13.35, Z:-3.28 [[ 9.41172651e-01 -3.07178958e-01 -1.40837242e-01 7.69265011e+01] [ 3.02779201e-01 9.51629598e-01 -5.22098089e-02 1.33467472e+01] [ 1.50062643e-01 6.49585667e-03 9.88655151e-01 -3.28268603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38771942099999 meters Centerline goodness : 0.962423 Centerline is valid? [True, True] Translation: X:76.95, Y:13.35, Z:-3.28 [[ 9.41854924e-01 -3.04994253e-01 -1.41024140e-01 7.69523948e+01] [ 3.00553181e-01 9.52329293e-01 -5.23135086e-02 1.33546967e+01] [ 1.50256739e-01 6.88648177e-03 9.88623027e-01 -3.27530911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.417719421 meters Centerline goodness : 0.962808 Centerline is valid? [True, True] Translation: X:76.98, Y:13.36, Z:-3.27 [[ 9.42072790e-01 -3.04031832e-01 -1.41645698e-01 7.69780607e+01] [ 2.99533917e-01 9.52635319e-01 -5.25869016e-02 1.33632825e+01] [ 1.50924786e-01 7.11299843e-03 9.88519658e-01 -3.27045844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.447719421 meters Centerline goodness : 0.964380 Centerline is valid? [True, True] Translation: X:77.00, Y:13.37, Z:-3.27 [[ 9.42837440e-01 -3.02259534e-01 -1.40345063e-01 7.70038318e+01] [ 2.97821420e-01 9.53197333e-01 -5.21272104e-02 1.33736215e+01] [ 1.49532486e-01 7.34971982e-03 9.88729497e-01 -3.26808333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.477719421 meters Centerline goodness : 0.964251 Centerline is valid? [True, True] Translation: X:77.03, Y:13.38, Z:-3.27 [[ 9.43288471e-01 -3.01513610e-01 -1.38911496e-01 7.70290547e+01] [ 2.97151956e-01 9.53432916e-01 -5.16370894e-02 1.33846858e+01] [ 1.48012078e-01 7.43084841e-03 9.88957637e-01 -3.26610667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.507719421 meters Centerline goodness : 0.961548 Centerline is valid? [True, True] Translation: X:77.05, Y:13.40, Z:-3.26 [[ 9.43572374e-01 -3.01279270e-01 -1.37484459e-01 7.70544522e+01] [ 2.97001568e-01 9.53507147e-01 -5.11291468e-02 1.33959333e+01] [ 1.46496566e-01 7.41095062e-03 9.89183418e-01 -3.26443422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.537719421 meters Centerline goodness : 0.960950 Centerline is valid? [True, True] Translation: X:77.08, Y:13.41, Z:-3.26 [[ 9.43349192e-01 -3.01501523e-01 -1.38524845e-01 7.70797946e+01] [ 2.97154242e-01 9.53436388e-01 -5.15597717e-02 1.34050301e+01] [ 1.47619977e-01 7.47562384e-03 9.89015903e-01 -3.26067275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.567719421 meters Centerline goodness : 0.961255 Centerline is valid? [True, True] Translation: X:77.11, Y:13.41, Z:-3.26 [[ 9.42472257e-01 -3.03501671e-01 -1.40117027e-01 7.71065571e+01] [ 2.99071441e-01 9.52803172e-01 -5.21765181e-02 1.34133106e+01] [ 1.49339608e-01 7.26991964e-03 9.88759238e-01 -3.25560661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.597719421 meters Centerline goodness : 0.960899 Centerline is valid? [True, True] Translation: X:77.13, Y:13.42, Z:-3.25 [[ 9.42025386e-01 -3.04781011e-01 -1.40344959e-01 7.71319873e+01] [ 3.00343637e-01 9.52395831e-01 -5.23056473e-02 1.34224033e+01] [ 1.49605722e-01 7.12153210e-03 9.88720088e-01 -3.25137850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.627719421 meters Centerline goodness : 0.961659 Centerline is valid? [True, True] Translation: X:77.16, Y:13.43, Z:-3.25 [[ 9.40971474e-01 -3.08103729e-01 -1.40159829e-01 7.71583402e+01] [ 3.03711027e-01 9.51329822e-01 -5.22607154e-02 1.34329819e+01] [ 1.49439946e-01 6.60775679e-03 9.88748724e-01 -3.24760553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.657719421 meters Centerline goodness : 0.960555 Centerline is valid? [True, True] Translation: X:77.18, Y:13.44, Z:-3.24 [[ 9.39967321e-01 -3.10918617e-01 -1.40680665e-01 7.71835927e+01] [ 3.06517340e-01 9.50416136e-01 -5.25003791e-02 1.34427641e+01] [ 1.50028519e-01 6.22757746e-03 9.88662056e-01 -3.24358791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.687719421 meters Centerline goodness : 0.960258 Centerline is valid? [True, True] Translation: X:77.21, Y:13.45, Z:-3.24 [[ 9.39424556e-01 -3.12024555e-01 -1.41852671e-01 7.72101798e+01] [ 3.07556329e-01 9.50054224e-01 -5.29724168e-02 1.34522463e+01] [ 1.51296424e-01 6.13590244e-03 9.88469394e-01 -3.23941586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.717719421 meters Centerline goodness : 0.960565 Centerline is valid? [True, True] Translation: X:77.24, Y:13.46, Z:-3.24 [[ 9.38499285e-01 -3.13840806e-01 -1.43954991e-01 7.72356890e+01] [ 3.09252546e-01 9.49456822e-01 -5.38015459e-02 1.34616147e+01] [ 1.53564169e-01 5.97426482e-03 9.88120617e-01 -3.23721723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.747719421 meters Centerline goodness : 0.958456 Centerline is valid? [True, True] Translation: X:77.26, Y:13.47, Z:-3.23 [[ 9.38149152e-01 -3.14701474e-01 -1.44357720e-01 7.72617475e+01] [ 3.10093568e-01 9.49172523e-01 -5.39768459e-02 1.34717225e+01] [ 1.54006974e-01 5.87393176e-03 9.88052301e-01 -3.23434164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.777719421 meters Centerline goodness : 0.960014 Centerline is valid? [True, True] Translation: X:77.29, Y:13.48, Z:-3.23 [[ 9.38144671e-01 -3.15483244e-01 -1.42670597e-01 7.72876447e+01] [ 3.10985061e-01 9.48913902e-01 -5.33919263e-02 1.34813544e+01] [ 1.52226371e-01 5.72092677e-03 9.88329096e-01 -3.23083892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.807719421 meters Centerline goodness : 0.959392 Centerline is valid? [True, True] Translation: X:77.31, Y:13.49, Z:-3.23 [[ 9.38335855e-01 -3.15273632e-01 -1.41874452e-01 7.73136533e+01] [ 3.10816433e-01 9.48983292e-01 -5.31399815e-02 1.34914512e+01] [ 1.51390119e-01 5.76623907e-03 9.88457274e-01 -3.22802786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.837719421 meters Centerline goodness : 0.961210 Centerline is valid? [True, True] Translation: X:77.34, Y:13.50, Z:-3.22 [[ 9.38873834e-01 -3.13887347e-01 -1.41388318e-01 7.73387192e+01] [ 3.09438753e-01 9.49441213e-01 -5.30003833e-02 1.35015681e+01] [ 1.50876046e-01 6.00964813e-03 9.88534422e-01 -3.22394326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.867719421 meters Centerline goodness : 0.960569 Centerline is valid? [True, True] Translation: X:77.36, Y:13.51, Z:-3.22 [[ 9.39024886e-01 -3.13488014e-01 -1.41271114e-01 7.73647535e+01] [ 3.09038715e-01 9.49572618e-01 -5.29803299e-02 1.35117026e+01] [ 1.50755880e-01 6.09160476e-03 9.88552253e-01 -3.22056953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.897719421 meters Centerline goodness : 0.960389 Centerline is valid? [True, True] Translation: X:77.39, Y:13.52, Z:-3.22 [[ 9.39021551e-01 -3.13207982e-01 -1.41912953e-01 7.73905327e+01] [ 3.08707235e-01 9.49664242e-01 -5.32697953e-02 1.35225653e+01] [ 1.51454182e-01 6.21193045e-03 9.88444760e-01 -3.21763926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.927719421 meters Centerline goodness : 0.959308 Centerline is valid? [True, True] Translation: X:77.42, Y:13.53, Z:-3.22 [[ 9.39154991e-01 -3.12831018e-01 -1.41861399e-01 7.74153352e+01] [ 3.08322476e-01 9.49787817e-01 -5.32949620e-02 1.35335842e+01] [ 1.51410545e-01 6.31317186e-03 9.88450803e-01 -3.21527770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.957719421 meters Centerline goodness : 0.959504 Centerline is valid? [True, True] Translation: X:77.44, Y:13.54, Z:-3.21 [[ 9.39181278e-01 -3.12781055e-01 -1.41797525e-01 7.74413020e+01] [ 3.08272261e-01 9.49804080e-01 -5.32956109e-02 1.35436833e+01] [ 1.51349726e-01 6.34199619e-03 9.88459933e-01 -3.21087738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.987719421 meters Centerline goodness : 0.959233 Centerline is valid? [True, True] Translation: X:77.47, Y:13.56, Z:-3.21 [[ 9.38714662e-01 -3.13505853e-01 -1.43278970e-01 7.74661269e+01] [ 3.08902560e-01 9.49565114e-01 -5.39008554e-02 1.35563789e+01] [ 1.52950945e-01 6.33828256e-03 9.88213456e-01 -3.20766480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01771942099998 meters Centerline goodness : 0.960477 Centerline is valid? [True, True] Translation: X:77.49, Y:13.57, Z:-3.20 [[ 9.38518121e-01 -3.13944950e-01 -1.43604686e-01 7.74919149e+01] [ 3.09317904e-01 9.49420091e-01 -5.40733355e-02 1.35672280e+01] [ 1.53317224e-01 6.32930479e-03 9.88156753e-01 -3.20400834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04771942099998 meters Centerline goodness : 0.959530 Centerline is valid? [True, True] Translation: X:77.52, Y:13.58, Z:-3.20 [[ 9.38003750e-01 -3.15080027e-01 -1.44476785e-01 7.75172758e+01] [ 3.10402069e-01 9.49044671e-01 -5.44496898e-02 1.35767061e+01] [ 1.54270933e-01 6.22812011e-03 9.88008952e-01 -3.19839871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07771942099998 meters Centerline goodness : 0.958672 Centerline is valid? [True, True] Translation: X:77.54, Y:13.59, Z:-3.20 [[ 9.37566011e-01 -3.16396433e-01 -1.44441238e-01 7.75429479e+01] [ 3.11730585e-01 9.48607798e-01 -5.44728258e-02 1.35897753e+01] [ 1.54253092e-01 6.04511845e-03 9.88012874e-01 -3.19643368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10771942099998 meters Centerline goodness : 0.957298 Centerline is valid? [True, True] Translation: X:77.57, Y:13.60, Z:-3.19 [[ 9.37576478e-01 -3.17046146e-01 -1.42940862e-01 7.75680891e+01] [ 3.12477724e-01 9.48391638e-01 -5.39534267e-02 1.36010099e+01] [ 1.52669644e-01 5.91962852e-03 9.88259550e-01 -3.19417630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13771942099999 meters Centerline goodness : 0.959614 Centerline is valid? [True, True] Translation: X:77.59, Y:13.61, Z:-3.19 [[ 9.37917372e-01 -3.17146445e-01 -1.40460444e-01 7.75929315e+01] [ 3.12732507e-01 9.48358662e-01 -5.30492975e-02 1.36113353e+01] [ 1.50031275e-01 5.82931090e-03 9.88664066e-01 -3.18961456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.167719421 meters Centerline goodness : 0.960671 Centerline is valid? [True, True] Translation: X:77.62, Y:13.62, Z:-3.18 [[ 9.37842046e-01 -3.17442577e-01 -1.40294360e-01 7.76186917e+01] [ 3.13037391e-01 9.48259717e-01 -5.30198133e-02 1.36223877e+01] [ 1.49866236e-01 5.80682985e-03 9.88689229e-01 -3.18489582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.197719421 meters Centerline goodness : 0.960286 Centerline is valid? [True, True] Translation: X:77.64, Y:13.63, Z:-3.18 [[ 9.38502374e-01 -3.15693785e-01 -1.39823920e-01 7.76427660e+01] [ 3.11292238e-01 9.48841463e-01 -5.28868584e-02 1.36335081e+01] [ 1.49366786e-01 6.10834108e-03 9.88762991e-01 -3.18027512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.227719421 meters Centerline goodness : 0.961308 Centerline is valid? [True, True] Translation: X:77.67, Y:13.64, Z:-3.18 [[ 9.38837847e-01 -3.14618881e-01 -1.39994488e-01 7.76681691e+01] [ 3.10190936e-01 9.49197099e-01 -5.29759347e-02 1.36438337e+01] [ 1.49549591e-01 6.31079117e-03 9.88734086e-01 -3.17574978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.257719421 meters Centerline goodness : 0.961454 Centerline is valid? [True, True] Translation: X:77.69, Y:13.66, Z:-3.17 [[ 9.39896860e-01 -3.11066917e-01 -1.40823528e-01 7.76930279e+01] [ 3.06539027e-01 9.50362494e-01 -5.33381179e-02 1.36557976e+01] [ 1.50425123e-01 6.96442226e-03 9.88596874e-01 -3.17222898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.287719421 meters Centerline goodness : 0.959981 Centerline is valid? [True, True] Translation: X:77.72, Y:13.67, Z:-3.17 [[ 9.40239439e-01 -3.10116823e-01 -1.40631979e-01 7.77172124e+01] [ 3.05584039e-01 9.50671576e-01 -5.33099494e-02 1.36681480e+01] [ 1.50227137e-01 7.14922893e-03 9.88625660e-01 -3.17025391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.317719421 meters Centerline goodness : 0.957825 Centerline is valid? [True, True] Translation: X:77.74, Y:13.68, Z:-3.17 [[ 9.40349868e-01 -3.09722483e-01 -1.40762596e-01 7.77428832e+01] [ 3.05173112e-01 9.50799415e-01 -5.33839299e-02 1.36812624e+01] [ 1.50371198e-01 7.24261186e-03 9.88603079e-01 -3.16922138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.347719421 meters Centerline goodness : 0.957825 Centerline is valid? [True, True] Translation: X:77.77, Y:13.69, Z:-3.17 [[ 9.40265816e-01 -3.09984622e-01 -1.40747038e-01 7.77693508e+01] [ 3.05432043e-01 9.50713966e-01 -5.34249213e-02 1.36915345e+01] [ 1.50371079e-01 7.24497183e-03 9.88603080e-01 -3.16551487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.377719421 meters Centerline goodness : 0.957033 Centerline is valid? [True, True] Translation: X:77.79, Y:13.70, Z:-3.16 [[ 9.38828693e-01 -3.13073341e-01 -1.43477415e-01 7.77944246e+01] [ 3.08370291e-01 9.49703703e-01 -5.45035846e-02 1.37000466e+01] [ 1.53324652e-01 6.92535680e-03 9.88151603e-01 -3.15958870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.407719421 meters Centerline goodness : 0.955792 Centerline is valid? [True, True] Translation: X:77.82, Y:13.71, Z:-3.15 [[ 9.37818500e-01 -3.16049629e-01 -1.43558675e-01 7.78198139e+01] [ 3.11372248e-01 9.48720635e-01 -5.45571330e-02 1.37080481e+01] [ 1.53439839e-01 6.46450114e-03 9.88136846e-01 -3.15453687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.437719421 meters Centerline goodness : 0.957801 Centerline is valid? [True, True] Translation: X:77.85, Y:13.72, Z:-3.15 [[ 9.35868952e-01 -3.22020404e-01 -1.43011062e-01 7.78457836e+01] [ 3.17442576e-01 9.46716763e-01 -5.43836490e-02 1.37176955e+01] [ 1.52903614e-01 5.49816870e-03 9.88225812e-01 -3.15027856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.467719421 meters Centerline goodness : 0.956207 Centerline is valid? [True, True] Translation: X:77.87, Y:13.73, Z:-3.15 [[ 9.34825775e-01 -3.24665131e-01 -1.43851741e-01 7.78700008e+01] [ 3.20057033e-01 9.45815067e-01 -5.47480949e-02 1.37289779e+01] [ 1.53831941e-01 5.13916890e-03 9.88083662e-01 -3.14678510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.497719421 meters Centerline goodness : 0.956284 Centerline is valid? [True, True] Translation: X:77.89, Y:13.74, Z:-3.15 [[ 9.33744579e-01 -3.27927122e-01 -1.43474260e-01 7.78941453e+01] [ 3.23378023e-01 9.44691769e-01 -5.46270624e-02 1.37424434e+01] [ 1.53452647e-01 4.61130098e-03 9.88145243e-01 -3.14583164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.527719421 meters Centerline goodness : 0.954449 Centerline is valid? [True, True] Translation: X:77.92, Y:13.75, Z:-3.14 [[ 9.33402947e-01 -3.28961534e-01 -1.43329155e-01 7.79197017e+01] [ 3.24428498e-01 9.44332745e-01 -5.46060028e-02 1.37530602e+01] [ 1.53313689e-01 4.46934135e-03 9.88167464e-01 -3.14166561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.557719421 meters Centerline goodness : 0.955057 Centerline is valid? [True, True] Translation: X:77.94, Y:13.76, Z:-3.14 [[ 9.33097368e-01 -3.29785456e-01 -1.43425434e-01 7.79445473e+01] [ 3.25249085e-01 9.44045749e-01 -5.46868975e-02 1.37628459e+01] [ 1.53435115e-01 4.37920884e-03 9.88149021e-01 -3.13757884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.587719421 meters Centerline goodness : 0.955849 Centerline is valid? [True, True] Translation: X:77.97, Y:13.77, Z:-3.13 [[ 9.32963737e-01 -3.29874371e-01 -1.44088739e-01 7.79698111e+01] [ 3.25292768e-01 9.44014543e-01 -5.49650609e-02 1.37733440e+01] [ 1.54153430e-01 4.40938375e-03 9.88037083e-01 -3.13323332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.617719421 meters Centerline goodness : 0.956486 Centerline is valid? [True, True] Translation: X:77.99, Y:13.79, Z:-3.13 [[ 9.34148075e-01 -3.27068647e-01 -1.42805721e-01 7.79935280e+01] [ 3.22529617e-01 9.44988038e-01 -5.45183845e-02 1.37856748e+01] [ 1.52780952e-01 4.86916944e-03 9.88248082e-01 -3.12935169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.647719421 meters Centerline goodness : 0.954332 Centerline is valid? [True, True] Translation: X:78.02, Y:13.80, Z:-3.13 [[ 9.35846907e-01 -3.22097969e-01 -1.42980645e-01 7.80179815e+01] [ 3.17486263e-01 9.46689112e-01 -5.46095047e-02 1.37998275e+01] [ 1.52947831e-01 5.71174533e-03 9.88217758e-01 -3.12688275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.677719421 meters Centerline goodness : 0.953690 Centerline is valid? [True, True] Translation: X:78.04, Y:13.81, Z:-3.12 [[ 9.36462993e-01 -3.19957394e-01 -1.43750928e-01 7.80434483e+01] [ 3.15263159e-01 9.47412037e-01 -5.49506338e-02 1.38113654e+01] [ 1.53773222e-01 6.13986315e-03 9.88087090e-01 -3.12327281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.707719421 meters Centerline goodness : 0.952341 Centerline is valid? [True, True] Translation: X:78.07, Y:13.82, Z:-3.12 [[ 9.36895989e-01 -3.18006855e-01 -1.45249940e-01 7.80692826e+01] [ 3.13182612e-01 9.48065611e-01 -5.55720058e-02 1.38221197e+01] [ 1.55378752e-01 6.57543383e-03 9.87833087e-01 -3.11997681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.737719421 meters Centerline goodness : 0.950820 Centerline is valid? [True, True] Translation: X:78.09, Y:13.83, Z:-3.12 [[ 9.37437774e-01 -3.15889137e-01 -1.46371014e-01 7.80949362e+01] [ 3.10955932e-01 9.48770064e-01 -5.60515344e-02 1.38317899e+01] [ 1.56578507e-01 7.02989060e-03 9.87640497e-01 -3.11637170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76771942099998 meters Centerline goodness : 0.951467 Centerline is valid? [True, True] Translation: X:78.12, Y:13.84, Z:-3.11 [[ 9.37503274e-01 -3.15654861e-01 -1.46456889e-01 7.81209167e+01] [ 3.10704934e-01 9.48847346e-01 -5.61351838e-02 1.38413326e+01] [ 1.56684574e-01 7.12204062e-03 9.87623016e-01 -3.11196381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79771942099998 meters Centerline goodness : 0.952084 Centerline is valid? [True, True] Translation: X:78.15, Y:13.85, Z:-3.11 [[ 9.37802464e-01 -3.15358250e-01 -1.45174764e-01 7.81465402e+01] [ 3.10483821e-01 9.48945716e-01 -5.56940321e-02 1.38519106e+01] [ 1.55326543e-01 7.15558510e-03 9.87837265e-01 -3.10769259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82771942099998 meters Centerline goodness : 0.951763 Centerline is valid? [True, True] Translation: X:78.17, Y:13.86, Z:-3.11 [[ 9.38436582e-01 -3.14210674e-01 -1.43556381e-01 7.81722084e+01] [ 3.09424047e-01 9.49325140e-01 -5.51229264e-02 1.38637451e+01] [ 1.53601893e-01 7.30957422e-03 9.88105778e-01 -3.10515861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85771942099998 meters Centerline goodness : 0.952018 Centerline is valid? [True, True] Translation: X:78.20, Y:13.87, Z:-3.10 [[ 9.38673850e-01 -3.13779541e-01 -1.42946855e-01 7.81976897e+01] [ 3.09021742e-01 9.49467092e-01 -5.49345424e-02 1.38730222e+01] [ 1.52960670e-01 7.39193224e-03 9.88204631e-01 -3.10237727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88771942099999 meters Centerline goodness : 0.953420 Centerline is valid? [True, True] Translation: X:78.22, Y:13.88, Z:-3.10 [[ 9.38590185e-01 -3.14042541e-01 -1.42918675e-01 7.82233727e+01] [ 3.09286327e-01 9.49380320e-01 -5.49452133e-02 1.38797499e+01] [ 1.52939312e-01 7.36824593e-03 9.88208114e-01 -3.09771087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.917719421 meters Centerline goodness : 0.952828 Centerline is valid? [True, True] Translation: X:78.25, Y:13.89, Z:-3.09 [[ 9.38605858e-01 -3.14212617e-01 -1.42441130e-01 7.82495391e+01] [ 3.09486488e-01 9.49324269e-01 -5.47863652e-02 1.38889572e+01] [ 1.52437388e-01 7.33919833e-03 9.88285879e-01 -3.09482024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.947719421 meters Centerline goodness : 0.955237 Centerline is valid? [True, True] Translation: X:78.27, Y:13.90, Z:-3.09 [[ 9.38742855e-01 -3.14454703e-01 -1.40996776e-01 7.82738905e+01] [ 3.09820336e-01 9.49244655e-01 -5.42765563e-02 1.39001245e+01] [ 1.50907955e-01 7.26806085e-03 9.88521100e-01 -3.09365929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.977719421 meters Centerline goodness : 0.956784 Centerline is valid? [True, True] Translation: X:78.30, Y:13.91, Z:-3.09 [[ 9.38699978e-01 -3.14822026e-01 -1.40461535e-01 7.83001964e+01] [ 3.10223306e-01 9.49123374e-01 -5.40954740e-02 1.39104244e+01] [ 1.50345772e-01 7.20497862e-03 9.88607221e-01 -3.08970348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.007719421 meters Centerline goodness : 0.956866 Centerline is valid? [True, True] Translation: X:78.33, Y:13.92, Z:-3.08 [[ 9.38456404e-01 -3.14898005e-01 -1.41911325e-01 7.83263251e+01] [ 3.10196651e-01 9.49097328e-01 -5.47019129e-02 1.39184991e+01] [ 1.51913182e-01 7.31494274e-03 9.88366772e-01 -3.08268637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.037719421 meters Centerline goodness : 0.957031 Centerline is valid? [True, True] Translation: X:78.35, Y:13.93, Z:-3.08 [[ 9.38300700e-01 -3.14520692e-01 -1.43765538e-01 7.83526847e+01] [ 3.09682479e-01 9.49220803e-01 -5.54673726e-02 1.39266927e+01] [ 1.53910876e-01 7.52340630e-03 9.88056092e-01 -3.07919083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.067719421 meters Centerline goodness : 0.957209 Centerline is valid? [True, True] Translation: X:78.38, Y:13.94, Z:-3.08 [[ 9.38163379e-01 -3.14112479e-01 -1.45543206e-01 7.83780871e+01] [ 3.09140466e-01 9.49354281e-01 -5.62016147e-02 1.39365916e+01] [ 1.55825694e-01 7.73300237e-03 9.87754298e-01 -3.07646640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.097719421 meters Centerline goodness : 0.954332 Centerline is valid? [True, True] Translation: X:78.40, Y:13.95, Z:-3.07 [[ 9.38179108e-01 -3.13102708e-01 -1.47603037e-01 7.84040415e+01] [ 3.07969391e-01 9.49685138e-01 -5.70350079e-02 1.39476623e+01] [ 1.58034226e-01 8.05183545e-03 9.87400806e-01 -3.07418629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.127719421 meters Centerline goodness : 0.951804 Centerline is valid? [True, True] Translation: X:78.43, Y:13.96, Z:-3.07 [[ 9.38330004e-01 -3.11943562e-01 -1.49090638e-01 7.84279941e+01] [ 3.06683496e-01 9.50063708e-01 -5.76557437e-02 1.39600398e+01] [ 1.59630942e-01 8.37647616e-03 9.87141224e-01 -3.07396311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.157719421 meters Centerline goodness : 0.954815 Centerline is valid? [True, True] Translation: X:78.45, Y:13.97, Z:-3.07 [[ 9.38453311e-01 -3.11974474e-01 -1.48247461e-01 7.84547858e+01] [ 3.06770226e-01 9.50053801e-01 -5.73568048e-02 1.39690816e+01] [ 1.58736923e-01 8.34877632e-03 9.87285616e-01 -3.07029458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.187719421 meters Centerline goodness : 0.955349 Centerline is valid? [True, True] Translation: X:78.48, Y:13.98, Z:-3.06 [[ 9.38696114e-01 -3.11831527e-01 -1.47005795e-01 7.84816954e+01] [ 3.06704991e-01 9.50100723e-01 -5.69268399e-02 1.39751144e+01] [ 1.57421896e-01 8.34959223e-03 9.87496142e-01 -3.06172208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.217719421 meters Centerline goodness : 0.957733 Centerline is valid? [True, True] Translation: X:78.51, Y:13.98, Z:-3.06 [[ 9.39009730e-01 -3.11274764e-01 -1.46180531e-01 7.85066014e+01] [ 3.06192231e-01 9.50282497e-01 -5.66523849e-02 1.39838303e+01] [ 1.56547258e-01 8.43779787e-03 9.87634426e-01 -3.05793980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.247719421 meters Centerline goodness : 0.959693 Centerline is valid? [True, True] Translation: X:78.53, Y:13.99, Z:-3.06 [[ 9.39437704e-01 -3.11357990e-01 -1.43223610e-01 7.85324274e+01] [ 3.06477591e-01 9.50256677e-01 -5.55313783e-02 1.39945295e+01] [ 1.53389330e-01 8.27344349e-03 9.88131198e-01 -3.05647296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.277719421 meters Centerline goodness : 0.960215 Centerline is valid? [True, True] Translation: X:78.56, Y:14.00, Z:-3.05 [[ 9.39824334e-01 -3.10663094e-01 -1.42192348e-01 7.85583995e+01] [ 3.05838718e-01 9.50483269e-01 -5.51745840e-02 1.40025423e+01] [ 1.52292154e-01 8.36649121e-03 9.88300107e-01 -3.05249493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.307719421 meters Centerline goodness : 0.961259 Centerline is valid? [True, True] Translation: X:78.58, Y:14.01, Z:-3.05 [[ 9.39567684e-01 -3.11258294e-01 -1.42586257e-01 7.85848972e+01] [ 3.06409902e-01 9.50288954e-01 -5.53522934e-02 1.40114940e+01] [ 1.52727006e-01 8.31738497e-03 9.88233415e-01 -3.04918568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.337719421 meters Centerline goodness : 0.961729 Centerline is valid? [True, True] Translation: X:78.61, Y:14.02, Z:-3.05 [[ 9.39034848e-01 -3.13434790e-01 -1.41322990e-01 7.86102810e+01] [ 3.08690151e-01 9.49576582e-01 -5.49063396e-02 1.40207728e+01] [ 1.51406559e-01 7.93395110e-03 9.88439733e-01 -3.04799552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.367719421 meters Centerline goodness : 0.960279 Centerline is valid? [True, True] Translation: X:78.64, Y:14.03, Z:-3.04 [[ 9.38535882e-01 -3.15031191e-01 -1.41087727e-01 7.86351053e+01] [ 3.10317109e-01 9.49050216e-01 -5.48359402e-02 1.40308618e+01] [ 1.51174370e-01 7.68356186e-03 9.88477250e-01 -3.04430999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.397719421 meters Centerline goodness : 0.958876 Centerline is valid? [True, True] Translation: X:78.66, Y:14.04, Z:-3.04 [[ 9.36810405e-01 -3.19689775e-01 -1.42072912e-01 7.86610307e+01] [ 3.14958282e-01 9.47496364e-01 -5.52441973e-02 1.40402856e+01] [ 1.52274573e-01 7.00629862e-03 9.88313395e-01 -3.03998646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.427719421 meters Centerline goodness : 0.961403 Centerline is valid? [True, True] Translation: X:78.69, Y:14.05, Z:-3.04 [[ 9.36063411e-01 -3.21872889e-01 -1.42067359e-01 7.86867721e+01] [ 3.17159628e-01 9.46759220e-01 -5.52878788e-02 1.40491701e+01] [ 1.52299252e-01 6.69492956e-03 9.88311750e-01 -3.03592577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.457719421 meters Centerline goodness : 0.962904 Centerline is valid? [True, True] Translation: X:78.71, Y:14.06, Z:-3.03 [[ 9.34880784e-01 -3.24829546e-01 -1.43121225e-01 7.87129699e+01] [ 3.20075871e-01 9.45751688e-01 -5.57241602e-02 1.40590401e+01] [ 1.53457993e-01 6.28579594e-03 9.88135180e-01 -3.03138272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.487719421 meters Centerline goodness : 0.961450 Centerline is valid? [True, True] Translation: X:78.74, Y:14.07, Z:-3.03 [[ 9.34662206e-01 -3.25405410e-01 -1.43240634e-01 7.87384464e+01] [ 3.20642753e-01 9.45553982e-01 -5.58201828e-02 1.40696514e+01] [ 1.53605941e-01 6.24394409e-03 9.88112457e-01 -3.02740502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51771942099998 meters Centerline goodness : 0.960828 Centerline is valid? [True, True] Translation: X:78.76, Y:14.08, Z:-3.02 [[ 9.34650268e-01 -3.24470075e-01 -1.45423679e-01 7.87635651e+01] [ 3.19540815e-01 9.45873310e-01 -5.67216817e-02 1.40822984e+01] [ 1.55956865e-01 6.54613404e-03 9.87742175e-01 -3.02381868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54771942099998 meters Centerline goodness : 0.960241 Centerline is valid? [True, True] Translation: X:78.79, Y:14.09, Z:-3.02 [[ 9.34856027e-01 -3.23598008e-01 -1.46042932e-01 7.87878954e+01] [ 3.18608609e-01 9.46170478e-01 -5.70086056e-02 1.40943641e+01] [ 1.56629382e-01 6.76430311e-03 9.87634285e-01 -3.02139123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57771942099998 meters Centerline goodness : 0.959922 Centerline is valid? [True, True] Translation: X:78.81, Y:14.11, Z:-3.02 [[ 9.35730923e-01 -3.21120781e-01 -1.45907789e-01 7.88139198e+01] [ 3.16106569e-01 9.47010895e-01 -5.69824776e-02 1.41064673e+01] [ 1.56474524e-01 7.19785577e-03 9.87655767e-01 -3.01968908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60771942099998 meters Centerline goodness : 0.957766 Centerline is valid? [True, True] Translation: X:78.84, Y:14.12, Z:-3.01 [[ 9.35729223e-01 -3.20829842e-01 -1.46557270e-01 7.88385995e+01] [ 3.15759261e-01 9.47108514e-01 -5.72848206e-02 1.41157165e+01] [ 1.57184318e-01 7.32626545e-03 9.87542108e-01 -3.01492315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63771942099999 meters Centerline goodness : 0.960606 Centerline is valid? [True, True] Translation: X:78.86, Y:14.13, Z:-3.01 [[ 9.35675105e-01 -3.21031355e-01 -1.46461485e-01 7.88633753e+01] [ 3.15964376e-01 9.47040271e-01 -5.72820976e-02 1.41251702e+01] [ 1.57094273e-01 7.32082116e-03 9.87556477e-01 -3.01041947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.667719421 meters Centerline goodness : 0.961155 Centerline is valid? [True, True] Translation: X:78.89, Y:14.14, Z:-3.01 [[ 9.35709187e-01 -3.21256637e-01 -1.45748037e-01 7.88892359e+01] [ 3.16236207e-01 9.46964176e-01 -5.70395536e-02 1.41361796e+01] [ 1.56342505e-01 7.28162814e-03 9.87676060e-01 -3.00703906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.697719421 meters Centerline goodness : 0.959906 Centerline is valid? [True, True] Translation: X:78.91, Y:14.15, Z:-3.00 [[ 9.36401121e-01 -3.20139964e-01 -1.43747499e-01 7.89148536e+01] [ 3.15236854e-01 9.47341283e-01 -5.63047076e-02 1.41474113e+01] [ 1.54203327e-01 7.40928210e-03 9.88011354e-01 -3.00420276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.727719421 meters Centerline goodness : 0.960887 Centerline is valid? [True, True] Translation: X:78.94, Y:14.16, Z:-3.00 [[ 9.36713984e-01 -3.19389769e-01 -1.43377432e-01 7.89400080e+01] [ 3.14495723e-01 9.47593280e-01 -5.62086890e-02 1.41583148e+01] [ 1.53815972e-01 7.55987569e-03 9.88070592e-01 -3.00015727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.757719421 meters Centerline goodness : 0.960004 Centerline is valid? [True, True] Translation: X:78.96, Y:14.17, Z:-3.00 [[ 9.37740158e-01 -3.16540173e-01 -1.42988516e-01 7.89648143e+01] [ 3.11632754e-01 9.48544949e-01 -5.61026439e-02 1.41695079e+01] [ 1.53389775e-01 8.04979710e-03 9.88132976e-01 -2.99719627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.787719421 meters Centerline goodness : 0.963068 Centerline is valid? [True, True] Translation: X:78.99, Y:14.18, Z:-2.99 [[ 9.37807257e-01 -3.15879990e-01 -1.44004790e-01 7.89903083e+01] [ 3.10890195e-01 9.48763349e-01 -5.65278200e-02 1.41796346e+01] [ 1.54482474e-01 8.24252271e-03 9.87961146e-01 -2.99287451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.817719421 meters Centerline goodness : 0.959686 Centerline is valid? [True, True] Translation: X:79.02, Y:14.19, Z:-2.99 [[ 9.37813148e-01 -3.15621412e-01 -1.44532433e-01 7.90164699e+01] [ 3.10584031e-01 9.48848347e-01 -5.67835722e-02 1.41900470e+01] [ 1.55061471e-01 8.36291509e-03 9.87869426e-01 -2.98831123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.847719421 meters Centerline goodness : 0.960473 Centerline is valid? [True, True] Translation: X:79.04, Y:14.20, Z:-2.99 [[ 9.36893531e-01 -3.18221090e-01 -1.44795889e-01 7.90421441e+01] [ 3.13187984e-01 9.47982806e-01 -5.69375666e-02 1.42016422e+01] [ 1.55382747e-01 7.99610537e-03 9.87821980e-01 -2.98502217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.877719421 meters Centerline goodness : 0.960720 Centerline is valid? [True, True] Translation: X:79.07, Y:14.21, Z:-2.98 [[ 9.36392266e-01 -3.20061865e-01 -1.43978909e-01 7.90682298e+01] [ 3.15099606e-01 9.47365403e-01 -5.66659617e-02 1.42130211e+01] [ 1.54537251e-01 7.69387064e-03 9.87957004e-01 -2.98216862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.907719421 meters Centerline goodness : 0.959636 Centerline is valid? [True, True] Translation: X:79.09, Y:14.22, Z:-2.98 [[ 9.34977922e-01 -3.25060898e-01 -1.41956676e-01 7.90941823e+01] [ 3.20287642e-01 9.45668526e-01 -5.59183735e-02 1.42238716e+01] [ 1.52420837e-01 6.81547556e-03 9.88292182e-01 -2.97887375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.937719421 meters Centerline goodness : 0.960753 Centerline is valid? [True, True] Translation: X:79.12, Y:14.23, Z:-2.97 [[ 9.33702946e-01 -3.28223817e-01 -1.43066192e-01 7.91198990e+01] [ 3.23404260e-01 9.44578321e-01 -5.64046039e-02 1.42337817e+01] [ 1.53650557e-01 6.39692905e-03 9.88104542e-01 -2.97406940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.967719421 meters Centerline goodness : 0.959678 Centerline is valid? [True, True] Translation: X:79.15, Y:14.24, Z:-2.97 [[ 9.32268227e-01 -3.32080386e-01 -1.43522020e-01 7.91459926e+01] [ 3.27267485e-01 9.43233089e-01 -5.66333303e-02 1.42431539e+01] [ 1.54181536e-01 5.82736391e-03 9.88025352e-01 -2.96891429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.997719421 meters Centerline goodness : 0.961514 Centerline is valid? [True, True] Translation: X:79.17, Y:14.25, Z:-2.97 [[ 9.31678351e-01 -3.33399830e-01 -1.44291386e-01 7.91716242e+01] [ 3.28542600e-01 9.42768370e-01 -5.69873717e-02 1.42548593e+01] [ 1.55032935e-01 5.68803339e-03 9.87892927e-01 -2.96513798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.027719421 meters Centerline goodness : 0.957498 Centerline is valid? [True, True] Translation: X:79.20, Y:14.27, Z:-2.96 [[ 9.30598849e-01 -3.35802090e-01 -1.45680260e-01 7.91962000e+01] [ 3.30872113e-01 9.41917177e-01 -5.75819182e-02 1.42675065e+01] [ 1.56554868e-01 5.38413136e-03 9.87654588e-01 -2.96433946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.057719421 meters Centerline goodness : 0.956496 Centerline is valid? [True, True] Translation: X:79.22, Y:14.28, Z:-2.96 [[ 9.30230023e-01 -3.36607779e-01 -1.46175603e-01 7.92220729e+01] [ 3.31649599e-01 9.41630073e-01 -5.78044009e-02 1.42779558e+01] [ 1.57100755e-01 5.29230910e-03 9.87568400e-01 -2.96093193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.087719421 meters Centerline goodness : 0.957374 Centerline is valid? [True, True] Translation: X:79.25, Y:14.29, Z:-2.96 [[ 9.30327314e-01 -3.36776861e-01 -1.45163475e-01 7.92483013e+01] [ 3.31881953e-01 9.41569723e-01 -5.74528104e-02 1.42865974e+01] [ 1.56030310e-01 5.27278107e-03 9.87738194e-01 -2.95732258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.117719421 meters Centerline goodness : 0.954784 Centerline is valid? [True, True] Translation: X:79.27, Y:14.30, Z:-2.95 [[ 9.30401534e-01 -3.36847549e-01 -1.44522364e-01 7.92733200e+01] [ 3.31989713e-01 9.41544391e-01 -5.72449968e-02 1.42970967e+01] [ 1.55357058e-01 5.28089475e-03 9.87844267e-01 -2.95292550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.147719421 meters Centerline goodness : 0.958140 Centerline is valid? [True, True] Translation: X:79.30, Y:14.31, Z:-2.95 [[ 9.31397530e-01 -3.34331494e-01 -1.43948229e-01 7.92986978e+01] [ 3.29477084e-01 9.42438239e-01 -5.70527505e-02 1.43092780e+01] [ 1.54736847e-01 5.71114823e-03 9.87939214e-01 -2.94945139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.177719421 meters Centerline goodness : 0.957131 Centerline is valid? [True, True] Translation: X:79.32, Y:14.32, Z:-2.95 [[ 9.31866795e-01 -3.33260441e-01 -1.43393705e-01 7.93230546e+01] [ 3.28424301e-01 9.42816306e-01 -5.68761154e-02 1.43204460e+01] [ 1.54148482e-01 5.90698623e-03 9.88030036e-01 -2.94534382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.207719421 meters Centerline goodness : 0.957918 Centerline is valid? [True, True] Translation: X:79.35, Y:14.33, Z:-2.94 [[ 9.33240504e-01 -3.30605223e-01 -1.40578619e-01 7.93475129e+01] [ 3.25925183e-01 9.43748517e-01 -5.57809372e-02 1.43317554e+01] [ 1.51112332e-01 6.23891786e-03 9.88496909e-01 -2.94250673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.237719421 meters Centerline goodness : 0.958961 Centerline is valid? [True, True] Translation: X:79.37, Y:14.34, Z:-2.94 [[ 9.33629706e-01 -3.29690338e-01 -1.40142258e-01 7.93719930e+01] [ 3.25024767e-01 9.44067468e-01 -5.56373611e-02 1.43421948e+01] [ 1.50646847e-01 6.39498837e-03 9.88566959e-01 -2.93842841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26771942099998 meters Centerline goodness : 0.958961 Centerline is valid? [True, True] Translation: X:79.40, Y:14.35, Z:-2.93 [[ 9.33545350e-01 -3.29932422e-01 -1.40134491e-01 7.93982853e+01] [ 3.25266628e-01 9.43983013e-01 -5.56569168e-02 1.43528695e+01] [ 1.50647600e-01 6.37718259e-03 9.88566959e-01 -2.93471138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29771942099998 meters Centerline goodness : 0.957623 Centerline is valid? [True, True] Translation: X:79.42, Y:14.36, Z:-2.93 [[ 9.33738771e-01 -3.28814622e-01 -1.41466784e-01 7.94225948e+01] [ 3.24040265e-01 9.44371009e-01 -5.62254818e-02 1.43642471e+01] [ 1.52084890e-01 6.65897819e-03 9.88345003e-01 -2.93078698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32771942099998 meters Centerline goodness : 0.955238 Centerline is valid? [True, True] Translation: X:79.45, Y:14.38, Z:-2.93 [[ 9.34327963e-01 -3.26709224e-01 -1.42451185e-01 7.94478490e+01] [ 3.21839742e-01 9.45098427e-01 -5.66404782e-02 1.43776033e+01] [ 1.53135358e-01 7.07432999e-03 9.88179901e-01 -2.92773785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35771942099998 meters Centerline goodness : 0.956120 Centerline is valid? [True, True] Translation: X:79.47, Y:14.39, Z:-2.92 [[ 9.34565379e-01 -3.26182228e-01 -1.42101044e-01 7.94723890e+01] [ 3.21324365e-01 9.45279624e-01 -5.65427729e-02 1.43886612e+01] [ 1.52768469e-01 7.18239035e-03 9.88235907e-01 -2.92437102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38771942099999 meters Centerline goodness : 0.956605 Centerline is valid? [True, True] Translation: X:79.50, Y:14.40, Z:-2.92 [[ 9.35308731e-01 -3.24362185e-01 -1.41374506e-01 7.94958917e+01] [ 3.19530595e-01 9.45903553e-01 -5.62731461e-02 1.44013228e+01] [ 1.51979528e-01 7.45928484e-03 9.88355494e-01 -2.91932989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.417719421 meters Centerline goodness : 0.955050 Centerline is valid? [True, True] Translation: X:79.52, Y:14.41, Z:-2.92 [[ 9.35340123e-01 -3.24366290e-01 -1.41157235e-01 7.95212611e+01] [ 3.19546205e-01 9.45902072e-01 -5.62093683e-02 1.44128888e+01] [ 1.51753345e-01 7.46861886e-03 9.88390177e-01 -2.91645985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.447719421 meters Centerline goodness : 0.957200 Centerline is valid? [True, True] Translation: X:79.55, Y:14.42, Z:-2.91 [[ 9.34938922e-01 -3.25029123e-01 -1.42285911e-01 7.95464088e+01] [ 3.20131762e-01 9.45674550e-01 -5.67036088e-02 1.44240050e+01] [ 1.52986490e-01 7.46417136e-03 9.88200091e-01 -2.91156415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.477719421 meters Centerline goodness : 0.957051 Centerline is valid? [True, True] Translation: X:79.57, Y:14.43, Z:-2.91 [[ 9.34269873e-01 -3.26451080e-01 -1.43420703e-01 7.95718709e+01] [ 3.21483780e-01 9.45185625e-01 -5.72041387e-02 1.44346379e+01] [ 1.54233540e-01 7.33667368e-03 9.88007180e-01 -2.90750362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.507719421 meters Centerline goodness : 0.953285 Centerline is valid? [True, True] Translation: X:79.60, Y:14.45, Z:-2.90 [[ 9.33370548e-01 -3.28493847e-01 -1.44607096e-01 7.95975074e+01] [ 3.23459772e-01 9.44479373e-01 -5.77277201e-02 1.44452073e+01] [ 1.55541620e-01 7.10677549e-03 9.87803775e-01 -2.90422878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.537719421 meters Centerline goodness : 0.953465 Centerline is valid? [True, True] Translation: X:79.62, Y:14.46, Z:-2.90 [[ 9.32275023e-01 -3.31296999e-01 -1.45277595e-01 7.96230905e+01] [ 3.26241422e-01 9.43502594e-01 -5.80464500e-02 1.44565059e+01] [ 1.56300402e-01 6.71968646e-03 9.87686706e-01 -2.90116597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.567719421 meters Centerline goodness : 0.952955 Centerline is valid? [True, True] Translation: X:79.65, Y:14.47, Z:-2.90 [[ 9.32016874e-01 -3.31891386e-01 -1.45576972e-01 7.96483507e+01] [ 3.26814655e-01 9.43293968e-01 -5.82122913e-02 1.44665128e+01] [ 1.56642038e-01 6.67814983e-03 9.87632864e-01 -2.89828872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.597719421 meters Centerline goodness : 0.954183 Centerline is valid? [True, True] Translation: X:79.67, Y:14.48, Z:-2.89 [[ 9.31470242e-01 -3.33181854e-01 -1.46126798e-01 7.96749848e+01] [ 3.28077796e-01 9.42840093e-01 -5.84595437e-02 1.44753661e+01] [ 1.57251863e-01 6.51236755e-03 9.87537058e-01 -2.89195146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.627719421 meters Centerline goodness : 0.953873 Centerline is valid? [True, True] Translation: X:79.70, Y:14.49, Z:-2.89 [[ 9.31172438e-01 -3.33966428e-01 -1.46233772e-01 7.97011222e+01] [ 3.28856173e-01 9.42563010e-01 -5.85541699e-02 1.44856490e+01] [ 1.57389671e-01 6.43415054e-03 9.87515617e-01 -2.88906293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.657719421 meters Centerline goodness : 0.954156 Centerline is valid? [True, True] Translation: X:79.73, Y:14.50, Z:-2.89 [[ 9.31667797e-01 -3.31607193e-01 -1.48431081e-01 7.97263778e+01] [ 3.26302752e-01 9.43391663e-01 -5.94868342e-02 1.44982478e+01] [ 1.59754907e-01 6.98849736e-03 9.87131972e-01 -2.88657656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.687719421 meters Centerline goodness : 0.951709 Centerline is valid? [True, True] Translation: X:79.75, Y:14.51, Z:-2.88 [[ 9.32372334e-01 -3.29662284e-01 -1.48339505e-01 7.97522758e+01] [ 3.24331593e-01 9.44070180e-01 -5.95022030e-02 1.45098418e+01] [ 1.59658536e-01 7.36701985e-03 9.87144812e-01 -2.88389044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.717719421 meters Centerline goodness : 0.952439 Centerline is valid? [True, True] Translation: X:79.78, Y:14.52, Z:-2.88 [[ 9.33624427e-01 -3.25707150e-01 -1.49198799e-01 7.97769941e+01] [ 3.20256154e-01 9.45435687e-01 -5.98945504e-02 1.45186489e+01] [ 1.60565952e-01 8.13718181e-03 9.86991571e-01 -2.87822671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.747719421 meters Centerline goodness : 0.953992 Centerline is valid? [True, True] Translation: X:79.80, Y:14.53, Z:-2.87 [[ 9.33978833e-01 -3.24714233e-01 -1.49144918e-01 7.98023873e+01] [ 3.19250023e-01 9.45775471e-01 -5.99014244e-02 1.45290671e+01] [ 1.60508450e-01 8.33214413e-03 9.86999297e-01 -2.87368196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.777719421 meters Centerline goodness : 0.951080 Centerline is valid? [True, True] Translation: X:79.83, Y:14.54, Z:-2.87 [[ 9.34463342e-01 -3.23337427e-01 -1.49101208e-01 7.98282817e+01] [ 3.17850634e-01 9.46244511e-01 -5.99357995e-02 1.45404388e+01] [ 1.60465687e-01 8.61589396e-03 9.87003814e-01 -2.87001537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.807719421 meters Centerline goodness : 0.951961 Centerline is valid? [True, True] Translation: X:79.85, Y:14.55, Z:-2.87 [[ 9.34566281e-01 -3.23381658e-01 -1.48358250e-01 7.98528074e+01] [ 3.17942482e-01 9.46229439e-01 -5.96860737e-02 1.45505765e+01] [ 1.59682325e-01 8.61120172e-03 9.87130894e-01 -2.86743165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.837719421 meters Centerline goodness : 0.950844 Centerline is valid? [True, True] Translation: X:79.88, Y:14.56, Z:-2.86 [[ 9.34509437e-01 -3.23536003e-01 -1.48379804e-01 7.98781232e+01] [ 3.18091825e-01 9.46176616e-01 -5.97277289e-02 1.45596659e+01] [ 1.59717571e-01 8.61772380e-03 9.87125135e-01 -2.86431213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.867719421 meters Centerline goodness : 0.953442 Centerline is valid? [True, True] Translation: X:79.90, Y:14.57, Z:-2.86 [[ 9.34578218e-01 -3.23849651e-01 -1.47258136e-01 7.99046691e+01] [ 3.18487621e-01 9.46070161e-01 -5.93033340e-02 1.45697182e+01] [ 1.58521892e-01 8.52371091e-03 9.87318670e-01 -2.86113552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.897719421 meters Centerline goodness : 0.951603 Centerline is valid? [True, True] Translation: X:79.93, Y:14.58, Z:-2.86 [[ 9.34192070e-01 -3.24571549e-01 -1.48116463e-01 7.99306491e+01] [ 3.19147389e-01 9.45822967e-01 -5.96980579e-02 1.45776240e+01] [ 1.59468244e-01 8.49846974e-03 9.87166478e-01 -2.85671307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.927719421 meters Centerline goodness : 0.953784 Centerline is valid? [True, True] Translation: X:79.96, Y:14.59, Z:-2.85 [[ 9.33894383e-01 -3.25531643e-01 -1.47886550e-01 7.99568517e+01] [ 3.20130179e-01 9.45494206e-01 -5.96437380e-02 1.45872018e+01] [ 1.59241800e-01 8.35800436e-03 9.87204231e-01 -2.85309499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.957719421 meters Centerline goodness : 0.951723 Centerline is valid? [True, True] Translation: X:79.98, Y:14.60, Z:-2.85 [[ 9.33641649e-01 -3.26891087e-01 -1.46476919e-01 7.99833347e+01] [ 3.21601235e-01 9.45027339e-01 -5.91267686e-02 1.45972662e+01] [ 1.57752706e-01 8.09605575e-03 9.87445461e-01 -2.84982717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.987719421 meters Centerline goodness : 0.951437 Centerline is valid? [True, True] Translation: X:80.01, Y:14.61, Z:-2.85 [[ 9.33464234e-01 -3.27655715e-01 -1.45898104e-01 8.00095566e+01] [ 3.22408994e-01 9.44763459e-01 -5.89444422e-02 1.46071756e+01] [ 1.57152681e-01 7.98366760e-03 9.87542048e-01 -2.84708685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01771942099998 meters Centerline goodness : 0.949821 Centerline is valid? [True, False] Translation: X:80.01, Y:14.60, Z:-2.85 [[ 9.33347818e-01 -3.27604307e-01 -1.46755810e-01 8.00125915e+01] [ 3.22528200e-01 9.44791669e-01 -5.78295917e-02 1.46041797e+01] [ 1.57598890e-01 6.64223594e-03 9.87480871e-01 -2.84786780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04771942099998 meters Centerline goodness : 0.949101 Centerline is valid? [False, False] Translation: X:79.99, Y:14.60, Z:-2.86 [[ 9.34679079e-01 -3.28182988e-01 -1.36641667e-01 7.99928014e+01] [ 3.19607947e-01 9.44064432e-01 -8.11979562e-02 1.45986025e+01] [ 1.55646325e-01 3.22222685e-02 9.87287165e-01 -2.86406103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07771942099998 meters Centerline goodness : 0.948704 Centerline is valid? [False, False] Translation: X:79.99, Y:14.60, Z:-2.86 [[ 9.34673470e-01 -3.28206538e-01 -1.36623474e-01 7.99929712e+01] [ 3.19807108e-01 9.44091809e-01 -8.00878831e-02 1.45962863e+01] [ 1.55270469e-01 3.11628615e-02 9.87380351e-01 -2.86426109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10771942099998 meters Centerline goodness : 0.948140 Centerline is valid? [False, False] Translation: X:79.99, Y:14.59, Z:-2.86 [[ 9.34839229e-01 -3.27569078e-01 -1.37018668e-01 7.99932722e+01] [ 3.19272227e-01 9.44338006e-01 -7.93156718e-02 1.45943824e+01] [ 1.55373297e-01 3.04011462e-02 9.87387922e-01 -2.86375574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13771942099999 meters Centerline goodness : 0.950597 Centerline is valid? [False, True] Translation: X:79.99, Y:14.59, Z:-2.86 [[ 9.35063672e-01 -3.26596987e-01 -1.37805432e-01 7.99945354e+01] [ 3.18392990e-01 9.44702093e-01 -7.85102498e-02 1.45925103e+01] [ 1.55826291e-01 2.95357990e-02 9.87342799e-01 -2.86337526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.167719421 meters Centerline goodness : 0.950468 Centerline is valid? [True, True] Translation: X:80.02, Y:14.60, Z:-2.85 [[ 9.34853544e-01 -3.23449100e-01 -1.46388290e-01 8.00205562e+01] [ 3.18400596e-01 9.46219623e-01 -5.73540415e-02 1.45956744e+01] [ 1.57066586e-01 7.00751003e-03 9.87563154e-01 -2.84892412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.197719421 meters Centerline goodness : 0.949675 Centerline is valid? [True, False] Translation: X:80.02, Y:14.60, Z:-2.85 [[ 9.36180197e-01 -3.19176155e-01 -1.47286188e-01 8.00201167e+01] [ 3.14776132e-01 9.47690101e-01 -5.29099260e-02 1.45956980e+01] [ 1.56469249e-01 3.17104842e-03 9.87677740e-01 -2.84960332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.227719421 meters Centerline goodness : 0.948179 Centerline is valid? [False, False] Translation: X:80.02, Y:14.60, Z:-2.85 [[ 9.36382833e-01 -3.18506171e-01 -1.47448325e-01 8.00193741e+01] [ 3.14155143e-01 9.47916409e-01 -5.25454754e-02 1.45950572e+01] [ 1.56504745e-01 2.88103128e-03 9.87673005e-01 -2.84862343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.257719421 meters Centerline goodness : 0.952215 Centerline is valid? [False, True] Translation: X:80.02, Y:14.59, Z:-2.85 [[ 9.36616666e-01 -3.17818449e-01 -1.47447121e-01 8.00174188e+01] [ 3.13534718e-01 9.48148193e-01 -5.20671139e-02 1.45931652e+01] [ 1.56349611e-01 2.53713511e-03 9.87698518e-01 -2.84643236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.287719421 meters Centerline goodness : 0.951225 Centerline is valid? [True, True] Translation: X:80.04, Y:14.61, Z:-2.85 [[ 9.36911831e-01 -3.18496455e-01 -1.44070226e-01 8.00415422e+01] [ 3.13596597e-01 9.47894987e-01 -5.61450578e-02 1.46051250e+01] [ 1.54445447e-01 7.42303635e-03 9.87973432e-01 -2.84503722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.317719421 meters Centerline goodness : 0.952199 Centerline is valid? [True, True] Translation: X:80.07, Y:14.62, Z:-2.84 [[ 9.37016053e-01 -3.18662959e-01 -1.43020401e-01 8.00677239e+01] [ 3.13832799e-01 9.47839482e-01 -5.57610162e-02 1.46151465e+01] [ 1.53329353e-01 7.36447455e-03 9.88147698e-01 -2.84096208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.347719421 meters Centerline goodness : 0.951610 Centerline is valid? [True, True] Translation: X:80.09, Y:14.63, Z:-2.84 [[ 9.37042963e-01 -3.18759357e-01 -1.42628743e-01 8.00937171e+01] [ 3.13949657e-01 9.47807000e-01 -5.56552163e-02 1.46256244e+01] [ 1.52925142e-01 7.37308387e-03 9.88210270e-01 -2.83745096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.377719421 meters Centerline goodness : 0.953438 Centerline is valid? [True, True] Translation: X:80.12, Y:14.64, Z:-2.84 [[ 9.37866252e-01 -3.16784064e-01 -1.41614793e-01 8.01181034e+01] [ 3.12013889e-01 9.48466578e-01 -5.53035521e-02 1.46369329e+01] [ 1.51836182e-01 7.68155299e-03 9.88375823e-01 -2.83559646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.407719421 meters Centerline goodness : 0.950258 Centerline is valid? [True, True] Translation: X:80.14, Y:14.65, Z:-2.83 [[ 9.38730594e-01 -3.14330665e-01 -1.41354535e-01 8.01428670e+01] [ 3.09546585e-01 9.49279103e-01 -5.52276743e-02 1.46500570e+01] [ 1.51544657e-01 8.08809404e-03 9.88417321e-01 -2.83448634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.437719421 meters Centerline goodness : 0.951763 Centerline is valid? [True, True] Translation: X:80.17, Y:14.66, Z:-2.83 [[ 9.39050449e-01 -3.13667342e-01 -1.40701999e-01 8.01676703e+01] [ 3.08913164e-01 9.49497520e-01 -5.50192469e-02 1.46599942e+01] [ 1.50853940e-01 8.20114876e-03 9.88522043e-01 -2.83100933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.467719421 meters Centerline goodness : 0.952786 Centerline is valid? [True, True] Translation: X:80.19, Y:14.67, Z:-2.83 [[ 9.38628101e-01 -3.14447237e-01 -1.41775256e-01 8.01941930e+01] [ 3.09622927e-01 9.49239760e-01 -5.54754048e-02 1.46691939e+01] [ 1.52022797e-01 8.17390426e-03 9.88343188e-01 -2.82534720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.497719421 meters Centerline goodness : 0.951715 Centerline is valid? [True, True] Translation: X:80.22, Y:14.68, Z:-2.82 [[ 9.38061370e-01 -3.16102021e-01 -1.41846321e-01 8.02205758e+01] [ 3.11284048e-01 9.48691837e-01 -5.55521342e-02 1.46798143e+01] [ 1.52128588e-01 7.95681414e-03 9.88328681e-01 -2.82229707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.527719421 meters Centerline goodness : 0.949952 Centerline is valid? [True, False] Translation: X:80.22, Y:14.68, Z:-2.82 [[ 9.37001919e-01 -3.19704004e-01 -1.40771994e-01 8.02222018e+01] [ 3.14483843e-01 9.47458851e-01 -5.84947660e-02 1.46790446e+01] [ 1.52076682e-01 1.05391905e-02 9.88312505e-01 -2.82389969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.557719421 meters Centerline goodness : 0.949992 Centerline is valid? [False, False] Translation: X:80.22, Y:14.68, Z:-2.83 [[ 9.35840664e-01 -3.23828428e-01 -1.39058981e-01 8.02237988e+01] [ 3.18275711e-01 9.46027701e-01 -6.10914180e-02 1.46795886e+01] [ 1.51336786e-01 1.29127371e-02 9.88397915e-01 -2.82729351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.587719421 meters Centerline goodness : 0.951237 Centerline is valid? [False, True] Translation: X:80.22, Y:14.68, Z:-2.83 [[ 9.35827221e-01 -3.23964189e-01 -1.38833055e-01 8.02240273e+01] [ 3.18588129e-01 9.45994686e-01 -5.99638049e-02 1.46785541e+01] [ 1.50761458e-01 1.18851975e-02 9.88498723e-01 -2.82830128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.617719421 meters Centerline goodness : 0.950636 Centerline is valid? [True, True] Translation: X:80.25, Y:14.69, Z:-2.82 [[ 9.34679126e-01 -3.26817840e-01 -1.39875055e-01 8.02495907e+01] [ 3.22291119e-01 9.45069042e-01 -5.45246735e-02 1.46862043e+01] [ 1.50011220e-01 5.88258603e-03 9.88666794e-01 -2.82212650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.647719421 meters Centerline goodness : 0.950956 Centerline is valid? [True, True] Translation: X:80.28, Y:14.70, Z:-2.82 [[ 9.34242138e-01 -3.27864299e-01 -1.40344681e-01 8.02755581e+01] [ 3.23314848e-01 9.44707281e-01 -5.47326416e-02 1.46957900e+01] [ 1.50529521e-01 5.75802100e-03 9.88588746e-01 -2.81759119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.677719421 meters Centerline goodness : 0.952847 Centerline is valid? [True, True] Translation: X:80.30, Y:14.71, Z:-2.81 [[ 9.33902829e-01 -3.28389326e-01 -1.41371696e-01 8.03012278e+01] [ 3.23771372e-01 9.44524889e-01 -5.51800030e-02 1.47061621e+01] [ 1.51649609e-01 5.76065294e-03 9.88417529e-01 -2.81401300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.707719421 meters Centerline goodness : 0.952271 Centerline is valid? [True, True] Translation: X:80.33, Y:14.72, Z:-2.81 [[ 9.33921539e-01 -3.28241037e-01 -1.41592307e-01 8.03268848e+01] [ 3.23599478e-01 9.44575945e-01 -5.53142040e-02 1.47180062e+01] [ 1.51901079e-01 5.83993002e-03 9.88378449e-01 -2.81038738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.737719421 meters Centerline goodness : 0.950421 Centerline is valid? [True, True] Translation: X:80.35, Y:14.73, Z:-2.81 [[ 9.35077248e-01 -3.24708106e-01 -1.42109767e-01 8.03515776e+01] [ 3.19985132e-01 9.45792083e-01 -5.55594442e-02 1.47297225e+01] [ 1.52446894e-01 6.47935967e-03 9.88290424e-01 -2.80741221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76771942099998 meters Centerline goodness : 0.952151 Centerline is valid? [True, True] Translation: X:80.38, Y:14.74, Z:-2.80 [[ 9.35543830e-01 -3.23077028e-01 -1.42754954e-01 8.03757870e+01] [ 3.18288666e-01 9.46348266e-01 -5.58326553e-02 1.47405718e+01] [ 1.53134151e-01 6.79661236e-03 9.88182037e-01 -2.80352655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79771942099998 meters Centerline goodness : 0.951251 Centerline is valid? [True, True] Translation: X:80.40, Y:14.75, Z:-2.80 [[ 9.36372913e-01 -3.20802674e-01 -1.42447928e-01 8.04011436e+01] [ 3.16004928e-01 9.47118856e-01 -5.57383024e-02 1.47528751e+01] [ 1.52796115e-01 7.17758932e-03 9.88231668e-01 -2.80134019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82771942099998 meters Centerline goodness : 0.951491 Centerline is valid? [True, True] Translation: X:80.43, Y:14.76, Z:-2.80 [[ 9.37385350e-01 -3.18225643e-01 -1.41566751e-01 8.04266895e+01] [ 3.13451166e-01 9.47984580e-01 -5.54400773e-02 1.47637058e+01] [ 1.51845551e-01 7.59445319e-03 9.88375057e-01 -2.79785465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85771942099998 meters Centerline goodness : 0.950910 Centerline is valid? [True, True] Translation: X:80.45, Y:14.77, Z:-2.79 [[ 9.37841699e-01 -3.16439707e-01 -1.42544240e-01 8.04526712e+01] [ 3.11570771e-01 9.48579017e-01 -5.58704119e-02 1.47746442e+01] [ 1.52894092e-01 7.98498330e-03 9.88210320e-01 -2.79334744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88771942099999 meters Centerline goodness : 0.951933 Centerline is valid? [True, True] Translation: X:80.48, Y:14.79, Z:-2.79 [[ 9.39195291e-01 -3.12328262e-01 -1.42699899e-01 8.04769487e+01] [ 3.07394997e-01 9.49934357e-01 -5.59734999e-02 1.47870984e+01] [ 1.53037643e-01 8.70481239e-03 9.88182021e-01 -2.79020555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.917719421 meters Centerline goodness : 0.949132 Centerline is valid? [True, False] Translation: X:80.48, Y:14.79, Z:-2.79 [[ 9.39419787e-01 -3.11488423e-01 -1.43057422e-01 8.04763646e+01] [ 3.06560084e-01 9.50210853e-01 -5.58591893e-02 1.47874702e+01] [ 1.53334206e-01 8.61953237e-03 9.88136795e-01 -2.78902300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.947719421 meters Centerline goodness : 0.952642 Centerline is valid? [False, True] Translation: X:80.47, Y:14.79, Z:-2.79 [[ 9.39908296e-01 -3.11152691e-01 -1.40557453e-01 8.04713602e+01] [ 3.05822635e-01 9.50282891e-01 -5.86083927e-02 1.47851001e+01] [ 1.51805502e-01 1.21008638e-02 9.88336308e-01 -2.78862250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.977719421 meters Centerline goodness : 0.953585 Centerline is valid? [True, True] Translation: X:80.50, Y:14.79, Z:-2.78 [[ 9.39958179e-01 -3.10638873e-01 -1.41358103e-01 8.04973443e+01] [ 3.05734870e-01 9.50483729e-01 -5.57393084e-02 1.47941066e+01] [ 1.51673373e-01 9.17451755e-03 9.88388090e-01 -2.78377167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.007719421 meters Centerline goodness : 0.953294 Centerline is valid? [True, True] Translation: X:80.52, Y:14.80, Z:-2.78 [[ 9.39678457e-01 -3.11620136e-01 -1.41057745e-01 8.05227661e+01] [ 3.06741801e-01 9.50163799e-01 -5.56616707e-02 1.48047821e+01] [ 1.51373260e-01 9.03576610e-03 9.88435375e-01 -2.78347520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.037719421 meters Centerline goodness : 0.952398 Centerline is valid? [True, True] Translation: X:80.55, Y:14.82, Z:-2.78 [[ 9.39164539e-01 -3.13066300e-01 -1.41277955e-01 8.05485649e+01] [ 3.08185096e-01 9.49690131e-01 -5.57727603e-02 1.48151296e+01] [ 1.51630851e-01 8.84003857e-03 9.88397662e-01 -2.78038990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.067719421 meters Centerline goodness : 0.952182 Centerline is valid? [True, True] Translation: X:80.58, Y:14.82, Z:-2.78 [[ 9.37784846e-01 -3.16877216e-01 -1.41945107e-01 8.05755315e+01] [ 3.11985652e-01 9.48430184e-01 -5.60815392e-02 1.48229832e+01] [ 1.52395986e-01 8.30758084e-03 9.88284598e-01 -2.77578947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.097719421 meters Centerline goodness : 0.952078 Centerline is valid? [True, True] Translation: X:80.60, Y:14.83, Z:-2.77 [[ 9.36980982e-01 -3.19571980e-01 -1.41210443e-01 8.06020266e+01] [ 3.14754506e-01 9.47529304e-01 -5.58374436e-02 1.48310523e+01] [ 1.51645115e-01 7.87199949e-03 9.88403658e-01 -2.77195402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.127719421 meters Centerline goodness : 0.955497 Centerline is valid? [True, True] Translation: X:80.63, Y:14.84, Z:-2.77 [[ 9.35430193e-01 -3.23961031e-01 -1.41490653e-01 8.06290663e+01] [ 3.19166864e-01 9.46042877e-01 -5.59945415e-02 1.48381519e+01] [ 1.51996274e-01 7.21985668e-03 9.88354697e-01 -2.76664526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.157719421 meters Centerline goodness : 0.955497 Centerline is valid? [True, True] Translation: X:80.66, Y:14.85, Z:-2.76 [[ 9.35346267e-01 -3.24210048e-01 -1.41475104e-01 8.06553880e+01] [ 3.19412783e-01 9.45957550e-01 -5.60338036e-02 1.48488128e+01] [ 1.51996165e-01 7.22205233e-03 9.88354697e-01 -2.76309031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.187719421 meters Centerline goodness : 0.954174 Centerline is valid? [True, True] Translation: X:80.68, Y:14.86, Z:-2.76 [[ 9.34610324e-01 -3.26373242e-01 -1.41364952e-01 8.06816784e+01] [ 3.21601277e-01 9.45215744e-01 -5.60340675e-02 1.48584307e+01] [ 1.51908399e-01 6.90686888e-03 9.88370444e-01 -2.75944752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.217719421 meters Centerline goodness : 0.940707 Centerline is valid? [True, False] Translation: X:80.68, Y:14.86, Z:-2.76 [[ 9.34509017e-01 -3.26859624e-01 -1.40910195e-01 8.06818998e+01] [ 3.22241070e-01 9.45053380e-01 -5.50890352e-02 1.48567697e+01] [ 1.51174038e-01 6.07414800e-03 9.88488500e-01 -2.76077052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.247719421 meters Centerline goodness : 0.941456 Centerline is valid? [False, False] Translation: X:80.68, Y:14.85, Z:-2.76 [[ 9.35633406e-01 -3.23114490e-01 -1.42081509e-01 8.06823632e+01] [ 3.19273073e-01 9.46359210e-01 -4.96885289e-02 1.48541402e+01] [ 1.50515228e-01 1.12744766e-03 9.88607048e-01 -2.76172609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.277719421 meters Centerline goodness : 0.939934 Centerline is valid? [False, False] Translation: X:80.68, Y:14.85, Z:-2.76 [[ 9.36844882e-01 -3.18829934e-01 -1.43767664e-01 8.06844415e+01] [ 3.15738079e-01 9.47804530e-01 -4.44526409e-02 1.48506880e+01] [ 1.50436476e-01 -3.74769697e-03 9.88612574e-01 -2.76270314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.307719421 meters Centerline goodness : 0.946750 Centerline is valid? [False, False] Translation: X:80.68, Y:14.85, Z:-2.76 [[ 9.37129235e-01 -3.17512073e-01 -1.44827070e-01 8.06846511e+01] [ 3.14187891e-01 9.48250945e-01 -4.58924227e-02 1.48473942e+01] [ 1.51903804e-01 -2.49578063e-03 9.88392131e-01 -2.75897089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.337719421 meters Centerline goodness : 0.944039 Centerline is valid? [False, False] Translation: X:80.68, Y:14.84, Z:-2.76 [[ 9.37433484e-01 -3.16349638e-01 -1.45400722e-01 8.06843348e+01] [ 3.13060699e-01 9.48638569e-01 -4.55835837e-02 1.48449641e+01] [ 1.52353084e-01 -2.78767418e-03 9.88322198e-01 -2.75703296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.367719421 meters Centerline goodness : 0.948328 Centerline is valid? [False, False] Translation: X:80.68, Y:14.84, Z:-2.75 [[ 9.37939130e-01 -3.14588103e-01 -1.45960660e-01 8.06834760e+01] [ 3.11350687e-01 9.49223147e-01 -4.51239137e-02 1.48426517e+01] [ 1.52744683e-01 -3.12146738e-03 9.88260754e-01 -2.75463926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.397719421 meters Centerline goodness : 0.947963 Centerline is valid? [False, False] Translation: X:80.68, Y:14.84, Z:-2.75 [[ 9.38156952e-01 -3.13839935e-01 -1.46171229e-01 8.06836666e+01] [ 3.10561713e-01 9.49471583e-01 -4.53336070e-02 1.48431996e+01] [ 1.53012924e-01 -2.86514872e-03 9.88220034e-01 -2.75452624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.427719421 meters Centerline goodness : 0.956356 Centerline is valid? [False, True] Translation: X:80.68, Y:14.84, Z:-2.75 [[ 9.39317591e-01 -3.09755540e-01 -1.47424452e-01 8.06837029e+01] [ 3.07132694e-01 9.50790921e-01 -4.08182822e-02 1.48410959e+01] [ 1.52813519e-01 -6.93753854e-03 9.88230691e-01 -2.75425614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.457719421 meters Centerline goodness : 0.956562 Centerline is valid? [True, True] Translation: X:80.71, Y:14.85, Z:-2.76 [[ 9.40296275e-01 -3.09858870e-01 -1.40820436e-01 8.07090476e+01] [ 3.05092354e-01 9.50743848e-01 -5.48159849e-02 1.48540650e+01] [ 1.50869382e-01 8.58002828e-03 9.88516471e-01 -2.76011622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.487719421 meters Centerline goodness : 0.958761 Centerline is valid? [True, True] Translation: X:80.74, Y:14.86, Z:-2.76 [[ 9.39849808e-01 -3.11231770e-01 -1.40773304e-01 8.07355253e+01] [ 3.06480668e-01 9.50297126e-01 -5.48176318e-02 1.48599396e+01] [ 1.50837455e-01 8.37604455e-03 9.88523092e-01 -2.75627399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51771942099998 meters Centerline goodness : 0.956850 Centerline is valid? [True, True] Translation: X:80.76, Y:14.87, Z:-2.75 [[ 9.39350757e-01 -3.13187580e-01 -1.39762995e-01 8.07621065e+01] [ 3.08522813e-01 9.49657377e-01 -5.44475891e-02 1.48695512e+01] [ 1.49779268e-01 8.02531174e-03 9.88686889e-01 -2.75327136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54771942099998 meters Centerline goodness : 0.958684 Centerline is valid? [True, True] Translation: X:80.79, Y:14.88, Z:-2.75 [[ 9.38096552e-01 -3.17035652e-01 -1.39510766e-01 8.07883278e+01] [ 3.12423113e-01 9.48384430e-01 -5.43945924e-02 1.48778614e+01] [ 1.49554864e-01 7.44099172e-03 9.88725429e-01 -2.74859015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57771942099998 meters Centerline goodness : 0.960372 Centerline is valid? [True, True] Translation: X:80.81, Y:14.89, Z:-2.74 [[ 9.37361081e-01 -3.19735402e-01 -1.38287655e-01 8.08136014e+01] [ 3.15226904e-01 9.47481112e-01 -5.39587063e-02 1.48867391e+01] [ 1.48277450e-01 6.98680189e-03 9.88921120e-01 -2.74457549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60771942099998 meters Centerline goodness : 0.960363 Centerline is valid? [True, True] Translation: X:80.84, Y:14.90, Z:-2.74 [[ 9.36563314e-01 -3.21799402e-01 -1.38903939e-01 8.08405283e+01] [ 3.17269386e-01 9.46784076e-01 -5.42222295e-02 1.48954919e+01] [ 1.48960719e-01 6.71258340e-03 9.88820330e-01 -2.74053995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63771942099999 meters Centerline goodness : 0.958958 Centerline is valid? [True, True] Translation: X:80.87, Y:14.91, Z:-2.74 [[ 9.36318805e-01 -3.22082711e-01 -1.39892181e-01 8.08670407e+01] [ 3.17483877e-01 9.46687405e-01 -5.46529570e-02 1.49057122e+01] [ 1.50036939e-01 6.75907932e-03 9.88657287e-01 -2.73721168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.667719421 meters Centerline goodness : 0.956900 Centerline is valid? [True, True] Translation: X:80.89, Y:14.92, Z:-2.74 [[ 9.36539086e-01 -3.20952724e-01 -1.41010243e-01 8.08919783e+01] [ 3.16260225e-01 9.47069063e-01 -5.51331111e-02 1.49170719e+01] [ 1.51241561e-01 7.03838223e-03 9.88471776e-01 -2.73507072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.697719421 meters Centerline goodness : 0.955309 Centerline is valid? [True, True] Translation: X:80.92, Y:14.93, Z:-2.73 [[ 9.37195119e-01 -3.18834891e-01 -1.41455371e-01 8.09174687e+01] [ 3.14084787e-01 9.47781168e-01 -5.53317704e-02 1.49274054e+01] [ 1.51710436e-01 7.42768500e-03 9.88397073e-01 -2.73151128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.727719421 meters Centerline goodness : 0.955867 Centerline is valid? [True, True] Translation: X:80.94, Y:14.94, Z:-2.73 [[ 9.37298949e-01 -3.18328087e-01 -1.41908103e-01 8.09432223e+01] [ 3.13534381e-01 9.47950309e-01 -5.55554143e-02 1.49379048e+01] [ 1.52206678e-01 7.57896239e-03 9.88319628e-01 -2.72814176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.757719421 meters Centerline goodness : 0.955304 Centerline is valid? [True, True] Translation: X:80.97, Y:14.95, Z:-2.72 [[ 9.38150526e-01 -3.16001064e-01 -1.41481161e-01 8.09683327e+01] [ 3.11203417e-01 9.48725325e-01 -5.54318518e-02 1.49467572e+01] [ 1.51743285e-01 7.97400006e-03 9.88387774e-01 -2.72372676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.787719421 meters Centerline goodness : 0.955335 Centerline is valid? [True, True] Translation: X:80.99, Y:14.96, Z:-2.72 [[ 9.38559179e-01 -3.15206485e-01 -1.40540172e-01 8.09941549e+01] [ 3.10458982e-01 9.48988723e-01 -5.50965070e-02 1.49557066e+01] [ 1.50737814e-01 8.07937381e-03 9.88540760e-01 -2.71867576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.817719421 meters Centerline goodness : 0.955828 Centerline is valid? [True, True] Translation: X:81.02, Y:14.96, Z:-2.71 [[ 9.39027265e-01 -3.13852384e-01 -1.40443855e-01 8.10199175e+01] [ 3.09089602e-01 9.49435215e-01 -5.51034550e-02 1.49635101e+01] [ 1.50636692e-01 8.33391144e-03 9.88554062e-01 -2.71438065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.847719421 meters Centerline goodness : 0.955733 Centerline is valid? [True, True] Translation: X:81.05, Y:14.97, Z:-2.71 [[ 9.38983626e-01 -3.14217401e-01 -1.39918455e-01 8.10463986e+01] [ 3.09489314e-01 9.49314979e-01 -5.49311893e-02 1.49736213e+01] [ 1.50087021e-01 8.27622059e-03 9.88638149e-01 -2.71129799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.877719421 meters Centerline goodness : 0.956099 Centerline is valid? [True, True] Translation: X:81.07, Y:14.98, Z:-2.71 [[ 9.38611459e-01 -3.16491807e-01 -1.37264216e-01 8.10728366e+01] [ 3.11960063e-01 9.48563159e-01 -5.39337790e-02 1.49826840e+01] [ 1.47273377e-01 7.80190956e-03 9.89065055e-01 -2.70811856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.907719421 meters Centerline goodness : 0.958554 Centerline is valid? [True, True] Translation: X:81.10, Y:14.99, Z:-2.70 [[ 9.38495018e-01 -3.17600041e-01 -1.35489173e-01 8.10981468e+01] [ 3.13190938e-01 9.48194580e-01 -5.32773377e-02 1.49903820e+01] [ 1.45390984e-01 7.56653477e-03 9.89345344e-01 -2.70416034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.937719421 meters Centerline goodness : 0.958530 Centerline is valid? [True, True] Translation: X:81.13, Y:15.00, Z:-2.70 [[ 9.36978969e-01 -3.21991074e-01 -1.35617693e-01 8.11254259e+01] [ 3.17615818e-01 9.46717460e-01 -5.33501961e-02 1.49976416e+01] [ 1.45569925e-01 6.91368722e-03 9.89323808e-01 -2.70025002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.967719421 meters Centerline goodness : 0.960171 Centerline is valid? [True, True] Translation: X:81.15, Y:15.01, Z:-2.70 [[ 9.36282879e-01 -3.23626440e-01 -1.36529477e-01 8.11510669e+01] [ 3.19202888e-01 9.46160893e-01 -5.37501710e-02 1.50069071e+01] [ 1.46573828e-01 6.74476166e-03 9.89176739e-01 -2.69623218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.997719421 meters Centerline goodness : 0.960344 Centerline is valid? [True, True] Translation: X:81.18, Y:15.02, Z:-2.69 [[ 9.35406596e-01 -3.25844526e-01 -1.37258315e-01 8.11778338e+01] [ 3.21393613e-01 9.45401339e-01 -5.40597163e-02 1.50163955e+01] [ 1.47379258e-01 6.45386929e-03 9.89058998e-01 -2.69335049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.027719421 meters Centerline goodness : 0.959806 Centerline is valid? [True, True] Translation: X:81.20, Y:15.03, Z:-2.69 [[ 9.35444595e-01 -3.25637895e-01 -1.37489531e-01 8.12029330e+01] [ 3.21163590e-01 9.45471965e-01 -5.41914417e-02 1.50257581e+01] [ 1.47639284e-01 6.53645972e-03 9.89019674e-01 -2.69035084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.057719421 meters Centerline goodness : 0.959853 Centerline is valid? [True, True] Translation: X:81.23, Y:15.03, Z:-2.69 [[ 9.35685556e-01 -3.24759625e-01 -1.37926526e-01 8.12290694e+01] [ 3.20243765e-01 9.45772725e-01 -5.43864233e-02 1.50346865e+01] [ 1.48109661e-01 6.71848081e-03 9.88948123e-01 -2.68616651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.087719421 meters Centerline goodness : 0.960846 Centerline is valid? [True, True] Translation: X:81.25, Y:15.04, Z:-2.68 [[ 9.35903458e-01 -3.24328666e-01 -1.37461389e-01 8.12542869e+01] [ 3.19832578e-01 9.45919993e-01 -5.42447087e-02 1.50430764e+01] [ 1.47620590e-01 6.80317989e-03 9.89020666e-01 -2.68199220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.117719421 meters Centerline goodness : 0.961447 Centerline is valid? [True, True] Translation: X:81.28, Y:15.05, Z:-2.68 [[ 9.36000429e-01 -3.24020514e-01 -1.37527826e-01 8.12800700e+01] [ 3.19513838e-01 9.46025083e-01 -5.42904235e-02 1.50517724e+01] [ 1.47695984e-01 6.87381617e-03 9.89008922e-01 -2.67825134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.147719421 meters Centerline goodness : 0.958642 Centerline is valid? [True, True] Translation: X:81.31, Y:15.06, Z:-2.68 [[ 9.35638841e-01 -3.23978985e-01 -1.40062758e-01 8.13053262e+01] [ 3.19299494e-01 9.46038142e-01 -5.53142604e-02 1.50631411e+01] [ 1.50425369e-01 7.03220271e-03 9.88596357e-01 -2.67533271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.177719421 meters Centerline goodness : 0.959020 Centerline is valid? [True, True] Translation: X:81.33, Y:15.07, Z:-2.67 [[ 9.35691897e-01 -3.23521595e-01 -1.40763817e-01 8.13306705e+01] [ 3.18783104e-01 9.46193521e-01 -5.56341072e-02 1.50717669e+01] [ 1.51188646e-01 7.18325686e-03 9.88478828e-01 -2.67168381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.207719421 meters Centerline goodness : 0.958990 Centerline is valid? [True, True] Translation: X:81.36, Y:15.08, Z:-2.67 [[ 9.35911846e-01 -3.23088038e-01 -1.40296600e-01 8.13576711e+01] [ 3.18371427e-01 9.46341069e-01 -5.54816676e-02 1.50806382e+01] [ 1.50693897e-01 7.25952140e-03 9.88553817e-01 -2.66792657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.237719421 meters Centerline goodness : 0.960691 Centerline is valid? [True, True] Translation: X:81.38, Y:15.09, Z:-2.66 [[ 9.36439199e-01 -3.22683289e-01 -1.37684864e-01 8.13843183e+01] [ 3.18131312e-01 9.46479422e-01 -5.44901058e-02 1.50889805e+01] [ 1.47898937e-01 7.22480458e-03 9.88976090e-01 -2.66366951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26771942099998 meters Centerline goodness : 0.961505 Centerline is valid? [True, True] Translation: X:81.41, Y:15.10, Z:-2.66 [[ 9.36899629e-01 -3.22228372e-01 -1.35602217e-01 8.14090003e+01] [ 3.17803295e-01 9.46634413e-01 -5.37061720e-02 1.50983470e+01] [ 1.45671377e-01 7.22246120e-03 9.89306669e-01 -2.65986473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29771942099998 meters Centerline goodness : 0.960381 Centerline is valid? [True, True] Translation: X:81.44, Y:15.11, Z:-2.65 [[ 9.37277423e-01 -3.21294319e-01 -1.35207222e-01 8.14355509e+01] [ 3.16881054e-01 9.46950671e-01 -5.35800732e-02 1.51070532e+01] [ 1.45249543e-01 7.37478579e-03 9.89367567e-01 -2.65489532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32771942099998 meters Centerline goodness : 0.961433 Centerline is valid? [True, True] Translation: X:81.46, Y:15.12, Z:-2.65 [[ 9.37157601e-01 -3.21497700e-01 -1.35553899e-01 8.14603275e+01] [ 3.17057957e-01 9.46881443e-01 -5.37567098e-02 1.51163150e+01] [ 1.45636131e-01 7.40006673e-03 9.89310546e-01 -2.65170430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35771942099998 meters Centerline goodness : 0.960637 Centerline is valid? [True, True] Translation: X:81.49, Y:15.12, Z:-2.65 [[ 9.36489646e-01 -3.23693963e-01 -1.34942066e-01 8.14862832e+01] [ 3.19314423e-01 9.46135619e-01 -5.35321381e-02 1.51245366e+01] [ 1.45001525e-01 7.04334522e-03 9.89406362e-01 -2.64882162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38771942099999 meters Centerline goodness : 0.960673 Centerline is valid? [True, True] Translation: X:81.51, Y:15.13, Z:-2.65 [[ 9.34976782e-01 -3.28456910e-01 -1.33919663e-01 8.15117774e+01] [ 3.24189749e-01 9.44498124e-01 -5.31441533e-02 1.51323503e+01] [ 1.43942435e-01 6.27316762e-03 9.89566179e-01 -2.64528227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.417719421 meters Centerline goodness : 0.960920 Centerline is valid? [True, True] Translation: X:81.54, Y:15.14, Z:-2.64 [[ 9.34068383e-01 -3.31070604e-01 -1.33822685e-01 8.15377817e+01] [ 3.26833345e-01 9.43587631e-01 -5.31257705e-02 1.51424012e+01] [ 1.43861811e-01 5.88538675e-03 9.89580285e-01 -2.64220577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.447719421 meters Centerline goodness : 0.958219 Centerline is valid? [True, True] Translation: X:81.56, Y:15.15, Z:-2.64 [[ 9.32746689e-01 -3.33916088e-01 -1.35954624e-01 8.15628803e+01] [ 3.29566119e-01 9.42586332e-01 -5.40109185e-02 1.51506701e+01] [ 1.46184085e-01 5.57246778e-03 9.89241710e-01 -2.63773940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.477719421 meters Centerline goodness : 0.960272 Centerline is valid? [True, True] Translation: X:81.59, Y:15.16, Z:-2.63 [[ 9.32096200e-01 -3.35607931e-01 -1.36249738e-01 8.15884468e+01] [ 3.31253797e-01 9.41986632e-01 -5.41489409e-02 1.51608231e+01] [ 1.46518245e-01 5.33877921e-03 9.89193561e-01 -2.63479654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.507719421 meters Centerline goodness : 0.957977 Centerline is valid? [True, True] Translation: X:81.61, Y:15.17, Z:-2.63 [[ 9.32211771e-01 -3.34458976e-01 -1.38269330e-01 8.16135769e+01] [ 3.29955617e-01 9.42393436e-01 -5.49900193e-02 1.51698573e+01] [ 1.48696015e-01 5.63960105e-03 9.88866872e-01 -2.63194073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.537719421 meters Centerline goodness : 0.957296 Centerline is valid? [True, True] Translation: X:81.64, Y:15.18, Z:-2.63 [[ 9.32653766e-01 -3.33035701e-01 -1.38723374e-01 8.16392781e+01] [ 3.28483678e-01 9.42895718e-01 -5.51918317e-02 1.51795968e+01] [ 1.49182525e-01 5.90650574e-03 9.88792034e-01 -2.62797930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.567719421 meters Centerline goodness : 0.958803 Centerline is valid? [True, True] Translation: X:81.67, Y:15.19, Z:-2.62 [[ 9.33970510e-01 -3.29222066e-01 -1.38967324e-01 8.16655392e+01] [ 3.24605648e-01 9.44229685e-01 -5.53305976e-02 1.51880317e+01] [ 1.49433126e-01 6.56756813e-03 9.88750023e-01 -2.62412511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.597719421 meters Centerline goodness : 0.960831 Centerline is valid? [True, True] Translation: X:81.69, Y:15.20, Z:-2.62 [[ 9.35315690e-01 -3.25756275e-01 -1.38084787e-01 8.16907740e+01] [ 3.21154895e-01 9.45427004e-01 -5.50210259e-02 1.51983315e+01] [ 1.48472531e-01 7.11542343e-03 9.88890933e-01 -2.62190923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.627719421 meters Centerline goodness : 0.961284 Centerline is valid? [True, True] Translation: X:81.72, Y:15.21, Z:-2.62 [[ 9.36046531e-01 -3.24013313e-01 -1.37230699e-01 8.17174554e+01] [ 3.19447049e-01 9.46023836e-01 -5.47036131e-02 1.52079569e+01] [ 1.47548211e-01 7.36718547e-03 9.89027426e-01 -2.61883935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.657719421 meters Centerline goodness : 0.962569 Centerline is valid? [True, True] Translation: X:81.74, Y:15.22, Z:-2.61 [[ 9.36975040e-01 -3.22171383e-01 -1.35216032e-01 8.17430900e+01] [ 3.17713906e-01 9.46650994e-01 -5.39422729e-02 1.52160895e+01] [ 1.45381047e-01 7.58254975e-03 9.89346681e-01 -2.61457155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.687719421 meters Centerline goodness : 0.961727 Centerline is valid? [True, True] Translation: X:81.77, Y:15.23, Z:-2.61 [[ 9.36919917e-01 -3.22121284e-01 -1.35716422e-01 8.17691490e+01] [ 3.17625270e-01 9.46667502e-01 -5.41740621e-02 1.52258285e+01] [ 1.45928945e-01 7.64979248e-03 9.89265497e-01 -2.61075888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.717719421 meters Centerline goodness : 0.962161 Centerline is valid? [True, True] Translation: X:81.79, Y:15.23, Z:-2.61 [[ 9.36949247e-01 -3.22102752e-01 -1.35557835e-01 8.17944037e+01] [ 3.17610816e-01 9.46673527e-01 -5.41535138e-02 1.52346657e+01] [ 1.45772009e-01 7.68445933e-03 9.89288366e-01 -2.60831409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.747719421 meters Centerline goodness : 0.963332 Centerline is valid? [True, True] Translation: X:81.82, Y:15.24, Z:-2.61 [[ 9.36630247e-01 -3.22884718e-01 -1.35901578e-01 8.18202210e+01] [ 3.18374550e-01 9.46407750e-01 -5.43140599e-02 1.52447660e+01] [ 1.46155487e-01 7.60458751e-03 9.89232401e-01 -2.60537217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.777719421 meters Centerline goodness : 0.963195 Centerline is valid? [True, True] Translation: X:81.85, Y:15.25, Z:-2.60 [[ 9.35581297e-01 -3.25435771e-01 -1.37037202e-01 8.18459023e+01] [ 3.20870145e-01 9.45535902e-01 -5.48106607e-02 1.52513542e+01] [ 1.47410944e-01 7.30868231e-03 9.89048329e-01 -2.60018001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.807719421 meters Centerline goodness : 0.964071 Centerline is valid? [True, True] Translation: X:81.87, Y:15.26, Z:-2.60 [[ 9.34877494e-01 -3.27538883e-01 -1.36829644e-01 8.18722946e+01] [ 3.23006051e-01 9.44811855e-01 -5.47508002e-02 1.52602123e+01] [ 1.47211285e-01 6.98848804e-03 9.89080380e-01 -2.59659298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.837719421 meters Centerline goodness : 0.963717 Centerline is valid? [True, True] Translation: X:81.90, Y:15.27, Z:-2.59 [[ 9.33432979e-01 -3.31574603e-01 -1.36971369e-01 8.18990333e+01] [ 3.27068618e-01 9.43407278e-01 -5.48527736e-02 1.52687182e+01] [ 1.47407573e-01 6.40235163e-03 9.89055113e-01 -2.59170327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.867719421 meters Centerline goodness : 0.962179 Centerline is valid? [True, True] Translation: X:81.93, Y:15.28, Z:-2.59 [[ 9.32763250e-01 -3.33325118e-01 -1.37284688e-01 8.19253391e+01] [ 3.28810369e-01 9.42791668e-01 -5.50237351e-02 1.52786166e+01] [ 1.47771653e-01 6.18348902e-03 9.89002175e-01 -2.58856897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.897719421 meters Centerline goodness : 0.963197 Centerline is valid? [True, True] Translation: X:81.95, Y:15.29, Z:-2.58 [[ 9.31748647e-01 -3.35743500e-01 -1.38277841e-01 8.19507115e+01] [ 3.31182563e-01 9.41935067e-01 -5.54656609e-02 1.52860827e+01] [ 1.48870983e-01 5.88484463e-03 9.88839117e-01 -2.58452146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.927719421 meters Centerline goodness : 0.962239 Centerline is valid? [True, True] Translation: X:81.98, Y:15.30, Z:-2.58 [[ 9.31573739e-01 -3.36743700e-01 -1.37018425e-01 8.19773418e+01] [ 3.32271929e-01 9.41579079e-01 -5.49927460e-02 1.52961066e+01] [ 1.47532143e-01 5.70242152e-03 9.89040823e-01 -2.58158839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.957719421 meters Centerline goodness : 0.964735 Centerline is valid? [True, True] Translation: X:82.00, Y:15.31, Z:-2.58 [[ 9.31598384e-01 -3.37064867e-01 -1.36057808e-01 8.20031098e+01] [ 3.32652883e-01 9.41464456e-01 -5.46510626e-02 1.53059731e+01] [ 1.46514543e-01 5.65281953e-03 9.89192365e-01 -2.57777550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.987719421 meters Centerline goodness : 0.965663 Centerline is valid? [True, True] Translation: X:82.03, Y:15.32, Z:-2.58 [[ 9.31758161e-01 -3.36822986e-01 -1.35561810e-01 8.20279383e+01] [ 3.32434493e-01 9.41550673e-01 -5.44943867e-02 1.53156169e+01] [ 1.45993276e-01 5.71016798e-03 9.89269103e-01 -2.57569967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01771942099998 meters Centerline goodness : 0.964613 Centerline is valid? [True, True] Translation: X:82.05, Y:15.32, Z:-2.57 [[ 9.32338755e-01 -3.34527992e-01 -1.37242373e-01 8.20545364e+01] [ 3.30001045e-01 9.42365621e-01 -5.51937139e-02 1.53244225e+01] [ 1.47796336e-01 6.16911198e-03 9.88998577e-01 -2.57138631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04771942099998 meters Centerline goodness : 0.965097 Centerline is valid? [True, True] Translation: X:82.08, Y:15.33, Z:-2.57 [[ 9.32741203e-01 -3.33564469e-01 -1.36852447e-01 8.20813862e+01] [ 3.29046345e-01 9.42705928e-01 -5.50820892e-02 1.53336643e+01] [ 1.47385041e-01 6.34653656e-03 9.89058831e-01 -2.56779392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07771942099998 meters Centerline goodness : 0.965097 Centerline is valid? [True, True] Translation: X:82.11, Y:15.34, Z:-2.56 [[ 9.32652814e-01 -3.33817949e-01 -1.36836781e-01 8.21076605e+01] [ 3.29296839e-01 9.42616183e-01 -5.51209820e-02 1.53444786e+01] [ 1.47384938e-01 6.34881948e-03 9.89058832e-01 -2.56414904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10771942099998 meters Centerline goodness : 0.965774 Centerline is valid? [True, True] Translation: X:82.13, Y:15.35, Z:-2.56 [[ 9.32945258e-01 -3.32205517e-01 -1.38753882e-01 8.21335590e+01] [ 3.27532149e-01 9.43182968e-01 -5.59337133e-02 1.53520335e+01] [ 1.49451786e-01 6.73673566e-03 9.88746065e-01 -2.55805223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13771942099999 meters Centerline goodness : 0.967481 Centerline is valid? [True, True] Translation: X:82.16, Y:15.36, Z:-2.55 [[ 9.32852687e-01 -3.32345963e-01 -1.39039653e-01 8.21592441e+01] [ 3.27651094e-01 9.43133384e-01 -5.60729883e-02 1.53616985e+01] [ 1.49768570e-01 6.75134345e-03 9.88698030e-01 -2.55420581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.167719421 meters Centerline goodness : 0.965205 Centerline is valid? [True, True] Translation: X:82.18, Y:15.37, Z:-2.55 [[ 9.32983766e-01 -3.31917372e-01 -1.39183876e-01 8.21847536e+01] [ 3.27201386e-01 9.43283456e-01 -5.61744997e-02 1.53703044e+01] [ 1.49935140e-01 6.86873896e-03 9.88671975e-01 -2.55186523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.197719421 meters Centerline goodness : 0.965209 Centerline is valid? [True, True] Translation: X:82.21, Y:15.38, Z:-2.55 [[ 9.33200925e-01 -3.31937021e-01 -1.37672972e-01 8.22099024e+01] [ 3.27320759e-01 9.43276979e-01 -5.55847312e-02 1.53812528e+01] [ 1.48314375e-01 6.80850097e-03 9.88916827e-01 -2.55200138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.227719421 meters Centerline goodness : 0.965603 Centerline is valid? [True, True] Translation: X:82.24, Y:15.39, Z:-2.55 [[ 9.33086647e-01 -3.32584989e-01 -1.36881458e-01 8.22359773e+01] [ 3.28025466e-01 9.43049571e-01 -5.52883448e-02 1.53919833e+01] [ 1.47474074e-01 6.68821227e-03 9.89043308e-01 -2.54895854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.257719421 meters Centerline goodness : 0.969015 Centerline is valid? [True, True] Translation: X:82.26, Y:15.40, Z:-2.54 [[ 9.32746912e-01 -3.34596513e-01 -1.34269770e-01 8.22622299e+01] [ 3.30224712e-01 9.42340512e-01 -5.42770610e-02 1.53996568e+01] [ 1.44688759e-01 6.28756484e-03 9.89457240e-01 -2.54156821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.287719421 meters Centerline goodness : 0.969030 Centerline is valid? [True, True] Translation: X:82.29, Y:15.41, Z:-2.54 [[ 9.32380031e-01 -3.36103986e-01 -1.33047314e-01 8.22888821e+01] [ 3.31820863e-01 9.41805524e-01 -5.38263010e-02 1.54089198e+01] [ 1.43395930e-01 6.03869357e-03 9.89646978e-01 -2.53709486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.317719421 meters Centerline goodness : 0.968227 Centerline is valid? [True, True] Translation: X:82.31, Y:15.42, Z:-2.53 [[ 9.31936417e-01 -3.37415965e-01 -1.32834409e-01 8.23147094e+01] [ 3.33153581e-01 9.41337361e-01 -5.37835027e-02 1.54193243e+01] [ 1.43189404e-01 5.86854597e-03 9.89677905e-01 -2.53275925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.347719421 meters Centerline goodness : 0.968895 Centerline is valid? [True, True] Translation: X:82.34, Y:15.43, Z:-2.53 [[ 9.31600833e-01 -3.38803136e-01 -1.31652283e-01 8.23401108e+01] [ 3.34624379e-01 9.40840356e-01 -5.33474445e-02 1.54323149e+01] [ 1.41938062e-01 5.64446027e-03 9.89859448e-01 -2.53172270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.377719421 meters Centerline goodness : 0.969629 Centerline is valid? [True, True] Translation: X:82.36, Y:15.44, Z:-2.53 [[ 9.31325386e-01 -3.39396906e-01 -1.32071064e-01 8.23646999e+01] [ 3.35191361e-01 9.40626522e-01 -5.35583504e-02 1.54439524e+01] [ 1.42407084e-01 5.61117177e-03 9.89792270e-01 -2.52997464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.407719421 meters Centerline goodness : 0.968634 Centerline is valid? [True, True] Translation: X:82.39, Y:15.45, Z:-2.53 [[ 9.30971860e-01 -3.39519176e-01 -1.34231607e-01 8.23910550e+01] [ 3.35172019e-01 9.40581818e-01 -5.44569660e-02 1.54547242e+01] [ 1.44744993e-01 5.70722416e-03 9.89452533e-01 -2.52689406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.437719421 meters Centerline goodness : 0.969885 Centerline is valid? [True, True] Translation: X:82.42, Y:15.46, Z:-2.52 [[ 9.30729538e-01 -3.39609023e-01 -1.35676967e-01 8.24177004e+01] [ 3.35161331e-01 9.40548818e-01 -5.50890433e-02 1.54640495e+01] [ 1.46319547e-01 5.79932698e-03 9.89220379e-01 -2.52175847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.467719421 meters Centerline goodness : 0.970372 Centerline is valid? [True, True] Translation: X:82.44, Y:15.47, Z:-2.52 [[ 9.30751950e-01 -3.39456562e-01 -1.35904562e-01 8.24433110e+01] [ 3.34985538e-01 9.40603377e-01 -5.52265887e-02 1.54745501e+01] [ 1.46579317e-01 5.87619246e-03 9.89181467e-01 -2.51880972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.497719421 meters Centerline goodness : 0.970329 Centerline is valid? [True, True] Translation: X:82.47, Y:15.49, Z:-2.52 [[ 9.31083789e-01 -3.37757204e-01 -1.37851548e-01 8.24676564e+01] [ 3.33131424e-01 9.41212360e-01 -5.60602052e-02 1.54852987e+01] [ 1.48682319e-01 6.27406584e-03 9.88865109e-01 -2.51628094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.527719421 meters Centerline goodness : 0.968240 Centerline is valid? [True, True] Translation: X:82.49, Y:15.50, Z:-2.51 [[ 9.31336710e-01 -3.37035577e-01 -1.37909217e-01 8.24934660e+01] [ 3.32394551e-01 9.41470063e-01 -5.61068934e-02 1.54959335e+01] [ 1.48747418e-01 6.41413729e-03 9.88854420e-01 -2.51406131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.557719421 meters Centerline goodness : 0.968645 Centerline is valid? [True, True] Translation: X:82.52, Y:15.51, Z:-2.51 [[ 9.32170122e-01 -3.34869930e-01 -1.37553602e-01 8.25196330e+01] [ 3.30222857e-01 9.42239937e-01 -5.60068279e-02 1.55053325e+01] [ 1.48363500e-01 6.78454804e-03 9.88909623e-01 -2.51038303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.587719421 meters Centerline goodness : 0.970107 Centerline is valid? [True, True] Translation: X:82.54, Y:15.51, Z:-2.50 [[ 9.32298692e-01 -3.35362633e-01 -1.35466062e-01 8.25448325e+01] [ 3.30855475e-01 9.42065705e-01 -5.51983903e-02 1.55135320e+01] [ 1.46129409e-01 6.64169858e-03 9.89243187e-01 -2.50499830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.617719421 meters Centerline goodness : 0.970686 Centerline is valid? [True, True] Translation: X:82.57, Y:15.52, Z:-2.50 [[ 9.32148644e-01 -3.36412540e-01 -1.33886177e-01 8.25708597e+01] [ 3.32018073e-01 9.41692823e-01 -5.45767943e-02 1.55235462e+01] [ 1.44439970e-01 6.42105424e-03 9.89492731e-01 -2.50107215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.647719421 meters Centerline goodness : 0.969184 Centerline is valid? [True, True] Translation: X:82.60, Y:15.53, Z:-2.50 [[ 9.32023105e-01 -3.37121584e-01 -1.32973567e-01 8.25955841e+01] [ 3.32788317e-01 9.41439993e-01 -5.42464305e-02 1.55337490e+01] [ 1.43474277e-01 6.30687711e-03 9.89633950e-01 -2.49777804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.677719421 meters Centerline goodness : 0.968957 Centerline is valid? [True, True] Translation: X:82.62, Y:15.54, Z:-2.50 [[ 9.31863738e-01 -3.37905193e-01 -1.32098651e-01 8.26215191e+01] [ 3.33633795e-01 9.41159959e-01 -5.39112393e-02 1.55447935e+01] [ 1.42542848e-01 6.16535481e-03 9.89769430e-01 -2.49539162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.707719421 meters Centerline goodness : 0.967359 Centerline is valid? [True, True] Translation: X:82.65, Y:15.56, Z:-2.49 [[ 9.31907443e-01 -3.37978380e-01 -1.31602176e-01 8.26469594e+01] [ 3.33733603e-01 9.41133632e-01 -5.37528511e-02 1.55556791e+01] [ 1.42022536e-01 6.17261359e-03 9.89844179e-01 -2.49188192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.737719421 meters Centerline goodness : 0.965920 Centerline is valid? [True, True] Translation: X:82.67, Y:15.57, Z:-2.49 [[ 9.32079929e-01 -3.37531279e-01 -1.31528104e-01 8.26727700e+01] [ 3.33280569e-01 9.41293371e-01 -5.37666500e-02 1.55670232e+01] [ 1.41954458e-01 6.27905402e-03 9.89853275e-01 -2.48901343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76771942099998 meters Centerline goodness : 0.966262 Centerline is valid? [True, True] Translation: X:82.70, Y:15.58, Z:-2.49 [[ 9.32180307e-01 -3.37396652e-01 -1.31161632e-01 8.26988481e+01] [ 3.33162171e-01 9.41341339e-01 -5.36605216e-02 1.55775513e+01] [ 1.41572746e-01 6.32318759e-03 9.89907660e-01 -2.48545496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79771942099998 meters Centerline goodness : 0.964588 Centerline is valid? [True, True] Translation: X:82.72, Y:15.59, Z:-2.48 [[ 9.31174359e-01 -3.39964983e-01 -1.31674310e-01 8.27247060e+01] [ 3.35716285e-01 9.40418965e-01 -5.39142467e-02 1.55881231e+01] [ 1.42157975e-01 5.99835386e-03 9.89825808e-01 -2.48158914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82771942099998 meters Centerline goodness : 0.963617 Centerline is valid? [True, True] Translation: X:82.75, Y:15.60, Z:-2.48 [[ 9.29768497e-01 -3.43450373e-01 -1.32560870e-01 8.27496968e+01] [ 3.39172669e-01 9.39154456e-01 -5.43213458e-02 1.55999029e+01] [ 1.43151818e-01 5.54525181e-03 9.89685206e-01 -2.47870213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85771942099998 meters Centerline goodness : 0.963329 Centerline is valid? [True, True] Translation: X:82.77, Y:15.61, Z:-2.48 [[ 9.29296626e-01 -3.44480025e-01 -1.33196445e-01 8.27745027e+01] [ 3.40165460e-01 9.38777815e-01 -5.46230074e-02 1.56107366e+01] [ 1.43858402e-01 5.45214656e-03 9.89583263e-01 -2.47601536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88771942099999 meters Centerline goodness : 0.961879 Centerline is valid? [True, True] Translation: X:82.80, Y:15.62, Z:-2.47 [[ 9.28346541e-01 -3.46491284e-01 -1.34597509e-01 8.27990239e+01] [ 3.42103043e-01 9.38038700e-01 -5.52168960e-02 1.56226543e+01] [ 1.45389846e-01 5.21419685e-03 9.89360705e-01 -2.47411435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.917719421 meters Centerline goodness : 0.962143 Centerline is valid? [True, True] Translation: X:82.82, Y:15.63, Z:-2.47 [[ 9.27965256e-01 -3.47187685e-01 -1.35429669e-01 8.28247792e+01] [ 3.42748740e-01 9.37781479e-01 -5.55805704e-02 1.56338475e+01] [ 1.46300324e-01 5.15849002e-03 9.89226771e-01 -2.47038319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.947719421 meters Centerline goodness : 0.962810 Centerline is valid? [True, True] Translation: X:82.85, Y:15.64, Z:-2.47 [[ 9.27738946e-01 -3.47273725e-01 -1.36753089e-01 8.28491937e+01] [ 3.42741839e-01 9.37749195e-01 -5.61647575e-02 1.56445618e+01] [ 1.47744644e-01 5.23522780e-03 9.89011685e-01 -2.46605796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.977719421 meters Centerline goodness : 0.963041 Centerline is valid? [True, True] Translation: X:82.88, Y:15.66, Z:-2.46 [[ 9.27985770e-01 -3.46440691e-01 -1.37190593e-01 8.28750590e+01] [ 3.41867155e-01 9.38056296e-01 -5.63669602e-02 1.56557683e+01] [ 1.48220308e-01 5.40677941e-03 9.88939587e-01 -2.46172949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.007719421 meters Centerline goodness : 0.961158 Centerline is valid? [True, True] Translation: X:82.90, Y:15.67, Z:-2.46 [[ 9.28084636e-01 -3.45327554e-01 -1.39311842e-01 8.29005031e+01] [ 3.40591300e-01 9.38464820e-01 -5.72830551e-02 1.56676319e+01] [ 1.50520680e-01 5.71512178e-03 9.88590341e-01 -2.45907609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.037719421 meters Centerline goodness : 0.962507 Centerline is valid? [True, True] Translation: X:82.92, Y:15.68, Z:-2.46 [[ 9.28211568e-01 -3.44765261e-01 -1.39857785e-01 8.29247810e+01] [ 3.39979052e-01 9.38670593e-01 -5.75479063e-02 1.56785470e+01] [ 1.51120909e-01 5.86791520e-03 9.88497870e-01 -2.45619967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.067719421 meters Centerline goodness : 0.962600 Centerline is valid? [True, True] Translation: X:82.95, Y:15.69, Z:-2.45 [[ 9.28843973e-01 -3.44152481e-01 -1.37142058e-01 8.29499626e+01] [ 3.39541625e-01 9.38895422e-01 -5.64523874e-02 1.56901922e+01] [ 1.48190280e-01 5.87002241e-03 9.88941446e-01 -2.45356702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.097719421 meters Centerline goodness : 0.961557 Centerline is valid? [True, True] Translation: X:82.97, Y:15.70, Z:-2.45 [[ 9.29142101e-01 -3.44049978e-01 -1.35368274e-01 8.29740260e+01] [ 3.39551151e-01 9.38933125e-01 -5.57638099e-02 1.57013716e+01] [ 1.46287294e-01 5.84805019e-03 9.89224862e-01 -2.44968696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.127719421 meters Centerline goodness : 0.962756 Centerline is valid? [True, True] Translation: X:83.00, Y:15.71, Z:-2.45 [[ 9.29116247e-01 -3.44693882e-01 -1.33899690e-01 8.29990637e+01] [ 3.40294839e-01 9.38697766e-01 -5.51899188e-02 1.57126883e+01] [ 1.44714967e-01 5.71247687e-03 9.89456894e-01 -2.44603524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.157719421 meters Centerline goodness : 0.963197 Centerline is valid? [True, True] Translation: X:83.03, Y:15.72, Z:-2.44 [[ 9.28632072e-01 -3.45977776e-01 -1.33947205e-01 8.30252190e+01] [ 3.41582176e-01 9.38226247e-01 -5.52551012e-02 1.57234353e+01] [ 1.44789820e-01 5.55768147e-03 9.89446825e-01 -2.44184359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.187719421 meters Centerline goodness : 0.962609 Centerline is valid? [True, True] Translation: X:83.05, Y:15.73, Z:-2.44 [[ 9.27318750e-01 -3.50096063e-01 -1.32335492e-01 8.30492035e+01] [ 3.45841805e-01 9.36701017e-01 -5.46319611e-02 1.57348709e+01] [ 1.43085225e-01 4.89409629e-03 9.89698270e-01 -2.43870632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.217719421 meters Centerline goodness : 0.962106 Centerline is valid? [True, True] Translation: X:83.07, Y:15.75, Z:-2.44 [[ 9.26581438e-01 -3.52055617e-01 -1.32301479e-01 8.30736691e+01] [ 3.47820604e-01 9.35967736e-01 -5.46372111e-02 1.57456758e+01] [ 1.43065253e-01 4.60864530e-03 9.89702528e-01 -2.43546987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.247719421 meters Centerline goodness : 0.962637 Centerline is valid? [True, True] Translation: X:83.10, Y:15.76, Z:-2.43 [[ 9.23901126e-01 -3.59588040e-01 -1.30779013e-01 8.30991034e+01] [ 3.55522754e-01 9.33104895e-01 -5.40261596e-02 1.57554165e+01] [ 1.41457698e-01 3.41991469e-03 9.89938394e-01 -2.43213679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.277719421 meters Centerline goodness : 0.961974 Centerline is valid? [True, True] Translation: X:83.12, Y:15.77, Z:-2.43 [[ 9.20263309e-01 -3.68779355e-01 -1.30832829e-01 8.31249312e+01] [ 3.64799851e-01 9.29514749e-01 -5.40684776e-02 1.57653806e+01] [ 1.41550382e-01 2.02943960e-03 9.89928973e-01 -2.42970170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.307719421 meters Centerline goodness : 0.960789 Centerline is valid? [True, True] Translation: X:83.15, Y:15.78, Z:-2.43 [[ 9.18732556e-01 -3.72226967e-01 -1.31824033e-01 8.31497043e+01] [ 3.68215987e-01 9.28140446e-01 -5.45187947e-02 1.57758802e+01] [ 1.42644582e-01 1.54847524e-03 9.89772765e-01 -2.42658780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.337719421 meters Centerline goodness : 0.960575 Centerline is valid? [True, True] Translation: X:83.18, Y:15.79, Z:-2.42 [[ 9.16055702e-01 -3.78484627e-01 -1.32632342e-01 8.31751576e+01] [ 3.74485992e-01 9.25607383e-01 -5.48745272e-02 1.57889628e+01] [ 1.43534640e-01 5.99169471e-04 9.89645112e-01 -2.42432074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.367719421 meters Centerline goodness : 0.960914 Centerline is valid? [True, True] Translation: X:83.20, Y:15.80, Z:-2.42 [[ 9.15251791e-01 -3.80440816e-01 -1.32585609e-01 8.31999818e+01] [ 3.76459560e-01 9.24805210e-01 -5.48955678e-02 1.58000417e+01] [ 1.43500376e-01 3.30146714e-04 9.89650207e-01 -2.41993806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.397719421 meters Centerline goodness : 0.960816 Centerline is valid? [True, True] Translation: X:83.23, Y:15.81, Z:-2.42 [[ 9.14949686e-01 -3.81294239e-01 -1.32218667e-01 8.32260362e+01] [ 3.77340919e-01 9.24453707e-01 -5.47647145e-02 1.58109603e+01] [ 1.43111507e-01 2.15445129e-04 9.89706548e-01 -2.41568919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.427719421 meters Centerline goodness : 0.960727 Centerline is valid? [True, True] Translation: X:83.25, Y:15.82, Z:-2.41 [[ 9.13761146e-01 -3.84206155e-01 -1.32008330e-01 8.32505642e+01] [ 3.80289537e-01 9.23247307e-01 -5.47199900e-02 1.58233967e+01] [ 1.42900092e-01 -2.00386043e-04 9.89737098e-01 -2.41202659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.457719421 meters Centerline goodness : 0.960773 Centerline is valid? [True, True] Translation: X:83.27, Y:15.84, Z:-2.41 [[ 9.12320709e-01 -3.86802742e-01 -1.34367269e-01 8.32732996e+01] [ 3.82765955e-01 9.22162298e-01 -5.57397511e-02 1.58375483e+01] [ 1.45468718e-01 -5.78686798e-04 9.89362682e-01 -2.40852917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.487719421 meters Centerline goodness : 0.959408 Centerline is valid? [True, True] Translation: X:83.30, Y:15.85, Z:-2.41 [[ 9.11250409e-01 -3.89218521e-01 -1.34653759e-01 8.32981484e+01] [ 3.85187327e-01 9.21144966e-01 -5.58808928e-02 1.58508837e+01] [ 1.45785510e-01 -9.45435019e-04 9.89315769e-01 -2.40629150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51771942099998 meters Centerline goodness : 0.958422 Centerline is valid? [True, True] Translation: X:83.32, Y:15.86, Z:-2.40 [[ 9.09392715e-01 -3.92859447e-01 -1.36624829e-01 8.33216341e+01] [ 3.88743240e-01 9.19597286e-01 -5.67408641e-02 1.58643036e+01] [ 1.47931006e-01 -1.51225008e-03 9.88996527e-01 -2.40077388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54771942099998 meters Centerline goodness : 0.958765 Centerline is valid? [True, True] Translation: X:83.35, Y:15.88, Z:-2.40 [[ 9.08186267e-01 -3.95715057e-01 -1.36408573e-01 8.33471727e+01] [ 3.91640507e-01 9.18371265e-01 -5.66739158e-02 1.58767189e+01] [ 1.47700435e-01 -1.95265060e-03 9.89030216e-01 -2.39675114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57771942099998 meters Centerline goodness : 0.958497 Centerline is valid? [True, True] Translation: X:83.37, Y:15.89, Z:-2.39 [[ 9.05554496e-01 -4.02282665e-01 -1.34683750e-01 8.33697372e+01] [ 3.98376912e-01 9.15510778e-01 -5.59986809e-02 1.58912503e+01] [ 1.45831724e-01 -2.94503926e-03 9.89305026e-01 -2.39373113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60771942099998 meters Centerline goodness : 0.958677 Centerline is valid? [True, True] Translation: X:83.39, Y:15.90, Z:-2.39 [[ 9.04163339e-01 -4.05631378e-01 -1.33984487e-01 8.33934002e+01] [ 4.01799854e-01 9.14030249e-01 -5.57277328e-02 1.59040274e+01] [ 1.45070791e-01 -3.44797436e-03 9.89415270e-01 -2.39092095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63771942099999 meters Centerline goodness : 0.958769 Centerline is valid? [True, True] Translation: X:83.42, Y:15.92, Z:-2.39 [[ 9.01942322e-01 -4.10870483e-01 -1.32986817e-01 8.34167166e+01] [ 4.07148845e-01 9.11683893e-01 -5.53380191e-02 1.59212986e+01] [ 1.43978697e-01 -4.23372733e-03 9.89571731e-01 -2.38843398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.667719421 meters Centerline goodness : 0.959028 Centerline is valid? [True, True] Translation: X:83.44, Y:15.94, Z:-2.39 [[ 9.01159812e-01 -4.12847098e-01 -1.32167572e-01 8.34391863e+01] [ 4.09186707e-01 9.10789310e-01 -5.50370082e-02 1.59366276e+01] [ 1.43098681e-01 -4.48407377e-03 9.89698267e-01 -2.38586084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.697719421 meters Centerline goodness : 0.955532 Centerline is valid? [True, True] Translation: X:83.46, Y:15.96, Z:-2.38 [[ 9.00846906e-01 -4.13820824e-01 -1.31252341e-01 8.34614994e+01] [ 4.10217254e-01 9.10346833e-01 -5.46849879e-02 1.59562004e+01] [ 1.42114940e-01 -4.57917288e-03 9.89839570e-01 -2.38248285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.727719421 meters Centerline goodness : 0.954379 Centerline is valid? [True, True] Translation: X:83.49, Y:15.97, Z:-2.38 [[ 9.01130395e-01 -4.13008808e-01 -1.31862564e-01 8.34859654e+01] [ 4.09356872e-01 9.10716237e-01 -5.49807838e-02 1.59702493e+01] [ 1.42796926e-01 -4.43399121e-03 9.89742076e-01 -2.37721524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.757719421 meters Centerline goodness : 0.953866 Centerline is valid? [True, True] Translation: X:83.51, Y:15.99, Z:-2.37 [[ 9.01452269e-01 -4.12235293e-01 -1.32082817e-01 8.35064941e+01] [ 4.08556585e-01 9.11067371e-01 -5.51159055e-02 1.59894235e+01] [ 1.43057066e-01 -4.27894651e-03 9.89705192e-01 -2.37231263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.787719421 meters Centerline goodness : 0.952744 Centerline is valid? [True, True] Translation: X:83.53, Y:16.01, Z:-2.37 [[ 9.01412484e-01 -4.12282374e-01 -1.32207332e-01 8.35299962e+01] [ 4.08593922e-01 9.11046110e-01 -5.51905140e-02 1.60070823e+01] [ 1.43201051e-01 -4.26969389e-03 9.89684409e-01 -2.36998898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.817719421 meters Centerline goodness : 0.949169 Centerline is valid? [True, False] Translation: X:83.50, Y:16.00, Z:-2.38 [[ 9.02917723e-01 -4.08883789e-01 -1.32490125e-01 8.34977875e+01] [ 4.06119512e-01 9.12531583e-01 -4.85082639e-02 1.60030157e+01] [ 1.40735667e-01 -1.00078539e-02 9.89996624e-01 -2.37656638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.847719421 meters Centerline goodness : 0.945162 Centerline is valid? [False, False] Translation: X:83.47, Y:16.00, Z:-2.38 [[ 9.04708028e-01 -4.05909074e-01 -1.29387823e-01 8.34745582e+01] [ 4.03906942e-01 9.13809836e-01 -4.25530897e-02 1.59955649e+01] [ 1.35508550e-01 -1.37625180e-02 9.90680587e-01 -2.38171828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.877719421 meters Centerline goodness : 0.945199 Centerline is valid? [False, False] Translation: X:83.45, Y:15.99, Z:-2.39 [[ 9.05452063e-01 -4.06117824e-01 -1.23389120e-01 8.34469236e+01] [ 4.04444491e-01 9.13710801e-01 -3.94616947e-02 1.59899711e+01] [ 1.28768070e-01 -1.41733771e-02 9.91573446e-01 -2.38800364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.907719421 meters Centerline goodness : 0.942704 Centerline is valid? [False, False] Translation: X:83.43, Y:15.98, Z:-2.39 [[ 9.07678963e-01 -4.03027320e-01 -1.16995213e-01 8.34333981e+01] [ 4.01958592e-01 9.15039437e-01 -3.36469679e-02 1.59839251e+01] [ 1.20615881e-01 -1.64865862e-02 9.92562341e-01 -2.39269602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.937719421 meters Centerline goodness : 0.942317 Centerline is valid? [False, False] Translation: X:83.41, Y:15.98, Z:-2.39 [[ 9.06978316e-01 -4.04861678e-01 -1.16092018e-01 8.34081882e+01] [ 4.05344755e-01 9.13934359e-01 -2.04845699e-02 1.59828183e+01] [ 1.14393901e-01 -2.84782299e-02 9.93027203e-01 -2.39138626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.967719421 meters Centerline goodness : 0.942317 Centerline is valid? [False, False] Translation: X:83.40, Y:15.98, Z:-2.39 [[ 9.08786840e-01 -4.01187975e-01 -1.14693892e-01 8.34035806e+01] [ 4.02140589e-01 9.15442735e-01 -1.57335501e-02 1.59785966e+01] [ 1.11307801e-01 -3.18246261e-02 9.93276279e-01 -2.39216203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.997719421 meters Centerline goodness : 0.938430 Centerline is valid? [False, False] Translation: X:83.39, Y:15.98, Z:-2.39 [[ 9.10833204e-01 -3.97335966e-01 -1.11834716e-01 8.33915487e+01] [ 3.99415742e-01 9.16760647e-01 -4.12087960e-03 1.59761264e+01] [ 1.04163040e-01 -4.09151121e-02 9.93718277e-01 -2.39205259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.027719421 meters Centerline goodness : 0.937015 Centerline is valid? [False, False] Translation: X:83.37, Y:15.97, Z:-2.39 [[ 9.14412209e-01 -3.90177399e-01 -1.07758565e-01 8.33736440e+01] [ 3.93903608e-01 9.19031050e-01 1.48955552e-02 1.59695211e+01] [ 9.32215583e-02 -5.60671651e-02 9.94065498e-01 -2.38857445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.057719421 meters Centerline goodness : 0.934266 Centerline is valid? [False, False] Translation: X:83.35, Y:15.96, Z:-2.38 [[ 9.19248751e-01 -3.80657266e-01 -1.00408068e-01 8.33465676e+01] [ 3.86124234e-01 9.21514551e-01 4.14609201e-02 1.59639916e+01] [ 7.67450953e-02 -7.68828874e-02 9.94082095e-01 -2.38276604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.087719421 meters Centerline goodness : 0.930318 Centerline is valid? [False, False] Translation: X:83.32, Y:15.96, Z:-2.38 [[ 9.23485896e-01 -3.71359007e-01 -9.62615592e-02 8.33238187e+01] [ 3.78063919e-01 9.23562785e-01 6.40269859e-02 1.59648913e+01] [ 6.51265958e-02 -9.55210407e-02 9.93294648e-01 -2.37739078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.117719421 meters Centerline goodness : 0.929043 Centerline is valid? [False, False] Translation: X:83.31, Y:15.96, Z:-2.37 [[ 9.26960491e-01 -3.63515389e-01 -9.27405559e-02 8.33082221e+01] [ 3.70836822e-01 9.25259038e-01 7.98483770e-02 1.59634102e+01] [ 5.67829237e-02 -1.08407904e-01 9.92483464e-01 -2.37351755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.147719421 meters Centerline goodness : 0.926023 Centerline is valid? [False, False] Translation: X:83.29, Y:15.97, Z:-2.37 [[ 9.30671064e-01 -3.54494224e-01 -9.04721882e-02 8.32921844e+01] [ 3.62058890e-01 9.27944635e-01 8.84992366e-02 1.59729497e+01] [ 5.25807135e-02 -1.15119939e-01 9.91959005e-01 -2.37160202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.177719421 meters Centerline goodness : 0.927086 Centerline is valid? [False, False] Translation: X:83.27, Y:15.97, Z:-2.37 [[ 9.36109391e-01 -3.42311925e-01 -8.07573742e-02 8.32668654e+01] [ 3.49556081e-01 9.30888057e-01 1.06103590e-01 1.59679554e+01] [ 3.88555509e-02 -1.27553799e-01 9.91070267e-01 -2.37187521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.207719421 meters Centerline goodness : 0.926120 Centerline is valid? [False, False] Translation: X:83.24, Y:15.98, Z:-2.38 [[ 9.38277243e-01 -3.36512384e-01 -7.99701899e-02 8.32402283e+01] [ 3.43130326e-01 9.34703824e-01 9.26840910e-02 1.59798890e+01] [ 4.35590979e-02 -1.14403571e-01 9.92478931e-01 -2.37842445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.237719421 meters Centerline goodness : 0.926948 Centerline is valid? [False, False] Translation: X:83.23, Y:15.99, Z:-2.38 [[ 9.39380913e-01 -3.33606145e-01 -7.91861072e-02 8.32268480e+01] [ 3.39657919e-01 9.36973456e-01 8.19343640e-02 1.59856593e+01] [ 4.68614732e-02 -1.03863766e-01 9.93486950e-01 -2.38418521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26771942099998 meters Centerline goodness : 0.927079 Centerline is valid? [False, False] Translation: X:83.21, Y:16.00, Z:-2.39 [[ 9.40560446e-01 -3.30037570e-01 -8.01327012e-02 8.32054779e+01] [ 3.35797870e-01 9.39029221e-01 7.39182888e-02 1.59989825e+01] [ 5.08511356e-02 -9.64330090e-02 9.94039656e-01 -2.38901048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29771942099998 meters Centerline goodness : 0.929048 Centerline is valid? [False, False] Translation: X:83.19, Y:16.00, Z:-2.39 [[ 9.41743123e-01 -3.27024604e-01 -7.85798851e-02 8.31902211e+01] [ 3.32057758e-01 9.41173483e-01 6.26906635e-02 1.60027500e+01] [ 5.34559148e-02 -8.51315618e-02 9.94934713e-01 -2.39411729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32771942099998 meters Centerline goodness : 0.931207 Centerline is valid? [False, False] Translation: X:83.19, Y:16.02, Z:-2.40 [[ 9.42357185e-01 -3.24715898e-01 -8.07621269e-02 8.31852318e+01] [ 3.29516949e-01 9.42526451e-01 5.53395748e-02 1.60169121e+01] [ 5.81508011e-02 -7.87621356e-02 9.95195966e-01 -2.39778882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35771942099998 meters Centerline goodness : 0.929761 Centerline is valid? [False, False] Translation: X:83.18, Y:16.02, Z:-2.40 [[ 9.42600013e-01 -3.24459319e-01 -7.89389978e-02 8.31802865e+01] [ 3.28763596e-01 9.43128548e-01 4.92243864e-02 1.60238674e+01] [ 5.84783114e-02 -7.23511761e-02 9.95663394e-01 -2.40282495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38771942099999 meters Centerline goodness : 0.929301 Centerline is valid? [False, False] Translation: X:83.18, Y:16.04, Z:-2.40 [[ 9.42865225e-01 -3.23682486e-01 -7.89608509e-02 8.31774749e+01] [ 3.27911209e-01 9.43492153e-01 4.79248949e-02 1.60363592e+01] [ 5.89864942e-02 -7.10788649e-02 9.95725057e-01 -2.40430271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.417719421 meters Centerline goodness : 0.930075 Centerline is valid? [False, False] Translation: X:83.18, Y:16.04, Z:-2.40 [[ 9.42600133e-01 -3.24537218e-01 -7.86166904e-02 8.31762083e+01] [ 3.28633535e-01 9.43332121e-01 4.60923903e-02 1.60415560e+01] [ 5.92029532e-02 -6.92827741e-02 9.95838796e-01 -2.40461539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.447719421 meters Centerline goodness : 0.931053 Centerline is valid? [False, False] Translation: X:83.17, Y:16.05, Z:-2.41 [[ 9.41731834e-01 -3.27233610e-01 -7.78416132e-02 8.31747400e+01] [ 3.31041451e-01 9.42676814e-01 4.20949083e-02 1.60509399e+01] [ 5.96046152e-02 -6.54109158e-02 9.96076655e-01 -2.40557556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.477719421 meters Centerline goodness : 0.928847 Centerline is valid? [False, False] Translation: X:83.17, Y:16.06, Z:-2.41 [[ 9.41267387e-01 -3.28659475e-01 -7.74509900e-02 8.31747056e+01] [ 3.32313887e-01 9.42323135e-01 3.99323192e-02 1.60561981e+01] [ 5.98597246e-02 -6.33250294e-02 9.96196142e-01 -2.40699738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.507719421 meters Centerline goodness : 0.931110 Centerline is valid? [False, False] Translation: X:83.17, Y:16.07, Z:-2.41 [[ 9.40676240e-01 -3.30556370e-01 -7.65551926e-02 8.31715968e+01] [ 3.33990888e-01 9.41843445e-01 3.71619800e-02 1.60681359e+01] [ 5.98188771e-02 -6.05261284e-02 9.96372566e-01 -2.40793905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.537719421 meters Centerline goodness : 0.932306 Centerline is valid? [False, False] Translation: X:83.17, Y:16.07, Z:-2.41 [[ 9.40403998e-01 -3.31404447e-01 -7.62326253e-02 8.31701255e+01] [ 3.34718486e-01 9.41650656e-01 3.54623359e-02 1.60738943e+01] [ 6.00321258e-02 -5.88653913e-02 9.96459236e-01 -2.40822921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.567719421 meters Centerline goodness : 0.931723 Centerline is valid? [False, False] Translation: X:83.17, Y:16.08, Z:-2.41 [[ 9.39864558e-01 -3.33151026e-01 -7.52662363e-02 8.31670247e+01] [ 3.36208371e-01 9.41240910e-01 3.20855294e-02 1.60845447e+01] [ 6.01543337e-02 -5.54611905e-02 9.96647135e-01 -2.40884802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.597719421 meters Centerline goodness : 0.933772 Centerline is valid? [False, False] Translation: X:83.17, Y:16.09, Z:-2.41 [[ 9.39598225e-01 -3.34003875e-01 -7.48103456e-02 8.31657520e+01] [ 3.36931623e-01 9.41040377e-01 3.03329967e-02 1.60899470e+01] [ 6.02682174e-02 -5.37068009e-02 9.96736335e-01 -2.40948234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.627719421 meters Centerline goodness : 0.933144 Centerline is valid? [False, False] Translation: X:83.16, Y:16.10, Z:-2.41 [[ 9.39107638e-01 -3.35657931e-01 -7.35567596e-02 8.31621891e+01] [ 3.38332301e-01 9.40634149e-01 2.71781428e-02 1.61018571e+01] [ 6.00674408e-02 -5.04098292e-02 9.96920635e-01 -2.41074549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.657719421 meters Centerline goodness : 0.932422 Centerline is valid? [False, False] Translation: X:83.16, Y:16.11, Z:-2.41 [[ 9.38833302e-01 -3.36536130e-01 -7.30442623e-02 8.31605972e+01] [ 3.39070854e-01 9.40421635e-01 2.52607350e-02 1.61076216e+01] [ 6.01912546e-02 -4.84827996e-02 9.97008742e-01 -2.41112741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.687719421 meters Centerline goodness : 0.934024 Centerline is valid? [False, False] Translation: X:83.16, Y:16.12, Z:-2.41 [[ 9.38849899e-01 -3.36473311e-01 -7.31202973e-02 8.31584844e+01] [ 3.38919529e-01 9.40515709e-01 2.37434935e-02 1.61201115e+01] [ 6.07817363e-02 -4.70734733e-02 9.97040455e-01 -2.41249264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.717719421 meters Centerline goodness : 0.933146 Centerline is valid? [False, False] Translation: X:83.16, Y:16.13, Z:-2.41 [[ 9.38821982e-01 -3.36621903e-01 -7.27941033e-02 8.31564945e+01] [ 3.38994212e-01 9.40512692e-01 2.27771941e-02 1.61264465e+01] [ 6.07964756e-02 -4.60605101e-02 9.97086866e-01 -2.41289988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.747719421 meters Centerline goodness : 0.931532 Centerline is valid? [False, False] Translation: X:83.16, Y:16.14, Z:-2.42 [[ 9.39165282e-01 -3.35616046e-01 -7.30098753e-02 8.31556906e+01] [ 3.37887878e-01 9.40951807e-01 2.10113985e-02 1.61386262e+01] [ 6.16470116e-02 -4.44023278e-02 9.97109863e-01 -2.41574816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.777719421 meters Centerline goodness : 0.931128 Centerline is valid? [False, False] Translation: X:83.15, Y:16.15, Z:-2.42 [[ 9.39867712e-01 -3.33653093e-01 -7.29677864e-02 8.31540015e+01] [ 3.35798931e-01 9.41740506e-01 1.90761002e-02 1.61521377e+01] [ 6.23519203e-02 -4.24315153e-02 9.97151846e-01 -2.41944510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.807719421 meters Centerline goodness : 0.931015 Centerline is valid? [False, False] Translation: X:83.15, Y:16.16, Z:-2.42 [[ 9.40634004e-01 -3.31288077e-01 -7.38639265e-02 8.31533709e+01] [ 3.33559825e-01 9.42505202e-01 2.05374629e-02 1.61571595e+01] [ 6.28133184e-02 -4.39562744e-02 9.97056835e-01 -2.41991385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.837719421 meters Centerline goodness : 0.932130 Centerline is valid? [False, False] Translation: X:83.15, Y:16.17, Z:-2.42 [[ 9.41078840e-01 -3.29947904e-01 -7.41956777e-02 8.31515166e+01] [ 3.32214260e-01 9.42986252e-01 2.02636242e-02 1.61662759e+01] [ 6.32795636e-02 -4.37185301e-02 9.97037806e-01 -2.42054817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.867719421 meters Centerline goodness : 0.933570 Centerline is valid? [False, False] Translation: X:83.15, Y:16.17, Z:-2.42 [[ 9.41094389e-01 -3.29943355e-01 -7.40184679e-02 8.31498603e+01] [ 3.32164129e-01 9.43016532e-01 1.96675179e-02 1.61706562e+01] [ 6.33114721e-02 -4.30952706e-02 9.97062914e-01 -2.42049007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.897719421 meters Centerline goodness : 0.935028 Centerline is valid? [False, False] Translation: X:83.15, Y:16.18, Z:-2.42 [[ 9.41542122e-01 -3.28595451e-01 -7.43199943e-02 8.31478588e+01] [ 3.30844086e-01 9.43474680e-01 1.99428890e-02 1.61795788e+01] [ 6.35658902e-02 -4.33654006e-02 9.97035014e-01 -2.42115786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.927719421 meters Centerline goodness : 0.933881 Centerline is valid? [False, False] Translation: X:83.15, Y:16.18, Z:-2.42 [[ 9.41377637e-01 -3.29078348e-01 -7.42669895e-02 8.31474514e+01] [ 3.31243944e-01 9.43360540e-01 1.86639192e-02 1.61836652e+01] [ 6.39186556e-02 -4.21702867e-02 9.97063725e-01 -2.42158056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.957719421 meters Centerline goodness : 0.936136 Centerline is valid? [False, False] Translation: X:83.15, Y:16.19, Z:-2.42 [[ 9.41240191e-01 -3.29570860e-01 -7.38237818e-02 8.31461949e+01] [ 3.31629102e-01 9.43251921e-01 1.72612829e-02 1.61907961e+01] [ 6.39456082e-02 -4.07291278e-02 9.97121907e-01 -2.42280100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.987719421 meters Centerline goodness : 0.935636 Centerline is valid? [False, False] Translation: X:83.14, Y:16.19, Z:-2.42 [[ 9.41590146e-01 -3.28630779e-01 -7.35513963e-02 8.31439941e+01] [ 3.30721424e-01 9.43557226e-01 1.79750219e-02 1.61944854e+01] [ 6.34928060e-02 -4.12501261e-02 9.97129425e-01 -2.42286860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01771942099998 meters Centerline goodness : 0.935166 Centerline is valid? [False, False] Translation: X:83.14, Y:16.20, Z:-2.42 [[ 9.42348714e-01 -3.26254828e-01 -7.44089255e-02 8.31440763e+01] [ 3.28492826e-01 9.44299086e-01 1.97913891e-02 1.61983799e+01] [ 6.38072441e-02 -4.30931883e-02 9.97031400e-01 -2.42387050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04771942099998 meters Centerline goodness : 0.936136 Centerline is valid? [False, False] Translation: X:83.14, Y:16.21, Z:-2.42 [[ 9.43267791e-01 -3.23471434e-01 -7.49139895e-02 8.31413015e+01] [ 3.25803350e-01 9.45204297e-01 2.10003121e-02 1.62084414e+01] [ 6.40160238e-02 -4.42161468e-02 9.96968847e-01 -2.42446473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07771942099998 meters Centerline goodness : 0.937412 Centerline is valid? [False, False] Translation: X:83.14, Y:16.22, Z:-2.42 [[ 9.44328162e-01 -3.20257960e-01 -7.53602192e-02 8.31374391e+01] [ 3.22687919e-01 9.46242335e-01 2.23148206e-02 1.62197859e+01] [ 6.41625308e-02 -4.53903458e-02 9.96906659e-01 -2.42445940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10771942099998 meters Centerline goodness : 0.937763 Centerline is valid? [False, False] Translation: X:83.12, Y:16.22, Z:-2.43 [[ 9.44722267e-01 -3.19712114e-01 -7.26911437e-02 8.31191766e+01] [ 3.21947061e-01 9.46521819e-01 2.11313883e-02 1.62221882e+01] [ 6.20477927e-02 -4.33659931e-02 9.97130614e-01 -2.42696108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13771942099999 meters Centerline goodness : 0.938374 Centerline is valid? [False, False] Translation: X:83.11, Y:16.23, Z:-2.43 [[ 9.45082308e-01 -3.18786105e-01 -7.20753141e-02 8.31146843e+01] [ 3.20900361e-01 9.46909251e-01 1.96425359e-02 1.62339042e+01] [ 6.19870141e-02 -4.16928075e-02 9.97205756e-01 -2.42650459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.167719421 meters Centerline goodness : 0.943189 Centerline is valid? [False, False] Translation: X:83.11, Y:16.24, Z:-2.43 [[ 9.45529623e-01 -3.17402688e-01 -7.23136661e-02 8.31122629e+01] [ 3.19561725e-01 9.47349195e-01 2.02437050e-02 1.62394027e+01] [ 6.20808870e-02 -4.22497026e-02 9.97176477e-01 -2.42590344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.197719421 meters Centerline goodness : 0.943844 Centerline is valid? [False, False] Translation: X:83.11, Y:16.25, Z:-2.43 [[ 9.46073531e-01 -3.15882324e-01 -7.18556320e-02 8.31075089e+01] [ 3.17979875e-01 9.47894610e-01 1.96114184e-02 1.62504665e+01] [ 6.19166658e-02 -4.14024887e-02 9.97222222e-01 -2.42510813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.227719421 meters Centerline goodness : 0.946115 Centerline is valid? [False, False] Translation: X:83.11, Y:16.26, Z:-2.43 [[ 9.46910324e-01 -3.13188154e-01 -7.26224433e-02 8.31068409e+01] [ 3.15423084e-01 9.48710307e-01 2.13783007e-02 1.62551469e+01] [ 6.22022300e-02 -4.31501287e-02 9.97130357e-01 -2.42574967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.257719421 meters Centerline goodness : 0.946046 Centerline is valid? [False, False] Translation: X:83.10, Y:16.27, Z:-2.43 [[ 9.48484630e-01 -3.08114838e-01 -7.37709551e-02 8.31041311e+01] [ 3.10585248e-01 9.50230495e-01 2.44705854e-02 1.62655947e+01] [ 6.25596607e-02 -4.61221445e-02 9.96974943e-01 -2.42625588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.287719421 meters Centerline goodness : 0.945715 Centerline is valid? [False, False] Translation: X:83.10, Y:16.27, Z:-2.43 [[ 9.49474335e-01 -3.04814438e-01 -7.47438649e-02 8.31034138e+01] [ 3.07454060e-01 9.51193264e-01 2.65212262e-02 1.62702395e+01] [ 6.30118082e-02 -4.81615283e-02 9.96850028e-01 -2.42653805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.317719421 meters Centerline goodness : 0.946599 Centerline is valid? [False, False] Translation: X:83.11, Y:16.28, Z:-2.43 [[ 9.51427590e-01 -2.97817469e-01 -7.80403560e-02 8.31091465e+01] [ 3.00142086e-01 9.53691000e-01 1.97029012e-02 1.62839578e+01] [ 6.85585170e-02 -4.21690790e-02 9.96755486e-01 -2.42538896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.347719421 meters Centerline goodness : 0.948004 Centerline is valid? [False, False] Translation: X:83.11, Y:16.29, Z:-2.43 [[ 9.52512016e-01 -2.94006123e-01 -7.92543983e-02 8.31096915e+01] [ 2.96529714e-01 9.54771392e-01 2.19480512e-02 1.62885733e+01] [ 6.92169708e-02 -4.44070665e-02 9.96612775e-01 -2.42643173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.377719421 meters Centerline goodness : 0.948318 Centerline is valid? [False, False] Translation: X:83.12, Y:16.30, Z:-2.43 [[ 9.55171918e-01 -2.83664763e-01 -8.47402466e-02 8.31182395e+01] [ 2.86153731e-01 9.58003640e-01 1.85759778e-02 1.63022619e+01] [ 7.59121144e-02 -4.19919901e-02 9.96229905e-01 -2.42669062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.407719421 meters Centerline goodness : 0.949221 Centerline is valid? [False, False] Translation: X:83.13, Y:16.32, Z:-2.42 [[ 9.58093754e-01 -2.72640050e-01 -8.78849291e-02 8.31293625e+01] [ 2.74625219e-01 9.61487105e-01 1.11147036e-02 1.63173378e+01] [ 8.14699126e-02 -3.47843461e-02 9.96068623e-01 -2.42428196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.437719421 meters Centerline goodness : 0.950769 Centerline is valid? [False, True] Translation: X:83.13, Y:16.32, Z:-2.42 [[ 9.59127306e-01 -2.68595468e-01 -8.90577653e-02 8.31291592e+01] [ 2.70824400e-01 9.62530698e-01 1.37404527e-02 1.63208953e+01] [ 8.20302097e-02 -3.72978593e-02 9.95931682e-01 -2.42405473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.467719421 meters Centerline goodness : 0.949533 Centerline is valid? [True, False] Translation: X:83.13, Y:16.33, Z:-2.42 [[ 9.59911045e-01 -2.65165675e-01 -9.08732606e-02 8.31331641e+01] [ 2.67069211e-01 9.63632986e-01 9.24688617e-03 1.63263921e+01] [ 8.51165147e-02 -3.31456382e-02 9.95819535e-01 -2.41944440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.497719421 meters Centerline goodness : 0.950014 Centerline is valid? [False, True] Translation: X:83.14, Y:16.34, Z:-2.41 [[ 9.61071705e-01 -2.61903140e-01 -8.80222900e-02 8.31419954e+01] [ 2.62478182e-01 9.64924004e-01 -5.18360057e-03 1.63362543e+01] [ 8.62924218e-02 -1.81221188e-02 9.96105018e-01 -2.41366763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.527719421 meters Centerline goodness : 0.950056 Centerline is valid? [True, True] Translation: X:83.17, Y:16.35, Z:-2.41 [[ 9.61776594e-01 -2.61061469e-01 -8.26601018e-02 8.31668717e+01] [ 2.60150800e-01 9.65322026e-01 -2.17932991e-02 1.63497307e+01] [ 8.54830076e-02 -5.43806616e-04 9.96339480e-01 -2.41259150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.557719421 meters Centerline goodness : 0.952799 Centerline is valid? [True, True] Translation: X:83.19, Y:16.36, Z:-2.41 [[ 9.62958404e-01 -2.57037681e-01 -8.15030208e-02 8.31933971e+01] [ 2.56135517e-01 9.66401369e-01 -2.15172185e-02 1.63601381e+01] [ 8.42953668e-02 -1.55631961e-04 9.96440800e-01 -2.41244828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.587719421 meters Centerline goodness : 0.950901 Centerline is valid? [True, True] Translation: X:83.22, Y:16.37, Z:-2.41 [[ 9.63600020e-01 -2.54375099e-01 -8.22697416e-02 8.32197622e+01] [ 2.53443565e-01 9.67105629e-01 -2.17499849e-02 1.63685576e+01] [ 8.50961848e-02 1.07549306e-04 9.96372735e-01 -2.41065330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.617719421 meters Centerline goodness : 0.950160 Centerline is valid? [True, True] Translation: X:83.25, Y:16.38, Z:-2.41 [[ 9.64752474e-01 -2.49931513e-01 -8.23826587e-02 8.32471774e+01] [ 2.48978638e-01 9.68263372e-01 -2.18100856e-02 1.63760417e+01] [ 8.52191387e-02 5.29811838e-04 9.96362092e-01 -2.40890011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.647719421 meters Centerline goodness : 0.948481 Centerline is valid? [True, False] Translation: X:83.25, Y:16.37, Z:-2.41 [[ 9.65069972e-01 -2.48263256e-01 -8.36976984e-02 8.32500319e+01] [ 2.47473492e-01 9.68691348e-01 -1.98480014e-02 1.63712397e+01] [ 8.60047657e-02 -1.55825159e-03 9.96293507e-01 -2.40882590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.677719421 meters Centerline goodness : 0.947078 Centerline is valid? [False, False] Translation: X:83.25, Y:16.37, Z:-2.41 [[ 9.64831835e-01 -2.49197338e-01 -8.36673007e-02 8.32500619e+01] [ 2.48366876e-01 9.68452061e-01 -2.03592833e-02 1.63674730e+01] [ 8.61012490e-02 -1.13690152e-03 9.96285743e-01 -2.40766946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.707719421 meters Centerline goodness : 0.948823 Centerline is valid? [False, False] Translation: X:83.25, Y:16.36, Z:-2.41 [[ 9.63267071e-01 -2.55509666e-01 -8.26520428e-02 8.32503515e+01] [ 2.54309990e-01 9.66801924e-01 -2.49092147e-02 1.63610985e+01] [ 8.62726991e-02 2.97498611e-03 9.96267118e-01 -2.40572711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.737719421 meters Centerline goodness : 0.947244 Centerline is valid? [False, False] Translation: X:83.25, Y:16.36, Z:-2.41 [[ 9.62408628e-01 -2.58769657e-01 -8.25099838e-02 8.32524686e+01] [ 2.57390513e-01 9.65926814e-01 -2.71203540e-02 1.63574809e+01] [ 8.67165305e-02 4.86357566e-03 9.96221155e-01 -2.40596087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76771942099998 meters Centerline goodness : 0.944687 Centerline is valid? [False, False] Translation: X:83.26, Y:16.35, Z:-2.41 [[ 9.60869894e-01 -2.64194572e-01 -8.32482716e-02 8.32591838e+01] [ 2.62613052e-01 9.64446918e-01 -2.96062049e-02 1.63478905e+01] [ 8.81103376e-02 6.58562828e-03 9.96088951e-01 -2.40780378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79771942099998 meters Centerline goodness : 0.942906 Centerline is valid? [False, False] Translation: X:83.26, Y:16.34, Z:-2.41 [[ 9.59297014e-01 -2.69997610e-01 -8.27679230e-02 8.32638434e+01] [ 2.68113933e-01 9.62811620e-01 -3.32972050e-02 1.63396253e+01] [ 8.86800838e-02 9.75067600e-03 9.96012433e-01 -2.40915681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82771942099998 meters Centerline goodness : 0.939369 Centerline is valid? [False, False] Translation: X:83.27, Y:16.33, Z:-2.41 [[ 9.59398878e-01 -2.69384241e-01 -8.35818418e-02 8.32663124e+01] [ 2.67640135e-01 9.62999784e-01 -3.16255315e-02 1.63348644e+01] [ 8.90087154e-02 7.97164400e-03 9.95998947e-01 -2.40960627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85771942099998 meters Centerline goodness : 0.939286 Centerline is valid? [False, False] Translation: X:83.27, Y:16.33, Z:-2.41 [[ 9.59624265e-01 -2.68294801e-01 -8.44936063e-02 8.32687435e+01] [ 2.66707677e-01 9.63318059e-01 -2.97545479e-02 1.63305354e+01] [ 8.93772073e-02 6.01809274e-03 9.95979667e-01 -2.41002382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88771942099999 meters Centerline goodness : 0.939286 Centerline is valid? [False, False] Translation: X:83.27, Y:16.33, Z:-2.41 [[ 9.59624265e-01 -2.68294801e-01 -8.44936063e-02 8.32687435e+01] [ 2.66707677e-01 9.63318059e-01 -2.97545479e-02 1.63305354e+01] [ 8.93772073e-02 6.01809274e-03 9.95979667e-01 -2.41002382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.917719421 meters Centerline goodness : 0.937529 Centerline is valid? [False, False] Translation: X:83.27, Y:16.32, Z:-2.41 [[ 9.60368495e-01 -2.65047884e-01 -8.62668699e-02 8.32739426e+01] [ 2.63785604e-01 9.64232872e-01 -2.59253565e-02 1.63231631e+01] [ 9.00528126e-02 2.14193725e-03 9.95934688e-01 -2.41174242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.947719421 meters Centerline goodness : 0.932789 Centerline is valid? [False, False] Translation: X:83.28, Y:16.32, Z:-2.41 [[ 9.60882348e-01 -2.62797432e-01 -8.74220998e-02 8.32775324e+01] [ 2.61730825e-01 9.64851018e-01 -2.36535165e-02 1.63204373e+01] [ 9.05653853e-02 -1.52811842e-04 9.95890500e-01 -2.41341723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.977719421 meters Centerline goodness : 0.929954 Centerline is valid? [False, False] Translation: X:83.28, Y:16.32, Z:-2.42 [[ 9.62570499e-01 -2.55602052e-01 -9.01422525e-02 8.32826060e+01] [ 2.55161962e-01 9.66756357e-01 -1.65686143e-02 1.63162834e+01] [ 9.13805675e-02 -7.05241464e-03 9.95791070e-01 -2.41576780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.007719421 meters Centerline goodness : 0.930216 Centerline is valid? [False, False] Translation: X:83.28, Y:16.31, Z:-2.42 [[ 9.63785197e-01 -2.50346716e-01 -9.18945930e-02 8.32845667e+01] [ 2.50395932e-01 9.68078952e-01 -1.11812230e-02 1.63128387e+01] [ 9.17604037e-02 -1.22337351e-02 9.95705963e-01 -2.41605325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.037719421 meters Centerline goodness : 0.933540 Centerline is valid? [False, False] Translation: X:83.29, Y:16.31, Z:-2.41 [[ 9.65098741e-01 -2.43719228e-01 -9.58402755e-02 8.32907855e+01] [ 2.43904270e-01 9.69748166e-01 -9.96001546e-03 1.63076622e+01] [ 9.53683786e-02 -1.37634540e-02 9.95346894e-01 -2.41159283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.067719421 meters Centerline goodness : 0.933324 Centerline is valid? [False, False] Translation: X:83.29, Y:16.30, Z:-2.41 [[ 9.65622343e-01 -2.41425453e-01 -9.63703393e-02 8.32897331e+01] [ 2.41844157e-01 9.70286209e-01 -7.48846234e-03 1.63038591e+01] [ 9.53147166e-02 -1.60755769e-02 9.95317377e-01 -2.40960193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.097719421 meters Centerline goodness : 0.937626 Centerline is valid? [False, False] Translation: X:83.29, Y:16.30, Z:-2.41 [[ 9.66264213e-01 -2.38537880e-01 -9.71244100e-02 8.32894291e+01] [ 2.39235841e-01 9.70950751e-01 -4.56633063e-03 1.62990452e+01] [ 9.53922617e-02 -1.88233581e-02 9.95261773e-01 -2.40759390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.127719421 meters Centerline goodness : 0.935385 Centerline is valid? [False, False] Translation: X:83.29, Y:16.30, Z:-2.41 [[ 9.66530628e-01 -2.37217667e-01 -9.77052878e-02 8.32902085e+01] [ 2.38055009e-01 9.71246512e-01 -3.16640818e-03 1.62964246e+01] [ 9.56470479e-02 -2.01988027e-02 9.95210355e-01 -2.40716667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.157719421 meters Centerline goodness : 0.934827 Centerline is valid? [False, False] Translation: X:83.29, Y:16.29, Z:-2.41 [[ 9.67265495e-01 -2.33746398e-01 -9.87931367e-02 8.32931227e+01] [ 2.34948467e-01 9.72007673e-01 5.49151348e-04 1.62882361e+01] [ 9.58993247e-02 -2.37424712e-02 9.95107841e-01 -2.40733424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.187719421 meters Centerline goodness : 0.935685 Centerline is valid? [False, False] Translation: X:83.30, Y:16.28, Z:-2.41 [[ 9.67501182e-01 -2.32545037e-01 -9.93190268e-02 8.32950466e+01] [ 2.33918506e-01 9.72253599e-01 2.25215430e-03 1.62839438e+01] [ 9.60395540e-02 -2.54115203e-02 9.95053093e-01 -2.40784032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.217719421 meters Centerline goodness : 0.932984 Centerline is valid? [False, False] Translation: X:83.29, Y:16.28, Z:-2.41 [[ 9.68632424e-01 -2.28879940e-01 -9.67739603e-02 8.32933209e+01] [ 2.30141060e-01 9.73155375e-01 1.92560288e-03 1.62765893e+01] [ 9.37353678e-02 -2.41368632e-02 9.95304523e-01 -2.41247950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.247719421 meters Centerline goodness : 0.933523 Centerline is valid? [False, False] Translation: X:83.30, Y:16.27, Z:-2.41 [[ 9.69453034e-01 -2.24857803e-01 -9.79784838e-02 8.32960619e+01] [ 2.26549826e-01 9.73978844e-01 6.35519976e-03 1.62686746e+01] [ 9.39999541e-02 -2.83580761e-02 9.95168241e-01 -2.41266889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.277719421 meters Centerline goodness : 0.932709 Centerline is valid? [False, False] Translation: X:83.30, Y:16.26, Z:-2.41 [[ 9.69134075e-01 -2.26372691e-01 -9.76450169e-02 8.32962523e+01] [ 2.27952582e-01 9.73658393e-01 5.19169934e-03 1.62641377e+01] [ 9.38976313e-02 -2.72898864e-02 9.95207766e-01 -2.41178825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.307719421 meters Centerline goodness : 0.930662 Centerline is valid? [False, False] Translation: X:83.30, Y:16.25, Z:-2.41 [[ 9.69148189e-01 -2.26370911e-01 -9.75089610e-02 8.32981984e+01] [ 2.28034627e-01 9.73633774e-01 6.12232819e-03 1.62505008e+01] [ 9.35521007e-02 -2.81688629e-02 9.95215816e-01 -2.41088488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.337719421 meters Centerline goodness : 0.933283 Centerline is valid? [False, False] Translation: X:83.30, Y:16.25, Z:-2.41 [[ 9.68696923e-01 -2.28347947e-01 -9.73831953e-02 8.32998147e+01] [ 2.29905501e-01 9.73200453e-01 4.93335010e-03 1.62453906e+01] [ 9.36468494e-02 -2.71678534e-02 9.95234734e-01 -2.41081280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.367719421 meters Centerline goodness : 0.931898 Centerline is valid? [False, False] Translation: X:83.30, Y:16.23, Z:-2.41 [[ 9.68560091e-01 -2.28854796e-01 -9.75542516e-02 8.33036078e+01] [ 2.30528592e-01 9.73046473e-01 6.09345863e-03 1.62344766e+01] [ 9.35303032e-02 -2.83909252e-02 9.95211554e-01 -2.41176294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.397719421 meters Centerline goodness : 0.932640 Centerline is valid? [False, False] Translation: X:83.31, Y:16.23, Z:-2.41 [[ 9.68364235e-01 -2.29621550e-01 -9.76967382e-02 8.33054686e+01] [ 2.31288267e-01 9.72867149e-01 5.93697394e-03 1.62287701e+01] [ 9.36826901e-02 -2.83452625e-02 9.95198523e-01 -2.41170722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.427719421 meters Centerline goodness : 0.932603 Centerline is valid? [False, False] Translation: X:83.31, Y:16.22, Z:-2.41 [[ 9.67884938e-01 -2.31881736e-01 -9.71061673e-02 8.33072198e+01] [ 2.33455309e-01 9.72354621e-01 5.01101041e-03 1.62154568e+01] [ 9.32596687e-02 -2.75200318e-02 9.95261414e-01 -2.41065602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.457719421 meters Centerline goodness : 0.933377 Centerline is valid? [False, False] Translation: X:83.31, Y:16.21, Z:-2.41 [[ 9.67353981e-01 -2.34116955e-01 -9.70336390e-02 8.33086834e+01] [ 2.35612357e-01 9.71838518e-01 4.08803901e-03 1.62084590e+01] [ 9.33439487e-02 -2.68169053e-02 9.95272707e-01 -2.40977386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.487719421 meters Centerline goodness : 0.930613 Centerline is valid? [False, False] Translation: X:83.31, Y:16.19, Z:-2.41 [[ 9.66092106e-01 -2.39507532e-01 -9.64478326e-02 8.33121636e+01] [ 2.40787503e-01 9.70576395e-01 1.68535572e-03 1.61938705e+01] [ 9.32063343e-02 -2.48516416e-02 9.95336614e-01 -2.40866226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51771942099998 meters Centerline goodness : 0.931496 Centerline is valid? [False, False] Translation: X:83.31, Y:16.19, Z:-2.41 [[ 9.65424523e-01 -2.42262457e-01 -9.62517179e-02 8.33140420e+01] [ 2.43435637e-01 9.69916944e-01 4.59962092e-04 1.61870433e+01] [ 9.32447406e-02 -2.38751570e-02 9.95356919e-01 -2.40823979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54771942099998 meters Centerline goodness : 0.932027 Centerline is valid? [False, False] Translation: X:83.32, Y:16.18, Z:-2.41 [[ 9.63931839e-01 -2.48492900e-01 -9.53241247e-02 8.33164767e+01] [ 2.49381868e-01 9.68401567e-01 -2.66240105e-03 1.61766467e+01] [ 9.29736195e-02 -2.12057352e-02 9.95442727e-01 -2.40731123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57771942099998 meters Centerline goodness : 0.932701 Centerline is valid? [False, False] Translation: X:83.32, Y:16.17, Z:-2.41 [[ 9.63246696e-01 -2.51279104e-01 -9.49453227e-02 8.33169977e+01] [ 2.52025227e-01 9.67711348e-01 -4.24636788e-03 1.61715677e+01] [ 9.29466898e-02 -1.98383167e-02 9.95473432e-01 -2.40618890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60771942099998 meters Centerline goodness : 0.935102 Centerline is valid? [False, False] Translation: X:83.32, Y:16.16, Z:-2.40 [[ 9.61882996e-01 -2.56941352e-01 -9.36068557e-02 8.33169816e+01] [ 2.57349518e-01 9.66286159e-01 -7.89201631e-03 1.61598156e+01] [ 9.24787944e-02 -1.64984828e-02 9.95577959e-01 -2.40342508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63771942099999 meters Centerline goodness : 0.935423 Centerline is valid? [False, False] Translation: X:83.32, Y:16.15, Z:-2.40 [[ 9.61275227e-01 -2.59364462e-01 -9.31665886e-02 8.33174761e+01] [ 2.59642243e-01 9.65659709e-01 -9.33977670e-03 1.61540250e+01] [ 9.23896271e-02 -1.52118860e-02 9.95606727e-01 -2.40231593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.667719421 meters Centerline goodness : 0.933246 Centerline is valid? [False, False] Translation: X:83.32, Y:16.14, Z:-2.40 [[ 9.61030538e-01 -2.60387432e-01 -9.28369026e-02 8.33185903e+01] [ 2.60711468e-01 9.65376341e-01 -8.83468467e-03 1.61442660e+01] [ 9.19229902e-02 -1.57132434e-02 9.95642133e-01 -2.40132658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.697719421 meters Centerline goodness : 0.933416 Centerline is valid? [False, False] Translation: X:83.32, Y:16.14, Z:-2.40 [[ 9.61704522e-01 -2.57478203e-01 -9.39648173e-02 8.33215003e+01] [ 2.58176580e-01 9.66085536e-01 -4.85696405e-03 1.61360975e+01] [ 9.20286133e-02 -1.95885509e-02 9.95563671e-01 -2.40144453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.727719421 meters Centerline goodness : 0.932840 Centerline is valid? [False, False] Translation: X:83.32, Y:16.13, Z:-2.40 [[ 9.62102221e-01 -2.55756983e-01 -9.45921868e-02 8.33226834e+01] [ 2.56656602e-01 9.66498782e-01 -2.73728775e-03 1.61316207e+01] [ 9.21233138e-02 -2.16441586e-02 9.95512343e-01 -2.40115843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.757719421 meters Centerline goodness : 0.930602 Centerline is valid? [False, False] Translation: X:83.32, Y:16.12, Z:-2.40 [[ 9.63078595e-01 -2.51748849e-01 -9.54051221e-02 8.33249626e+01] [ 2.53066693e-01 9.67447206e-01 1.77553133e-03 1.61228752e+01] [ 9.18524308e-02 -2.58538350e-02 9.95436944e-01 -2.40162363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.787719421 meters Centerline goodness : 0.931587 Centerline is valid? [False, False] Translation: X:83.33, Y:16.12, Z:-2.40 [[ 9.63414403e-01 -2.50237600e-01 -9.59887069e-02 8.33264247e+01] [ 2.51735099e-01 9.67789389e-01 3.62465323e-03 1.61187890e+01] [ 9.19898275e-02 -2.76557698e-02 9.95375824e-01 -2.40168416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.817719421 meters Centerline goodness : 0.929247 Centerline is valid? [False, False] Translation: X:83.33, Y:16.11, Z:-2.40 [[ 9.63721881e-01 -2.48961066e-01 -9.62212197e-02 8.33287339e+01] [ 2.50613993e-01 9.68072598e-01 5.29823161e-03 1.61079022e+01] [ 9.18300728e-02 -2.92204058e-02 9.95345872e-01 -2.40146743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.847719421 meters Centerline goodness : 0.931658 Centerline is valid? [False, False] Translation: X:83.33, Y:16.10, Z:-2.40 [[ 9.63304941e-01 -2.50745332e-01 -9.57620446e-02 8.33295338e+01] [ 2.52288191e-01 9.67643197e-01 4.16080053e-03 1.61025573e+01] [ 9.16201897e-02 -2.81677527e-02 9.95395559e-01 -2.40104972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.877719421 meters Centerline goodness : 0.930100 Centerline is valid? [False, False] Translation: X:83.33, Y:16.09, Z:-2.40 [[ 9.63213857e-01 -2.51210748e-01 -9.54579818e-02 8.33321942e+01] [ 2.52820409e-01 9.67500505e-01 4.96130168e-03 1.60927799e+01] [ 9.11093132e-02 -2.89125205e-02 9.95421096e-01 -2.40173149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.907719421 meters Centerline goodness : 0.931203 Centerline is valid? [False, False] Translation: X:83.33, Y:16.09, Z:-2.40 [[ 9.63524509e-01 -2.49813812e-01 -9.59873923e-02 8.33332998e+01] [ 2.51624317e-01 9.67799320e-01 7.04841217e-03 1.60879201e+01] [ 9.11357422e-02 -3.09440799e-02 9.95357594e-01 -2.40126378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.937719421 meters Centerline goodness : 0.927645 Centerline is valid? [False, False] Translation: X:83.33, Y:16.08, Z:-2.40 [[ 9.64336687e-01 -2.46529172e-01 -9.63230075e-02 8.33339015e+01] [ 2.48690269e-01 9.68521444e-01 1.09253228e-02 1.60772590e+01] [ 9.05974875e-02 -3.44902843e-02 9.95290167e-01 -2.40016871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.967719421 meters Centerline goodness : 0.925544 Centerline is valid? [False, False] Translation: X:83.34, Y:16.07, Z:-2.40 [[ 9.64586938e-01 -2.45336650e-01 -9.68605538e-02 8.33351816e+01] [ 2.47660088e-01 9.68765649e-01 1.25537968e-02 1.60718292e+01] [ 9.07552708e-02 -3.60977217e-02 9.95218788e-01 -2.39951883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.997719421 meters Centerline goodness : 0.925742 Centerline is valid? [False, False] Translation: X:83.35, Y:16.07, Z:-2.40 [[ 9.66284103e-01 -2.39023071e-01 -9.57235780e-02 8.33515826e+01] [ 2.40195722e-01 9.70724189e-01 7.50403549e-04 1.60656155e+01] [ 9.27418289e-02 -2.37174970e-02 9.95407672e-01 -2.39684549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.027719421 meters Centerline goodness : 0.923263 Centerline is valid? [False, False] Translation: X:83.35, Y:16.06, Z:-2.40 [[ 9.66506652e-01 -2.37806679e-01 -9.65032427e-02 8.33541225e+01] [ 2.39169458e-01 9.70974255e-01 2.63938492e-03 1.60619438e+01] [ 9.30745008e-02 -2.56316114e-02 9.95329171e-01 -2.39770108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.057719421 meters Centerline goodness : 0.915445 Centerline is valid? [False, False] Translation: X:83.36, Y:16.05, Z:-2.40 [[ 9.66516901e-01 -2.38016795e-01 -9.58805809e-02 8.33555054e+01] [ 2.39420333e-01 9.70910603e-01 3.24120127e-03 1.60531048e+01] [ 9.23200123e-02 -2.60884364e-02 9.95387567e-01 -2.39824254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.087719421 meters Centerline goodness : 0.916872 Centerline is valid? [False, False] Translation: X:83.36, Y:16.05, Z:-2.40 [[ 9.66096417e-01 -2.40037119e-01 -9.50783570e-02 8.33556427e+01] [ 2.41294506e-01 9.70450296e-01 1.78447124e-03 1.60480095e+01] [ 9.18404803e-02 -2.46658565e-02 9.95468192e-01 -2.39795392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.117719421 meters Centerline goodness : 0.918263 Centerline is valid? [False, False] Translation: X:83.36, Y:16.04, Z:-2.40 [[ 9.65992262e-01 -2.40805872e-01 -9.41885421e-02 8.33580973e+01] [ 2.42064600e-01 9.70258067e-01 2.00333098e-03 1.60370269e+01] [ 9.09047789e-02 -2.47349140e-02 9.95552362e-01 -2.39938735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.147719421 meters Centerline goodness : 0.920752 Centerline is valid? [False, False] Translation: X:83.36, Y:16.02, Z:-2.40 [[ 9.65738322e-01 -2.42024722e-01 -9.36671045e-02 8.33605503e+01] [ 2.43289678e-01 9.69951278e-01 2.15632881e-03 1.60238153e+01] [ 9.03306428e-02 -2.48706891e-02 9.95601237e-01 -2.39931836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.177719421 meters Centerline goodness : 0.918952 Centerline is valid? [False, False] Translation: X:83.36, Y:16.02, Z:-2.40 [[ 9.65278868e-01 -2.43743264e-01 -9.39464059e-02 8.33625373e+01] [ 2.44896298e-01 9.69548974e-01 7.68408108e-04 1.60183046e+01] [ 9.08983471e-02 -2.37488551e-02 9.95576960e-01 -2.39867268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.207719421 meters Centerline goodness : 0.918631 Centerline is valid? [False, False] Translation: X:83.37, Y:16.01, Z:-2.40 [[ 9.64535298e-01 -2.46573890e-01 -9.41964719e-02 8.33661496e+01] [ 2.47846221e-01 9.68797579e-01 1.87099436e-03 1.60069255e+01] [ 9.07959756e-02 -2.51508797e-02 9.95551869e-01 -2.39995102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.237719421 meters Centerline goodness : 0.918050 Centerline is valid? [False, False] Translation: X:83.37, Y:16.00, Z:-2.40 [[ 9.63824940e-01 -2.49399785e-01 -9.40278320e-02 8.33679253e+01] [ 2.50576125e-01 9.68096625e-01 7.27746287e-04 1.60010741e+01] [ 9.08465271e-02 -2.42625498e-02 9.95569303e-01 -2.40020416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26771942099998 meters Centerline goodness : 0.921634 Centerline is valid? [False, False] Translation: X:83.37, Y:15.99, Z:-2.40 [[ 9.61450330e-01 -2.58701545e-01 -9.32028673e-02 8.33726141e+01] [ 2.59192997e-01 9.65800152e-01 -7.00406589e-03 1.59895784e+01] [ 9.18273060e-02 -1.74234690e-02 9.95622503e-01 -2.39955847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29771942099998 meters Centerline goodness : 0.924563 Centerline is valid? [False, False] Translation: X:83.37, Y:15.98, Z:-2.40 [[ 9.60497295e-01 -2.62398805e-01 -9.26920376e-02 8.33740314e+01] [ 2.62763598e-01 9.64823105e-01 -8.46572488e-03 1.59825881e+01] [ 9.16528156e-02 -1.62247874e-02 9.95658836e-01 -2.39937965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32771942099998 meters Centerline goodness : 0.924233 Centerline is valid? [False, False] Translation: X:83.38, Y:15.98, Z:-2.40 [[ 9.59419448e-01 -2.66598551e-01 -9.18669451e-02 8.33757263e+01] [ 2.66807706e-01 9.63695543e-01 -1.02249332e-02 1.59764394e+01] [ 9.12577179e-02 -1.47008091e-02 9.95718793e-01 -2.40023469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35771942099998 meters Centerline goodness : 0.929820 Centerline is valid? [False, False] Translation: X:83.38, Y:15.97, Z:-2.40 [[ 9.56522202e-01 -2.77875881e-01 -8.86017557e-02 8.33776245e+01] [ 2.77516167e-01 9.60577513e-01 -1.66017925e-02 1.59676834e+01] [ 8.97220918e-02 -8.70843649e-03 9.95928767e-01 -2.40291123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38771942099999 meters Centerline goodness : 0.935447 Centerline is valid? [False, False] Translation: X:83.38, Y:15.96, Z:-2.40 [[ 9.54436984e-01 -2.85517550e-01 -8.67742598e-02 8.33795038e+01] [ 2.85059899e-01 9.58342825e-01 -1.78853142e-02 1.59552966e+01] [ 8.82660603e-02 -7.66545645e-03 9.96067439e-01 -2.40333567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.417719421 meters Centerline goodness : 0.937561 Centerline is valid? [False, False] Translation: X:83.38, Y:15.95, Z:-2.40 [[ 9.53406720e-01 -2.89202662e-01 -8.58920588e-02 8.33807091e+01] [ 2.88631749e-01 9.57246342e-01 -1.92653509e-02 1.59494925e+01] [ 8.77914499e-02 -6.42346013e-03 9.96118166e-01 -2.40381200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.447719421 meters Centerline goodness : 0.941029 Centerline is valid? [False, False] Translation: X:83.38, Y:15.94, Z:-2.41 [[ 9.50471757e-01 -2.99734438e-01 -8.22356752e-02 8.33829920e+01] [ 2.98492821e-01 9.54021662e-01 -2.72892565e-02 1.59425691e+01] [ 8.66341455e-02 1.39090887e-03 9.96239223e-01 -2.40699770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.477719421 meters Centerline goodness : 0.940200 Centerline is valid? [False, False] Translation: X:83.38, Y:15.94, Z:-2.41 [[ 9.49461287e-01 -3.03140453e-01 -8.14194706e-02 8.33847534e+01] [ 3.01743918e-01 9.52940536e-01 -2.92394040e-02 1.59387001e+01] [ 8.64515601e-02 3.19385206e-03 9.96250936e-01 -2.40822835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.507719421 meters Centerline goodness : 0.940912 Centerline is valid? [False, False] Translation: X:83.39, Y:15.93, Z:-2.41 [[ 9.48218733e-01 -3.07176703e-01 -8.07694772e-02 8.33886480e+01] [ 3.05766045e-01 9.51646536e-01 -2.95972408e-02 1.59304283e+01] [ 8.59555760e-02 3.36809463e-03 9.96293278e-01 -2.41099085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.537719421 meters Centerline goodness : 0.940878 Centerline is valid? [False, False] Translation: X:83.39, Y:15.92, Z:-2.41 [[ 9.48207171e-01 -3.07172872e-01 -8.09196413e-02 8.33894047e+01] [ 3.05936312e-01 9.51652725e-01 -2.75692746e-02 1.59246627e+01] [ 8.54759303e-02 1.38512723e-03 9.96339273e-01 -2.41088717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.567719421 meters Centerline goodness : 0.944521 Centerline is valid? [False, False] Translation: X:83.39, Y:15.92, Z:-2.41 [[ 9.46072750e-01 -3.14298669e-01 -7.85028630e-02 8.33890441e+01] [ 3.12687722e-01 9.49304794e-01 -3.23542399e-02 1.59179506e+01] [ 8.46920387e-02 6.06258334e-03 9.96388731e-01 -2.41009746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.597719421 meters Centerline goodness : 0.943040 Centerline is valid? [False, False] Translation: X:83.39, Y:15.91, Z:-2.41 [[ 9.44912620e-01 -3.18037161e-01 -7.74112737e-02 8.33893944e+01] [ 3.16243330e-01 9.48041428e-01 -3.47506317e-02 1.59142135e+01] [ 8.44410867e-02 8.35551149e-03 9.96393441e-01 -2.40982772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.627719421 meters Centerline goodness : 0.948696 Centerline is valid? [False, False] Translation: X:83.39, Y:15.91, Z:-2.41 [[ 9.43384614e-01 -3.22807809e-01 -7.62927813e-02 8.33923166e+01] [ 3.21051532e-01 9.46429468e-01 -3.46002237e-02 1.59061559e+01] [ 8.33749588e-02 8.14740439e-03 9.96484940e-01 -2.41234798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.657719421 meters Centerline goodness : 0.947053 Centerline is valid? [False, False] Translation: X:83.39, Y:15.90, Z:-2.42 [[ 9.43471312e-01 -3.24362503e-01 -6.81971379e-02 8.33856760e+01] [ 3.21978378e-01 9.45735516e-01 -4.37522319e-02 1.58997738e+01] [ 7.86880388e-02 1.93209718e-02 9.96712041e-01 -2.42499296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.687719421 meters Centerline goodness : 0.945195 Centerline is valid? [False, False] Translation: X:83.39, Y:15.89, Z:-2.43 [[ 9.41551131e-01 -3.30250826e-01 -6.64519283e-02 8.33892278e+01] [ 3.27861672e-01 9.43680260e-01 -4.44329863e-02 1.58929295e+01] [ 7.73834034e-02 2.00488882e-02 9.96799805e-01 -2.42988858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.717719421 meters Centerline goodness : 0.944867 Centerline is valid? [False, False] Translation: X:83.39, Y:15.89, Z:-2.43 [[ 9.41321062e-01 -3.30805782e-01 -6.69491738e-02 8.33917773e+01] [ 3.28539680e-01 9.43522630e-01 -4.27402068e-02 1.58890190e+01] [ 7.73067681e-02 1.82367967e-02 9.96840550e-01 -2.43156095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.747719421 meters Centerline goodness : 0.946839 Centerline is valid? [False, False] Translation: X:83.39, Y:15.88, Z:-2.43 [[ 9.40320013e-01 -3.33763983e-01 -6.63315671e-02 8.33942442e+01] [ 3.31367424e-01 9.42444137e-01 -4.46618231e-02 1.58839810e+01] [ 7.74203045e-02 2.00162856e-02 9.96797595e-01 -2.43268364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.777719421 meters Centerline goodness : 0.946839 Centerline is valid? [False, False] Translation: X:83.39, Y:15.88, Z:-2.43 [[ 9.40320013e-01 -3.33763983e-01 -6.63315671e-02 8.33942442e+01] [ 3.31367424e-01 9.42444137e-01 -4.46618231e-02 1.58839810e+01] [ 7.74203045e-02 2.00162856e-02 9.96797595e-01 -2.43268364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.807719421 meters Centerline goodness : 0.947049 Centerline is valid? [False, False] Translation: X:83.39, Y:15.88, Z:-2.43 [[ 9.40143663e-01 -3.34280725e-01 -6.62290749e-02 8.33936982e+01] [ 3.31919687e-01 9.42269432e-01 -4.42452106e-02 1.58814915e+01] [ 7.71959539e-02 1.96141206e-02 9.96822989e-01 -2.43156873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.837719421 meters Centerline goodness : 0.947736 Centerline is valid? [False, False] Translation: X:83.38, Y:15.88, Z:-2.44 [[ 9.40610907e-01 -3.34741474e-01 -5.65620587e-02 8.33813008e+01] [ 3.32403007e-01 9.41969267e-01 -4.69269844e-02 1.58765220e+01] [ 6.89881289e-02 2.53386350e-02 9.97295639e-01 -2.44206094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.867719421 meters Centerline goodness : 0.947523 Centerline is valid? [False, False] Translation: X:83.38, Y:15.88, Z:-2.44 [[ 9.40430808e-01 -3.35454194e-01 -5.53206828e-02 8.33793717e+01] [ 3.33230478e-01 9.41736300e-01 -4.57185905e-02 1.58765297e+01] [ 6.74339881e-02 2.45606335e-02 9.97421392e-01 -2.44345575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.897719421 meters Centerline goodness : 0.944188 Centerline is valid? [False, False] Translation: X:83.38, Y:15.88, Z:-2.44 [[ 9.40015708e-01 -3.36756417e-01 -5.44571791e-02 8.33778209e+01] [ 3.34596049e-01 9.41281055e-01 -4.51160746e-02 1.58758496e+01] [ 6.64526387e-02 2.41886618e-02 9.97496344e-01 -2.44348393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.927719421 meters Centerline goodness : 0.946954 Centerline is valid? [False, False] Translation: X:83.38, Y:15.88, Z:-2.44 [[ 9.39819324e-01 -3.37353510e-01 -5.41502319e-02 8.33773347e+01] [ 3.35178036e-01 9.41057039e-01 -4.54679405e-02 1.58762147e+01] [ 6.62972262e-02 2.45816807e-02 9.97497077e-01 -2.44330003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.957719421 meters Centerline goodness : 0.945172 Centerline is valid? [False, False] Translation: X:83.37, Y:15.88, Z:-2.44 [[ 9.39394804e-01 -3.38827839e-01 -5.22790326e-02 8.33738632e+01] [ 3.36756717e-01 9.40534666e-01 -4.46033087e-02 1.58771774e+01] [ 6.42830852e-02 2.42948010e-02 9.97635929e-01 -2.44419217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98771942099998 meters Centerline goodness : 0.945763 Centerline is valid? [False, False] Translation: X:83.37, Y:15.88, Z:-2.45 [[ 9.39104013e-01 -3.40165152e-01 -4.86962203e-02 8.33665977e+01] [ 3.38244966e-01 9.40046784e-01 -4.36163551e-02 1.58797506e+01] [ 6.06134894e-02 2.44890427e-02 9.97860858e-01 -2.44522947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01771942099998 meters Centerline goodness : 0.945176 Centerline is valid? [False, False] Translation: X:83.36, Y:15.88, Z:-2.45 [[ 9.39032144e-01 -3.40553947e-01 -4.73459684e-02 8.33630856e+01] [ 3.38693575e-01 9.39905438e-01 -4.31790392e-02 1.58823515e+01] [ 5.92055254e-02 2.45107305e-02 9.97944853e-01 -2.44527741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04771942099998 meters Centerline goodness : 0.942320 Centerline is valid? [False, False] Translation: X:83.36, Y:15.89, Z:-2.45 [[ 9.39257646e-01 -3.40090520e-01 -4.61899743e-02 8.33582205e+01] [ 3.38419810e-01 9.40128283e-01 -4.03837113e-02 1.58862702e+01] [ 5.71586186e-02 2.22991073e-02 9.98116046e-01 -2.44539559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07771942099998 meters Centerline goodness : 0.942487 Centerline is valid? [False, False] Translation: X:83.36, Y:15.89, Z:-2.44 [[ 9.39408989e-01 -3.39734888e-01 -4.57269813e-02 8.33564958e+01] [ 3.38068155e-01 9.40250184e-01 -4.04909100e-02 1.58880939e+01] [ 5.67509774e-02 2.25786886e-02 9.98133022e-01 -2.44486765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10771942099998 meters Centerline goodness : 0.939895 Centerline is valid? [False, False] Translation: X:83.35, Y:15.89, Z:-2.44 [[ 9.40420329e-01 -3.36956272e-01 -4.54980761e-02 8.33510227e+01] [ 3.35634648e-01 9.41366635e-01 -3.43255278e-02 1.58904829e+01] [ 5.43965726e-02 1.70096934e-02 9.98374521e-01 -2.44428941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13771942099999 meters Centerline goodness : 0.939114 Centerline is valid? [False, False] Translation: X:83.35, Y:15.89, Z:-2.45 [[ 9.44298227e-01 -3.27290804e-01 -3.43742329e-02 8.33502948e+01] [ 3.26633187e-01 9.44860904e-01 -2.34229341e-02 1.58858546e+01] [ 4.01449797e-02 1.08904699e-02 9.99134515e-01 -2.44869606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.167719421 meters Centerline goodness : 0.942236 Centerline is valid? [False, False] Translation: X:83.34, Y:15.89, Z:-2.44 [[ 9.44894544e-01 -3.25894575e-01 -3.10970401e-02 8.33376844e+01] [ 3.25585575e-01 9.45398721e-01 -1.46727957e-02 1.58878719e+01] [ 3.41808865e-02 3.73949691e-03 9.99408667e-01 -2.44422994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.197719421 meters Centerline goodness : 0.944098 Centerline is valid? [False, False] Translation: X:83.32, Y:15.89, Z:-2.44 [[ 9.46258024e-01 -3.22160021e-01 -2.84371732e-02 8.33239448e+01] [ 3.22331274e-01 9.46625691e-01 1.53327961e-03 1.58886838e+01] [ 2.64253973e-02 -1.06170684e-02 9.99594406e-01 -2.43909766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.227719421 meters Centerline goodness : 0.944367 Centerline is valid? [False, False] Translation: X:83.32, Y:15.88, Z:-2.44 [[ 9.49850482e-01 -3.12220671e-01 -1.73871743e-02 8.33216322e+01] [ 3.12481950e-01 9.49803363e-01 1.51195893e-02 1.58844968e+01] [ 1.17937483e-02 -1.97945273e-02 9.99734507e-01 -2.44296660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.257719421 meters Centerline goodness : 0.942516 Centerline is valid? [False, False] Translation: X:83.32, Y:15.88, Z:-2.44 [[ 9.53081428e-01 -3.02641176e-01 -6.64156483e-03 8.33195236e+01] [ 3.02708578e-01 9.52702974e-01 2.69176773e-02 1.58805623e+01] [-1.81895894e-03 -2.76651970e-02 9.99615590e-01 -2.44457570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.287719421 meters Centerline goodness : 0.944117 Centerline is valid? [False, False] Translation: X:83.31, Y:15.88, Z:-2.44 [[ 9.55822293e-01 -2.93888454e-01 5.77241396e-03 8.33143708e+01] [ 2.93517883e-01 9.55307357e-01 3.51440883e-02 1.58780767e+01] [-1.58428713e-02 -3.18971963e-02 9.99365585e-01 -2.44401015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.317719421 meters Centerline goodness : 0.943740 Centerline is valid? [False, False] Translation: X:83.31, Y:15.87, Z:-2.45 [[ 9.58323422e-01 -2.85094934e-01 1.83601924e-02 8.33120270e+01] [ 2.84109802e-01 9.57808149e-01 4.34185465e-02 1.58745473e+01] [-2.99639495e-02 -3.63926994e-02 9.98888249e-01 -2.44839491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.347719421 meters Centerline goodness : 0.938925 Centerline is valid? [False, False] Translation: X:83.30, Y:15.88, Z:-2.45 [[ 9.59589256e-01 -2.80673251e-01 2.02727942e-02 8.33019383e+01] [ 2.79181034e-01 9.58571978e-01 5.65483268e-02 1.58788603e+01] [-3.53045352e-02 -4.86033872e-02 9.98194019e-01 -2.44967473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.377719421 meters Centerline goodness : 0.935589 Centerline is valid? [False, False] Translation: X:83.31, Y:15.89, Z:-2.46 [[ 9.59557258e-01 -2.80732962e-01 2.09493055e-02 8.33064670e+01] [ 2.79559621e-01 9.59007584e-01 4.63775045e-02 1.58855064e+01] [-3.31102371e-02 -3.86452911e-02 9.98704287e-01 -2.45854982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.407719421 meters Centerline goodness : 0.932615 Centerline is valid? [False, False] Translation: X:83.31, Y:15.89, Z:-2.46 [[ 9.59306280e-01 -2.81572623e-01 2.11735634e-02 8.33055519e+01] [ 2.80477383e-01 9.58863694e-01 4.37361760e-02 1.58926877e+01] [-3.26174710e-02 -3.60176826e-02 9.98818716e-01 -2.45980173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.437719421 meters Centerline goodness : 0.938551 Centerline is valid? [False, False] Translation: X:83.30, Y:15.90, Z:-2.46 [[ 9.59105158e-01 -2.82261640e-01 2.11107057e-02 8.33028572e+01] [ 2.81226660e-01 9.58724706e-01 4.19345220e-02 1.58973842e+01] [-3.20758620e-02 -3.42827231e-02 9.98897309e-01 -2.45708490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.467719421 meters Centerline goodness : 0.937830 Centerline is valid? [False, False] Translation: X:83.30, Y:15.90, Z:-2.46 [[ 9.58876880e-01 -2.83036903e-01 2.11007294e-02 8.33031455e+01] [ 2.82060068e-01 9.58557880e-01 4.01111959e-02 1.59015912e+01] [-3.15792191e-02 -3.25100252e-02 9.98972398e-01 -2.45829374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.497719421 meters Centerline goodness : 0.937792 Centerline is valid? [False, False] Translation: X:83.30, Y:15.91, Z:-2.46 [[ 9.59581951e-01 -2.80692826e-01 2.03473809e-02 8.33017508e+01] [ 2.79707254e-01 9.59200296e-01 4.12146037e-02 1.59108140e+01] [-3.10858574e-02 -3.38574798e-02 9.98943112e-01 -2.45948566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.527719421 meters Centerline goodness : 0.938445 Centerline is valid? [False, False] Translation: X:83.30, Y:15.92, Z:-2.46 [[ 9.59640439e-01 -2.80473013e-01 2.06183809e-02 8.32996602e+01] [ 2.79503273e-01 9.59293671e-01 4.04174889e-02 1.59163816e+01] [-3.11150972e-02 -3.30233518e-02 9.98970124e-01 -2.45952640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.557719421 meters Centerline goodness : 0.935190 Centerline is valid? [False, False] Translation: X:83.30, Y:15.92, Z:-2.46 [[ 9.59614067e-01 -2.80546373e-01 2.08464446e-02 8.32981596e+01] [ 2.79604007e-01 9.59310814e-01 3.92983731e-02 1.59206560e+01] [-3.10232358e-02 -3.18825222e-02 9.99010042e-01 -2.45946204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.587719421 meters Centerline goodness : 0.935663 Centerline is valid? [False, False] Translation: X:83.30, Y:15.93, Z:-2.46 [[ 9.59380027e-01 -2.81336156e-01 2.09745222e-02 8.32971352e+01] [ 2.80452245e-01 9.59144236e-01 3.72675771e-02 1.59259186e+01] [-3.06023089e-02 -2.98714173e-02 9.99085180e-01 -2.45949699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.617719421 meters Centerline goodness : 0.933605 Centerline is valid? [False, False] Translation: X:83.30, Y:15.93, Z:-2.46 [[ 9.58955184e-01 -2.82763644e-01 2.12055746e-02 8.32973578e+01] [ 2.81944290e-01 9.58795137e-01 3.49185196e-02 1.59311811e+01] [-3.02054896e-02 -2.75065047e-02 9.99165162e-01 -2.46101155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.647719421 meters Centerline goodness : 0.932071 Centerline is valid? [False, False] Translation: X:83.30, Y:15.93, Z:-2.46 [[ 9.58703452e-01 -2.83616657e-01 2.11962908e-02 8.32981753e+01] [ 2.82839423e-01 9.58581366e-01 3.35205276e-02 1.59343481e+01] [-2.98253494e-02 -2.61410988e-02 9.99213236e-01 -2.46245003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.677719421 meters Centerline goodness : 0.930043 Centerline is valid? [False, False] Translation: X:83.30, Y:15.94, Z:-2.46 [[ 9.58413642e-01 -2.84563696e-01 2.16054312e-02 8.32977991e+01] [ 2.83837118e-01 9.58355928e-01 3.14707205e-02 1.59409481e+01] [-2.96611176e-02 -2.40295445e-02 9.99271134e-01 -2.46453718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.707719421 meters Centerline goodness : 0.931485 Centerline is valid? [False, False] Translation: X:83.30, Y:15.94, Z:-2.46 [[ 9.58363827e-01 -2.84722429e-01 2.17235722e-02 8.32970985e+01] [ 2.84013391e-01 9.58325998e-01 3.07843410e-02 1.59440456e+01] [-2.95832563e-02 -2.33328135e-02 9.99289953e-01 -2.46477143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73771942099998 meters Centerline goodness : 0.930022 Centerline is valid? [False, False] Translation: X:83.29, Y:15.95, Z:-2.46 [[ 9.58447696e-01 -2.84412589e-01 2.20792481e-02 8.32932526e+01] [ 2.83715691e-01 9.58435908e-01 3.01001162e-02 1.59484131e+01] [-2.97223961e-02 -2.25851579e-02 9.99303002e-01 -2.46202069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76771942099998 meters Centerline goodness : 0.930766 Centerline is valid? [False, False] Translation: X:83.29, Y:15.95, Z:-2.46 [[ 9.58542484e-01 -2.84098451e-01 2.20085698e-02 8.32924541e+01] [ 2.83418902e-01 9.58540276e-01 2.95679628e-02 1.59503962e+01] [-2.94963130e-02 -2.21045038e-02 9.99320448e-01 -2.46150057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79771942099998 meters Centerline goodness : 0.928535 Centerline is valid? [False, False] Translation: X:83.29, Y:15.96, Z:-2.46 [[ 9.59693936e-01 -2.80255048e-01 2.10869030e-02 8.32922538e+01] [ 2.79555986e-01 9.59629945e-01 3.09647999e-02 1.59565209e+01] [-2.89136651e-02 -2.38217608e-02 9.99298015e-01 -2.46401419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82771942099998 meters Centerline goodness : 0.928834 Centerline is valid? [False, False] Translation: X:83.29, Y:15.96, Z:-2.47 [[ 9.61751690e-01 -2.73264208e-01 1.89831328e-02 8.32922575e+01] [ 2.72461709e-01 9.61470107e-01 3.66039630e-02 1.59620807e+01] [-2.82542677e-02 -3.00317465e-02 9.99149534e-01 -2.46550408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85771942099998 meters Centerline goodness : 0.927710 Centerline is valid? [False, False] Translation: X:83.29, Y:15.97, Z:-2.47 [[ 9.62029522e-01 -2.72283396e-01 1.89986987e-02 8.32911003e+01] [ 2.71487964e-01 9.61755253e-01 3.63472092e-02 1.59652044e+01] [-2.81688398e-02 -2.98091703e-02 9.99158611e-01 -2.46562286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88771942099999 meters Centerline goodness : 0.929289 Centerline is valid? [False, False] Translation: X:83.30, Y:15.97, Z:-2.46 [[ 9.64209171e-01 -2.64359325e-01 2.03671788e-02 8.32950986e+01] [ 2.63745326e-01 9.64169622e-01 2.85542032e-02 1.59708834e+01] [-2.71859850e-02 -2.21604764e-02 9.99384728e-01 -2.46452716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.917719421 meters Centerline goodness : 0.928958 Centerline is valid? [False, False] Translation: X:83.29, Y:15.97, Z:-2.46 [[ 9.64412930e-01 -2.63613720e-01 2.03840085e-02 8.32943529e+01] [ 2.63009670e-01 9.64381706e-01 2.81751519e-02 1.59730143e+01] [-2.70853215e-02 -2.18112895e-02 9.99395144e-01 -2.46462947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.947719421 meters Centerline goodness : 0.929808 Centerline is valid? [False, False] Translation: X:83.29, Y:15.97, Z:-2.47 [[ 9.66257125e-01 -2.56688623e-01 2.14037028e-02 8.32867659e+01] [ 2.56101351e-01 9.66279049e-01 2.67749540e-02 1.59741442e+01] [-2.75547757e-02 -2.03899728e-02 9.99412319e-01 -2.46786459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.977719421 meters Centerline goodness : 0.929773 Centerline is valid? [False, False] Translation: X:83.29, Y:15.97, Z:-2.47 [[ 9.66736700e-01 -2.54897508e-01 2.11521565e-02 8.32858186e+01] [ 2.54291781e-01 9.66732635e-01 2.76351568e-02 1.59748264e+01] [-2.74926126e-02 -2.13371007e-02 9.99394259e-01 -2.46731952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.007719421 meters Centerline goodness : 0.926974 Centerline is valid? [False, False] Translation: X:83.29, Y:15.97, Z:-2.46 [[ 9.69835714e-01 -2.43270982e-01 1.54245589e-02 8.32935312e+01] [ 2.42778191e-01 9.69667853e-01 2.83373297e-02 1.59748406e+01] [-2.18503489e-02 -2.37378079e-02 9.99479404e-01 -2.46370578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.037719421 meters Centerline goodness : 0.926081 Centerline is valid? [False, False] Translation: X:83.29, Y:15.98, Z:-2.46 [[ 9.70168971e-01 -2.41939140e-01 1.54149568e-02 8.32928420e+01] [ 2.41431773e-01 9.69983670e-01 2.90237493e-02 1.59753063e+01] [-2.19742373e-02 -2.44362807e-02 9.99459855e-01 -2.46370392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.067719421 meters Centerline goodness : 0.924360 Centerline is valid? [False, False] Translation: X:83.30, Y:15.97, Z:-2.46 [[ 9.71905714e-01 -2.34435720e-01 2.09565293e-02 8.32981684e+01] [ 2.33930503e-01 9.71956961e-01 2.40038642e-02 1.59718174e+01] [-2.59962078e-02 -1.84271214e-02 9.99492190e-01 -2.46390458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.097719421 meters Centerline goodness : 0.926914 Centerline is valid? [False, False] Translation: X:83.30, Y:15.97, Z:-2.46 [[ 9.72179360e-01 -2.33348797e-01 2.03870144e-02 8.32985808e+01] [ 2.32815489e-01 9.72186277e-01 2.55106000e-02 1.59679945e+01] [-2.57728434e-02 -2.00544661e-02 9.99466647e-01 -2.46255031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.127719421 meters Centerline goodness : 0.928170 Centerline is valid? [False, False] Translation: X:83.31, Y:15.96, Z:-2.46 [[ 9.74574963e-01 -2.23256097e-01 1.89830757e-02 8.33148418e+01] [ 2.22976760e-01 9.74696240e-01 1.57671986e-02 1.59624191e+01] [-2.20228557e-02 -1.11335323e-02 9.99695473e-01 -2.46065831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.157719421 meters Centerline goodness : 0.926433 Centerline is valid? [False, False] Translation: X:83.34, Y:15.97, Z:-2.47 [[ 9.75808317e-01 -2.16195530e-01 3.25210875e-02 8.33405106e+01] [ 2.16723687e-01 9.76137416e-01 -1.36597504e-02 1.59653092e+01] [-2.87918733e-02 2.03773881e-02 9.99377701e-01 -2.46976722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.187719421 meters Centerline goodness : 0.924670 Centerline is valid? [False, False] Translation: X:83.34, Y:15.96, Z:-2.47 [[ 9.75760263e-01 -2.16494970e-01 3.19661799e-02 8.33431638e+01] [ 2.16990465e-01 9.76088456e-01 -1.29021348e-02 1.59600343e+01] [-2.84085719e-02 1.95257466e-02 9.99405673e-01 -2.47048424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.217719421 meters Centerline goodness : 0.924227 Centerline is valid? [False, False] Translation: X:83.35, Y:15.95, Z:-2.47 [[ 9.76340588e-01 -2.14535757e-01 2.70825644e-02 8.33547561e+01] [ 2.15034205e-01 9.76457839e-01 -1.70405010e-02 1.59479149e+01] [-2.27891855e-02 2.24610105e-02 9.99487947e-01 -2.46730026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.247719421 meters Centerline goodness : 0.926768 Centerline is valid? [False, False] Translation: X:83.36, Y:15.94, Z:-2.47 [[ 9.76321307e-01 -2.14708420e-01 2.64007766e-02 8.33576170e+01] [ 2.15170661e-01 9.76443771e-01 -1.60980910e-02 1.59416084e+01] [-2.23224782e-02 2.13975818e-02 9.99521811e-01 -2.46794777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.277719421 meters Centerline goodness : 0.924290 Centerline is valid? [False, False] Translation: X:83.37, Y:15.93, Z:-2.47 [[ 9.76377986e-01 -2.14746106e-01 2.38775512e-02 8.33670138e+01] [ 2.15214410e-01 9.76379283e-01 -1.91377726e-02 1.59313000e+01] [-1.92037842e-02 2.38244929e-02 9.99531694e-01 -2.46979618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.307719421 meters Centerline goodness : 0.923933 Centerline is valid? [False, False] Translation: X:83.37, Y:15.92, Z:-2.47 [[ 9.78018134e-01 -2.06096923e-01 3.16952322e-02 8.33725495e+01] [ 2.06421204e-01 9.78436080e-01 -7.28866654e-03 1.59193752e+01] [-2.95095870e-02 1.36710160e-02 9.99471004e-01 -2.47189575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.337719421 meters Centerline goodness : 0.927888 Centerline is valid? [False, False] Translation: X:83.38, Y:15.91, Z:-2.48 [[ 9.78467955e-01 -2.03899649e-01 3.20217922e-02 8.33835996e+01] [ 2.04412755e-01 9.78789910e-01 -1.36285866e-02 1.59089118e+01] [-2.85637431e-02 1.98807980e-02 9.99394250e-01 -2.47610712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.367719421 meters Centerline goodness : 0.931013 Centerline is valid? [False, False] Translation: X:83.39, Y:15.90, Z:-2.48 [[ 9.80030046e-01 -1.95102467e-01 3.84205227e-02 8.33909526e+01] [ 1.95353451e-01 9.80728751e-01 -2.85401225e-03 1.58958425e+01] [-3.71232864e-02 1.03025995e-02 9.99257583e-01 -2.47570845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.397719421 meters Centerline goodness : 0.934911 Centerline is valid? [False, False] Translation: X:83.40, Y:15.88, Z:-2.48 [[ 9.81024349e-01 -1.89371974e-01 4.15870528e-02 8.34048840e+01] [ 1.90027327e-01 9.81700751e-01 -1.23794685e-02 1.58825764e+01] [-3.84817166e-02 2.00472365e-02 9.99058189e-01 -2.48046556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.427719421 meters Centerline goodness : 0.938049 Centerline is valid? [False, False] Translation: X:83.42, Y:15.87, Z:-2.48 [[ 9.82253836e-01 -1.81883971e-01 4.57779691e-02 8.34164233e+01] [ 1.82322260e-01 9.83223147e-01 -5.55308321e-03 1.58709183e+01] [-4.39999420e-02 1.38008801e-02 9.98936205e-01 -2.48008005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.457719421 meters Centerline goodness : 0.944943 Centerline is valid? [False, False] Translation: X:83.43, Y:15.86, Z:-2.48 [[ 9.83189110e-01 -1.76430456e-01 4.70262503e-02 8.34265390e+01] [ 1.77154313e-01 9.84113967e-01 -1.16640237e-02 1.58563112e+01] [-4.42213007e-02 1.97988441e-02 9.98825552e-01 -2.48308960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48771942099998 meters Centerline goodness : 0.950384 Centerline is valid? [False, True] Translation: X:83.44, Y:15.84, Z:-2.48 [[ 9.83813419e-01 -1.72739643e-01 4.76673103e-02 8.34409896e+01] [ 1.72993576e-01 9.84922193e-01 -1.22293651e-03 1.58351507e+01] [-4.67373422e-02 9.44927983e-03 9.98862519e-01 -2.47809679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51771942099998 meters Centerline goodness : 0.951096 Centerline is valid? [True, True] Translation: X:83.47, Y:15.83, Z:-2.47 [[ 9.83370014e-01 -1.75769885e-01 4.56986165e-02 8.34701132e+01] [ 1.75482094e-01 9.84429092e-01 1.02663657e-02 1.58287852e+01] [-4.67915654e-02 -2.07634729e-03 9.98902517e-01 -2.47457467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54771942099998 meters Centerline goodness : 0.951355 Centerline is valid? [True, True] Translation: X:83.50, Y:15.83, Z:-2.48 [[ 9.82701982e-01 -1.79240454e-01 4.65797677e-02 8.34996697e+01] [ 1.78945169e-01 9.83803360e-01 1.04678293e-02 1.58260319e+01] [-4.77015904e-02 -1.95153223e-03 9.98859725e-01 -2.47606185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57771942099998 meters Centerline goodness : 0.956182 Centerline is valid? [True, True] Translation: X:83.53, Y:15.81, Z:-2.48 [[ 9.81494774e-01 -1.85287080e-01 4.83395015e-02 8.35307929e+01] [ 1.84975499e-01 9.82682898e-01 1.08805191e-02 1.58119573e+01] [-4.95184211e-02 -1.73754924e-03 9.98771699e-01 -2.47707205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60771942099998 meters Centerline goodness : 0.956956 Centerline is valid? [True, True] Translation: X:83.56, Y:15.80, Z:-2.48 [[ 9.79974011e-01 -1.93238559e-01 4.80603562e-02 8.35618117e+01] [ 1.92939905e-01 9.81150898e-01 1.08216652e-02 1.58015102e+01] [-4.92456246e-02 -1.33219008e-03 9.98785810e-01 -2.48081261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63771942099999 meters Centerline goodness : 0.959641 Centerline is valid? [True, True] Translation: X:83.59, Y:15.80, Z:-2.48 [[ 9.79121751e-01 -1.97663640e-01 4.74308153e-02 8.35908235e+01] [ 1.97377278e-01 9.80269277e-01 1.06936345e-02 1.58003475e+01] [-4.86087138e-02 -1.10860493e-03 9.98817283e-01 -2.48373075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.667719421 meters Centerline goodness : 0.958427 Centerline is valid? [True, True] Translation: X:83.62, Y:15.80, Z:-2.49 [[ 9.78500969e-01 -2.00679716e-01 4.75763132e-02 8.36196808e+01] [ 2.00394436e-01 9.79656419e-01 1.07411206e-02 1.57979477e+01] [-4.87639657e-02 -9.76168524e-04 9.98809853e-01 -2.48675095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.697719421 meters Centerline goodness : 0.958427 Centerline is valid? [True, True] Translation: X:83.65, Y:15.80, Z:-2.49 [[ 9.78464623e-01 -2.00857675e-01 4.75728515e-02 8.36474868e+01] [ 2.00571860e-01 9.79619941e-01 1.07564285e-02 1.58043978e+01] [-4.87638251e-02 -9.83009412e-04 9.98809853e-01 -2.48852888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.727719421 meters Centerline goodness : 0.959951 Centerline is valid? [True, True] Translation: X:83.68, Y:15.79, Z:-2.49 [[ 9.76770455e-01 -2.09093483e-01 4.68976868e-02 8.36787531e+01] [ 2.08824786e-01 9.77895489e-01 1.06123018e-02 1.57907698e+01] [-4.80799995e-02 -5.72383504e-04 9.98843324e-01 -2.48990259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.757719421 meters Centerline goodness : 0.960021 Centerline is valid? [True, True] Translation: X:83.71, Y:15.78, Z:-2.49 [[ 9.74916150e-01 -2.17507699e-01 4.72112430e-02 8.37094504e+01] [ 2.17244703e-01 9.76058590e-01 1.06942529e-02 1.57778779e+01] [-4.84070217e-02 -1.69607400e-04 9.98827679e-01 -2.49096935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.787719421 meters Centerline goodness : 0.962668 Centerline is valid? [True, True] Translation: X:83.74, Y:15.78, Z:-2.49 [[ 9.73612161e-01 -2.22947372e-01 4.87219506e-02 8.37387649e+01] [ 2.22673841e-01 9.74830477e-01 1.10408852e-02 1.57765296e+01] [-4.99571787e-02 9.95637648e-05 9.98751356e-01 -2.49328832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.817719421 meters Centerline goodness : 0.964213 Centerline is valid? [True, True] Translation: X:83.77, Y:15.77, Z:-2.50 [[ 9.71627396e-01 -2.30874494e-01 5.13534009e-02 8.37688328e+01] [ 2.30580766e-01 9.72983402e-01 1.16537792e-02 1.57674756e+01] [-5.26565671e-02 5.17975373e-04 9.98612546e-01 -2.49689125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.847719421 meters Centerline goodness : 0.965151 Centerline is valid? [True, True] Translation: X:83.80, Y:15.77, Z:-2.50 [[ 9.70865297e-01 -2.33969479e-01 5.17576795e-02 8.37968195e+01] [ 2.33674920e-01 9.72243704e-01 1.17563563e-02 1.57657425e+01] [-5.30717066e-02 6.80633284e-04 9.98590472e-01 -2.49942606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.877719421 meters Centerline goodness : 0.967290 Centerline is valid? [True, True] Translation: X:83.83, Y:15.76, Z:-2.50 [[ 9.72035072e-01 -2.29137395e-01 5.14186121e-02 8.38264777e+01] [ 2.28839677e-01 9.73394004e-01 1.16839918e-02 1.57629438e+01] [-5.27278081e-02 4.09368769e-04 9.98608838e-01 -2.49686132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.907719421 meters Centerline goodness : 0.968405 Centerline is valid? [True, True] Translation: X:83.85, Y:15.77, Z:-2.50 [[ 9.72516785e-01 -2.27136069e-01 5.11889481e-02 8.38535252e+01] [ 2.26837405e-01 9.73862991e-01 1.16475822e-02 1.57673344e+01] [-5.24966081e-02 2.84098976e-04 9.98621062e-01 -2.49585504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.937719421 meters Centerline goodness : 0.968406 Centerline is valid? [True, True] Translation: X:83.88, Y:15.78, Z:-2.50 [[ 9.71294329e-01 -2.32157603e-01 5.18668878e-02 8.38800940e+01] [ 2.31857603e-01 9.72678025e-01 1.18114708e-02 1.57753318e+01] [-5.31919047e-02 5.53317725e-04 9.98584155e-01 -2.49954389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.967719421 meters Centerline goodness : 0.965835 Centerline is valid? [True, True] Translation: X:83.91, Y:15.78, Z:-2.50 [[ 9.70633616e-01 -2.34966012e-01 5.15883403e-02 8.39059141e+01] [ 2.34672322e-01 9.72003344e-01 1.17643805e-02 1.57828513e+01] [-5.29082689e-02 6.87452480e-04 9.98599140e-01 -2.50390629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.997719421 meters Centerline goodness : 0.961773 Centerline is valid? [True, True] Translation: X:83.93, Y:15.79, Z:-2.51 [[ 9.69794721e-01 -2.39009872e-01 4.87081138e-02 8.39320707e+01] [ 2.38752983e-01 9.71016762e-01 1.11112738e-02 1.57934415e+01] [-4.99520991e-02 8.53552822e-04 9.98751250e-01 -2.50688683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.027719421 meters Centerline goodness : 0.962538 Centerline is valid? [True, True] Translation: X:83.96, Y:15.80, Z:-2.51 [[ 9.68608865e-01 -2.43895275e-01 4.80828653e-02 8.39585710e+01] [ 2.43650287e-01 9.69800976e-01 1.09820420e-02 1.58014437e+01] [-4.93092779e-02 1.07810069e-03 9.98782976e-01 -2.50886264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.057719421 meters Centerline goodness : 0.961885 Centerline is valid? [True, True] Translation: X:83.99, Y:15.81, Z:-2.51 [[ 9.65783569e-01 -2.54759832e-01 4.85749525e-02 8.39863498e+01] [ 2.54522791e-01 9.67002975e-01 1.11083178e-02 1.58078003e+01] [-4.98020768e-02 1.63520169e-03 9.98757768e-01 -2.50993614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.087719421 meters Centerline goodness : 0.964583 Centerline is valid? [True, True] Translation: X:84.01, Y:15.81, Z:-2.51 [[ 9.64587992e-01 -2.59127147e-01 4.92252688e-02 8.40133290e+01] [ 2.58888674e-01 9.65841404e-01 1.12710652e-02 1.58140732e+01] [-5.04644417e-02 1.87193042e-03 9.98724104e-01 -2.51042952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.117719421 meters Centerline goodness : 0.964300 Centerline is valid? [True, True] Translation: X:84.04, Y:15.82, Z:-2.51 [[ 9.62745748e-01 -2.65773557e-01 4.98501825e-02 8.40414691e+01] [ 2.65537139e-01 9.64032895e-01 1.14282430e-02 1.58198921e+01] [-5.10945405e-02 2.23458245e-03 9.98691321e-01 -2.50975559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.147719421 meters Centerline goodness : 0.962850 Centerline is valid? [True, True] Translation: X:84.07, Y:15.83, Z:-2.51 [[ 9.62055275e-01 -2.68611461e-01 4.79325682e-02 8.40680418e+01] [ 2.68395782e-01 9.63245908e-01 1.10011462e-02 1.58280820e+01] [-4.91258841e-02 2.28118834e-03 9.98789990e-01 -2.51197191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.177719421 meters Centerline goodness : 0.961208 Centerline is valid? [True, True] Translation: X:84.09, Y:15.83, Z:-2.51 [[ 9.62042888e-01 -2.68949754e-01 4.62548508e-02 8.40948214e+01] [ 2.68748710e-01 9.63151683e-01 1.06285758e-02 1.58349964e+01] [-4.74089902e-02 2.20578574e-03 9.98873126e-01 -2.51434799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.207719421 meters Centerline goodness : 0.958240 Centerline is valid? [True, True] Translation: X:84.12, Y:15.84, Z:-2.52 [[ 9.62905785e-01 -2.66258362e-01 4.38056390e-02 8.41209240e+01] [ 2.66074635e-01 9.63899727e-01 1.00799122e-02 1.58426167e+01] [-4.49081044e-02 1.94956363e-03 9.98989220e-01 -2.51653169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23771942099998 meters Centerline goodness : 0.958502 Centerline is valid? [True, True] Translation: X:84.15, Y:15.85, Z:-2.52 [[ 9.63357083e-01 -2.64593906e-01 4.39681258e-02 8.41485787e+01] [ 2.64406958e-01 9.64358100e-01 1.01200552e-02 1.58489994e+01] [-4.50787231e-02 1.87625150e-03 9.98981676e-01 -2.51926657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26771942099998 meters Centerline goodness : 0.957637 Centerline is valid? [True, True] Translation: X:84.18, Y:15.85, Z:-2.52 [[ 9.63934106e-01 -2.62347110e-01 4.47775842e-02 8.41765817e+01] [ 2.62150211e-01 9.64971908e-01 1.03190588e-02 1.58536569e+01] [-4.59162862e-02 1.79156042e-03 9.98943685e-01 -2.52116214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29771942099998 meters Centerline goodness : 0.959375 Centerline is valid? [True, True] Translation: X:84.21, Y:15.86, Z:-2.52 [[ 9.65519573e-01 -2.56565432e-01 4.41149979e-02 8.42050010e+01] [ 2.56367743e-01 9.66525728e-01 1.01783400e-02 1.58562260e+01] [-4.52496906e-02 1.48227593e-03 9.98974608e-01 -2.52057830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32771942099998 meters Centerline goodness : 0.959772 Centerline is valid? [True, True] Translation: X:84.23, Y:15.86, Z:-2.52 [[ 9.68542066e-01 -2.45304759e-01 4.18550118e-02 8.42314459e+01] [ 2.45115694e-01 9.69445603e-01 9.67050326e-03 1.58625792e+01] [-4.29483776e-02 8.93031060e-04 9.99076894e-01 -2.52041283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35771942099998 meters Centerline goodness : 0.960366 Centerline is valid? [True, True] Translation: X:84.26, Y:15.87, Z:-2.52 [[ 9.69745571e-01 -2.40597921e-01 4.13057882e-02 8.42587913e+01] [ 2.40409447e-01 9.70624637e-01 9.54522432e-03 1.58699218e+01] [-4.23889768e-02 6.73862717e-04 9.99100956e-01 -2.52227653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38771942099999 meters Centerline goodness : 0.957396 Centerline is valid? [True, True] Translation: X:84.28, Y:15.88, Z:-2.52 [[ 9.72781824e-01 -2.28110831e-01 4.07550258e-02 8.42844140e+01] [ 2.27915758e-01 9.73635166e-01 9.43245497e-03 1.58770713e+01] [-4.18321715e-02 1.12991845e-04 9.99124645e-01 -2.52491968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.417719421 meters Centerline goodness : 0.955634 Centerline is valid? [True, True] Translation: X:84.31, Y:15.88, Z:-2.53 [[ 9.74094695e-01 -2.22531466e-01 4.02401676e-02 8.43115123e+01] [ 2.22336454e-01 9.74925500e-01 9.31507332e-03 1.58846473e+01] [-4.13040625e-02 -1.26907325e-04 9.99146615e-01 -2.52726449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.447719421 meters Centerline goodness : 0.956093 Centerline is valid? [True, True] Translation: X:84.34, Y:15.89, Z:-2.53 [[ 9.75097729e-01 -2.17927126e-01 4.11361912e-02 8.43382434e+01] [ 2.17718616e-01 9.75964984e-01 9.53699972e-03 1.58910860e+01] [-4.22258531e-02 -3.43392144e-04 9.99108032e-01 -2.52909840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.477719421 meters Centerline goodness : 0.955490 Centerline is valid? [True, True] Translation: X:84.37, Y:15.90, Z:-2.53 [[ 9.74743402e-01 -2.19525445e-01 4.10350999e-02 8.43660952e+01] [ 2.19319296e-01 9.75606736e-01 9.51541352e-03 1.58973769e+01] [-4.21229953e-02 -2.75297307e-04 9.99112395e-01 -2.52982553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.507719421 meters Centerline goodness : 0.956518 Centerline is valid? [True, True] Translation: X:84.39, Y:15.90, Z:-2.53 [[ 9.74565076e-01 -2.20591183e-01 3.95277383e-02 8.43934133e+01] [ 2.20400382e-01 9.75366330e-01 9.17577543e-03 1.59023353e+01] [-4.05781202e-02 -2.30461670e-04 9.99176342e-01 -2.53181401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.537719421 meters Centerline goodness : 0.954976 Centerline is valid? [True, True] Translation: X:84.42, Y:15.91, Z:-2.53 [[ 9.74369424e-01 -2.21374270e-01 3.99707152e-02 8.44207131e+01] [ 2.21179397e-01 9.75188899e-01 9.28904222e-03 1.59090439e+01] [-4.10353527e-02 -2.10260040e-04 9.99157673e-01 -2.53372728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.567719421 meters Centerline goodness : 0.952165 Centerline is valid? [True, True] Translation: X:84.45, Y:15.92, Z:-2.54 [[ 9.74272306e-01 -2.21692805e-01 4.05681469e-02 8.44464107e+01] [ 2.21491725e-01 9.75116534e-01 9.44252078e-03 1.59160667e+01] [-4.16520097e-02 -2.14077637e-04 9.99132156e-01 -2.53755836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.597719421 meters Centerline goodness : 0.951501 Centerline is valid? [True, True] Translation: X:84.47, Y:15.92, Z:-2.54 [[ 9.73956011e-01 -2.23396985e-01 3.87746708e-02 8.44732403e+01] [ 2.23214466e-01 9.74727535e-01 9.02963827e-03 1.59208712e+01] [-3.98119332e-02 -1.39403032e-04 9.99207181e-01 -2.53865304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.627719421 meters Centerline goodness : 0.953200 Centerline is valid? [True, True] Translation: X:84.50, Y:15.93, Z:-2.54 [[ 9.73668326e-01 -2.24564403e-01 3.92532880e-02 8.45010509e+01] [ 2.24378271e-01 9.74459245e-01 9.14173493e-03 1.59261779e+01] [-4.03036376e-02 -9.34328441e-05 9.99187474e-01 -2.53904299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.657719421 meters Centerline goodness : 0.952368 Centerline is valid? [True, True] Translation: X:84.53, Y:15.93, Z:-2.54 [[ 9.73268582e-01 -2.26321738e-01 3.90734991e-02 8.45284718e+01] [ 2.26138286e-01 9.74052601e-01 9.11075890e-03 1.59320177e+01] [-4.01216062e-02 -3.12012833e-05 9.99194804e-01 -2.53956512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.687719421 meters Centerline goodness : 0.952839 Centerline is valid? [True, True] Translation: X:84.56, Y:15.94, Z:-2.54 [[ 9.72677581e-01 -2.28826691e-01 3.92003730e-02 8.45558707e+01] [ 2.28643636e-01 9.73467175e-01 9.15128946e-03 1.59379790e+01] [-4.02543357e-02 6.16617092e-05 9.99189464e-01 -2.54053354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.717719421 meters Centerline goodness : 0.948526 Centerline is valid? [True, False] Translation: X:84.56, Y:15.94, Z:-2.54 [[ 9.73393413e-01 -2.25976176e-01 3.79477361e-02 8.45585379e+01] [ 2.25637380e-01 9.74124065e-01 1.30414144e-02 1.59363748e+01] [-3.99128519e-02 -4.13199915e-03 9.99194621e-01 -2.54263484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.747719421 meters Centerline goodness : 0.945451 Centerline is valid? [False, False] Translation: X:84.56, Y:15.94, Z:-2.55 [[ 9.73130665e-01 -2.26780366e-01 3.98418639e-02 8.45599020e+01] [ 2.26861340e-01 9.73923764e-01 2.53655280e-03 1.59403273e+01] [-3.93781784e-02 6.57018131e-03 9.99202778e-01 -2.55099989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.777719421 meters Centerline goodness : 0.944679 Centerline is valid? [False, False] Translation: X:84.56, Y:15.94, Z:-2.55 [[ 9.73274395e-01 -2.26218197e-01 3.95256901e-02 8.45607724e+01] [ 2.26300380e-01 9.74054505e-01 2.44115669e-03 1.59401504e+01] [-3.90524106e-02 6.56876339e-03 9.99215573e-01 -2.55147932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.807719421 meters Centerline goodness : 0.943408 Centerline is valid? [False, False] Translation: X:84.56, Y:15.94, Z:-2.55 [[ 9.73585404e-01 -2.25107633e-01 3.81839481e-02 8.45642449e+01] [ 2.25221122e-01 9.74306728e-01 1.35880134e-03 1.59398730e+01] [-3.75087541e-02 7.27692250e-03 9.99269803e-01 -2.55292695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.837719421 meters Centerline goodness : 0.943510 Centerline is valid? [False, False] Translation: X:84.56, Y:15.94, Z:-2.55 [[ 9.73657632e-01 -2.24813620e-01 3.80742949e-02 8.45647070e+01] [ 2.24897675e-01 9.74380089e-01 2.11632544e-03 1.59396969e+01] [-3.75746136e-02 6.50224398e-03 9.99272670e-01 -2.55348249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.867719421 meters Centerline goodness : 0.939783 Centerline is valid? [False, False] Translation: X:84.57, Y:15.94, Z:-2.56 [[ 9.72856845e-01 -2.27991759e-01 3.96146081e-02 8.45668906e+01] [ 2.28343529e-01 9.73570067e-01 -4.53400696e-03 1.59419114e+01] [-3.75338804e-02 1.34566791e-02 9.99204747e-01 -2.55991716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.897719421 meters Centerline goodness : 0.942058 Centerline is valid? [False, False] Translation: X:84.57, Y:15.94, Z:-2.56 [[ 9.72268047e-01 -2.30379025e-01 4.02535624e-02 8.45683698e+01] [ 2.30879644e-01 9.72947749e-01 -8.20168098e-03 1.59418882e+01] [-3.72751176e-02 1.72679605e-02 9.99155835e-01 -2.56214788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.927719421 meters Centerline goodness : 0.940538 Centerline is valid? [False, False] Translation: X:84.58, Y:15.94, Z:-2.56 [[ 9.72222964e-01 -2.29534759e-01 4.57853874e-02 8.45783383e+01] [ 2.30095031e-01 9.73140818e-01 -7.29555897e-03 1.59387156e+01] [-4.28810450e-02 1.76279001e-02 9.98924658e-01 -2.56437827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.957719421 meters Centerline goodness : 0.943633 Centerline is valid? [False, False] Translation: X:84.58, Y:15.94, Z:-2.57 [[ 9.71536231e-01 -2.31883160e-01 4.84515463e-02 8.45801085e+01] [ 2.32878919e-01 9.72374882e-01 -1.59529870e-02 1.59392534e+01] [-4.34138376e-02 2.67822486e-02 9.98698127e-01 -2.57131233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98771942099998 meters Centerline goodness : 0.943655 Centerline is valid? [False, False] Translation: X:84.58, Y:15.93, Z:-2.57 [[ 9.72596137e-01 -2.24976878e-01 5.86699094e-02 8.45827124e+01] [ 2.25869812e-01 9.74116163e-01 -8.97382288e-03 1.59339253e+01] [-5.51324043e-02 2.19796669e-02 9.98237102e-01 -2.57490396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01771942099998 meters Centerline goodness : 0.943054 Centerline is valid? [False, False] Translation: X:84.58, Y:15.93, Z:-2.57 [[ 9.73328611e-01 -2.19054480e-01 6.81656118e-02 8.45840131e+01] [ 2.19550517e-01 9.75601108e-01 2.19956295e-04 1.59300446e+01] [-6.65506288e-02 1.47517056e-02 9.97673995e-01 -2.57486519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04771942099998 meters Centerline goodness : 0.941433 Centerline is valid? [False, False] Translation: X:84.59, Y:15.93, Z:-2.58 [[ 9.73724222e-01 -2.13566920e-01 7.90589010e-02 8.45853678e+01] [ 2.13511265e-01 9.76896757e-01 9.25563711e-03 1.59259691e+01] [-7.92090819e-02 7.86752792e-03 9.96826978e-01 -2.57924421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07771942099998 meters Centerline goodness : 0.942705 Centerline is valid? [False, False] Translation: X:84.59, Y:15.93, Z:-2.58 [[ 9.73355994e-01 -2.15755128e-01 7.76391316e-02 8.45900559e+01] [ 2.15735671e-01 9.76412700e-01 8.73835708e-03 1.59281504e+01] [-7.76931795e-02 8.24399791e-03 9.96943231e-01 -2.57899681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10771942099998 meters Centerline goodness : 0.941290 Centerline is valid? [False, False] Translation: X:84.59, Y:15.93, Z:-2.58 [[ 9.73050068e-01 -2.17463612e-01 7.67016449e-02 8.45935500e+01] [ 2.17474922e-01 9.76030561e-01 8.30677751e-03 1.59288201e+01] [-7.66695713e-02 8.59777383e-03 9.97019486e-01 -2.57900105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13771942099999 meters Centerline goodness : 0.941454 Centerline is valid? [False, False] Translation: X:84.60, Y:15.93, Z:-2.58 [[ 9.72593209e-01 -2.19969670e-01 7.53378659e-02 8.45985300e+01] [ 2.20033030e-01 9.75463115e-01 7.56153001e-03 1.59311657e+01] [-7.51526167e-02 9.22252614e-03 9.97129394e-01 -2.57940907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.167719421 meters Centerline goodness : 0.940864 Centerline is valid? [False, False] Translation: X:84.60, Y:15.93, Z:-2.58 [[ 9.72062846e-01 -2.22766810e-01 7.39511428e-02 8.46047369e+01] [ 2.22830945e-01 9.74828347e-01 7.48762807e-03 1.59315551e+01] [-7.37576653e-02 9.20015800e-03 9.97233756e-01 -2.57995472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.197719421 meters Centerline goodness : 0.940505 Centerline is valid? [False, False] Translation: X:84.62, Y:15.93, Z:-2.58 [[ 9.69709498e-01 -2.33600654e-01 7.13738380e-02 8.46239188e+01] [ 2.33665509e-01 9.72287674e-01 7.55702190e-03 1.59306165e+01] [-7.11612282e-02 9.34948826e-03 9.97421008e-01 -2.58115049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.227719421 meters Centerline goodness : 0.937053 Centerline is valid? [False, False] Translation: X:84.63, Y:15.93, Z:-2.58 [[ 9.68463021e-01 -2.38800374e-01 7.10897947e-02 8.46322650e+01] [ 2.38998184e-01 9.71002479e-01 5.83560124e-03 1.59288393e+01] [-7.04219107e-02 1.13387679e-02 9.97452849e-01 -2.58410701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.257719421 meters Centerline goodness : 0.941047 Centerline is valid? [False, False] Translation: X:84.65, Y:15.92, Z:-2.59 [[ 9.65662002e-01 -2.49780498e-01 7.14604785e-02 8.46460921e+01] [ 2.50341049e-01 9.68157036e-01 1.14620752e-03 1.59249220e+01] [-6.94712653e-02 1.67826421e-02 9.97442773e-01 -2.58749650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.287719421 meters Centerline goodness : 0.943468 Centerline is valid? [False, False] Translation: X:84.65, Y:15.92, Z:-2.59 [[ 9.65863457e-01 -2.49187414e-01 7.08054751e-02 8.46458183e+01] [ 2.49671319e-01 9.68328421e-01 2.07401610e-03 1.59240962e+01] [-6.90797726e-02 1.56748800e-02 9.97487986e-01 -2.58511903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.317719421 meters Centerline goodness : 0.945563 Centerline is valid? [False, False] Translation: X:84.65, Y:15.92, Z:-2.58 [[ 9.66168608e-01 -2.48134591e-01 7.03380822e-02 8.46450710e+01] [ 2.48516077e-01 9.68621755e-01 3.41395369e-03 1.59225716e+01] [-6.89781167e-02 1.41816894e-02 9.97517368e-01 -2.58278301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.347719421 meters Centerline goodness : 0.946671 Centerline is valid? [False, False] Translation: X:84.65, Y:15.92, Z:-2.58 [[ 9.67041440e-01 -2.45203623e-01 6.86005585e-02 8.46472550e+01] [ 2.45214614e-01 9.69432501e-01 8.39160259e-03 1.59194399e+01] [-6.85612624e-02 8.70683201e-03 9.97608914e-01 -2.58106033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.377719421 meters Centerline goodness : 0.944998 Centerline is valid? [False, False] Translation: X:84.65, Y:15.92, Z:-2.58 [[ 9.68073737e-01 -2.41487233e-01 6.72097951e-02 8.46491086e+01] [ 2.41134486e-01 9.70398717e-01 1.34346225e-02 1.59161167e+01] [-6.84645888e-02 3.20089417e-03 9.97648412e-01 -2.58086934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.407719421 meters Centerline goodness : 0.942218 Centerline is valid? [False, False] Translation: X:84.65, Y:15.91, Z:-2.58 [[ 9.69018495e-01 -2.38121395e-01 6.55847439e-02 8.46510079e+01] [ 2.37449468e-01 9.71233655e-01 1.79704438e-02 1.59143049e+01] [-6.79772577e-02 -1.84062987e-03 9.97685173e-01 -2.58026192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.437719421 meters Centerline goodness : 0.944541 Centerline is valid? [False, False] Translation: X:84.66, Y:15.91, Z:-2.57 [[ 9.71970738e-01 -2.27819988e-01 5.80597746e-02 8.46587578e+01] [ 2.27311989e-01 9.73701834e-01 1.52969718e-02 1.59113184e+01] [-6.00178650e-02 -1.67052613e-03 9.98195905e-01 -2.57460440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.467719421 meters Centerline goodness : 0.948666 Centerline is valid? [False, False] Translation: X:84.66, Y:15.91, Z:-2.57 [[ 9.72073121e-01 -2.27517426e-01 5.75297246e-02 8.46591338e+01] [ 2.26948980e-01 9.73769973e-01 1.63156440e-02 1.59099998e+01] [-5.97328117e-02 -2.80368666e-03 9.98210464e-01 -2.57276297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.497719421 meters Centerline goodness : 0.947651 Centerline is valid? [False, False] Translation: X:84.67, Y:15.91, Z:-2.57 [[ 9.74494322e-01 -2.18917960e-01 4.93532590e-02 8.46685402e+01] [ 2.18449761e-01 9.75736636e-01 1.47552843e-02 1.59102549e+01] [-5.13859797e-02 -3.59773315e-03 9.98672387e-01 -2.56772195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.527719421 meters Centerline goodness : 0.945764 Centerline is valid? [False, False] Translation: X:84.67, Y:15.91, Z:-2.57 [[ 9.74392691e-01 -2.19429264e-01 4.90885053e-02 8.46697719e+01] [ 2.18997288e-01 9.75623899e-01 1.40781988e-02 1.59123151e+01] [-5.09810877e-02 -2.96744447e-03 9.98695210e-01 -2.56870467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.557719421 meters Centerline goodness : 0.942977 Centerline is valid? [False, False] Translation: X:84.69, Y:15.91, Z:-2.57 [[ 9.74849676e-01 -2.18727679e-01 4.27353706e-02 8.46864790e+01] [ 2.18520284e-01 9.75785939e-01 9.52291997e-03 1.59120366e+01] [-4.37835000e-02 5.51298877e-05 9.99041041e-01 -2.56752736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.587719421 meters Centerline goodness : 0.942977 Centerline is valid? [False, False] Translation: X:84.69, Y:15.91, Z:-2.57 [[ 9.74849676e-01 -2.18727679e-01 4.27353706e-02 8.46864790e+01] [ 2.18520284e-01 9.75785939e-01 9.52291997e-03 1.59120366e+01] [-4.37835000e-02 5.51298877e-05 9.99041041e-01 -2.56752736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.617719421 meters Centerline goodness : 0.947257 Centerline is valid? [False, False] Translation: X:84.69, Y:15.91, Z:-2.57 [[ 9.74546388e-01 -2.20207067e-01 4.20497876e-02 8.46885048e+01] [ 2.20015267e-01 9.75453106e-01 9.19347688e-03 1.59137769e+01] [-4.30420646e-02 2.92125565e-04 9.99073218e-01 -2.56617955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.647719421 meters Centerline goodness : 0.948635 Centerline is valid? [False, False] Translation: X:84.69, Y:15.91, Z:-2.57 [[ 9.74329940e-01 -2.21332013e-01 4.11498198e-02 8.46911071e+01] [ 2.21136949e-01 9.75198512e-01 9.29042211e-03 1.59136760e+01] [-4.21855109e-02 4.78091965e-05 9.99109794e-01 -2.56518621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.677719421 meters Centerline goodness : 0.948976 Centerline is valid? [False, False] Translation: X:84.69, Y:15.91, Z:-2.56 [[ 9.74171223e-01 -2.22191348e-01 4.02670129e-02 8.46927517e+01] [ 2.21993168e-01 9.75003058e-01 9.38455552e-03 1.59143853e+01] [-4.13456278e-02 -2.03162190e-04 9.99144883e-01 -2.56352978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.707719421 meters Centerline goodness : 0.952579 Centerline is valid? [False, True] Translation: X:84.72, Y:15.92, Z:-2.57 [[ 9.73206793e-01 -2.27047614e-01 3.63031496e-02 8.47199756e+01] [ 2.27131806e-01 9.73862284e-01 1.84256724e-03 1.59167267e+01] [-3.57726187e-02 6.45240099e-03 9.99339125e-01 -2.56562710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73771942099998 meters Centerline goodness : 0.949997 Centerline is valid? [True, False] Translation: X:84.73, Y:15.92, Z:-2.57 [[ 9.72587492e-01 -2.29898390e-01 3.49328006e-02 8.47272285e+01] [ 2.29982313e-01 9.73193408e-01 1.65106997e-03 1.59160424e+01] [-3.43759496e-02 6.42811627e-03 9.99388300e-01 -2.56696392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76771942099998 meters Centerline goodness : 0.953130 Centerline is valid? [False, True] Translation: X:84.74, Y:15.91, Z:-2.57 [[ 9.70576841e-01 -2.38098573e-01 3.59119088e-02 8.47352255e+01] [ 2.38367650e-01 9.71169232e-01 -3.34465142e-03 1.59144778e+01] [-3.40801842e-02 1.18064785e-02 9.99349362e-01 -2.57040956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79771942099998 meters Centerline goodness : 0.953196 Centerline is valid? [True, True] Translation: X:84.76, Y:15.92, Z:-2.57 [[ 9.70126601e-01 -2.39896019e-01 3.61147933e-02 8.47629803e+01] [ 2.39867451e-01 9.70791796e-01 5.18603899e-03 1.59161471e+01] [-3.63040552e-02 3.63164902e-03 9.99334192e-01 -2.56552379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82771942099998 meters Centerline goodness : 0.952294 Centerline is valid? [True, True] Translation: X:84.79, Y:15.92, Z:-2.57 [[ 9.70318534e-01 -2.39218258e-01 3.54480927e-02 8.47895226e+01] [ 2.39190180e-01 9.70959379e-01 5.09324751e-03 1.59194336e+01] [-3.56370559e-02 3.53676325e-03 9.99358540e-01 -2.56521557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85771942099998 meters Centerline goodness : 0.954239 Centerline is valid? [True, True] Translation: X:84.82, Y:15.92, Z:-2.57 [[ 9.70212614e-01 -2.39479690e-01 3.65644924e-02 8.48168271e+01] [ 2.39449807e-01 9.70894502e-01 5.25895593e-03 1.59242794e+01] [-3.67596778e-02 3.65305528e-03 9.99317458e-01 -2.56742510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88771942099999 meters Centerline goodness : 0.954989 Centerline is valid? [True, True] Translation: X:84.84, Y:15.93, Z:-2.57 [[ 9.70997093e-01 -2.36271717e-01 3.66104017e-02 8.48432141e+01] [ 2.36239044e-01 9.71680636e-01 5.27793909e-03 1.59305704e+01] [-3.68206461e-02 3.52394277e-03 9.99315677e-01 -2.56776802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.917719421 meters Centerline goodness : 0.955402 Centerline is valid? [True, True] Translation: X:84.87, Y:15.94, Z:-2.57 [[ 9.71142176e-01 -2.35837676e-01 3.55452422e-02 8.48707166e+01] [ 2.35806519e-01 9.71786503e-01 5.12626294e-03 1.59368503e+01] [-3.57513525e-02 3.40346967e-03 9.99354921e-01 -2.57022209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.947719421 meters Centerline goodness : 0.951937 Centerline is valid? [True, True] Translation: X:84.90, Y:15.94, Z:-2.57 [[ 9.71518060e-01 -2.34611405e-01 3.33188662e-02 8.48984284e+01] [ 2.34583060e-01 9.72084166e-01 4.81268348e-03 1.59414727e+01] [-3.35178527e-02 3.14043266e-03 9.99433185e-01 -2.57350919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.977719421 meters Centerline goodness : 0.935032 Centerline is valid? [True, False] Translation: X:84.90, Y:15.94, Z:-2.57 [[ 9.72196229e-01 -2.32020376e-01 3.16391704e-02 8.49015208e+01] [ 2.31844737e-01 9.72709655e-01 9.16209882e-03 1.59392221e+01] [-3.29015202e-02 -1.57198278e-03 9.99457362e-01 -2.57265714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.007719421 meters Centerline goodness : 0.926025 Centerline is valid? [False, False] Translation: X:84.91, Y:15.94, Z:-2.57 [[ 9.73919476e-01 -2.25591780e-01 2.42735073e-02 8.49118881e+01] [ 2.25528055e-01 9.74221888e-01 5.36736949e-03 1.59354838e+01] [-2.48586166e-02 2.46971205e-04 9.99690946e-01 -2.56896833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.037719421 meters Centerline goodness : 0.909745 Centerline is valid? [False, False] Translation: X:84.91, Y:15.93, Z:-2.57 [[ 9.74833789e-01 -2.21779103e-01 2.26520021e-02 8.49132541e+01] [ 2.21602665e-01 9.75085208e-01 1.00546332e-02 1.59341645e+01] [-2.43175398e-02 -4.78185216e-03 9.99692848e-01 -2.56750882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.067719421 meters Centerline goodness : 0.927585 Centerline is valid? [False, False] Translation: X:84.90, Y:15.93, Z:-2.57 [[ 9.76648283e-01 -2.13587710e-01 2.32039106e-02 8.49024247e+01] [ 2.13334942e-01 9.76893948e-01 1.29002484e-02 1.59346942e+01] [-2.54230944e-02 -7.64880056e-03 9.99647519e-01 -2.56536905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.097719421 meters Centerline goodness : 0.951721 Centerline is valid? [False, True] Translation: X:85.04, Y:15.92, Z:-2.54 [[ 9.87833775e-01 -1.55504081e-01 -1.70720340e-03 8.50440804e+01] [ 1.55498673e-01 9.87529026e-01 2.46289552e-02 1.59158578e+01] [-2.14399014e-03 -2.45947816e-02 9.99695204e-01 -2.53690627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.127719421 meters Centerline goodness : 0.949184 Centerline is valid? [True, False] Translation: X:85.05, Y:15.92, Z:-2.54 [[ 9.89688641e-01 -1.43182344e-01 3.90004215e-03 8.50537349e+01] [ 1.43049772e-01 9.89425190e-01 2.39699158e-02 1.59221814e+01] [-7.29086868e-03 -2.31648533e-02 9.99705073e-01 -2.54356743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.157719421 meters Centerline goodness : 0.948623 Centerline is valid? [False, False] Translation: X:85.05, Y:15.92, Z:-2.54 [[ 9.90306252e-01 -1.38865428e-01 3.14972442e-03 8.50536051e+01] [ 1.38717783e-01 9.89909423e-01 2.89259403e-02 1.59217857e+01] [-7.13475497e-03 -2.82086167e-02 9.99576595e-01 -2.54198359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.187719421 meters Centerline goodness : 0.949301 Centerline is valid? [False, False] Translation: X:85.06, Y:15.91, Z:-2.54 [[ 9.90998276e-01 -1.33868352e-01 -1.29651796e-03 8.50605082e+01] [ 1.33864181e-01 9.90753463e-01 2.20897568e-02 1.59149237e+01] [-1.67258967e-03 -2.20644682e-02 9.99755151e-01 -2.53795502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.217719421 meters Centerline goodness : 0.951108 Centerline is valid? [False, True] Translation: X:85.06, Y:15.91, Z:-2.54 [[ 9.91077679e-01 -1.33276969e-01 -1.51088500e-03 8.50608028e+01] [ 1.33275226e-01 9.90796393e-01 2.36690239e-02 1.59115090e+01] [-1.65755637e-03 -2.36592048e-02 9.99718708e-01 -2.53631406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.247719421 meters Centerline goodness : 0.954107 Centerline is valid? [True, True] Translation: X:85.09, Y:15.92, Z:-2.55 [[ 9.92217472e-01 -1.24516137e-01 -4.68001749e-04 8.50869221e+01] [ 1.24516131e-01 9.92217583e-01 -4.24120201e-05 1.59176855e+01] [ 4.69640545e-04 -1.61918197e-05 9.99999890e-01 -2.54858046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.277719421 meters Centerline goodness : 0.961143 Centerline is valid? [True, True] Translation: X:85.11, Y:15.95, Z:-2.54 [[ 9.88850103e-01 -1.48845953e-01 -4.51186427e-03 8.51125699e+01] [ 1.48845715e-01 9.88860354e-01 -3.90487828e-04 1.59502045e+01] [ 4.51972623e-03 -2.85437734e-04 9.99989745e-01 -2.53785411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.307719421 meters Centerline goodness : 0.951165 Centerline is valid? [True, True] Translation: X:85.14, Y:15.92, Z:-2.55 [[ 9.92816963e-01 -1.19631041e-01 -1.70050462e-03 8.51418639e+01] [ 1.19630963e-01 9.92818418e-01 -1.47683420e-04 1.59218748e+01] [ 1.70595983e-03 -5.68104014e-05 9.99998543e-01 -2.55345912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.337719421 meters Centerline goodness : 0.952284 Centerline is valid? [True, True] Translation: X:85.17, Y:15.92, Z:-2.55 [[ 9.93183472e-01 -1.16549050e-01 -1.70553262e-03 8.51689044e+01] [ 1.16548968e-01 9.93184936e-01 -1.47844193e-04 1.59246581e+01] [ 1.71114040e-03 -5.19416577e-05 9.99998535e-01 -2.55316053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.367719421 meters Centerline goodness : 0.952847 Centerline is valid? [True, True] Translation: X:85.20, Y:15.93, Z:-2.55 [[ 9.93583539e-01 -1.13099490e-01 -5.06987597e-04 8.51968234e+01] [ 1.13099481e-01 9.93583668e-01 -4.73710501e-05 1.59271792e+01] [ 5.09092237e-04 -1.02729384e-05 9.99999870e-01 -2.55332756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.397719421 meters Centerline goodness : 0.951591 Centerline is valid? [True, True] Translation: X:85.22, Y:15.93, Z:-2.55 [[ 9.93632856e-01 -1.12666414e-01 -1.63193768e-04 8.52235510e+01] [ 1.12666413e-01 9.93632869e-01 -1.66161534e-05 1.59311536e+01] [ 1.64026775e-04 -1.87610062e-06 9.99999987e-01 -2.55392919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.427719421 meters Centerline goodness : 0.952052 Centerline is valid? [True, True] Translation: X:85.25, Y:15.94, Z:-2.55 [[ 9.93459441e-01 -1.14181976e-01 -9.02625309e-04 8.52509509e+01] [ 1.14181949e-01 9.93459851e-01 -8.17682548e-05 1.59358560e+01] [ 9.06058466e-04 -2.18300723e-05 9.99999589e-01 -2.55489727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.457719421 meters Centerline goodness : 0.952149 Centerline is valid? [True, True] Translation: X:85.28, Y:15.94, Z:-2.56 [[ 9.93108054e-01 -1.17186905e-01 -1.90300123e-03 8.52790027e+01] [ 1.17186796e-01 9.93109876e-01 -1.68828923e-04 1.59392215e+01] [ 1.90967386e-03 -5.53412548e-05 9.99998175e-01 -2.55602149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48771942099998 meters Centerline goodness : 0.951230 Centerline is valid? [True, True] Translation: X:85.31, Y:15.94, Z:-2.56 [[ 9.92280954e-01 -1.23999726e-01 -1.60535939e-03 8.53063839e+01] [ 1.23999660e-01 9.92282250e-01 -1.41087403e-04 1.59414486e+01] [ 1.61046443e-03 -5.90656756e-05 9.99998701e-01 -2.55651876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51771942099998 meters Centerline goodness : 0.953304 Centerline is valid? [True, True] Translation: X:85.33, Y:15.94, Z:-2.55 [[ 9.91185478e-01 -1.32451494e-01 -2.81955668e-03 8.53344527e+01] [ 1.32451320e-01 9.91189480e-01 -2.49419939e-04 1.59426305e+01] [ 2.82775096e-03 -1.26232582e-04 9.99995994e-01 -2.55437671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54771942099998 meters Centerline goodness : 0.951618 Centerline is valid? [True, True] Translation: X:85.36, Y:15.95, Z:-2.55 [[ 9.90409139e-01 -1.38120468e-01 -3.53173505e-03 8.53608907e+01] [ 1.38120239e-01 9.90415420e-01 -3.09785945e-04 1.59457928e+01] [ 3.54067263e-03 -1.80989258e-04 9.99993715e-01 -2.55435967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57771942099998 meters Centerline goodness : 0.952177 Centerline is valid? [True, True] Translation: X:85.39, Y:15.95, Z:-2.56 [[ 9.88612023e-01 -1.50455195e-01 -3.08259696e-03 8.53885820e+01] [ 1.50455071e-01 9.88616810e-01 -2.73425867e-04 1.59505810e+01] [ 3.08864552e-03 -1.93480246e-04 9.99995211e-01 -2.55764567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60771942099998 meters Centerline goodness : 0.951936 Centerline is valid? [True, True] Translation: X:85.42, Y:15.95, Z:-2.56 [[ 9.87920990e-01 -1.54944523e-01 -2.07670338e-03 8.54160390e+01] [ 1.54944473e-01 9.87923163e-01 -1.85905110e-04 1.59546748e+01] [ 2.08042835e-03 -1.38114152e-04 9.99997826e-01 -2.55926957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63771942099999 meters Centerline goodness : 0.951423 Centerline is valid? [True, True] Translation: X:85.44, Y:15.96, Z:-2.56 [[ 9.85463706e-01 -1.69885974e-01 -2.00341169e-04 8.54436937e+01] [ 1.69885973e-01 9.85463726e-01 -2.12810916e-05 1.59578858e+01] [ 2.01044314e-04 -1.30634110e-05 9.99999980e-01 -2.56163435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.667719421 meters Centerline goodness : 0.951606 Centerline is valid? [True, True] Translation: X:85.47, Y:15.96, Z:-2.56 [[ 9.84108348e-01 -1.77554437e-01 2.27610082e-03 8.54706938e+01] [ 1.77554448e-01 9.84110958e-01 1.99060889e-04 1.59607091e+01] [-2.27527991e-03 2.08234343e-04 9.99997390e-01 -2.56468742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.697719421 meters Centerline goodness : 0.953243 Centerline is valid? [True, True] Translation: X:85.50, Y:15.96, Z:-2.56 [[ 9.83553069e-01 -1.80605690e-01 2.22391527e-03 8.54975590e+01] [ 1.80605707e-01 9.83555560e-01 1.94737079e-04 1.59641550e+01] [-2.22251485e-03 2.10117538e-04 9.99997508e-01 -2.56418705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.727719421 meters Centerline goodness : 0.956478 Centerline is valid? [True, True] Translation: X:85.53, Y:15.97, Z:-2.56 [[ 9.82723053e-01 -1.85080316e-01 8.22999681e-04 8.55255756e+01] [ 1.85080322e-01 9.82723394e-01 6.92063178e-05 1.59674714e+01] [-8.21589767e-04 8.43104024e-05 9.99999659e-01 -2.56176334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.757719421 meters Centerline goodness : 0.956209 Centerline is valid? [True, True] Translation: X:85.55, Y:15.97, Z:-2.56 [[ 9.82457211e-01 -1.86483467e-01 1.32128342e-03 8.55524928e+01] [ 1.86483479e-01 9.82458090e-01 1.15528207e-04 1.59717671e+01] [-1.31964968e-03 1.32896009e-04 9.99999120e-01 -2.56311775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.787719421 meters Centerline goodness : 0.955972 Centerline is valid? [True, True] Translation: X:85.58, Y:15.98, Z:-2.56 [[ 9.82622841e-01 -1.85611543e-01 8.41544166e-04 8.55800237e+01] [ 1.85611549e-01 9.82623197e-01 7.12973787e-05 1.59763931e+01] [-8.40154436e-04 8.61418833e-05 9.99999643e-01 -2.56458865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.817719421 meters Centerline goodness : 0.956589 Centerline is valid? [True, True] Translation: X:85.61, Y:15.98, Z:-2.57 [[ 9.82472230e-01 -1.86408722e-01 -3.25425692e-04 8.56082189e+01] [ 1.86408722e-01 9.82472283e-01 -3.26631336e-05 1.59800024e+01] [ 3.25810415e-04 -2.85715655e-05 9.99999947e-01 -2.56650701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.847719421 meters Centerline goodness : 0.957169 Centerline is valid? [True, True] Translation: X:85.64, Y:15.98, Z:-2.57 [[ 9.82124770e-01 -1.88230635e-01 -4.03922145e-04 8.56353446e+01] [ 1.88230636e-01 9.82124853e-01 -3.76347997e-05 1.59810186e+01] [ 4.03786000e-04 -3.90684531e-05 9.99999918e-01 -2.56697328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.877719421 meters Centerline goodness : 0.956651 Centerline is valid? [True, True] Translation: X:85.66, Y:15.98, Z:-2.57 [[ 9.81652962e-01 -1.90676200e-01 -2.22492671e-04 8.56635056e+01] [ 1.90676199e-01 9.81652987e-01 -2.35814924e-05 1.59809039e+01] [ 2.22907025e-04 -1.92752152e-05 9.99999975e-01 -2.56648488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.907719421 meters Centerline goodness : 0.957978 Centerline is valid? [True, True] Translation: X:85.69, Y:15.98, Z:-2.56 [[ 9.82036565e-01 -1.88689212e-01 -7.52632241e-04 8.56907921e+01] [ 1.88689213e-01 9.82036851e-01 -6.99966985e-05 1.59790435e+01] [ 7.52320218e-04 -7.32742682e-05 9.99999714e-01 -2.56343141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.937719421 meters Centerline goodness : 0.957321 Centerline is valid? [True, True] Translation: X:85.72, Y:15.98, Z:-2.56 [[ 9.82290449e-01 -1.87363542e-01 6.13887451e-04 8.57177063e+01] [ 1.87363545e-01 9.82290639e-01 5.27585132e-05 1.59781145e+01] [-6.12900918e-04 6.31959453e-05 9.99999810e-01 -2.56275537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.967719421 meters Centerline goodness : 0.958315 Centerline is valid? [True, True] Translation: X:85.75, Y:15.98, Z:-2.56 [[ 9.82259085e-01 -1.87526889e-01 8.69197917e-04 8.57457853e+01] [ 1.87526895e-01 9.82259466e-01 7.48182503e-05 1.59818901e+01] [-8.67808315e-04 8.95070807e-05 9.99999619e-01 -2.56398263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.997719421 meters Centerline goodness : 0.959404 Centerline is valid? [True, True] Translation: X:85.77, Y:15.99, Z:-2.56 [[ 9.83226580e-01 -1.82369120e-01 2.64492219e-03 8.57736137e+01] [ 1.82369141e-01 9.83230106e-01 2.35393760e-04 1.59875175e+01] [-2.64349568e-03 2.50906787e-04 9.99996474e-01 -2.56484962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.027719421 meters Centerline goodness : 0.959486 Centerline is valid? [True, True] Translation: X:85.80, Y:15.99, Z:-2.57 [[ 9.83635785e-01 -1.80125017e-01 3.95228810e-03 8.58000767e+01] [ 1.80125028e-01 9.83643659e-01 3.56057650e-04 1.59904347e+01] [-3.95177802e-03 3.61674960e-04 9.99992126e-01 -2.56517343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.057719421 meters Centerline goodness : 0.961124 Centerline is valid? [True, True] Translation: X:85.83, Y:16.00, Z:-2.57 [[ 9.83732287e-01 -1.79543994e-01 5.89428394e-03 8.58272523e+01] [ 1.79544000e-01 9.83749800e-01 5.32502142e-04 1.59952592e+01] [-5.89410821e-03 5.34443767e-04 9.99982487e-01 -2.56624372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.087719421 meters Centerline goodness : 0.959788 Centerline is valid? [True, True] Translation: X:85.85, Y:16.00, Z:-2.57 [[ 9.83500041e-01 -1.80833120e-01 5.20108084e-03 8.58549328e+01] [ 1.80833147e-01 9.83513677e-01 4.69054948e-04 1.59994152e+01] [-5.20015481e-03 4.79212256e-04 9.99986364e-01 -2.56837232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.117719421 meters Centerline goodness : 0.958775 Centerline is valid? [True, True] Translation: X:85.88, Y:16.00, Z:-2.57 [[ 9.83068205e-01 -1.83215879e-01 2.97417638e-03 8.58826494e+01] [ 1.83215901e-01 9.83072664e-01 2.67436971e-04 1.60034529e+01] [-2.97283019e-03 2.82007621e-04 9.99995541e-01 -2.56987495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.147719421 meters Centerline goodness : 0.958611 Centerline is valid? [True, True] Translation: X:85.91, Y:16.01, Z:-2.57 [[ 9.84184715e-01 -1.77126001e-01 2.61291070e-03 8.59109712e+01] [ 1.77125996e-01 9.84188156e-01 2.35102054e-04 1.60073997e+01] [-2.61323845e-03 2.31430564e-04 9.99996559e-01 -2.56891102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.177719421 meters Centerline goodness : 0.958329 Centerline is valid? [True, True] Translation: X:85.94, Y:16.01, Z:-2.57 [[ 9.84699382e-01 -1.74251979e-01 1.83724992e-03 8.59386964e+01] [ 1.74251973e-01 9.84701083e-01 1.64724496e-04 1.60117011e+01] [-1.83784555e-03 1.57940314e-04 9.99998299e-01 -2.56958622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.207719421 meters Centerline goodness : 0.955755 Centerline is valid? [True, True] Translation: X:85.97, Y:16.02, Z:-2.57 [[ 9.85519369e-01 -1.69562386e-01 4.12493289e-04 8.59660498e+01] [ 1.69562386e-01 9.85519455e-01 3.42222224e-05 1.60175657e+01] [-4.12322963e-04 3.62166833e-05 9.99999914e-01 -2.57282311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23771942099998 meters Centerline goodness : 0.954905 Centerline is valid? [True, True] Translation: X:85.99, Y:16.02, Z:-2.57 [[ 9.86000377e-01 -1.66741414e-01 -7.46978632e-04 8.59930010e+01] [ 1.66741408e-01 9.86000658e-01 -7.02991567e-05 1.60208982e+01] [ 7.48243204e-04 -5.52372741e-05 9.99999719e-01 -2.57267824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26771942099998 meters Centerline goodness : 0.952842 Centerline is valid? [True, True] Translation: X:86.02, Y:16.02, Z:-2.57 [[ 9.86585806e-01 -1.63215844e-01 3.00584148e-03 8.60200901e+01] [ 1.63215758e-01 9.86590361e-01 2.75261244e-04 1.60218137e+01] [-3.01046123e-03 2.19031861e-04 9.99995445e-01 -2.57457418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29771942099998 meters Centerline goodness : 0.953095 Centerline is valid? [True, True] Translation: X:86.05, Y:16.02, Z:-2.58 [[ 9.86467457e-01 -1.63904813e-01 4.14361365e-03 8.60487538e+01] [ 1.63904659e-01 9.86476112e-01 3.79107688e-04 1.60226341e+01] [-4.14971346e-03 3.05180185e-04 9.99991343e-01 -2.57591733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32771942099998 meters Centerline goodness : 0.959472 Centerline is valid? [True, True] Translation: X:86.08, Y:16.02, Z:-2.57 [[ 9.85452264e-01 -1.69402254e-01 1.36642305e-02 8.60772484e+01] [ 1.69400946e-01 9.85546411e-01 1.26151692e-03 1.60173202e+01] [-1.36804371e-02 1.07156887e-03 9.99905844e-01 -2.57342807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35771942099998 meters Centerline goodness : 0.959724 Centerline is valid? [True, True] Translation: X:86.10, Y:16.02, Z:-2.57 [[ 9.84556348e-01 -1.73819258e-01 2.08725406e-02 8.61044576e+01] [ 1.73817061e-01 9.84776062e-01 1.93334246e-03 1.60154065e+01] [-2.08908305e-02 1.72451907e-03 9.99780275e-01 -2.57021787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38771942099999 meters Centerline goodness : 0.964725 Centerline is valid? [True, True] Translation: X:86.13, Y:16.01, Z:-2.57 [[ 9.83377022e-01 -1.79645438e-01 2.64035980e-02 8.61325563e+01] [ 1.79643870e-01 9.83728658e-01 2.45088412e-03 1.60143882e+01] [-2.64142662e-02 2.33310140e-03 9.99648360e-01 -2.56679331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.417719421 meters Centerline goodness : 0.962769 Centerline is valid? [True, True] Translation: X:86.16, Y:16.02, Z:-2.57 [[ 9.82590985e-01 -1.83959354e-01 2.59598117e-02 8.61603247e+01] [ 1.83959155e-01 9.82930918e-01 2.41637327e-03 1.60192669e+01] [-2.59612160e-02 2.40123844e-03 9.99660067e-01 -2.56796084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.447719421 meters Centerline goodness : 0.957928 Centerline is valid? [True, True] Translation: X:86.19, Y:16.03, Z:-2.57 [[ 9.80957908e-01 -1.92930025e-01 2.23514544e-02 8.61866740e+01] [ 1.92932087e-01 9.81209898e-01 2.08456579e-03 1.60271917e+01] [-2.23336437e-02 2.26744146e-03 9.99748002e-01 -2.56944376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.477719421 meters Centerline goodness : 0.956251 Centerline is valid? [True, True] Translation: X:86.21, Y:16.03, Z:-2.57 [[ 9.80003424e-01 -1.97844193e-01 2.12358962e-02 8.62131552e+01] [ 1.97847146e-01 9.80230879e-01 1.98282231e-03 1.60323548e+01] [-2.12083711e-02 2.25828880e-03 9.99772527e-01 -2.57234256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.507719421 meters Centerline goodness : 0.956251 Centerline is valid? [True, True] Translation: X:86.24, Y:16.04, Z:-2.57 [[ 9.79956706e-01 -1.98075502e-01 2.12355927e-02 8.62416531e+01] [ 1.98078439e-01 9.80184160e-01 1.98606851e-03 1.60352282e+01] [-2.12081831e-02 2.26005189e-03 9.99772527e-01 -2.57274478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.537719421 meters Centerline goodness : 0.952328 Centerline is valid? [True, True] Translation: X:86.27, Y:16.04, Z:-2.58 [[ 9.78270791e-01 -2.06710079e-01 1.60375084e-02 8.62694466e+01] [ 2.06712848e-01 9.78400501e-01 1.50294720e-03 1.60410005e+01] [-1.60017806e-02 1.84486970e-03 9.99870261e-01 -2.57694221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.567719421 meters Centerline goodness : 0.948701 Centerline is valid? [True, False] Translation: X:86.28, Y:16.04, Z:-2.58 [[ 9.77546973e-01 -2.10252971e-01 1.39858652e-02 8.62785616e+01] [ 2.10269953e-01 9.77643329e-01 2.61579761e-04 1.60424310e+01] [-1.37281857e-02 2.68510071e-03 9.99902159e-01 -2.57912384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.597719421 meters Centerline goodness : 0.950578 Centerline is valid? [False, True] Translation: X:86.29, Y:16.05, Z:-2.58 [[ 9.75938137e-01 -2.17733522e-01 1.16989452e-02 8.62935474e+01] [ 2.17762053e-01 9.76001142e-01 -1.20752049e-03 1.60450409e+01] [-1.11552662e-02 3.72605163e-03 9.99930836e-01 -2.58076000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.627719421 meters Centerline goodness : 0.952177 Centerline is valid? [True, True] Translation: X:86.32, Y:16.05, Z:-2.58 [[ 9.75518014e-01 -2.19514594e-01 1.33396619e-02 8.63218060e+01] [ 2.19517586e-01 9.75607733e-01 1.25754470e-03 1.60489167e+01] [-1.32903267e-02 1.70153288e-03 9.99910232e-01 -2.58134441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.657719421 meters Centerline goodness : 0.954067 Centerline is valid? [True, True] Translation: X:86.35, Y:16.06, Z:-2.58 [[ 9.75865758e-01 -2.17764636e-01 1.62660870e-02 8.63486988e+01] [ 2.17768759e-01 9.75999180e-01 1.53888994e-03 1.60573187e+01] [-1.62108034e-02 2.04049557e-03 9.99866514e-01 -2.58053214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.687719421 meters Centerline goodness : 0.953182 Centerline is valid? [True, True] Translation: X:86.38, Y:16.07, Z:-2.58 [[ 9.76495235e-01 -2.14833472e-01 1.74251480e-02 8.63763351e+01] [ 2.14837708e-01 9.76648368e-01 1.65058108e-03 1.60657079e+01] [-1.73728424e-02 2.13179431e-03 9.99846808e-01 -2.58143927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.717719421 meters Centerline goodness : 0.952531 Centerline is valid? [True, True] Translation: X:86.40, Y:16.08, Z:-2.58 [[ 9.78755036e-01 -2.04186290e-01 1.86155401e-02 8.64013519e+01] [ 2.04189126e-01 9.78929861e-01 1.76848405e-03 1.60834133e+01] [-1.85844083e-02 2.07017821e-03 9.99825152e-01 -2.58170633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.747719421 meters Centerline goodness : 0.951310 Centerline is valid? [True, True] Translation: X:86.43, Y:16.10, Z:-2.58 [[ 9.79956180e-01 -1.98256228e-01 1.95026699e-02 8.64284855e+01] [ 1.98258128e-01 9.80148087e-01 1.85537246e-03 1.60959444e+01] [-1.94833437e-02 2.04837912e-03 9.99808083e-01 -2.58222816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.777719421 meters Centerline goodness : 0.948951 Centerline is valid? [True, False] Translation: X:86.44, Y:16.12, Z:-2.58 [[ 9.82395350e-01 -1.85430570e-01 2.26909556e-02 8.64384226e+01] [ 1.85409138e-01 9.82656638e-01 3.06312896e-03 1.61179843e+01] [-2.28654159e-02 1.19790687e-03 9.99737835e-01 -2.58449515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.807719421 meters Centerline goodness : 0.945139 Centerline is valid? [False, False] Translation: X:86.45, Y:16.13, Z:-2.59 [[ 9.83825401e-01 -1.77361905e-01 2.51064886e-02 8.64470115e+01] [ 1.77397515e-01 9.84138938e-01 8.19524216e-04 1.61275022e+01] [-2.48536254e-02 3.64755995e-03 9.99684447e-01 -2.58866568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.837719421 meters Centerline goodness : 0.946435 Centerline is valid? [False, False] Translation: X:86.46, Y:16.15, Z:-2.59 [[ 9.83807666e-01 -1.77997587e-01 2.09603463e-02 8.64564087e+01] [ 1.78138087e-01 9.83992676e-01 -5.02350590e-03 1.61470568e+01] [-1.97306554e-02 8.67599962e-03 9.99767687e-01 -2.59282942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.867719421 meters Centerline goodness : 0.940647 Centerline is valid? [False, False] Translation: X:86.46, Y:16.15, Z:-2.60 [[ 9.83684545e-01 -1.78592439e-01 2.16669673e-02 8.64602848e+01] [ 1.78806562e-01 9.83848658e-01 -8.36849836e-03 1.61527109e+01] [-1.98224662e-02 1.21061584e-02 9.99730219e-01 -2.60191904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.897719421 meters Centerline goodness : 0.933807 Centerline is valid? [False, False] Translation: X:86.45, Y:16.16, Z:-2.59 [[ 9.82761237e-01 -1.83010918e-01 2.62174602e-02 8.64533747e+01] [ 1.82464054e-01 9.82967695e-01 2.19403678e-02 1.61591944e+01] [-2.97862433e-02 -1.67783990e-02 9.99415462e-01 -2.59386245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 8547.29 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%| | 0/5821 [00:00