+ python -m lidar_slam --no-model /working/cc565e2a-c168-462e-a9c1-b82429f904d4 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/cc565e2a-c168-462e-a9c1-b82429f904d4 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 0.021052754 Adjusted end_distance from 9.223372036854776e+18 to 124.961052754 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.021052754 meters Centerline goodness : 0.806326 Centerline is valid? [0, False] SLAMing on 0.051052754 meters Centerline goodness : 0.809442 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.9999823 0.00378106 0.00459335 0.01299004] [-0.00375142 0.99997219 -0.00644519 0.00929882] [-0.00461759 0.00642784 0.99996868 -0.00287403] [ 0. 0. 0. 1. ]] SLAMing on 0.081052754 meters Centerline goodness : 0.808197 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.00 [[ 0.99997151 0.00653838 0.00377264 0.0155503 ] [-0.00651911 0.99996576 -0.00509719 0.01634902] [-0.00380584 0.00507245 0.99997989 -0.00369475] [ 0. 0. 0. 1. ]] SLAMing on 0.111052754 meters Centerline goodness : 0.812089 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99989236 0.01322367 0.00635595 0.03450888] [-0.01316895 0.99987652 -0.00857411 0.03170442] [-0.00646855 0.00848948 0.99994304 -0.00746161] [ 0. 0. 0. 1. ]] SLAMing on 0.141052754 meters Centerline goodness : 0.907528 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-0.01 [[ 0.99980494 0.01766509 0.00883328 0.0536441 ] [-0.01755069 0.9997632 -0.01286564 0.04436612] [-0.00905846 0.01270811 0.99987822 -0.01079061] [ 0. 0. 0. 1. ]] SLAMing on 0.171052754 meters Centerline goodness : 0.908239 Centerline is valid? [False, False] Translation: X:0.06, Y:0.05, Z:-0.01 [[ 0.99977254 0.01978641 0.00795968 0.05680088] [-0.01969821 0.99974534 -0.01101036 0.0476171 ] [-0.00817551 0.01085107 0.9999077 -0.01195235] [ 0. 0. 0. 1. ]] SLAMing on 0.201052754 meters Centerline goodness : 0.910336 Centerline is valid? [False, False] Translation: X:0.08, Y:0.06, Z:-0.01 [[ 0.99970466 0.02201202 0.01029916 0.07597506] [-0.02184889 0.99963813 -0.0156918 0.05634147] [-0.01064084 0.01546214 0.99982383 -0.01430892] [ 0. 0. 0. 1. ]] SLAMing on 0.231052754 meters Centerline goodness : 0.910553 Centerline is valid? [False, False] Translation: X:0.08, Y:0.06, Z:-0.02 [[ 0.99966088 0.02425412 0.00947947 0.07951777] [-0.02412364 0.99961586 -0.01364504 0.05925324] [-0.00980678 0.01341173 0.99986197 -0.01597814] [ 0. 0. 0. 1. ]] SLAMing on 0.261052754 meters Centerline goodness : 0.910230 Centerline is valid? [False, False] Translation: X:0.08, Y:0.06, Z:-0.02 [[ 0.99960945 0.02659653 0.0085778 0.08331312] [-0.02649662 0.99958207 -0.01155878 0.06186294] [-0.00888164 0.01132698 0.9998964 -0.01777061] [ 0. 0. 0. 1. ]] SLAMing on 0.291052754 meters Centerline goodness : 0.908867 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:-0.02 [[ 0.99943557 0.03267847 0.00778785 0.10978047] [-0.03251438 0.99926428 -0.02033981 0.06714508] [-0.00844679 0.02007511 0.99976279 -0.01689125] [ 0. 0. 0. 1. ]] SLAMing on 0.321052754 meters Centerline goodness : 0.159853 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.02 [[ 0.99937228 0.0348875 0.00615725 0.11531454] [-0.03477714 0.99924704 -0.01720208 0.06715415] [-0.00675275 0.01697715 0.99983307 -0.01812167] [ 0. 0. 0. 1. ]] SLAMing on 0.35105275399999997 meters Centerline goodness : 0.161032 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.02 [[ 0.99939418 0.03442014 0.00515037 0.11865339] [-0.03432542 0.999258 -0.01747044 0.06818301] [-0.00574788 0.01728307 0.99983411 -0.01914282] [ 0. 0. 0. 1. ]] SLAMing on 0.381052754 meters Centerline goodness : 0.158607 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.02 [[ 0.99950213 0.03110337 0.00529859 0.13304244] [-0.03103887 0.99944794 -0.01184939 0.06821773] [-0.00566422 0.01167903 0.99991575 -0.02081454] [ 0. 0. 0. 1. ]] SLAMing on 0.411052754 meters Centerline goodness : 0.161786 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.02 [[ 0.99954851 0.02972178 0.00440419 0.13644979] [-0.02966417 0.99948031 -0.01261502 0.06832173] [-0.00477684 0.01247868 0.99991073 -0.0220171 ] [ 0. 0. 0. 1. ]] SLAMing on 0.441052754 meters Centerline goodness : 0.162892 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.02 [[ 0.99959316 0.02833455 0.0032665 0.14031902] [-0.02828927 0.99951312 -0.01316197 0.06826796] [-0.00363785 0.01306421 0.99990804 -0.02318264] [ 0. 0. 0. 1. ]] SLAMing on 0.47105275399999996 meters Centerline goodness : 0.168498 Centerline is valid? [False, False] Translation: X:0.15, Y:0.07, Z:-0.02 [[ 9.99776848e-01 2.11044760e-02 -9.24440528e-04 1.54105715e-01] [-2.11147320e-02 9.99692230e-01 -1.30235601e-02 6.87813401e-02] [ 6.49300601e-04 1.30401732e-02 9.99914763e-01 -2.24179310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5010527539999999 meters Centerline goodness : 0.191339 Centerline is valid? [False, False] Translation: X:0.16, Y:0.07, Z:-0.02 [[ 0.99980494 0.01964636 -0.00202575 0.15799512] [-0.01967191 0.99971571 -0.01347256 0.06809719] [ 0.00176049 0.01350978 0.99990719 -0.02375657] [ 0. 0. 0. 1. ]] SLAMing on 0.531052754 meters Centerline goodness : 0.198173 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:-0.02 [[ 0.99990179 0.01290581 -0.00546405 0.17363088] [-0.01296777 0.99985022 -0.01146151 0.06839618] [ 0.00531531 0.01153124 0.99991939 -0.02460949] [ 0. 0. 0. 1. ]] SLAMing on 0.561052754 meters Centerline goodness : 0.217489 Centerline is valid? [False, False] Translation: X:0.19, Y:0.07, Z:-0.03 [[ 0.99993782 0.0068865 -0.00877101 0.19201074] [-0.00695163 0.99994833 -0.00741759 0.07062426] [ 0.00871948 0.0074781 0.99993402 -0.02625959] [ 0. 0. 0. 1. ]] SLAMing on 0.5910527539999999 meters Centerline goodness : 0.222340 Centerline is valid? [False, False] Translation: X:0.21, Y:0.07, Z:-0.03 [[ 0.99995295 0.00634465 -0.00733804 0.2102242 ] [-0.00642764 0.99991502 -0.01134197 0.07222719] [ 0.00726546 0.01138861 0.99990875 -0.02637054] [ 0. 0. 0. 1. ]] SLAMing on 0.6210527539999999 meters Centerline goodness : 0.219272 Centerline is valid? [False, False] Translation: X:0.22, Y:0.07, Z:-0.03 [[ 0.99994901 0.00548146 -0.00848073 0.21562894] [-0.00557829 0.99991904 -0.01143659 0.07279017] [ 0.00841735 0.01148331 0.99989864 -0.02894793] [ 0. 0. 0. 1. ]] SLAMing on 0.651052754 meters Centerline goodness : 0.218287 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:-0.03 [[ 0.99995329 0.00486332 -0.00835232 0.24005314] [-0.00497896 0.99989125 -0.01388137 0.07295576] [ 0.0082839 0.01392231 0.99986876 -0.03110296] [ 0. 0. 0. 1. ]] SLAMing on 0.6810527539999999 meters Centerline goodness : 0.215010 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:-0.03 [[ 9.99937845e-01 2.54996364e-04 -1.11463755e-02 2.57365192e-01] [-3.70068464e-04 9.99946649e-01 -1.03228805e-02 7.24083444e-02] [ 1.11431486e-02 1.03263638e-02 9.99884592e-01 -3.38265321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7110527539999999 meters Centerline goodness : 0.215986 Centerline is valid? [False, False] Translation: X:0.27, Y:0.07, Z:-0.04 [[ 0.99997006 -0.00149069 -0.00759376 0.27216327] [ 0.00144966 0.99998434 -0.00540629 0.06969076] [ 0.0076017 0.00539512 0.99995655 -0.03858411] [ 0. 0. 0. 1. ]] SLAMing on 0.7410527539999999 meters Centerline goodness : 0.203111 Centerline is valid? [False, False] Translation: X:0.30, Y:0.07, Z:-0.04 [[ 0.99993065 -0.00410912 -0.01103634 0.30217061] [ 0.00405553 0.9999799 -0.00487397 0.06638611] [ 0.01105615 0.00482887 0.99992722 -0.04127888] [ 0. 0. 0. 1. ]] SLAMing on 0.771052754 meters Centerline goodness : 0.120767 Centerline is valid? [False, False] Translation: X:0.31, Y:0.06, Z:-0.05 [[ 0.9999125 -0.00516045 -0.01218006 0.30920887] [ 0.00511108 0.99997861 -0.00408068 0.06452731] [ 0.01220086 0.00401807 0.99991749 -0.04503157] [ 0. 0. 0. 1. ]] SLAMing on 0.801052754 meters Centerline goodness : 0.188290 Centerline is valid? [False, False] Translation: X:0.32, Y:0.06, Z:-0.05 [[ 0.99989127 -0.00619038 -0.01338349 0.31605674] [ 0.00614589 0.99997546 -0.00336299 0.0624503 ] [ 0.01340398 0.00328037 0.99990478 -0.04858132] [ 0. 0. 0. 1. ]] SLAMing on 0.8310527539999999 meters Centerline goodness : 0.189324 Centerline is valid? [False, False] Translation: X:0.33, Y:0.06, Z:-0.06 [[ 0.99981038 -0.01141937 -0.01577368 0.33048923] [ 0.01133993 0.99992261 -0.00511643 0.05878654] [ 0.01583088 0.00493658 0.9998625 -0.055107 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8610527539999999 meters Centerline goodness : 0.192661 Centerline is valid? [False, False] Translation: X:0.36, Y:0.05, Z:-0.06 [[ 0.99971068 -0.01381685 -0.01968888 0.36007357] [ 0.01369191 0.99988535 -0.00646633 0.05090957] [ 0.01977597 0.00619488 0.99978524 -0.05949239] [ 0. 0. 0. 1. ]] SLAMing on 0.891052754 meters Centerline goodness : 0.205215 Centerline is valid? [False, False] Translation: X:0.37, Y:0.05, Z:-0.06 [[ 0.99967234 -0.01474888 -0.0209209 0.36797637] [ 0.01463419 0.99987709 -0.00562488 0.0476804 ] [ 0.02100129 0.00531687 0.99976531 -0.06363141] [ 0. 0. 0. 1. ]] SLAMing on 0.9210527539999999 meters Centerline goodness : 0.259441 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:-0.07 [[ 0.99958701 -0.01436781 -0.0248872 0.39964213] [ 0.01429068 0.99989252 -0.00327428 0.04052099] [ 0.02493157 0.00291727 0.9996849 -0.06755805] [ 0. 0. 0. 1. ]] SLAMing on 0.9510527539999999 meters Centerline goodness : 0.280583 Centerline is valid? [False, False] Translation: X:0.41, Y:0.04, Z:-0.07 [[ 0.99954544 -0.01496573 -0.02617129 0.40821826] [ 0.0149198 0.99988679 -0.00194929 0.03732284] [ 0.0261975 0.00155793 0.99965557 -0.07174448] [ 0. 0. 0. 1. ]] SLAMing on 0.9810527539999999 meters Centerline goodness : 0.280583 Centerline is valid? [False, False] Translation: X:0.41, Y:0.04, Z:-0.07 [[ 0.99954565 -0.01497967 -0.02615519 0.40819533] [ 0.01493369 0.99988658 -0.00195237 0.03732133] [ 0.02618147 0.00156089 0.99965599 -0.07174328] [ 0. 0. 0. 1. ]] SLAMing on 1.011052754 meters Centerline goodness : 0.107058 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:-0.07 [[ 9.99513451e-01 -1.33341052e-02 -2.81968597e-02 4.32286308e-01] [ 1.33514547e-02 9.99910774e-01 4.27109469e-04 3.09784874e-02] [ 2.81886487e-02 -8.03370754e-04 9.99602298e-01 -7.25147742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.041052754 meters Centerline goodness : 0.119853 Centerline is valid? [False, False] Translation: X:0.46, Y:0.02, Z:-0.08 [[ 0.99942026 -0.01699583 -0.02950046 0.46367987] [ 0.01706038 0.99985258 0.00193785 0.01939405] [ 0.02946318 -0.00244001 0.99956289 -0.07616006] [ 0. 0. 0. 1. ]] SLAMing on 1.071052754 meters Centerline goodness : 0.124358 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:-0.08 [[ 0.99949514 -0.01944501 -0.02512682 0.48035228] [ 0.01960654 0.99978856 0.00619799 0.01106748] [ 0.02500098 -0.00668751 0.99966506 -0.08088291] [ 0. 0. 0. 1. ]] SLAMing on 1.1010527540000001 meters Centerline goodness : 0.136098 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.00, Z:-0.08 [[ 0.99937018 -0.02648779 -0.0236146 0.51638666] [ 0.02673399 0.99959083 0.01017154 -0.00198564] [ 0.02333551 -0.01079645 0.99966939 -0.08372629] [ 0. 0. 0. 1. ]] SLAMing on 1.131052754 meters Centerline goodness : 0.348920 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.01, Z:-0.09 [[ 0.99919373 -0.03203049 -0.02420623 0.55360791] [ 0.03246697 0.99931324 0.01785914 -0.01368533] [ 0.02361757 -0.01863064 0.99954745 -0.08506046] [ 0. 0. 0. 1. ]] SLAMing on 1.161052754 meters Centerline goodness : 0.372314 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.02, Z:-0.09 [[ 0.99906456 -0.03234508 -0.02870181 0.57255159] [ 0.03275894 0.99936427 0.01406811 -0.01780215] [ 0.02822853 -0.01499519 0.99948902 -0.08546788] [ 0. 0. 0. 1. ]] SLAMing on 1.191052754 meters Centerline goodness : 0.371833 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.03, Z:-0.09 [[ 0.99882236 -0.03597318 -0.03255496 0.60340594] [ 0.03642659 0.99924591 0.01344328 -0.02746999] [ 0.03204682 -0.01461332 0.99937953 -0.08795337] [ 0. 0. 0. 1. ]] SLAMing on 1.221052754 meters Centerline goodness : 0.373561 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.03, Z:-0.09 [[ 0.99874787 -0.03431693 -0.03640101 0.62016472] [ 0.03466945 0.99935742 0.00909765 -0.0324639 ] [ 0.03606541 -0.01034826 0.99929585 -0.08914604] [ 0. 0. 0. 1. ]] SLAMing on 1.251052754 meters Centerline goodness : 0.154599 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.09 [[ 0.99866453 -0.03564892 -0.03739389 0.62766927] [ 0.03601969 0.99930791 0.00928853 -0.03609214] [ 0.03703689 -0.01062304 0.99925743 -0.09340439] [ 0. 0. 0. 1. ]] SLAMing on 1.281052754 meters Centerline goodness : 0.163383 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.04, Z:-0.09 [[ 0.99858257 -0.03458422 -0.04045709 0.6545624 ] [ 0.03507614 0.99931833 0.01151286 -0.0439813 ] [ 0.04003135 -0.01291562 0.99911495 -0.09471257] [ 0. 0. 0. 1. ]] SLAMing on 1.311052754 meters Centerline goodness : 0.272883 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.10 [[ 0.99879426 -0.03505425 -0.03436909 0.67231887] [ 0.03536199 0.99933938 0.00838703 -0.04899962] [ 0.03405239 -0.00959228 0.99937402 -0.09656543] [ 0. 0. 0. 1. ]] SLAMing on 1.341052754 meters Centerline goodness : 0.282598 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.10 [[ 0.99873753 -0.03570019 -0.03533892 0.67723624] [ 0.0360193 0.9993155 0.0084348 -0.0507078 ] [ 0.0350136 -0.00969703 0.99933979 -0.09892025] [ 0. 0. 0. 1. ]] SLAMing on 1.371052754 meters Centerline goodness : 0.263518 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.05, Z:-0.11 [[ 0.9987429 -0.03352191 -0.03726788 0.68955658] [ 0.03400984 0.99934287 0.01253625 -0.05080103] [ 0.03682315 -0.01378797 0.99922667 -0.10567642] [ 0. 0. 0. 1. ]] SLAMing on 1.401052754 meters Centerline goodness : 0.578991 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.05, Z:-0.11 [[ 0.99875449 -0.03182093 -0.03843029 0.6955282 ] [ 0.032395 0.99937128 0.01440873 -0.05043235] [ 0.03794763 -0.01563573 0.9991574 -0.10915008] [ 0. 0. 0. 1. ]] SLAMing on 1.431052754 meters Centerline goodness : 0.154245 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.11 [[ 0.99901451 -0.02935288 -0.03329291 0.71125673] [ 0.02970863 0.99950613 0.01024145 -0.0501933 ] [ 0.03297586 -0.01122044 0.99939316 -0.11160799] [ 0. 0. 0. 1. ]] SLAMing on 1.461052754 meters Centerline goodness : 0.326043 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:-0.11 [[ 9.99158567e-01 -2.67174551e-02 -3.11180963e-02 7.21064071e-01] [ 2.67450568e-02 9.99642176e-01 4.71035816e-04 -4.91450830e-02] [ 3.10943766e-02 -1.30289472e-03 9.99515604e-01 -1.12625075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.491052754 meters Centerline goodness : 0.283390 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.11 [[ 0.99934159 -0.02573781 -0.02557248 0.73736496] [ 0.0256966 0.99966791 -0.0019387 -0.04884098] [ 0.02561389 0.00128029 0.99967109 -0.11315951] [ 0. 0. 0. 1. ]] SLAMing on 1.521052754 meters Centerline goodness : 0.289189 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.12 [[ 9.99330260e-01 -2.56092615e-02 -2.61380296e-02 7.42388631e-01] [ 2.55957171e-02 9.99672012e-01 -8.52679262e-04 -4.73810220e-02] [ 2.61512931e-02 1.83086579e-04 9.99657980e-01 -1.16084914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.551052754 meters Centerline goodness : 0.815622 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.12 [[ 0.99940642 -0.02373583 -0.02496837 0.76440085] [ 0.02367731 0.99971618 -0.0026368 -0.04334533] [ 0.02502387 0.00204405 0.99968476 -0.11815564] [ 0. 0. 0. 1. ]] SLAMing on 1.5810527540000001 meters Centerline goodness : 0.816148 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.04, Z:-0.12 [[ 0.99937809 -0.02398917 -0.02584464 0.77017349] [ 0.0239369 0.99971076 -0.00232968 -0.04155894] [ 0.02589305 0.00170959 0.99966326 -0.12166303] [ 0. 0. 0. 1. ]] SLAMing on 1.611052754 meters Centerline goodness : 0.820792 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.13 [[ 9.99277950e-01 -2.90244803e-02 -2.45185424e-02 7.86037100e-01] [ 2.90526551e-02 9.99577567e-01 7.93612328e-04 -3.81163202e-02] [ 2.44851508e-02 -1.50536806e-03 9.99699060e-01 -1.25931128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.641052754 meters Centerline goodness : 0.823262 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.03, Z:-0.13 [[ 0.99917778 -0.03114033 -0.02596233 0.79437998] [ 0.03117913 0.99951322 0.00109072 -0.03424516] [ 0.02591573 -0.00189931 0.99966233 -0.1288524 ] [ 0. 0. 0. 1. ]] SLAMing on 1.671052754 meters Centerline goodness : 0.830059 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.03, Z:-0.13 [[ 0.99885966 -0.03798716 -0.02891994 0.81313094] [ 0.03805351 0.99927418 0.00174696 -0.02592054] [ 0.02883259 -0.00284547 0.9995802 -0.13259431] [ 0. 0. 0. 1. ]] SLAMing on 1.701052754 meters Centerline goodness : 0.830480 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.02, Z:-0.14 [[ 9.98731440e-01 -4.02095354e-02 -3.03101193e-02 8.20749789e-01] [ 4.02371665e-02 9.99190112e-01 3.01979689e-04 -2.32562480e-02] [ 3.02734290e-02 -1.52118993e-03 9.99540497e-01 -1.36894409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.731052754 meters Centerline goodness : 0.579220 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.14 [[ 9.98231135e-01 -5.01871948e-02 -3.18723334e-02 8.40031745e-01] [ 5.01978088e-02 9.98739186e-01 -4.67565745e-04 -1.75558773e-02] [ 3.18556141e-02 -1.13318261e-03 9.99491839e-01 -1.40351629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.761052754 meters Centerline goodness : 0.555304 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.14 [[ 9.97878755e-01 -5.53314448e-02 -3.42990158e-02 8.49890128e-01] [ 5.53238351e-02 9.98467776e-01 -1.17160883e-03 -1.42881606e-02] [ 3.43112888e-02 -7.28429537e-04 9.99410929e-01 -1.40231841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.791052754 meters Centerline goodness : 0.570752 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.14 [[ 0.99732774 -0.06659571 -0.0300397 0.8723329 ] [ 0.06666808 0.99777421 0.00141306 -0.01097845] [ 0.02987873 -0.00341197 0.99954771 -0.14266909] [ 0. 0. 0. 1. ]] SLAMing on 1.8210527539999999 meters Centerline goodness : 0.578294 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.01, Z:-0.14 [[ 9.97447145e-01 -6.72511346e-02 -2.40099600e-02 8.86479403e-01] [ 6.72099192e-02 9.97735674e-01 -2.52037507e-03 -9.43544133e-03] [ 2.41250917e-02 9.00233446e-04 9.99708542e-01 -1.41955258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.851052754 meters Centerline goodness : 0.565466 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.01, Z:-0.14 [[ 9.97148870e-01 -7.07498241e-02 -2.62410568e-02 9.17677173e-01] [ 7.07620487e-02 9.97493117e-01 -4.63611428e-04 -5.33925511e-03] [ 2.62080740e-02 -1.39458133e-03 9.99655537e-01 -1.40437702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.881052754 meters Centerline goodness : 0.580918 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.00, Z:-0.14 [[ 9.96979625e-01 -7.26330594e-02 -2.74966485e-02 9.22921206e-01] [ 7.25979668e-02 9.97358694e-01 -2.27371685e-03 -2.42078480e-03] [ 2.75891684e-02 2.70648603e-04 9.99619310e-01 -1.42990883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.911052754 meters Centerline goodness : 0.567812 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.00, Z:-0.14 [[ 0.99703124 -0.07241814 -0.02615946 0.94568622] [ 0.07234232 0.99737249 -0.00383431 -0.00297387] [ 0.0263684 0.00193049 0.99965043 -0.14449417] [ 0. 0. 0. 1. ]] SLAMing on 1.941052754 meters Centerline goodness : 0.559710 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.00, Z:-0.15 [[ 9.97382529e-01 -6.91495989e-02 -2.11287289e-02 9.58870469e-01] [ 6.89746822e-02 9.97578719e-01 -8.89903283e-03 -5.90024408e-04] [ 2.16929349e-02 7.41839251e-03 9.99737157e-01 -1.47048405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.971052754 meters Centerline goodness : 0.597464 Centerline is valid? [False, False] Translation: X:0.98, Y:0.00, Z:-0.15 [[ 0.99793077 -0.06217782 -0.01637375 0.97658597] [ 0.06208575 0.99805234 -0.00607287 0.00311791] [ 0.01671946 0.00504373 0.9998475 -0.14849571] [ 0. 0. 0. 1. ]] SLAMing on 2.001052754 meters Centerline goodness : 0.587925 Centerline is valid? [False, False] Translation: X:0.98, Y:0.00, Z:-0.15 [[ 0.99809041 -0.05912133 -0.01789415 0.98048296] [ 0.05907112 0.99824825 -0.00332195 0.00492787] [ 0.0180592 0.00225858 0.99983437 -0.14971724] [ 0. 0. 0. 1. ]] SLAMing on 2.0310527539999996 meters Centerline goodness : 0.883465 Centerline is valid? [False, False] Translation: X:1.00, Y:0.01, Z:-0.15 [[ 0.99857411 -0.05189229 -0.0125277 0.99557778] [ 0.05186707 0.99865128 -0.0023295 0.00788421] [ 0.01263168 0.0016764 0.99991881 -0.15155878] [ 0. 0. 0. 1. ]] SLAMing on 2.061052754 meters Centerline goodness : 0.888739 Centerline is valid? [False, False] Translation: X:1.01, Y:0.01, Z:-0.15 [[ 0.99886414 -0.04695698 -0.00809091 1.01323526] [ 0.04693771 0.99889455 -0.0025561 0.01266221] [ 0.008202 0.00217343 0.999964 -0.15458109] [ 0. 0. 0. 1. ]] SLAMing on 2.0910527539999997 meters Centerline goodness : 0.891508 Centerline is valid? [False, False] Translation: X:1.02, Y:0.01, Z:-0.16 [[ 9.98922561e-01 -4.53655551e-02 -9.78181783e-03 1.01875155e+00] [ 4.53616203e-02 9.98970437e-01 -6.23866708e-04 1.42647227e-02] [ 9.80004890e-03 1.79475423e-04 9.99951962e-01 -1.57010504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.121052754 meters Centerline goodness : 0.893809 Centerline is valid? [False, False] Translation: X:1.02, Y:0.02, Z:-0.16 [[ 9.98890506e-01 -4.57651233e-02 -1.11045619e-02 1.02432488e+00] [ 4.57573679e-02 9.98952130e-01 -9.51592649e-04 1.60218504e-02] [ 1.11364755e-02 4.42421339e-04 9.99937890e-01 -1.60264771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1510527539999997 meters Centerline goodness : 0.898054 Centerline is valid? [False, False] Translation: X:1.05, Y:0.02, Z:-0.16 [[ 0.99886023 -0.04607263 -0.01247241 1.04876922] [ 0.0460412 0.99893563 -0.00279586 0.0187452 ] [ 0.01258795 0.00221843 0.99991831 -0.1617376 ] [ 0. 0. 0. 1. ]] SLAMing on 2.181052754 meters Centerline goodness : 0.896388 Centerline is valid? [False, False] Translation: X:1.05, Y:0.02, Z:-0.16 [[ 0.99881399 -0.04663431 -0.01399514 1.05489626] [ 0.04659899 0.99890964 -0.00284011 0.0224001 ] [ 0.01411233 0.00218458 0.99989803 -0.16444396] [ 0. 0. 0. 1. ]] SLAMing on 2.211052754 meters Centerline goodness : 0.900785 Centerline is valid? [False, False] Translation: X:1.08, Y:0.03, Z:-0.17 [[ 0.99883263 -0.04745756 -0.00900896 1.07567072] [ 0.04740385 0.99885728 -0.0060842 0.03204872] [ 0.00928741 0.00565004 0.99994091 -0.16662972] [ 0. 0. 0. 1. ]] SLAMing on 2.2410527539999996 meters Centerline goodness : 0.904224 Centerline is valid? [False, False] Translation: X:1.09, Y:0.04, Z:-0.17 [[ 0.99888782 -0.04709497 -0.00227524 1.08846895] [ 0.04706984 0.99884092 -0.01006206 0.03562723] [ 0.00274648 0.00994377 0.99994679 -0.16642338] [ 0. 0. 0. 1. ]] SLAMing on 2.271052754 meters Centerline goodness : 0.909386 Centerline is valid? [False, False] Translation: X:1.11, Y:0.04, Z:-0.17 [[ 0.99860476 -0.05269993 0.00335424 1.11197202] [ 0.05274182 0.99851076 -0.01394843 0.04362364] [-0.00261416 0.01410588 0.99989709 -0.16615448] [ 0. 0. 0. 1. ]] SLAMing on 2.3010527539999996 meters Centerline goodness : 0.904240 Centerline is valid? [False, False] Translation: X:1.12, Y:0.05, Z:-0.17 [[ 0.99864876 -0.0519237 0.00213914 1.11637864] [ 0.05194629 0.99857312 -0.01238193 0.04709036] [-0.00149317 0.01247632 0.99992105 -0.16762771] [ 0. 0. 0. 1. ]] SLAMing on 2.331052754 meters Centerline goodness : 0.902175 Centerline is valid? [False, False] Translation: X:1.15, Y:0.06, Z:-0.17 [[ 9.98467097e-01 -5.53463951e-02 4.83450985e-04 1.15060634e+00] [ 5.53483337e-02 9.98447717e-01 -6.22244564e-03 5.52680113e-02] [-1.38310597e-04 6.23966543e-03 9.99980524e-01 -1.65720132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3610527539999997 meters Centerline goodness : 0.905011 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:-0.17 [[ 9.98376923e-01 -5.69435160e-02 -9.77678089e-04 1.15569916e+00] [ 5.69337576e-02 9.98345036e-01 -8.10774989e-03 5.88689821e-02] [ 1.43774385e-03 8.03892750e-03 9.99966654e-01 -1.68300991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.391052754 meters Centerline goodness : 0.922006 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:-0.17 [[ 0.99830368 -0.05817236 -0.00239538 1.16193553] [ 0.05814749 0.99826378 -0.00939649 0.06134894] [ 0.00293783 0.00924126 0.99995298 -0.17231786] [ 0. 0. 0. 1. ]] SLAMing on 2.4210527539999998 meters Centerline goodness : 0.913529 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.18 [[ 0.99804995 -0.06163502 -0.0098707 1.19704105] [ 0.06151339 0.99803187 -0.01218532 0.06956165] [ 0.01060232 0.01155437 0.99987704 -0.17674013] [ 0. 0. 0. 1. ]] SLAMing on 2.4510527539999996 meters Centerline goodness : 0.920995 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.18 [[ 0.99773127 -0.06550049 -0.01555625 1.23078064] [ 0.06528998 0.99777262 -0.01367549 0.07793907] [ 0.01641736 0.0126288 0.99978547 -0.17760864] [ 0. 0. 0. 1. ]] SLAMing on 2.481052754 meters Centerline goodness : 0.922298 Centerline is valid? [False, False] Translation: X:1.24, Y:0.08, Z:-0.18 [[ 0.99768024 -0.06591468 -0.01701137 1.23617381] [ 0.0656755 0.99773919 -0.01425589 0.08214093] [ 0.01791259 0.01310559 0.99975366 -0.18017247] [ 0. 0. 0. 1. ]] SLAMing on 2.5110527539999996 meters Centerline goodness : 0.914687 Centerline is valid? [False, False] Translation: X:1.26, Y:0.09, Z:-0.18 [[ 0.99776564 -0.06575868 -0.01181219 1.25680861] [ 0.06555286 0.9977036 -0.01703966 0.09417384] [ 0.01290557 0.01622726 0.99978504 -0.18269059] [ 0. 0. 0. 1. ]] SLAMing on 2.541052754 meters Centerline goodness : 0.917348 Centerline is valid? [False, False] Translation: X:1.27, Y:0.10, Z:-0.18 [[ 0.9979799 -0.06327083 -0.00573765 1.27096893] [ 0.06315876 0.99784172 -0.01796894 0.09955847] [ 0.00686218 0.01757025 0.99982208 -0.18278913] [ 0. 0. 0. 1. ]] SLAMing on 2.5710527539999997 meters Centerline goodness : 0.922882 Centerline is valid? [False, False] Translation: X:1.29, Y:0.11, Z:-0.18 [[ 9.98211389e-01 -5.97757794e-02 -9.38083115e-04 1.28964279e+00] [ 5.97472114e-02 9.98032589e-01 -1.90058178e-02 1.11207075e-01] [ 2.07232509e-03 1.89157759e-02 9.99818933e-01 -1.84970533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.601052754 meters Centerline goodness : 0.932075 Centerline is valid? [False, False] Translation: X:1.29, Y:0.12, Z:-0.19 [[ 0.99836126 -0.05717448 -0.00242492 1.29341002] [ 0.05712567 0.99822448 -0.01686864 0.11525643] [ 0.00338507 0.01670248 0.99985477 -0.1860088 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6310527539999997 meters Centerline goodness : 0.934779 Centerline is valid? [False, False] Translation: X:1.32, Y:0.13, Z:-0.19 [[ 9.98621035e-01 -5.24948438e-02 5.64940850e-04 1.31541144e+00] [ 5.24968817e-02 9.98477669e-01 -1.69240054e-02 1.26394949e-01] [ 3.24342197e-04 1.69303254e-02 9.99856619e-01 -1.90421082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6610527539999995 meters Centerline goodness : 0.937949 Centerline is valid? [False, False] Translation: X:1.35, Y:0.14, Z:-0.19 [[ 0.99870163 -0.05055233 -0.00628676 1.35028366] [ 0.05045926 0.99862554 -0.01417404 0.13517887] [ 0.00699465 0.01383842 0.99987978 -0.19132025] [ 0. 0. 0. 1. ]] SLAMing on 2.6910527539999998 meters Centerline goodness : 0.940197 Centerline is valid? [False, False] Translation: X:1.36, Y:0.14, Z:-0.19 [[ 0.99876391 -0.04905491 -0.00801626 1.35558191] [ 0.04894972 0.99871884 -0.01282963 0.13871781] [ 0.00863534 0.01242138 0.99988556 -0.19338418] [ 0. 0. 0. 1. ]] SLAMing on 2.7210527539999996 meters Centerline goodness : 0.945418 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:-0.19 [[ 0.99849168 -0.05477065 -0.00381289 1.38499704] [ 0.05471978 0.99842517 -0.01236645 0.1509939 ] [ 0.00448421 0.01213916 0.99991626 -0.19395247] [ 0. 0. 0. 1. ]] SLAMing on 2.751052754 meters Centerline goodness : 0.948575 Centerline is valid? [False, False] Translation: X:1.39, Y:0.15, Z:-0.19 [[ 0.99840318 -0.05630613 -0.00455115 1.38746161] [ 0.05623713 0.99831812 -0.01408252 0.15484273] [ 0.00533643 0.01380409 0.99989048 -0.19419365] [ 0. 0. 0. 1. ]] SLAMing on 2.7810527539999996 meters Centerline goodness : 0.961472 Centerline is valid? [False, True] Translation: X:1.42, Y:0.16, Z:-0.19 [[ 0.99799486 -0.0632497 -0.00239274 1.41858658] [ 0.06321437 0.99791882 -0.01272646 0.15923455] [ 0.0031927 0.01254969 0.99991615 -0.19313156] [ 0. 0. 0. 1. ]] SLAMing on 2.811052754 meters Centerline goodness : 0.964662 Centerline is valid? [True, True] Translation: X:1.46, Y:0.14, Z:-0.17 [[ 0.9978226 -0.06540202 -0.00852227 1.45534101] [ 0.06565484 0.99726776 0.03385947 0.13820009] [ 0.00628451 -0.03434527 0.99939027 -0.17352974] [ 0. 0. 0. 1. ]] SLAMing on 2.8410527539999997 meters Centerline goodness : 0.966412 Centerline is valid? [True, True] Translation: X:1.48, Y:0.16, Z:-0.17 [[ 0.99790497 -0.06432576 -0.00691875 1.48230268] [ 0.06443775 0.99776986 0.01740914 0.15610688] [ 0.00578347 -0.0178185 0.99982451 -0.17326179] [ 0. 0. 0. 1. ]] SLAMing on 2.871052754 meters Centerline goodness : 0.966412 Centerline is valid? [True, True] Translation: X:1.51, Y:0.16, Z:-0.18 [[ 9.98006147e-01 -6.25326547e-02 -8.56726574e-03 1.51017236e+00] [ 6.25379753e-02 9.98042522e-01 3.54304940e-04 1.63006331e-01] [ 8.52833988e-03 -8.89377961e-04 9.99963238e-01 -1.76080074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9010527539999997 meters Centerline goodness : 0.967536 Centerline is valid? [True, True] Translation: X:1.54, Y:0.17, Z:-0.18 [[ 0.99828164 -0.05811172 -0.00753668 1.53693538] [ 0.05799247 0.99820163 -0.01517807 0.17020014] [ 0.00840515 0.01471492 0.9998564 -0.17848539] [ 0. 0. 0. 1. ]] SLAMing on 2.9310527539999995 meters Centerline goodness : 0.973052 Centerline is valid? [True, True] Translation: X:1.57, Y:0.17, Z:-0.18 [[ 9.98145687e-01 -6.08702371e-02 -4.47918162e-05 1.57264159e+00] [ 6.08702004e-02 9.98145517e-01 -5.87240645e-04 1.72909260e-01] [ 8.04542278e-05 5.83425230e-04 9.99999827e-01 -1.75892905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.961052754 meters Centerline goodness : 0.972313 Centerline is valid? [True, True] Translation: X:1.60, Y:0.17, Z:-0.19 [[ 0.99813856 -0.06093868 -0.00242584 1.60303041] [ 0.06092138 0.99812034 -0.00666165 0.17415626] [ 0.00282723 0.00650146 0.99997487 -0.18519461] [ 0. 0. 0. 1. ]] SLAMing on 2.9910527539999996 meters Centerline goodness : 0.973985 Centerline is valid? [True, True] Translation: X:1.64, Y:0.18, Z:-0.19 [[ 9.98353558e-01 -5.72568240e-02 3.43932098e-03 1.63556299e+00] [ 5.73474521e-02 9.97594309e-01 -3.89469550e-02 1.83414439e-01] [-1.20106808e-03 3.90800674e-02 9.99235361e-01 -1.89275296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.021052754 meters Centerline goodness : 0.976835 Centerline is valid? [True, True] Translation: X:1.67, Y:0.15, Z:-0.17 [[ 9.97536784e-01 -7.00992773e-02 -2.54103156e-03 1.67159345e+00] [ 7.01255660e-02 9.95741763e-01 5.98393432e-02 1.49327976e-01] [-1.66448347e-03 -5.98701372e-02 9.98204787e-01 -1.68415777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0510527539999996 meters Centerline goodness : 0.980850 Centerline is valid? [True, True] Translation: X:1.70, Y:0.17, Z:-0.17 [[ 0.99749426 -0.07025017 0.00837301 1.69626901] [ 0.0700696 0.99733761 0.02019734 0.165327 ] [-0.00976959 -0.01956004 0.99976095 -0.17482047] [ 0. 0. 0. 1. ]] SLAMing on 3.081052754 meters Centerline goodness : 0.986712 Centerline is valid? [True, True] Translation: X:1.73, Y:0.16, Z:-0.17 [[ 0.99697202 -0.07493192 0.02078478 1.73068937] [ 0.07397094 0.99630318 0.04368374 0.1569749 ] [-0.02398125 -0.042014 0.99882918 -0.17368964] [ 0. 0. 0. 1. ]] SLAMing on 3.1110527539999997 meters Centerline goodness : 0.988773 Centerline is valid? [True, True] Translation: X:1.76, Y:0.19, Z:-0.20 [[ 0.99723478 -0.06763095 0.03080336 1.76197584] [ 0.0688699 0.99677816 -0.04111261 0.18826258] [-0.02792363 0.04312035 0.99867958 -0.19812917] [ 0. 0. 0. 1. ]] SLAMing on 3.141052754 meters Centerline goodness : 0.988482 Centerline is valid? [True, True] Translation: X:1.79, Y:0.17, Z:-0.18 [[ 0.99703912 -0.07396098 0.02104185 1.79342785] [ 0.0740267 0.99725346 -0.00236111 0.17021654] [-0.02080943 0.00391178 0.99977581 -0.18387283] [ 0. 0. 0. 1. ]] SLAMing on 3.1710527539999998 meters Centerline goodness : 0.985862 Centerline is valid? [True, True] Translation: X:1.82, Y:0.18, Z:-0.19 [[ 0.99720584 -0.07294321 0.0161184 1.82495119] [ 0.07339695 0.99686273 -0.02962413 0.17784816] [-0.01390695 0.0307244 0.99943114 -0.19283359] [ 0. 0. 0. 1. ]] SLAMing on 3.2010527539999996 meters Centerline goodness : 0.989150 Centerline is valid? [True, True] Translation: X:1.86, Y:0.15, Z:-0.18 [[ 0.9966507 -0.08025666 0.01569256 1.85959816] [ 0.07973507 0.99632025 0.03143683 0.1519033 ] [-0.01815783 -0.03008029 0.99938254 -0.17521382] [ 0. 0. 0. 1. ]] SLAMing on 3.231052754 meters Centerline goodness : 0.992001 Centerline is valid? [True, True] Translation: X:1.89, Y:0.15, Z:-0.18 [[ 0.99645049 -0.07972612 0.02702143 1.88736653] [ 0.0793447 0.99673577 0.01490714 0.15395396] [-0.02812171 -0.01271022 0.9995237 -0.1845504 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2610527539999996 meters Centerline goodness : 0.991302 Centerline is valid? [True, True] Translation: X:1.92, Y:0.17, Z:-0.19 [[ 0.99673586 -0.07764096 0.02212481 1.91708745] [ 0.07817057 0.99664693 -0.02417154 0.16894783] [-0.02017392 0.02582215 0.99946297 -0.19181491] [ 0. 0. 0. 1. ]] SLAMing on 3.291052754 meters Centerline goodness : 0.992148 Centerline is valid? [True, True] Translation: X:1.95, Y:0.15, Z:-0.18 [[ 0.99648815 -0.08178558 0.01795775 1.94806675] [ 0.08166685 0.99663332 0.00724968 0.15390992] [-0.01849021 -0.00575767 0.99981246 -0.18406358] [ 0. 0. 0. 1. ]] SLAMing on 3.3210527539999997 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:1.98, Y:0.15, Z:-0.19 [[ 0.99596429 -0.08378489 0.03217506 1.97705563] [ 0.08320541 0.99635227 0.01894785 0.14658154] [-0.03364524 -0.01619424 0.99930263 -0.19159493] [ 0. 0. 0. 1. ]] SLAMing on 3.351052754 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:2.01, Y:0.17, Z:-0.20 [[ 0.99614914 -0.08577523 0.01815203 2.00927318] [ 0.08661307 0.99488693 -0.05194391 0.16883284] [-0.01360372 0.05331608 0.99848502 -0.19874569] [ 0. 0. 0. 1. ]] SLAMing on 3.3810527539999997 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:2.04, Y:0.13, Z:-0.19 [[ 0.99494416 -0.09708678 0.02569589 2.04188348] [ 0.09631984 0.99491107 0.029571 0.12955996] [-0.02843608 -0.02694647 0.99923234 -0.18741772] [ 0. 0. 0. 1. ]] SLAMing on 3.4110527539999995 meters Centerline goodness : 0.995984 Centerline is valid? [True, True] Translation: X:2.07, Y:0.14, Z:-0.19 [[ 0.99446964 -0.10075823 0.02962964 2.06971307] [ 0.10060936 0.99490492 0.00647667 0.13733123] [-0.03013125 -0.00345983 0.99953996 -0.19231617] [ 0. 0. 0. 1. ]] SLAMing on 3.4410527539999998 meters Centerline goodness : 0.996603 Centerline is valid? [True, True] Translation: X:2.10, Y:0.16, Z:-0.20 [[ 0.99412207 -0.10580051 0.02296857 2.09811416] [ 0.10675651 0.99324797 -0.04540396 0.15583615] [-0.01800972 0.04758913 0.99870462 -0.20338899] [ 0. 0. 0. 1. ]] SLAMing on 3.4710527539999996 meters Centerline goodness : 0.998092 Centerline is valid? [True, True] Translation: X:2.13, Y:0.11, Z:-0.18 [[ 0.99193832 -0.1216585 0.03546224 2.13460577] [ 0.11926379 0.99084662 0.06323857 0.1124806 ] [-0.04283115 -0.0584994 0.99736819 -0.18376294] [ 0. 0. 0. 1. ]] SLAMing on 3.501052754 meters Centerline goodness : 0.997664 Centerline is valid? [True, True] Translation: X:2.16, Y:0.15, Z:-0.20 [[ 0.99207716 -0.12184783 0.0305942 2.15992068] [ 0.12270581 0.99205 -0.02792979 0.14566969] [-0.02694779 0.03146259 0.99914159 -0.19936738] [ 0. 0. 0. 1. ]] SLAMing on 3.5310527539999996 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:2.19, Y:0.13, Z:-0.20 [[ 0.99101983 -0.12896438 0.03532529 2.19441494] [ 0.12836263 0.99154885 0.01881273 0.12711862] [-0.03745292 -0.01410934 0.99919878 -0.19514688] [ 0. 0. 0. 1. ]] SLAMing on 3.561052754 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:2.22, Y:0.13, Z:-0.19 [[ 0.99111879 -0.13029292 0.02659501 2.21598828] [ 0.13003586 0.99144622 0.01118377 0.12882242] [-0.02782468 -0.00762614 0.99958373 -0.18926726] [ 0. 0. 0. 1. ]] SLAMing on 3.5910527539999997 meters Centerline goodness : 0.998053 Centerline is valid? [True, True] Translation: X:2.25, Y:0.13, Z:-0.19 [[ 0.99012248 -0.13611801 0.03360583 2.24667352] [ 0.1354415 0.9905486 0.0216579 0.12716569] [-0.03623624 -0.01689235 0.99920047 -0.19446792] [ 0. 0. 0. 1. ]] SLAMing on 3.6210527539999995 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:2.28, Y:0.16, Z:-0.19 [[ 0.9906719 -0.13566854 0.01277643 2.28159628] [ 0.13617064 0.98915564 -0.05503333 0.15783956] [-0.00517159 0.05625975 0.99840277 -0.19403704] [ 0. 0. 0. 1. ]] SLAMing on 3.6510527539999997 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:2.31, Y:0.07, Z:-0.19 [[ 0.98472856 -0.16067893 0.06702193 2.31284074] [ 0.14692046 0.97350253 0.17523472 0.07494301] [-0.09340255 -0.16271175 0.98224277 -0.19393741] [ 0. 0. 0. 1. ]] SLAMing on 3.6810527539999995 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:2.34, Y:0.18, Z:-0.22 [[ 0.98864191 -0.14560328 0.03724044 2.34074604] [ 0.14880888 0.98307415 -0.10686974 0.18267244] [-0.02104953 0.11119761 0.99357537 -0.21537405] [ 0. 0. 0. 1. ]] SLAMing on 3.711052754 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:2.37, Y:0.14, Z:-0.20 [[ 9.86941015e-01 -1.56200823e-01 3.93539842e-02 2.36862440e+00] [ 1.56399939e-01 9.87691756e-01 -2.01375480e-03 1.42755487e-01] [-3.85550556e-02 8.14241792e-03 9.99223303e-01 -2.04982148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7410527539999996 meters Centerline goodness : 0.997828 Centerline is valid? [True, True] Translation: X:2.40, Y:0.14, Z:-0.20 [[ 9.85651412e-01 -1.63701698e-01 4.11466754e-02 2.39723445e+00] [ 1.63931708e-01 9.86469109e-01 -2.25657525e-03 1.43733370e-01] [-4.02205190e-02 8.96944134e-03 9.99150569e-01 -2.03705147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.771052754 meters Centerline goodness : 0.997623 Centerline is valid? [True, True] Translation: X:2.43, Y:0.15, Z:-0.20 [[ 9.84976026e-01 -1.67246002e-01 4.30232902e-02 2.42539234e+00] [ 1.67356497e-01 9.85895891e-01 1.04615640e-03 1.45414515e-01] [-4.25914505e-02 6.16978814e-03 9.99073522e-01 -2.02871620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8010527539999996 meters Centerline goodness : 0.996842 Centerline is valid? [True, True] Translation: X:2.45, Y:0.15, Z:-0.20 [[ 0.98490576 -0.16686544 0.04600618 2.45224586] [ 0.16689082 0.98596981 0.003316 0.14607421] [-0.04591403 0.00441206 0.99893565 -0.20239116] [ 0. 0. 0. 1. ]] SLAMing on 3.831052754 meters Centerline goodness : 0.995815 Centerline is valid? [True, True] Translation: X:2.48, Y:0.15, Z:-0.20 [[ 9.85258656e-01 -1.64959012e-01 4.53200222e-02 2.47999203e+00] [ 1.64796065e-01 9.86300393e-01 7.33426610e-03 1.52254740e-01] [-4.59090090e-02 2.42412149e-04 9.98945596e-01 -1.98613839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8610527539999997 meters Centerline goodness : 0.996389 Centerline is valid? [True, True] Translation: X:2.51, Y:0.17, Z:-0.21 [[ 0.98655341 -0.15679112 0.04614013 2.51045636] [ 0.15794507 0.9871914 -0.02250559 0.17032858] [-0.04202046 0.02949058 0.99868142 -0.20621589] [ 0. 0. 0. 1. ]] SLAMing on 3.8910527539999995 meters Centerline goodness : 0.996550 Centerline is valid? [True, True] Translation: X:2.54, Y:0.16, Z:-0.20 [[ 0.9870395 -0.1542727 0.04419237 2.54021896] [ 0.15429638 0.98802037 0.00289515 0.16332481] [-0.0441096 0.0039611 0.99901884 -0.20347347] [ 0. 0. 0. 1. ]] SLAMing on 3.9210527539999998 meters Centerline goodness : 0.996835 Centerline is valid? [True, True] Translation: X:2.57, Y:0.17, Z:-0.21 [[ 0.98862416 -0.14413551 0.04297937 2.56745133] [ 0.14442984 0.98950772 -0.00380707 0.16890717] [-0.04197969 0.00997127 0.99906871 -0.20581534] [ 0. 0. 0. 1. ]] SLAMing on 3.9510527539999996 meters Centerline goodness : 0.996796 Centerline is valid? [True, True] Translation: X:2.60, Y:0.17, Z:-0.21 [[ 9.89054573e-01 -1.40869343e-01 4.38962377e-02 2.59610780e+00] [ 1.40912104e-01 9.90019810e-01 2.13410674e-03 1.69042577e-01] [-4.37587752e-02 4.07476317e-03 9.99033816e-01 -2.06337289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.981052754 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:2.62, Y:0.17, Z:-0.21 [[ 0.98954123 -0.1371582 0.04467414 2.62430032] [ 0.13745532 0.9905013 -0.00363382 0.17287967] [-0.04375138 0.00973652 0.998995 -0.20939574] [ 0. 0. 0. 1. ]] SLAMing on 4.011052754 meters Centerline goodness : 0.997158 Centerline is valid? [True, True] Translation: X:2.65, Y:0.17, Z:-0.21 [[ 0.98979043 -0.13541173 0.04448116 2.65302208] [ 0.13567616 0.9907488 -0.00296665 0.17063833] [-0.04366794 0.00897139 0.99900582 -0.21051756] [ 0. 0. 0. 1. ]] SLAMing on 4.041052754 meters Centerline goodness : 0.997195 Centerline is valid? [True, True] Translation: X:2.68, Y:0.17, Z:-0.21 [[ 9.89732525e-01 -1.35997325e-01 4.39801892e-02 2.68107994e+00] [ 1.35765851e-01 9.90706835e-01 8.22191450e-03 1.65086524e-01] [-4.46896325e-02 -2.16648838e-03 9.98998570e-01 -2.08380797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.071052754 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:2.71, Y:0.17, Z:-0.21 [[ 9.89577949e-01 -1.37188264e-01 4.37591451e-02 2.70850304e+00] [ 1.37173300e-01 9.90541369e-01 3.35877737e-03 1.65216076e-01] [-4.38060283e-02 2.67881434e-03 9.99036464e-01 -2.11418999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.101052754 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:2.74, Y:0.17, Z:-0.21 [[ 0.98925158 -0.14062915 0.04005927 2.73652294] [ 0.14094343 0.99000442 -0.00511805 0.16639225] [-0.03893911 0.01070913 0.9991842 -0.21390045] [ 0. 0. 0. 1. ]] SLAMing on 4.131052754 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:2.77, Y:0.16, Z:-0.21 [[ 0.9888672 -0.14348878 0.03940332 2.76559874] [ 0.14289245 0.98958227 0.01756946 0.15516047] [-0.04151385 -0.01174342 0.99906891 -0.20893235] [ 0. 0. 0. 1. ]] SLAMing on 4.161052754 meters Centerline goodness : 0.997595 Centerline is valid? [True, True] Translation: X:2.79, Y:0.16, Z:-0.22 [[ 0.98907743 -0.14242009 0.03797846 2.79277336] [ 0.1432498 0.98948266 -0.02008867 0.16486444] [-0.034718 0.02530966 0.99907661 -0.21613 ] [ 0. 0. 0. 1. ]] SLAMing on 4.191052754 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:2.82, Y:0.15, Z:-0.21 [[ 0.988767 -0.14483939 0.03689666 2.82134915] [ 0.14431799 0.98939483 0.0164372 0.14987499] [-0.03888612 -0.01092771 0.99918389 -0.21082313] [ 0. 0. 0. 1. ]] SLAMing on 4.2210527540000005 meters Centerline goodness : 0.997219 Centerline is valid? [True, True] Translation: X:2.85, Y:0.15, Z:-0.21 [[ 9.88801005e-01 -1.44184213e-01 3.85160338e-02 2.84767524e+00] [ 1.44226096e-01 9.89543294e-01 1.70349377e-03 1.52781316e-01] [-3.83588998e-02 3.87060084e-03 9.99256530e-01 -2.13035862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.251052754 meters Centerline goodness : 0.997754 Centerline is valid? [True, True] Translation: X:2.88, Y:0.16, Z:-0.21 [[ 0.98928418 -0.14139678 0.03638345 2.87813137] [ 0.1425675 0.98927148 -0.03188182 0.1636865 ] [-0.03148512 0.03672728 0.99882921 -0.21399479] [ 0. 0. 0. 1. ]] SLAMing on 4.281052754 meters Centerline goodness : 0.997569 Centerline is valid? [True, True] Translation: X:2.91, Y:0.15, Z:-0.21 [[ 0.98863773 -0.14377169 0.04387645 2.90584323] [ 0.14405223 0.98956464 -0.00328403 0.15226999] [-0.04294644 0.00956721 0.99903157 -0.20713605] [ 0. 0. 0. 1. ]] SLAMing on 4.311052754 meters Centerline goodness : 0.997718 Centerline is valid? [True, True] Translation: X:2.94, Y:0.15, Z:-0.21 [[ 0.98796781 -0.1477959 0.04556297 2.93684708] [ 0.14725069 0.98898367 0.01511719 0.14603551] [-0.04729529 -0.00822612 0.99884708 -0.20812053] [ 0. 0. 0. 1. ]] SLAMing on 4.341052754000001 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:2.96, Y:0.14, Z:-0.21 [[ 0.98623452 -0.15197384 0.06515685 2.96018102] [ 0.15032479 0.98819542 0.02953426 0.14269334] [-0.06887614 -0.01933302 0.99743787 -0.21203246] [ 0. 0. 0. 1. ]] SLAMing on 4.371052754 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:2.99, Y:0.16, Z:-0.23 [[ 0.98668044 -0.1532438 0.05457153 2.98995107] [ 0.15449545 0.98780139 -0.01948277 0.15977225] [-0.05092022 0.02765432 0.99831977 -0.2269839 ] [ 0. 0. 0. 1. ]] SLAMing on 4.401052754 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:3.02, Y:0.15, Z:-0.23 [[ 9.85557217e-01 -1.60303882e-01 5.45860503e-02 3.01959558e+00] [ 1.60465693e-01 9.87040376e-01 1.43410835e-03 1.54037493e-01] [-5.41085288e-02 7.34579254e-03 9.98508040e-01 -2.25130594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.431052754 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:3.05, Y:0.16, Z:-0.23 [[ 0.98576083 -0.16042296 0.05039894 3.04938876] [ 0.16152022 0.98669628 -0.01848403 0.16244741] [-0.04676318 0.02636128 0.9985581 -0.22737371] [ 0. 0. 0. 1. ]] SLAMing on 4.461052754 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:3.08, Y:0.16, Z:-0.22 [[ 9.85796042e-01 -1.60708697e-01 4.87737379e-02 3.07966220e+00] [ 1.60814085e-01 9.86983109e-01 1.78130870e-03 1.59576335e-01] [-4.84251273e-02 6.08749697e-03 9.98808265e-01 -2.24881143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.491052754 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:3.11, Y:0.16, Z:-0.23 [[ 9.86436019e-01 -1.57176868e-01 4.73224300e-02 3.10754594e+00] [ 1.57284444e-01 9.87552255e-01 1.46503736e-03 1.63127729e-01] [-4.69636425e-02 5.99791650e-03 9.98878592e-01 -2.25998702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.521052754 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:3.13, Y:0.16, Z:-0.22 [[ 0.98732677 -0.14695011 0.0599292 3.13340838] [ 0.14489531 0.98874275 0.03732462 0.1585401 ] [-0.06473942 -0.02816813 0.99750457 -0.21644314] [ 0. 0. 0. 1. ]] SLAMing on 4.5510527540000005 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:3.16, Y:0.18, Z:-0.22 [[ 9.89770735e-01 -1.29396882e-01 6.00860907e-02 3.16040772e+00] [ 1.29548145e-01 9.91572162e-01 1.38773132e-03 1.75029507e-01] [-5.97592630e-02 6.41050574e-03 9.98192234e-01 -2.22124568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.581052754 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:3.19, Y:0.18, Z:-0.22 [[ 9.90738582e-01 -1.22006393e-01 5.95944848e-02 3.18937745e+00] [ 1.22140909e-01 9.92511791e-01 1.39397111e-03 1.75624381e-01] [-5.93183022e-02 5.89786359e-03 9.98221696e-01 -2.23749087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.611052754 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:3.22, Y:0.18, Z:-0.23 [[ 9.92057033e-01 -1.10787036e-01 5.95741177e-02 3.21984290e+00] [ 1.10901212e-01 9.93830454e-01 1.39663727e-03 1.75473102e-01] [-5.93613018e-02 5.22129801e-03 9.98222908e-01 -2.25450507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.641052754 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:3.25, Y:0.18, Z:-0.23 [[ 9.92414369e-01 -1.07197011e-01 6.01873854e-02 3.25066551e+00] [ 1.07307002e-01 9.94224932e-01 1.41110631e-03 1.75860031e-01] [-5.99910656e-02 5.05812569e-03 9.98186099e-01 -2.26666584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.671052754 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:3.28, Y:0.18, Z:-0.23 [[ 9.93098577e-01 -1.01467052e-01 5.88188262e-02 3.28059147e+00] [ 1.01562215e-01 9.94828236e-01 1.37704993e-03 1.75950382e-01] [-5.86543543e-02 4.60622397e-03 9.98267724e-01 -2.27861928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.701052754 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:3.31, Y:0.18, Z:-0.23 [[ 9.93507171e-01 -9.83135238e-02 5.72533965e-02 3.31181109e+00] [ 9.83985122e-02 9.95146189e-01 1.33967688e-03 1.76763077e-01] [-5.71072077e-02 4.30267044e-03 9.98358780e-01 -2.30512382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.731052754 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:3.34, Y:0.17, Z:-0.23 [[ 9.94481773e-01 -9.02295749e-02 5.35222189e-02 3.34343828e+00] [ 9.02923052e-02 9.95914523e-01 1.24980601e-03 1.73739837e-01] [-5.34163246e-02 3.58973523e-03 9.98565877e-01 -2.34157085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7610527540000005 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:3.38, Y:0.17, Z:-0.24 [[ 9.94806896e-01 -8.66258505e-02 5.34340893e-02 3.37508437e+00] [ 8.66832756e-02 9.96235141e-01 1.24632110e-03 1.71155086e-01] [-5.33408811e-02 3.39199307e-03 9.98570601e-01 -2.37248730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.791052754 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:3.41, Y:0.17, Z:-0.24 [[ 9.94814252e-01 -8.65412844e-02 5.34341702e-02 3.40767326e+00] [ 8.65987742e-02 9.96242494e-01 1.24284403e-03 1.71862424e-01] [-5.33409483e-02 3.39093468e-03 9.98570601e-01 -2.39306124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.821052754 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:3.44, Y:0.17, Z:-0.24 [[ 9.95064691e-01 -8.34133688e-02 5.37444929e-02 3.43885950e+00] [ 8.34672516e-02 9.96509743e-01 1.24514713e-03 1.69823372e-01] [-5.36607727e-02 3.24690317e-03 9.98553944e-01 -2.41186639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.851052754 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:3.46, Y:0.20, Z:-0.27 [[ 0.99413879 -0.08008131 0.07262948 3.46041668] [ 0.08467847 0.99444041 -0.06259251 0.19995344] [-0.0672132 0.0683758 0.99539296 -0.27378546] [ 0. 0. 0. 1. ]] SLAMing on 4.881052754 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:3.50, Y:0.14, Z:-0.24 [[ 0.99537502 -0.07976536 0.05353566 3.50274286] [ 0.07608429 0.99480752 0.06759567 0.14223135] [-0.05864947 -0.06320982 0.99627544 -0.23621683] [ 0. 0. 0. 1. ]] SLAMing on 4.911052754 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:3.53, Y:0.16, Z:-0.25 [[ 9.95982931e-01 -7.24604051e-02 5.26069455e-02 3.53465997e+00] [ 7.24975748e-02 9.97367862e-01 1.20387569e-03 1.56835833e-01] [-5.25557101e-02 2.61483632e-03 9.98614570e-01 -2.48277861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.941052754 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:3.57, Y:0.15, Z:-0.25 [[ 9.96111419e-01 -7.13833863e-02 5.16377185e-02 3.56572432e+00] [ 7.14180404e-02 9.97445778e-01 1.17611248e-03 1.53441806e-01] [-5.15897792e-02 2.51632559e-03 9.98665191e-01 -2.50252881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9710527540000005 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:3.60, Y:0.15, Z:-0.25 [[ 9.96226159e-01 -6.92559950e-02 5.23167933e-02 3.59802765e+00] [ 6.92887737e-02 9.97595936e-01 1.18910829e-03 1.48666911e-01] [-5.22733733e-02 2.44034567e-03 9.98629831e-01 -2.52887232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.001052754 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:3.63, Y:0.15, Z:-0.26 [[ 9.96280277e-01 -6.79196427e-02 5.30333103e-02 3.62954867e+00] [ 6.79516368e-02 9.97687893e-01 1.20169187e-03 1.45330259e-01] [-5.29923100e-02 2.40647832e-03 9.98592021e-01 -2.55280709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.031052754 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:3.66, Y:0.13, Z:-0.26 [[ 9.96238423e-01 -6.66105806e-02 5.54259362e-02 3.66216898e+00] [ 6.66436711e-02 9.97776052e-01 1.25313947e-03 1.34063785e-01] [-5.53861442e-02 2.44536217e-03 9.98462015e-01 -2.55473698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.061052754 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:3.69, Y:0.13, Z:-0.26 [[ 9.95955128e-01 -6.73212438e-02 5.95082560e-02 3.69481533e+00] [ 6.73609161e-02 9.97727772e-01 1.34140617e-03 1.25832003e-01] [-5.94633448e-02 2.67255028e-03 9.98226912e-01 -2.55055096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.091052754 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:3.73, Y:0.12, Z:-0.26 [[ 9.95923117e-01 -6.73218689e-02 6.00409029e-02 3.72729019e+00] [ 6.73624935e-02 9.97727655e-01 1.34951123e-03 1.23602641e-01] [-5.99953208e-02 2.70049550e-03 9.98195005e-01 -2.56326860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.121052754 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:3.76, Y:0.12, Z:-0.26 [[ 9.95938863e-01 -6.72052709e-02 5.99102100e-02 3.75965267e+00] [ 6.72457452e-02 9.97735540e-01 1.34261181e-03 1.21371559e-01] [-5.98647763e-02 2.69154743e-03 9.98202867e-01 -2.57753370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.151052754 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:3.79, Y:0.12, Z:-0.26 [[ 9.95961973e-01 -6.80032340e-02 5.86115076e-02 3.79143008e+00] [ 6.80435630e-02 9.97681491e-01 1.30975526e-03 1.15677545e-01] [-5.85646840e-02 2.68366938e-03 9.98280009e-01 -2.58639137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.181052754 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:3.82, Y:0.11, Z:-0.26 [[ 9.95812891e-01 -6.94577128e-02 5.94332642e-02 3.82414915e+00] [ 6.95021679e-02 9.97580925e-01 1.32139246e-03 1.13014582e-01] [-5.93812715e-02 2.81488106e-03 9.98231407e-01 -2.59304340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.211052754 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:3.86, Y:0.11, Z:-0.26 [[ 9.95232023e-01 -7.52032963e-02 6.21102600e-02 3.85621311e+00] [ 7.52632807e-02 9.97162747e-01 1.37655871e-03 1.09975990e-01] [-6.20375592e-02 3.30462662e-03 9.98068345e-01 -2.58576741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.241052754 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:3.89, Y:0.11, Z:-0.26 [[ 9.94912755e-01 -7.89373893e-02 6.25899194e-02 3.88889004e+00] [ 7.90059294e-02 9.96873187e-01 1.38296892e-03 1.09054935e-01] [-6.25033804e-02 3.56904133e-03 9.98038371e-01 -2.58651738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.271052754 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:3.92, Y:0.11, Z:-0.26 [[ 9.94350142e-01 -8.75322516e-02 6.00491391e-02 3.91966717e+00] [ 8.76111381e-02 9.96153873e-01 1.32297988e-03 1.05684607e-01] [-5.99339859e-02 3.94546818e-03 9.98194545e-01 -2.59230304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.301052754 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:3.95, Y:0.11, Z:-0.26 [[ 9.93886921e-01 -9.34570885e-02 5.87755105e-02 3.94817495e+00] [ 9.35431392e-02 9.95614390e-01 1.29168614e-03 1.07963141e-01] [-5.86384613e-02 4.21425580e-03 9.98270390e-01 -2.61166425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.331052754 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:3.98, Y:0.11, Z:-0.26 [[ 9.93667317e-01 -9.48687828e-02 6.02094420e-02 3.97625859e+00] [ 9.49614628e-02 9.95480065e-01 1.32670501e-03 1.09442646e-01] [-6.00631621e-02 4.39927327e-03 9.98184884e-01 -2.61550996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.361052754 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:4.00, Y:0.11, Z:-0.26 [[ 9.93584062e-01 -9.48803805e-02 6.15501853e-02 4.00414658e+00] [ 9.49762710e-02 9.95478591e-01 1.37251111e-03 1.10301060e-01] [-6.14021161e-02 4.48210191e-03 9.98103046e-01 -2.61079929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.391052754 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:4.03, Y:0.11, Z:-0.26 [[ 9.93781959e-01 -9.28996665e-02 6.13764685e-02 4.03267051e+00] [ 9.29902912e-02 9.95666053e-01 1.38441655e-03 1.12069458e-01] [-6.12390780e-02 4.33160748e-03 9.98113727e-01 -2.60098613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.421052754 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:4.06, Y:0.12, Z:-0.26 [[ 9.93969386e-01 -9.05097461e-02 6.19099794e-02 4.06173615e+00] [ 9.05964467e-02 9.95886687e-01 1.41102756e-03 1.16548690e-01] [-6.17830360e-02 4.20630595e-03 9.98080740e-01 -2.60713514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.451052754 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:4.09, Y:0.12, Z:-0.26 [[ 9.94034217e-01 -8.93478498e-02 6.25534689e-02 4.08993674e+00] [ 8.94338861e-02 9.95991736e-01 1.42881069e-03 1.19626944e-01] [-6.24303993e-02 4.17411310e-03 9.98040591e-01 -2.62350551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.481052754 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:4.12, Y:0.12, Z:-0.26 [[ 9.94378466e-01 -8.65960138e-02 6.09310787e-02 4.12074827e+00] [ 8.66723141e-02 9.96235898e-01 1.39460629e-03 1.23811361e-01] [-6.08224952e-02 3.89427113e-03 9.98141001e-01 -2.63830883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5110527540000005 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:4.15, Y:0.13, Z:-0.27 [[ 9.94547975e-01 -8.50916357e-02 6.02805034e-02 4.15050239e+00] [ 8.51635571e-02 9.96366030e-01 1.37974937e-03 1.25407576e-01] [-6.01788509e-02 3.76147515e-03 9.98180523e-01 -2.65663566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.541052754 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:4.18, Y:0.13, Z:-0.27 [[ 9.94837798e-01 -8.31755662e-02 5.81341546e-02 4.18130487e+00] [ 8.32392320e-02 9.96528706e-01 1.32977011e-03 1.27755476e-01] [-5.80429582e-02 3.51613681e-03 9.98307894e-01 -2.66789498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.571052754 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:4.21, Y:0.13, Z:-0.27 [[ 9.94950573e-01 -8.25716979e-02 5.70549899e-02 4.21152254e+00] [ 8.26321431e-02 9.96579265e-01 1.30302147e-03 1.28007055e-01] [-5.69674126e-02 3.41813413e-03 9.98370187e-01 -2.68784619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.601052754 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:4.24, Y:0.13, Z:-0.27 [[ 9.95062274e-01 -8.15282808e-02 5.66057522e-02 4.24134186e+00] [ 8.15860881e-02 9.96665460e-01 1.29285698e-03 1.26748835e-01] [-5.65224024e-02 3.33176867e-03 9.98395772e-01 -2.71313689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.631052754 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:4.27, Y:0.13, Z:-0.27 [[ 9.95128035e-01 -8.07910053e-02 5.65066980e-02 4.27178277e+00] [ 8.08474667e-02 9.96725651e-01 1.28987688e-03 1.27295179e-01] [-5.64258858e-02 3.28483073e-03 9.98401387e-01 -2.73945016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.661052754 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:4.30, Y:0.13, Z:-0.28 [[ 9.95223725e-01 -8.05732562e-02 5.51152163e-02 4.30265058e+00] [ 8.06268139e-02 9.96743569e-01 1.25476883e-03 1.26096602e-01] [-5.50368382e-02 3.19498858e-03 9.98479213e-01 -2.77123799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.691052754 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:4.33, Y:0.12, Z:-0.28 [[ 9.95208480e-01 -8.12926217e-02 5.43285399e-02 4.33276062e+00] [ 8.13457381e-02 9.96685177e-01 1.23659765e-03 1.24046167e-01] [-5.42489766e-02 3.18872271e-03 9.98522349e-01 -2.79124169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7210527540000005 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:4.36, Y:0.12, Z:-0.28 [[ 9.95116151e-01 -8.28256627e-02 5.37006168e-02 4.36180361e+00] [ 8.28796914e-02 9.96558809e-01 1.22390173e-03 1.18955189e-01] [-5.36171932e-02 3.23276616e-03 9.98556331e-01 -2.79680720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.751052754 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:4.39, Y:0.12, Z:-0.28 [[ 9.95063403e-01 -8.34992227e-02 5.36349110e-02 4.39101695e+00] [ 8.35540351e-02 9.96502497e-01 1.22348231e-03 1.18477435e-01] [-5.35494826e-02 3.26397077e-03 9.98559863e-01 -2.80618053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.781052754 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:4.42, Y:0.12, Z:-0.28 [[ 9.94955331e-01 -8.46887737e-02 5.37745355e-02 4.41972550e+00] [ 8.47449468e-02 9.96401906e-01 1.23885724e-03 1.19856307e-01] [-5.36859670e-02 3.32451254e-03 9.98552334e-01 -2.80975602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.811052754 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:4.45, Y:0.12, Z:-0.28 [[ 9.94784639e-01 -8.63093602e-02 5.43527022e-02 4.44756555e+00] [ 8.63684235e-02 9.96262462e-01 1.26570822e-03 1.20586774e-01] [-5.42587994e-02 3.43525011e-03 9.98520997e-01 -2.82648864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.841052754 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:4.48, Y:0.12, Z:-0.28 [[ 9.94201492e-01 -9.20298457e-02 5.56228395e-02 4.47510056e+00] [ 9.21003605e-02 9.95748881e-01 1.29982720e-03 1.19871200e-01] [-5.55060031e-02 3.83059343e-03 9.98451005e-01 -2.84447922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.871052754 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:4.50, Y:0.12, Z:-0.29 [[ 9.93879507e-01 -9.50033436e-02 5.63727831e-02 4.50269056e+00] [ 9.50803366e-02 9.95468726e-01 1.32083993e-03 1.21013469e-01] [-5.62428268e-02 4.04718746e-03 9.98408917e-01 -2.85739904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.901052754 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:4.53, Y:0.13, Z:-0.29 [[ 9.93354731e-01 -9.88439947e-02 5.89596715e-02 4.53042564e+00] [ 9.89340463e-02 9.95093012e-01 1.39698030e-03 1.25467103e-01] [-5.88084403e-02 4.44542188e-03 9.98259388e-01 -2.87771922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.931052754 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:4.56, Y:0.13, Z:-0.29 [[ 9.93310285e-01 -9.94128858e-02 5.87516381e-02 4.55827232e+00] [ 9.95024305e-02 9.95036325e-01 1.40668096e-03 1.27955819e-01] [-5.85998563e-02 4.44866013e-03 9.98271640e-01 -2.89853896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.961052754 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:4.59, Y:0.13, Z:-0.29 [[ 9.93688615e-01 -9.75266783e-02 5.54209574e-02 4.58507535e+00] [ 9.76026134e-02 9.95224563e-01 1.34136973e-03 1.29147152e-01] [-5.52871174e-02 4.07632645e-03 9.98462177e-01 -2.94361194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.991052754 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:4.61, Y:0.13, Z:-0.30 [[ 9.93931903e-01 -9.55293617e-02 5.45299348e-02 4.61340912e+00] [ 9.55996118e-02 9.95418987e-01 1.32470967e-03 1.28277601e-01] [-5.44066811e-02 3.89636939e-03 9.98511258e-01 -2.97374889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.021052754 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:4.64, Y:0.12, Z:-0.30 [[ 9.94385397e-01 -9.12548879e-02 5.35745080e-02 4.64013130e+00] [ 9.13157683e-02 9.95821118e-01 1.31551562e-03 1.23026686e-01] [-5.34706738e-02 3.58406784e-03 9.98562988e-01 -2.99228224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.051052754 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:4.67, Y:0.12, Z:-0.30 [[ 9.94671252e-01 -8.85336016e-02 5.28289849e-02 4.66671627e+00] [ 8.85884606e-02 9.96067456e-01 1.30693956e-03 1.20223282e-01] [-5.27369406e-02 3.38006323e-03 9.98602719e-01 -3.00672900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.081052754 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:4.70, Y:0.11, Z:-0.30 [[ 9.95420504e-01 -8.08690670e-02 5.09726799e-02 4.69515891e+00] [ 8.09099185e-02 9.96720615e-01 1.26488207e-03 1.14098886e-01] [-5.09078107e-02 2.86510582e-03 9.98699247e-01 -3.04313875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.111052754 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:4.72, Y:0.11, Z:-0.31 [[ 9.95748001e-01 -7.70181859e-02 5.05382741e-02 4.72291824e+00] [ 7.70528027e-02 9.97026210e-01 1.26588542e-03 1.10975958e-01] [-5.04854801e-02 2.63361279e-03 9.98721323e-01 -3.06830236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.141052754 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:4.75, Y:0.10, Z:-0.31 [[ 9.96237968e-01 -6.90857393e-02 5.23170395e-02 4.75068194e+00] [ 6.91112238e-02 9.97608082e-01 1.32398166e-03 1.03765625e-01] [-5.22833697e-02 2.29669382e-03 9.98629648e-01 -3.10158675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.171052754 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:4.78, Y:0.10, Z:-0.31 [[ 9.96489839e-01 -6.48061495e-02 5.29921116e-02 4.78046058e+00] [ 6.48254487e-02 9.97895697e-01 1.35636628e-03 9.89076905e-02] [-5.29685010e-02 2.08363219e-03 9.98594010e-01 -3.11537524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.201052754 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:4.81, Y:0.09, Z:-0.31 [[ 9.96928376e-01 -5.67443332e-02 5.39804863e-02 4.81072743e+00] [ 5.67524548e-02 9.98387322e-01 1.38365115e-03 8.67969443e-02] [-5.39719475e-02 1.68412401e-03 9.98541032e-01 -3.11811950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.231052754 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:4.84, Y:0.08, Z:-0.31 [[ 9.97084996e-01 -5.39724335e-02 5.39303867e-02 4.84219189e+00] [ 5.39764893e-02 9.98541250e-01 1.38240322e-03 8.17724145e-02] [-5.39263274e-02 1.53259943e-03 9.98543741e-01 -3.13413051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2610527540000005 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:4.87, Y:0.07, Z:-0.32 [[ 9.97192305e-01 -5.17691589e-02 5.41060237e-02 4.87319005e+00] [ 5.17700921e-02 9.98658069e-01 1.38525754e-03 7.32932248e-02] [-5.41051307e-02 1.41970568e-03 9.98534235e-01 -3.16691433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.291052754 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:4.90, Y:0.07, Z:-0.32 [[ 9.97169876e-01 -5.15564593e-02 5.47190133e-02 4.90447887e+00] [ 5.15571935e-02 9.98669063e-01 1.39916056e-03 7.03932752e-02] [-5.47183215e-02 1.42595800e-03 9.98500812e-01 -3.19617430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.321052754 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:4.94, Y:0.06, Z:-0.32 [[ 9.97074237e-01 -5.08628930e-02 5.70607686e-02 4.93539166e+00] [ 5.08626665e-02 9.98704594e-01 1.45722629e-03 6.36712972e-02] [-5.70609704e-02 1.44930005e-03 9.98369644e-01 -3.21448598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.351052754 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:4.97, Y:0.06, Z:-0.32 [[ 9.97018366e-01 -4.99371255e-02 5.88273939e-02 4.96783048e+00] [ 4.99354711e-02 9.98751321e-01 1.49910239e-03 6.08333160e-02] [-5.88287983e-02 1.44294101e-03 9.98267044e-01 -3.22407294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.381052754 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:5.00, Y:0.05, Z:-0.32 [[ 9.97033708e-01 -4.91356647e-02 5.92407942e-02 4.99875342e+00] [ 4.91327952e-02 9.98791120e-01 1.50593043e-03 5.36609126e-02] [-5.92431741e-02 1.40920241e-03 9.98242586e-01 -3.23362486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.411052754 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:5.03, Y:0.05, Z:-0.33 [[ 9.97146876e-01 -4.90275466e-02 5.73969331e-02 5.03119779e+00] [ 4.90249974e-02 9.98796494e-01 1.45336461e-03 4.86330973e-02] [-5.73991105e-02 1.36466652e-03 9.98350379e-01 -3.25587508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.441052754 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:5.06, Y:0.04, Z:-0.33 [[ 9.97126122e-01 -5.25242541e-02 5.45957778e-02 5.06344048e+00] [ 5.25273544e-02 9.98618533e-01 1.37916056e-03 3.95236038e-02] [-5.45927950e-02 1.49257475e-03 9.98507586e-01 -3.30092098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4710527540000005 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:5.09, Y:0.04, Z:-0.33 [[ 9.96879100e-01 -5.61630596e-02 5.54776509e-02 5.09401546e+00] [ 5.61721098e-02 9.98420123e-01 1.39743780e-03 3.59078805e-02] [-5.54684874e-02 1.72322016e-03 9.98458951e-01 -3.32991945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.501052754 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:5.12, Y:0.02, Z:-0.33 [[ 9.96207240e-01 -6.54745362e-02 5.73081174e-02 5.12281161e+00] [ 6.54995788e-02 9.97851553e-01 1.44330415e-03 2.26284240e-02] [-5.72794936e-02 2.31582751e-03 9.98355496e-01 -3.33429970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.531052754 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:5.15, Y:0.02, Z:-0.33 [[ 9.95860293e-01 -7.05821545e-02 5.72750925e-02 5.15130049e+00] [ 7.06154879e-02 9.97502565e-01 1.44425287e-03 1.57754756e-02] [-5.72339901e-02 2.60623451e-03 9.98357390e-01 -3.33970793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.561052754 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:5.18, Y:0.01, Z:-0.33 [[ 9.95548112e-01 -7.51197183e-02 5.69296502e-02 5.17999095e+00] [ 7.51592571e-02 9.97170490e-01 1.44932938e-03 9.60809822e-03] [-5.68774404e-02 2.83591309e-03 9.98377140e-01 -3.34876603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.591052754 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.00, Z:-0.33 [[ 9.94872055e-01 -8.30862943e-02 5.76737621e-02 5.20828422e+00] [ 8.31393879e-02 9.96536825e-01 1.48244798e-03 -4.74673578e-03] [-5.75971989e-02 3.32011522e-03 9.98334383e-01 -3.32464155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.621052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.02, Z:-0.33 [[ 9.94611337e-01 -8.44349764e-02 6.01583104e-02 5.23711614e+00] [ 8.44942673e-02 9.96422741e-01 1.56211770e-03 -1.76466319e-02] [-6.00750060e-02 3.52933239e-03 9.98187626e-01 -3.29186921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.651052754 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.02, Z:-0.33 [[ 9.94716603e-01 -8.25559101e-02 6.10196873e-02 5.26469648e+00] [ 8.26123417e-02 9.96580471e-01 1.60177627e-03 -2.05484443e-02] [-6.09432649e-02 3.44766582e-03 9.98135277e-01 -3.30250581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.681052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.02, Z:-0.33 [[ 9.95194333e-01 -7.64914271e-02 6.11334647e-02 5.29284133e+00] [ 7.65359598e-02 9.97065512e-01 1.61630578e-03 -2.18360336e-02] [-6.10777028e-02 3.07037005e-03 9.98128292e-01 -3.33149864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.02, Z:-0.33 [[ 9.95174386e-01 -7.67508772e-02 6.11330115e-02 5.32135240e+00] [ 7.67948584e-02 9.97045577e-01 1.63326847e-03 -2.10257516e-02] [-6.10777535e-02 3.06931402e-03 9.98128292e-01 -3.34924981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.741052754 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.02, Z:-0.34 [[ 9.94880710e-01 -7.63418108e-02 6.62140490e-02 5.34650865e+00] [ 7.66963040e-02 9.97050499e-01 -2.82466949e-03 -1.69911784e-02] [-6.58031102e-02 7.88858202e-03 9.97801444e-01 -3.42575465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.771052754 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.02, Z:-0.34 [[ 9.94874377e-01 -7.64431323e-02 6.61923139e-02 5.37340997e+00] [ 7.64537278e-02 9.97070298e-01 2.37673972e-03 -1.90830396e-02] [-6.61800756e-02 2.69609170e-03 9.97804053e-01 -3.43151669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.801052754 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.02, Z:-0.34 [[ 9.94743896e-01 -7.76367070e-02 6.67616943e-02 5.40043730e+00] [ 7.76360532e-02 9.96978355e-01 2.60817863e-03 -2.25125424e-02] [-6.67624545e-02 2.58864468e-03 9.97765540e-01 -3.43483625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.03, Z:-0.34 [[ 9.95227225e-01 -7.77499275e-02 5.89721843e-02 5.43060849e+00] [ 7.75175355e-02 9.96971576e-01 6.22167854e-03 -2.78667889e-02] [-5.92773265e-02 -1.62060548e-03 9.98240238e-01 -3.40626047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.861052754 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.02, Z:-0.35 [[ 9.94917265e-01 -7.91559126e-02 6.22412752e-02 5.45643944e+00] [ 7.93551888e-02 9.96846135e-01 -7.32341720e-04 -2.18118049e-02] [-6.19870055e-02 5.66778757e-03 9.98060864e-01 -3.48940076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.891052754 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.02, Z:-0.35 [[ 9.95013109e-01 -8.25688107e-02 5.59580628e-02 5.48630085e+00] [ 8.24534510e-02 9.96585331e-01 4.37114626e-03 -2.14922807e-02] [-5.61279049e-02 2.64587567e-04 9.98423552e-01 -3.50076483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.921052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.02, Z:-0.35 [[ 9.94648191e-01 -8.64408623e-02 5.65946342e-02 5.51423524e+00] [ 8.64891379e-02 9.96251508e-01 1.60041368e-03 -2.01179556e-02] [-5.65208309e-02 3.30297255e-03 9.98395957e-01 -3.53060925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.951052754 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.02, Z:-0.35 [[ 9.93888923e-01 -9.41057182e-02 5.76968103e-02 5.54130881e+00] [ 9.41677686e-02 9.95554978e-01 1.64851382e-03 -2.34989603e-02] [-5.75954813e-02 3.79474026e-03 9.98332790e-01 -3.51547417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.981052754 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.02, Z:-0.35 [[ 9.93598131e-01 -9.67629101e-02 5.83068918e-02 5.56899568e+00] [ 9.68304618e-02 9.95299485e-01 1.67233666e-03 -2.37017812e-02] [-5.81946395e-02 3.98425268e-03 9.98297305e-01 -3.52405319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.011052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.02, Z:-0.35 [[ 9.93602682e-01 -9.62615085e-02 5.90544905e-02 5.59743001e+00] [ 9.63289475e-02 9.95348084e-01 1.71041135e-03 -1.96783038e-02] [-5.89444208e-02 3.98918761e-03 9.98253295e-01 -3.53830570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.041052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.01, Z:-0.36 [[ 9.94075523e-01 -9.04510872e-02 6.02698584e-02 5.62486987e+00] [ 9.05096859e-02 9.95894015e-01 1.76262481e-03 -1.35200687e-02] [-6.01818226e-02 3.70282377e-03 9.98180563e-01 -3.55908213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.071052754 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.01, Z:-0.36 [[ 9.94759388e-01 -8.28060705e-02 5.99742859e-02 5.65272005e+00] [ 8.28492555e-02 9.96560518e-01 1.77052262e-03 -1.03153376e-02] [-5.99146154e-02 3.20758094e-03 9.98198352e-01 -3.55878032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.101052754 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.01, Z:-0.36 [[ 9.94938264e-01 -7.96608894e-02 6.12535238e-02 5.68130307e+00] [ 7.96117403e-02 9.96820662e-01 3.24640503e-03 -9.19249292e-03] [-6.13173897e-02 1.64652706e-03 9.98116960e-01 -3.56726806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.131052754 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.01, Z:-0.36 [[ 9.94923328e-01 -7.97972506e-02 6.13185997e-02 5.70874930e+00] [ 7.98386937e-02 9.96806211e-01 1.77786426e-03 -7.76652478e-03] [-6.12646298e-02 3.12675828e-03 9.98116661e-01 -3.58983469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.161052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.00, Z:-0.36 [[ 9.95193584e-01 -7.46855539e-02 6.33387552e-02 5.73559686e+00] [ 7.48084140e-02 9.97197831e-01 4.32889035e-04 -4.29386427e-03] [-6.31935999e-02 4.30746343e-03 9.97991991e-01 -3.60041799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.191052754 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.00, Z:-0.36 [[ 9.95290751e-01 -7.20211836e-02 6.48788953e-02 5.76274327e+00] [ 7.20455469e-02 9.97399403e-01 1.96703577e-03 -2.81208151e-03] [-6.48518398e-02 2.71646299e-03 9.97891206e-01 -3.62217363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.00, Z:-0.36 [[ 9.95380806e-01 -7.16220607e-02 6.39322443e-02 5.79115037e+00] [ 7.16443941e-02 9.97428340e-01 1.94609747e-03 -3.58164314e-03] [-6.39072158e-02 2.64327884e-03 9.97952344e-01 -3.64976518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.251052754 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.01, Z:-0.37 [[ 9.95493466e-01 -7.21045485e-02 6.15929628e-02 5.81840149e+00] [ 7.21251838e-02 9.97393795e-01 1.89112582e-03 -6.14297762e-03] [-6.15687977e-02 2.55980037e-03 9.98099559e-01 -3.67245015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.281052754 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.01, Z:-0.37 [[ 9.95556084e-01 -7.34319259e-02 5.89562223e-02 5.84626765e+00] [ 7.34527809e-02 9.97297042e-01 1.81625578e-03 -1.40229692e-02] [-5.89302373e-02 2.52231399e-03 9.98258917e-01 -3.68980069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.311052754 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.02, Z:-0.37 [[ 9.95533288e-01 -7.38201465e-02 5.88562602e-02 5.87353243e+00] [ 7.38406039e-02 9.97268377e-01 1.83019644e-03 -1.79087197e-02] [-5.88305925e-02 2.52396032e-03 9.98264790e-01 -3.70524306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.03, Z:-0.37 [[ 9.95781622e-01 -7.24364383e-02 5.63198331e-02 5.90220009e+00] [ 7.24526398e-02 9.97370307e-01 1.75684888e-03 -2.58690820e-02] [-5.62989890e-02 2.33108275e-03 9.98411233e-01 -3.73126104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.371052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.03, Z:-0.38 [[ 9.96019075e-01 -7.06000166e-02 5.44209501e-02 5.92924506e+00] [ 7.06115163e-02 9.97502419e-01 1.71386657e-03 -2.87673496e-02] [-5.44060283e-02 2.13570200e-03 9.98516611e-01 -3.75708336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.04, Z:-0.38 [[ 9.96452651e-01 -6.59799053e-02 5.22375882e-02 5.95681186e+00] [ 6.59838636e-02 9.97819325e-01 1.65070326e-03 -3.58684690e-02] [-5.22325882e-02 1.80199025e-03 9.98633321e-01 -3.76854235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.04, Z:-0.38 [[ 9.96643049e-01 -6.38152633e-02 5.12859127e-02 5.98479263e+00] [ 6.38158012e-02 9.97960365e-01 1.62868815e-03 -3.99696190e-02] [-5.12852433e-02 1.64963089e-03 9.98682684e-01 -3.77083418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.05, Z:-0.37 [[ 9.96775460e-01 -6.21036305e-02 5.08116284e-02 6.01187594e+00] [ 6.21011557e-02 9.98068531e-01 1.62898240e-03 -4.82751519e-02] [-5.08146530e-02 1.53173116e-03 9.98706926e-01 -3.74739214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.05, Z:-0.37 [[ 9.96491170e-01 -6.37888579e-02 5.41879150e-02 6.04052254e+00] [ 6.37882409e-02 9.97961935e-01 1.74269986e-03 -5.18869473e-02] [-5.41886413e-02 1.71996675e-03 9.98529235e-01 -3.74572870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.05, Z:-0.37 [[ 9.96211531e-01 -6.57823576e-02 5.68794150e-02 6.06828208e+00] [ 6.57839510e-02 9.97832182e-01 1.84641288e-03 -5.33773375e-02] [-5.68775722e-02 1.90233485e-03 9.98379348e-01 -3.74946760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.06, Z:-0.38 [[ 9.95943552e-01 -6.82957212e-02 5.85844289e-02 6.09557140e+00] [ 6.83006981e-02 9.97662934e-01 1.91978841e-03 -5.53306128e-02] [-5.85786266e-02 2.08935651e-03 9.98280611e-01 -3.75214390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.06, Z:-0.37 [[ 9.95624714e-01 -7.34356001e-02 5.77809852e-02 6.12369280e+00] [ 7.34487019e-02 9.97297187e-01 1.89983971e-03 -6.03495190e-02] [-5.77643298e-02 2.35241099e-03 9.98327476e-01 -3.74631473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.07, Z:-0.37 [[ 9.95524686e-01 -7.54327546e-02 5.69253749e-02 6.15068824e+00] [ 7.54477691e-02 9.97147967e-01 1.88845838e-03 -6.53422163e-02] [-5.69054734e-02 2.41488560e-03 9.98376650e-01 -3.73668948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.07, Z:-0.37 [[ 9.95644262e-01 -7.47332265e-02 5.57444896e-02 6.17801632e+00] [ 7.47461520e-02 9.97200866e-01 1.85598355e-03 -6.68624434e-02] [-5.57271570e-02 2.31878672e-03 9.98443342e-01 -3.74214904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.671052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.07, Z:-0.38 [[ 9.95828172e-01 -7.31857624e-02 5.44985844e-02 6.20600310e+00] [ 7.31955151e-02 9.97315951e-01 1.81972074e-03 -6.74729942e-02] [-5.44854851e-02 2.17692278e-03 9.98512190e-01 -3.75589296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.701052754 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.07, Z:-0.38 [[ 9.96331191e-01 -6.88106123e-02 5.08847397e-02 6.23420443e+00] [ 6.88127460e-02 9.97628125e-01 1.71204270e-03 -6.91971380e-02] [-5.08818542e-02 1.79575713e-03 9.98703065e-01 -3.76756577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.731052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.07, Z:-0.38 [[ 9.96566340e-01 -6.66687993e-02 4.90999037e-02 6.26107755e+00] [ 6.66674398e-02 9.97773859e-01 1.66718626e-03 -7.08235242e-02] [-4.91017497e-02 1.61190316e-03 9.98792481e-01 -3.77876221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.761052754 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.09, Z:-0.35 [[ 0.99668588 -0.06719139 0.0458538 6.29140307] [ 0.06498191 0.99672717 0.0480863 -0.09146489] [-0.04893471 -0.04494727 0.99779013 -0.35047893] [ 0. 0. 0. 1. ]] SLAMing on 7.791052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.07, Z:-0.40 [[ 0.99711162 -0.06268714 0.04288043 6.31817979] [ 0.06459233 0.99691505 -0.04458931 -0.06667539] [-0.03995297 0.04723026 0.9980847 -0.40003867] [ 0. 0. 0. 1. ]] SLAMing on 7.821052754 meters Centerline goodness : 0.994662 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.11, Z:-0.34 [[ 0.99682792 -0.06913319 0.03942956 6.35066786] [ 0.066367 0.99550215 0.06760829 -0.10525495] [-0.04392619 -0.06477701 0.99693251 -0.34094579] [ 0. 0. 0. 1. ]] SLAMing on 7.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.10, Z:-0.37 [[ 0.99674779 -0.0673894 0.04418719 6.37505998] [ 0.06695696 0.99769304 0.01119634 -0.09719492] [-0.04483977 -0.00820128 0.99896053 -0.3725617 ] [ 0. 0. 0. 1. ]] SLAMing on 7.881052754 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.09, Z:-0.39 [[ 0.99685565 -0.0682922 0.04018703 6.4070127 ] [ 0.06902245 0.99746902 -0.01707188 -0.09176585] [-0.03891944 0.019792 0.99904632 -0.38535075] [ 0. 0. 0. 1. ]] SLAMing on 7.911052754 meters Centerline goodness : 0.998323 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.11, Z:-0.37 [[ 0.99628291 -0.07560249 0.04128715 6.43524928] [ 0.07492992 0.99703341 0.01760384 -0.11248283] [-0.04249556 -0.01444476 0.99899223 -0.36534033] [ 0. 0. 0. 1. ]] SLAMing on 7.941052754 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.11, Z:-0.37 [[ 9.95860891e-01 -7.78987462e-02 4.68280954e-02 6.46160745e+00] [ 7.77258329e-02 9.96959573e-01 5.50489107e-03 -1.14136417e-01] [-4.71145421e-02 -1.84235301e-03 9.98887794e-01 -3.73730785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.971052754 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.12, Z:-0.38 [[ 9.95855420e-01 -7.96052911e-02 4.39884047e-02 6.49352303e+00] [ 7.98734898e-02 9.96795427e-01 -4.37064117e-03 -1.16216784e-01] [-4.34995144e-02 7.86603409e-03 9.99022481e-01 -3.75378371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.001052754 meters Centerline goodness : 0.997400 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.11, Z:-0.41 [[ 0.99529916 -0.07982834 0.05483622 6.51766683] [ 0.08196537 0.9959146 -0.03789191 -0.11287181] [-0.05158734 0.04220846 0.99777612 -0.406498 ] [ 0. 0. 0. 1. ]] SLAMing on 8.031052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.12, Z:-0.40 [[ 0.99492462 -0.08260472 0.05745841 6.54631625] [ 0.08315932 0.99650934 -0.00732503 -0.12435374] [-0.05665276 0.01206606 0.99832103 -0.39924292] [ 0. 0. 0. 1. ]] SLAMing on 8.061052753999999 meters Centerline goodness : 0.997471 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.15, Z:-0.35 [[ 0.99538326 -0.08606337 0.04248826 6.58074423] [ 0.08338765 0.9946377 0.06117464 -0.14553174] [-0.04752532 -0.05734921 0.99722235 -0.34830386] [ 0. 0. 0. 1. ]] SLAMing on 8.091052754 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.12, Z:-0.41 [[ 0.99557566 -0.07904199 0.05080815 6.60447818] [ 0.08121021 0.99580632 -0.04212688 -0.11730147] [-0.04726529 0.04606664 0.99781955 -0.41285065] [ 0. 0. 0. 1. ]] SLAMing on 8.121052753999999 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.13, Z:-0.40 [[ 9.94950588e-01 -8.44264287e-02 5.42725058e-02 6.63476385e+00] [ 8.47020797e-02 9.96402402e-01 -2.79492795e-03 -1.31853347e-01] [-5.38412893e-02 7.37780932e-03 9.98522250e-01 -3.98945917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.151052753999998 meters Centerline goodness : 0.996961 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.13, Z:-0.40 [[ 9.94984247e-01 -8.31265249e-02 5.56446750e-02 6.66209039e+00] [ 8.32824510e-02 9.96525864e-01 -4.85126971e-04 -1.33820688e-01] [-5.54110310e-02 5.11691862e-03 9.98450517e-01 -4.01863829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.181052754 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.13, Z:-0.40 [[ 9.95436825e-01 -7.96453497e-02 5.25561110e-02 6.68886476e+00] [ 7.98257800e-02 9.96807930e-01 -1.33961366e-03 -1.34732453e-01] [-5.22816542e-02 5.52883333e-03 9.98617074e-01 -4.02271667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.211052753999999 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.14, Z:-0.40 [[ 9.95542149e-01 -7.81907285e-02 5.27450338e-02 6.71799488e+00] [ 7.81710253e-02 9.96936978e-01 2.43962490e-03 -1.36098278e-01] [-5.27742307e-02 1.69438395e-03 9.98605032e-01 -4.04477411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.241052753999998 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.14, Z:-0.41 [[ 9.96087972e-01 -7.38113235e-02 4.85864203e-02 6.74486513e+00] [ 7.39323479e-02 9.97263016e-01 -6.96066942e-04 -1.39307483e-01] [-4.84020624e-02 4.28545204e-03 9.98818740e-01 -4.09524323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.271052754 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.16, Z:-0.37 [[ 0.99657831 -0.07483283 0.03509589 6.77853151] [ 0.07318871 0.99625669 0.04600028 -0.15535203] [-0.03840685 -0.04327426 0.99832472 -0.36738294] [ 0. 0. 0. 1. ]] SLAMing on 8.301052753999999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.13, Z:-0.44 [[ 0.99649604 -0.06582191 0.05160539 6.79906854] [ 0.06801371 0.9968028 -0.04193222 -0.13245196] [-0.04868034 0.04529516 0.99778684 -0.43538694] [ 0. 0. 0. 1. ]] SLAMing on 8.331052754 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.15, Z:-0.40 [[ 0.9966676 -0.06626998 0.0475604 6.83502332] [ 0.06551392 0.99770194 0.01728501 -0.15474344] [-0.04859658 -0.01411155 0.9987188 -0.40287698] [ 0. 0. 0. 1. ]] SLAMing on 8.361052754 meters Centerline goodness : 0.998587 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.15, Z:-0.41 [[ 9.96769886e-01 -6.42572780e-02 4.81746492e-02 6.86262175e+00] [ 6.42144311e-02 9.97933145e-01 2.43813622e-03 -1.54350642e-01] [-4.82317472e-02 6.63246931e-04 9.98835952e-01 -4.11926562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.391052753999999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.15, Z:-0.41 [[ 9.96857751e-01 -6.18223214e-02 4.95239775e-02 6.89005588e+00] [ 6.19541559e-02 9.98078357e-01 -1.12994802e-03 -1.53817228e-01] [-4.93589541e-02 4.19461367e-03 9.98772296e-01 -4.14662954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.421052754 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.15, Z:-0.43 [[ 0.99676775 -0.0586355 0.05491743 6.91499105] [ 0.05958074 0.99809947 -0.01573454 -0.14735548] [-0.05389045 0.0189557 0.99836692 -0.42743211] [ 0. 0. 0. 1. ]] SLAMing on 8.451052754 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.15, Z:-0.42 [[ 9.96696930e-01 -5.71934998e-02 5.76553043e-02 6.94169928e+00] [ 5.73723720e-02 9.98351795e-01 -1.45058373e-03 -1.50112472e-01] [-5.74773126e-02 4.75361392e-03 9.98335496e-01 -4.24044958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.481052753999998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.14, Z:-0.43 [[ 0.99669646 -0.05533722 0.05944704 6.96957479] [ 0.05594376 0.998397 -0.00858634 -0.14494519] [-0.0588766 0.01188367 0.99819453 -0.43391385] [ 0. 0. 0. 1. ]] SLAMing on 8.511052754 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.14, Z:-0.44 [[ 9.96481253e-01 -5.77733875e-02 6.07235344e-02 6.99679213e+00] [ 5.79656372e-02 9.98317586e-01 -1.40772598e-03 -1.43445305e-01] [-6.05400432e-02 4.92265092e-03 9.98153631e-01 -4.35507629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.541052753999999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.14, Z:-0.44 [[ 9.96284299e-01 -5.95095152e-02 6.22592411e-02 7.02579077e+00] [ 5.93865038e-02 9.98227732e-01 3.82605191e-03 -1.41654431e-01] [-6.23765876e-02 -1.14476782e-04 9.98052678e-01 -4.36575235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.571052753999998 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.14, Z:-0.43 [[ 9.96096731e-01 -6.19732833e-02 6.28539224e-02 7.05478493e+00] [ 6.16506121e-02 9.98072808e-01 7.06202053e-03 -1.42227190e-01] [-6.31704474e-02 -3.15947278e-03 9.97997752e-01 -4.33713011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.601052754 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.14, Z:-0.44 [[ 9.96093667e-01 -6.16997514e-02 6.31707847e-02 7.08192324e+00] [ 6.16560707e-02 9.98093957e-01 2.64247937e-03 -1.39843888e-01] [-6.32134188e-02 1.26270540e-03 9.97999233e-01 -4.38388560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.631052753999999 meters Centerline goodness : 0.998365 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.14, Z:-0.45 [[ 9.95748141e-01 -6.35843377e-02 6.66533641e-02 7.10953646e+00] [ 6.39055900e-02 9.97952305e-01 -2.69657966e-03 -1.36342834e-01] [-6.63454181e-02 6.94463674e-03 9.97772548e-01 -4.46374299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.661052754 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.13, Z:-0.45 [[ 9.95821504e-01 -6.46509176e-02 6.44964451e-02 7.13630296e+00] [ 6.50943328e-02 9.97867593e-01 -4.79531661e-03 -1.34402890e-01] [-6.40488908e-02 8.97363246e-03 9.97906415e-01 -4.49222405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.691052754 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.14, Z:-0.44 [[ 9.95767669e-01 -6.87616823e-02 6.09801590e-02 7.16530237e+00] [ 6.83111267e-02 9.97619355e-01 9.44526279e-03 -1.37399753e-01] [-6.14844590e-02 -5.23966395e-03 9.98094288e-01 -4.41948043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.721052753999999 meters Centerline goodness : 0.997742 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.13, Z:-0.45 [[ 9.95285647e-01 -7.52376662e-02 6.12027327e-02 7.19413600e+00] [ 7.51735945e-02 9.97164828e-01 3.35205341e-03 -1.33911526e-01] [-6.12814131e-02 1.26457876e-03 9.98119727e-01 -4.51493535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.751052754 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.13, Z:-0.46 [[ 0.99538456 -0.0771821 0.05703075 7.22081588] [ 0.07787651 0.99691234 -0.01005216 -0.12856986] [-0.05607881 0.01444712 0.99832182 -0.45754998] [ 0. 0. 0. 1. ]] SLAMing on 8.781052754 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.13, Z:-0.45 [[ 9.94895024e-01 -8.27141829e-02 5.78122455e-02 7.25078811e+00] [ 8.25492478e-02 9.96573214e-01 5.23943060e-03 -1.31715976e-01] [-5.80475105e-02 -4.40326050e-04 9.98313725e-01 -4.51651124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.811052753999999 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.13, Z:-0.46 [[ 9.94705203e-01 -8.52348103e-02 5.74159080e-02 7.27993870e+00] [ 8.55067684e-02 9.96334953e-01 -2.29216305e-03 -1.28508886e-01] [-5.70101039e-02 7.18947526e-03 9.98347715e-01 -4.58086196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.841052754 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.13, Z:-0.46 [[ 9.94780378e-01 -8.60914610e-02 5.47746292e-02 7.30880620e+00] [ 8.63570224e-02 9.96261129e-01 -2.49559488e-03 -1.26716686e-01] [-5.43549845e-02 7.21274270e-03 9.98495624e-01 -4.59648714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.871052753999999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.13, Z:-0.43 [[ 0.99533822 -0.09083708 0.03241079 7.33848799] [ 0.09033518 0.99577255 0.01663059 -0.1300032 ] [-0.03378445 -0.01362522 0.99933626 -0.43472546] [ 0. 0. 0. 1. ]] SLAMing on 8.901052753999998 meters Centerline goodness : 0.997031 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.12, Z:-0.47 [[ 0.9947808 -0.08728818 0.05283868 7.36427826] [ 0.08794945 0.99607151 -0.0103174 -0.11998299] [-0.05173052 0.01491069 0.99854976 -0.46785815] [ 0. 0. 0. 1. ]] SLAMing on 8.931052754 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.12, Z:-0.46 [[ 0.9943731 -0.09052272 0.05502525 7.39329464] [ 0.08965089 0.99580847 0.01811648 -0.12481807] [-0.05643456 -0.01308148 0.9983206 -0.45633428] [ 0. 0. 0. 1. ]] SLAMing on 8.961052753999999 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.11, Z:-0.47 [[ 0.99496748 -0.08428998 0.05417486 7.42171051] [ 0.08501977 0.99631511 -0.01130654 -0.11368136] [-0.0530222 0.01585558 0.99846745 -0.47177678] [ 0. 0. 0. 1. ]] SLAMing on 8.991052753999998 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.12, Z:-0.45 [[ 9.95603272e-01 -8.38381507e-02 4.17766547e-02 7.44874260e+00] [ 8.34592910e-02 9.96453366e-01 1.07348040e-02 -1.16052938e-01] [-4.25284744e-02 -7.20095600e-03 9.99069304e-01 -4.48012743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.021052754 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.11, Z:-0.45 [[ 9.95726554e-01 -8.09895329e-02 4.43770747e-02 7.47631455e+00] [ 8.09927476e-02 9.96713192e-01 1.72851194e-03 -1.12205037e-01] [-4.43712072e-02 1.87309598e-03 9.99013357e-01 -4.53184060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.051052753999999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.11, Z:-0.45 [[ 9.95945826e-01 -7.64893127e-02 4.73423365e-02 7.50286577e+00] [ 7.64870882e-02 9.97068835e-01 1.86120102e-03 -1.08902513e-01] [-4.73459303e-02 1.76742208e-03 9.98876989e-01 -4.54214427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.081052754 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.11, Z:-0.46 [[ 9.96040299e-01 -7.46202847e-02 4.83273815e-02 7.53063011e+00] [ 7.46154420e-02 9.97210560e-01 1.90676027e-03 -1.06497721e-01] [-4.83348582e-02 1.70675887e-03 9.98829729e-01 -4.57428876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.111052754 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.10, Z:-0.48 [[ 9.95217332e-01 -7.20208234e-02 6.59959288e-02 7.56106612e+00] [ 7.25722738e-02 9.97345146e-01 -5.99379608e-03 -1.03271523e-01] [-6.53890411e-02 1.07546044e-02 9.97801890e-01 -4.79363370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.141052753999999 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.10, Z:-0.49 [[ 0.99498012 -0.07417711 0.06717383 7.58910035] [ 0.07497825 0.99714009 -0.00948143 -0.10041856] [-0.06627841 0.01447041 0.99769624 -0.48770465] [ 0. 0. 0. 1. ]] SLAMing on 9.171052754 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.11, Z:-0.46 [[ 0.99566384 -0.07775645 0.05106327 7.61562465] [ 0.07674983 0.99682092 0.02138973 -0.10673488] [-0.05256412 -0.01737789 0.99846634 -0.46168595] [ 0. 0. 0. 1. ]] SLAMing on 9.201052754 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.08, Z:-0.51 [[ 0.99532914 -0.07140675 0.06496912 7.64416439] [ 0.0742924 0.99630305 -0.04313786 -0.08481661] [-0.06164859 0.04776308 0.99695443 -0.511193 ] [ 0. 0. 0. 1. ]] SLAMing on 9.231052753999998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.11, Z:-0.46 [[ 0.99555914 -0.07715494 0.05393628 7.67389055] [ 0.07464276 0.99609564 0.04713733 -0.10974933] [-0.05736257 -0.04290205 0.99743118 -0.4552876 ] [ 0. 0. 0. 1. ]] SLAMing on 9.261052754 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.10, Z:-0.48 [[ 9.95641341e-01 -7.36561985e-02 5.72108791e-02 7.69986705e+00] [ 7.36445095e-02 9.97281868e-01 2.31552203e-03 -9.86242967e-02] [-5.72259249e-02 1.90783767e-03 9.98359431e-01 -4.80919271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.291052753999999 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.08, Z:-0.52 [[ 0.99500209 -0.06966461 0.07153802 7.72738329] [ 0.07273826 0.99649576 -0.04129589 -0.08414458] [-0.06841047 0.04629305 0.99658264 -0.52025893] [ 0. 0. 0. 1. ]] SLAMing on 9.321052753999998 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.11, Z:-0.46 [[ 0.99557888 -0.07602747 0.0551591 7.75909444] [ 0.07352482 0.99622887 0.04606664 -0.10962776] [-0.05845342 -0.04180741 0.99741433 -0.46433749] [ 0. 0. 0. 1. ]] SLAMing on 9.351052754 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.10, Z:-0.49 [[ 9.95863943e-01 -6.94890266e-02 5.85344533e-02 7.78324130e+00] [ 6.94675130e-02 9.97581316e-01 2.40479200e-03 -9.62023329e-02] [-5.85599836e-02 1.67139725e-03 9.98282492e-01 -4.92245113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.381052753999999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.10, Z:-0.50 [[ 9.95879855e-01 -6.80723085e-02 5.99122301e-02 7.81138567e+00] [ 6.80469228e-02 9.97679074e-01 2.46624210e-03 -9.53223506e-02] [-5.99410610e-02 1.62076207e-03 9.98200602e-01 -4.95400697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.411052753999998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.10, Z:-0.50 [[ 9.95764160e-01 -6.83777265e-02 6.14672653e-02 7.83787136e+00] [ 6.83503768e-02 9.97658120e-01 2.54995206e-03 -9.61674989e-02] [-6.14976762e-02 1.66215987e-03 9.98105843e-01 -4.98877960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.441052754 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.10, Z:-0.50 [[ 9.95505226e-01 -7.11238630e-02 6.25359215e-02 7.86591741e+00] [ 7.11006358e-02 9.97465760e-01 2.59952253e-03 -9.66651153e-02] [-6.25623286e-02 1.85850552e-03 9.98039328e-01 -5.01272644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.471052753999999 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.10, Z:-0.50 [[ 9.94519344e-01 -7.95662398e-02 6.78268978e-02 7.89456985e+00] [ 7.95571625e-02 9.96826262e-01 2.83929157e-03 -9.98409208e-02] [-6.78375447e-02 2.57238514e-03 9.97693064e-01 -5.02661418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.501052754 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.10, Z:-0.51 [[ 9.93713684e-01 -8.42632358e-02 7.37076701e-02 7.92279084e+00] [ 8.42638499e-02 9.96438634e-01 3.10690651e-03 -9.73029300e-02] [-7.37069681e-02 3.12351654e-03 9.97275051e-01 -5.06232391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.531052754 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.09, Z:-0.51 [[ 9.93457585e-01 -8.52220463e-02 7.60212496e-02 7.94960076e+00] [ 8.52238650e-02 9.96356605e-01 3.22612026e-03 -9.42617388e-02] [-7.60192108e-02 3.27381107e-03 9.97100979e-01 -5.10488712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.561052753999999 meters Centerline goodness : 0.996706 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.07, Z:-0.55 [[ 0.99309784 -0.0872885 0.0783416 7.97904723] [ 0.09154963 0.99441292 -0.05255098 -0.07277012] [-0.0733168 0.0593604 0.99554055 -0.5507789 ] [ 0. 0. 0. 1. ]] SLAMing on 9.591052754 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.11, Z:-0.49 [[ 0.99285949 -0.09378747 0.07371531 8.01012359] [ 0.08961431 0.99428507 0.05802137 -0.10589806] [-0.07873571 -0.05100112 0.99559006 -0.48562335] [ 0. 0. 0. 1. ]] SLAMing on 9.621052753999999 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.09, Z:-0.52 [[ 9.93057853e-01 -8.92364829e-02 7.66351820e-02 8.03453109e+00] [ 8.92472994e-02 9.96004062e-01 3.29049888e-03 -8.50142473e-02] [-7.66225852e-02 3.57182729e-03 9.97053771e-01 -5.19661885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.651052753999998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.08, Z:-0.52 [[ 9.93280944e-01 -8.78607872e-02 7.53223029e-02 8.06132130e+00] [ 8.78657228e-02 9.96127011e-01 3.25474920e-03 -8.08372501e-02] [-7.53165453e-02 3.38536824e-03 9.97153929e-01 -5.23749730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.681052754 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.08, Z:-0.53 [[ 9.93564492e-01 -8.47261166e-02 7.51737052e-02 8.08869502e+00] [ 8.47214487e-02 9.96399352e-01 3.25678446e-03 -7.72639850e-02] [-7.51789658e-02 3.13299980e-03 9.97165135e-01 -5.27379924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.711052753999999 meters Centerline goodness : 0.996841 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.05, Z:-0.57 [[ 0.99498344 -0.07456825 0.06668974 8.12242552] [ 0.07866313 0.9950307 -0.06104106 -0.04904524] [-0.06180661 0.06598087 0.99590485 -0.56662125] [ 0. 0. 0. 1. ]] SLAMing on 9.741052753999998 meters Centerline goodness : 0.997537 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.07, Z:-0.53 [[ 0.99523421 -0.07328925 0.06432387 8.15687652] [ 0.07175147 0.99708613 0.02590306 -0.0719766 ] [-0.06603485 -0.02116428 0.99759284 -0.52672285] [ 0. 0. 0. 1. ]] SLAMing on 9.771052754 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.07, Z:-0.52 [[ 0.99520521 -0.06875323 0.06956705 8.17807778] [ 0.06616853 0.99705369 0.03880287 -0.074147 ] [-0.07202991 -0.03401367 0.99682233 -0.51820404] [ 0. 0. 0. 1. ]] SLAMing on 9.801052753999999 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.06, Z:-0.54 [[ 9.95210056e-01 -6.53221043e-02 7.27321628e-02 8.20358896e+00] [ 6.52593540e-02 9.97863072e-01 3.24134914e-03 -6.16877145e-02] [-7.27884711e-02 1.52063070e-03 9.97346242e-01 -5.38151374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.831052754 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.06, Z:-0.54 [[ 9.94828956e-01 -6.71437698e-02 7.62040842e-02 8.23171774e+00] [ 6.70791229e-02 9.97741830e-01 3.41049934e-03 -5.96253161e-02] [-7.62609962e-02 1.71883963e-03 9.97086409e-01 -5.40690328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.861052754 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.06, Z:-0.54 [[ 9.94093105e-01 -7.38102895e-02 7.95672049e-02 8.25888950e+00] [ 7.37593887e-02 9.97269631e-01 3.58263816e-03 -5.92788190e-02] [-7.96143927e-02 2.30735250e-03 9.96823066e-01 -5.43984140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.891052753999999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.06, Z:-0.55 [[ 9.93696404e-01 -7.81024714e-02 8.04205276e-02 8.28665604e+00] [ 7.80637028e-02 9.96941761e-01 3.63084726e-03 -5.97445477e-02] [-8.04581606e-02 2.66996430e-03 9.96754411e-01 -5.45397566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.921052754 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.06, Z:-0.55 [[ 9.93005770e-01 -8.61553007e-02 8.07267298e-02 8.31368819e+00] [ 8.61410463e-02 9.96276208e-01 3.66570390e-03 -6.20784210e-02] [-8.07419401e-02 3.31381985e-03 9.96729531e-01 -5.45997018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.951052754 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.06, Z:-0.55 [[ 9.92675423e-01 -8.95589607e-02 8.10845099e-02 8.34028011e+00] [ 8.95551126e-02 9.95975027e-01 3.69156953e-03 -6.23590924e-02] [-8.10887600e-02 3.59700206e-03 9.96700394e-01 -5.47564757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.981052753999998 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.06, Z:-0.55 [[ 9.92352835e-01 -9.29113932e-02 8.12608387e-02 8.36869448e+00] [ 9.29175091e-02 9.95666882e-01 3.71450209e-03 -6.23179127e-02] [-8.12538454e-02 3.86445804e-03 9.96685948e-01 -5.50455511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.011052754 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.06, Z:-0.55 [[ 9.92354765e-01 -9.35753895e-02 8.04715310e-02 8.39684383e+00] [ 9.35817904e-02 9.95604719e-01 3.70023760e-03 -6.12857724e-02] [-8.04640872e-02 3.85872154e-03 9.96750039e-01 -5.53574011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.041052753999999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.06, Z:-0.56 [[ 9.92365709e-01 -9.34101772e-02 8.05284988e-02 8.42364184e+00] [ 9.34142905e-02 9.95620358e-01 3.72458840e-03 -6.10273048e-02] [-8.05237273e-02 3.82635878e-03 9.96745348e-01 -5.57042584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.071052753999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.06, Z:-0.56 [[ 9.92300951e-01 -9.27035310e-02 8.21272111e-02 8.45112790e+00] [ 9.27045384e-02 9.95686375e-01 3.80922747e-03 -6.03279009e-02] [-8.21260740e-02 3.83366516e-03 9.96614575e-01 -5.59880059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.101052754 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.06, Z:-0.56 [[ 9.92493263e-01 -8.95598766e-02 8.32835617e-02 8.47876311e+00] [ 8.95480565e-02 9.95974926e-01 3.88490389e-03 -5.98572797e-02] [-8.32962707e-02 3.60214015e-03 9.96518317e-01 -5.61011239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.131052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.06, Z:-0.56 [[ 9.92868757e-01 -8.67207607e-02 8.17993932e-02 8.50432142e+00] [ 8.64380453e-02 9.96232651e-01 6.99783467e-03 -5.64972194e-02] [-8.20980839e-02 1.22648252e-04 9.96624247e-01 -5.60054769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.161052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.06, Z:-0.57 [[ 9.93601378e-01 -7.77740385e-02 8.18993357e-02 8.53423616e+00] [ 7.79408098e-02 9.96957309e-01 1.16362561e-03 -5.57953237e-02] [-8.17406412e-02 5.22712053e-03 9.96639927e-01 -5.66962141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.191052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.05, Z:-0.56 [[ 9.93832259e-01 -7.80998211e-02 7.87264878e-02 8.56173051e+00] [ 7.74244884e-02 9.96930744e-01 1.15991291e-02 -5.48907203e-02] [-7.93907460e-02 -5.43223064e-03 9.96828772e-01 -5.61657890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.221052753999999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.05, Z:-0.58 [[ 9.94424541e-01 -6.71671263e-02 8.12921250e-02 8.58980320e+00] [ 6.76951154e-02 9.97698995e-01 -3.75324955e-03 -5.05419933e-02] [-8.08529765e-02 9.23540325e-03 9.96683251e-01 -5.78649258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.05, Z:-0.58 [[ 9.94518501e-01 -6.58681323e-02 8.12055439e-02 8.61825791e+00] [ 6.57715779e-02 9.97827215e-01 3.86628666e-03 -5.05120209e-02] [-8.12837668e-02 1.49592314e-03 9.96689877e-01 -5.79009522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.281052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.05, Z:-0.58 [[ 9.94520347e-01 -6.43195865e-02 8.24152277e-02 8.64651571e+00] [ 6.42129865e-02 9.97928414e-01 3.94613194e-03 -4.96560422e-02] [-8.24983111e-02 1.36761940e-03 9.96590266e-01 -5.83428072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.311052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.05, Z:-0.58 [[ 9.94126491e-01 -6.78359095e-02 8.43256166e-02 8.67531765e+00] [ 6.77349442e-02 9.97695086e-01 4.06105702e-03 -5.29358094e-02] [-8.44067388e-02 1.67458657e-03 9.96429977e-01 -5.83117154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.05, Z:-0.58 [[ 9.93796514e-01 -7.06212687e-02 8.59134703e-02 8.70282731e+00] [ 7.05248584e-02 9.97501345e-01 4.16060537e-03 -5.34812820e-02] [-8.59926294e-02 1.92424021e-03 9.96293915e-01 -5.84337582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.371052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.05, Z:-0.59 [[ 9.93522691e-01 -7.37201078e-02 8.64754823e-02 8.73049165e+00] [ 7.36330978e-02 9.97276556e-01 4.19982272e-03 -5.33385192e-02] [-8.65495825e-02 2.19483848e-03 9.96245127e-01 -5.86241858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.401052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.06, Z:-0.58 [[ 9.93315368e-01 -7.99354882e-02 8.32760322e-02 8.75960875e+00] [ 7.91271666e-02 9.96780184e-01 1.29674771e-02 -5.55486170e-02] [-8.40444603e-02 -6.29139784e-03 9.96442144e-01 -5.81851457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.03, Z:-0.62 [[ 0.99231011 -0.080937 0.09364752 8.77886446] [ 0.08441033 0.99585981 -0.0337363 -0.03461936] [-0.09052928 0.04138169 0.99503367 -0.62252376] [ 0. 0. 0. 1. ]] SLAMing on 10.461052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.05, Z:-0.61 [[ 9.92254844e-01 -8.48594740e-02 9.07149113e-02 8.80959369e+00] [ 8.51508572e-02 9.96367851e-01 6.60325185e-04 -4.71346307e-02] [-9.04414561e-02 7.06924159e-03 9.95876684e-01 -6.08432165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.491052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.05, Z:-0.61 [[ 9.92299356e-01 -8.51091483e-02 8.99912217e-02 8.83820465e+00] [ 8.49613815e-02 9.96369184e-01 5.47840603e-03 -4.73844655e-02] [-9.01307426e-02 2.20955974e-03 9.95927491e-01 -6.07819078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.06, Z:-0.58 [[ 0.99326117 -0.08297424 0.08091672 8.87417354] [ 0.08004717 0.99603658 0.03877607 -0.06284158] [-0.08381343 -0.03203761 0.99596631 -0.58139364] [ 0. 0. 0. 1. ]] SLAMing on 10.551052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.05, Z:-0.60 [[ 9.93450051e-01 -7.94998507e-02 8.20778305e-02 8.90033137e+00] [ 7.94395153e-02 9.96831640e-01 4.00566185e-03 -5.04560149e-02] [-8.21362279e-02 2.54079811e-03 9.96617873e-01 -6.01833961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.581052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.05, Z:-0.61 [[ 9.93631545e-01 -7.74783788e-02 8.18135239e-02 8.92695838e+00] [ 7.74098416e-02 9.96991276e-01 4.01409404e-03 -4.81828831e-02] [-8.18783750e-02 2.34464146e-03 9.96639571e-01 -6.05492969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.05, Z:-0.61 [[ 9.93735356e-01 -7.75973061e-02 8.04282312e-02 8.95478735e+00] [ 7.75306385e-02 9.96982120e-01 3.95619848e-03 -4.71292937e-02] [-8.04924989e-02 2.30423782e-03 9.96752551e-01 -6.09505038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.641052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.05, Z:-0.61 [[ 9.93742405e-01 -7.82394510e-02 7.97158777e-02 8.98224849e+00] [ 7.81743149e-02 9.96931910e-01 3.94242240e-03 -4.57735662e-02] [-7.97797552e-02 2.31398181e-03 9.96809829e-01 -6.12470130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.671052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.05, Z:-0.61 [[ 9.93570565e-01 -7.97978049e-02 8.03109131e-02 9.01074315e+00] [ 7.93998764e-02 9.96809600e-01 8.14133400e-03 -4.57313562e-02] [-8.07043498e-02 -1.71231325e-03 9.96736613e-01 -6.13239901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.04, Z:-0.62 [[ 9.93347373e-01 -8.12570995e-02 8.15982882e-02 9.03797205e+00] [ 8.15814427e-02 9.96666471e-01 -6.43213950e-04 -4.13216185e-02] [-8.12740123e-02 7.29584096e-03 9.96665092e-01 -6.20806785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.731052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.04, Z:-0.62 [[ 9.93100012e-01 -8.28322677e-02 8.30131462e-02 9.06531104e+00] [ 8.27702140e-02 9.96559831e-01 4.19463939e-03 -4.22633419e-02] [-8.30750184e-02 2.70531945e-03 9.96539624e-01 -6.19141266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.761052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.04, Z:-0.62 [[ 9.92550991e-01 -8.73757243e-02 8.49000163e-02 9.09258428e+00] [ 8.73267098e-02 9.96170454e-01 4.29802671e-03 -4.32634524e-02] [-8.49504310e-02 3.14802841e-03 9.96380206e-01 -6.18383633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.791052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.04, Z:-0.62 [[ 9.92064851e-01 -9.22060230e-02 8.54715241e-02 9.11966024e+00] [ 9.21733281e-02 9.95733532e-01 4.33723259e-03 -4.18553757e-02] [-8.55067815e-02 3.57537884e-03 9.96331173e-01 -6.20544624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.821052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.04, Z:-0.62 [[ 9.91770627e-01 -9.48170867e-02 8.60275723e-02 9.14772030e+00] [ 9.47927368e-02 9.95487407e-01 4.37724369e-03 -3.95946131e-02] [-8.60544024e-02 3.81356730e-03 9.96283141e-01 -6.24129362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.04, Z:-0.63 [[ 9.91187531e-01 -1.00056771e-01 8.68096840e-02 9.17391590e+00] [ 1.00050082e-01 9.94972501e-01 4.43893009e-03 -3.56139355e-02] [-8.68173933e-02 4.28550385e-03 9.96215024e-01 -6.28605165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.881052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.03, Z:-0.63 [[ 9.90936809e-01 -1.02189209e-01 8.71871882e-02 9.20193449e+00] [ 1.02189638e-01 9.94754892e-01 4.47016477e-03 -3.31815747e-02] [-8.71866846e-02 4.47997641e-03 9.96181917e-01 -6.31631049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.911052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.03, Z:-0.63 [[ 9.90579378e-01 -1.05342760e-01 8.74951350e-02 9.22950387e+00] [ 1.05353364e-01 9.94424624e-01 4.50956004e-03 -3.04876959e-02] [-8.74823662e-02 4.75082965e-03 9.96154740e-01 -6.32614526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.03, Z:-0.63 [[ 9.90533338e-01 -1.06020893e-01 8.71967725e-02 9.25779011e+00] [ 1.06031947e-01 9.94352459e-01 4.51802201e-03 -2.79727065e-02] [-8.71833299e-02 4.77039216e-03 9.96180862e-01 -6.34426209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.971052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.02, Z:-0.64 [[ 9.90973464e-01 -1.03636620e-01 8.50355500e-02 9.28468836e+00] [ 1.03636537e-01 9.94605382e-01 4.42735427e-03 -2.29083406e-02] [-8.50356518e-02 4.42539929e-03 9.96368081e-01 -6.38466937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.02, Z:-0.64 [[ 9.91257084e-01 -1.01236668e-01 8.46199205e-02 9.31122689e+00] [ 1.01226973e-01 9.94853555e-01 4.41627817e-03 -1.89873852e-02] [-8.46315180e-02 4.18815139e-03 9.96403515e-01 -6.42028855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.031052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.01, Z:-0.65 [[ 9.92094808e-01 -9.34760199e-02 8.37264950e-02 9.33919100e+00] [ 9.34376294e-02 9.95615476e-01 4.38553009e-03 -1.35225709e-02] [-8.37693360e-02 3.47234358e-03 9.96479122e-01 -6.45394567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.061052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.01, Z:-0.65 [[ 9.92583723e-01 -8.83180886e-02 8.35312393e-02 9.36651610e+00] [ 8.82598958e-02 9.96087779e-01 4.39635230e-03 -1.09037383e-02] [-8.35927240e-02 3.00871074e-03 9.96495461e-01 -6.47507758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.01, Z:-0.65 [[ 9.92971368e-01 -8.38411471e-02 8.35375655e-02 9.39440230e+00] [ 8.37662303e-02 9.96475686e-01 4.40755365e-03 -8.37182183e-03] [-8.36126872e-02 2.62105237e-03 9.96494881e-01 -6.49015959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.121052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.42, Y:0.00, Z:-0.67 [[ 9.93181308e-01 -7.59173636e-02 8.84728400e-02 9.41846479e+00] [ 7.73290524e-02 9.96925568e-01 -1.26344833e-02 3.49650320e-03] [-8.72416596e-02 1.93898536e-02 9.95998457e-01 -6.66159814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.151052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.00, Z:-0.65 [[ 9.93435438e-01 -7.37326833e-02 8.74615440e-02 9.44922237e+00] [ 7.31760900e-02 9.97273240e-01 9.55746792e-03 -2.91064717e-03] [-8.79277551e-02 -3.09463352e-03 9.96122047e-01 -6.54862989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.01, Z:-0.65 [[ 9.93610564e-01 -6.97999209e-02 8.86905724e-02 9.48028439e+00] [ 6.85345166e-02 9.97499822e-01 1.72373326e-02 -6.99830672e-03] [-8.96719946e-02 -1.10488303e-02 9.95910065e-01 -6.48086657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.211052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.50, Y:0.01, Z:-0.68 [[ 0.99317122 -0.07128296 0.09235617 9.49962284] [ 0.07336834 0.99711659 -0.01938046 0.01186573] [-0.09070837 0.02602413 0.99553741 -0.68006089] [ 0. 0. 0. 1. ]] SLAMing on 11.241052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.01, Z:-0.65 [[ 0.99377918 -0.07054883 0.08617315 9.5384177 ] [ 0.06815412 0.99721075 0.03042602 -0.01123509] [-0.08807931 -0.02436369 0.99581547 -0.64798238] [ 0. 0. 0. 1. ]] SLAMing on 11.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.00, Z:-0.66 [[ 9.93777149e-01 -6.93933960e-02 8.71294143e-02 9.56480260e+00] [ 6.92525316e-02 9.97588361e-01 4.64206853e-03 -2.72920818e-03] [-8.72414185e-02 1.42075089e-03 9.96186186e-01 -6.64169123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.301052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.59, Y:0.01, Z:-0.68 [[ 9.93682504e-01 -7.31083889e-02 8.51483666e-02 9.58552610e+00] [ 7.37572969e-02 9.97266087e-01 -4.49590023e-03 5.41603179e-03] [-8.45868903e-02 1.07478108e-02 9.96358140e-01 -6.76494638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.331052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.00, Z:-0.67 [[ 9.94078892e-01 -7.13094249e-02 8.19885466e-02 9.61900230e+00] [ 7.11297365e-02 9.97453962e-01 5.11411352e-03 -3.18934365e-03] [-8.21444851e-02 7.47991412e-04 9.96620150e-01 -6.71932954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.00, Z:-0.67 [[ 9.93990492e-01 -7.34046103e-02 8.12075391e-02 9.64727035e+00] [ 7.31981026e-02 9.97302138e-01 5.52112281e-03 -3.67716447e-03] [-8.13937282e-02 4.56294198e-04 9.96681922e-01 -6.73293497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.391052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.01, Z:-0.67 [[ 9.93689840e-01 -7.90133980e-02 7.96076920e-02 9.67578926e+00] [ 7.87854190e-02 9.96873508e-01 6.00561068e-03 -6.82952931e-03] [-7.98333229e-02 3.04211057e-04 9.96808180e-01 -6.73190187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.421052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.70, Y:0.00, Z:-0.69 [[ 9.92990032e-01 -8.34549713e-02 8.37022385e-02 9.70055593e+00] [ 8.44942803e-02 9.96383805e-01 -8.94595321e-03 8.42188189e-04] [-8.26529706e-02 1.59556028e-02 9.96450654e-01 -6.89696690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.01, Z:-0.67 [[ 0.99316878 -0.08660207 0.07820399 9.73318652] [ 0.08538807 0.99617147 0.01874264 -0.01224993] [-0.07952774 -0.01193692 0.99676118 -0.67061923] [ 0. 0. 0. 1. ]] SLAMing on 11.481052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.00, Z:-0.69 [[ 9.92306011e-01 -9.22341962e-02 8.25931764e-02 9.75775609e+00] [ 9.30039963e-02 9.95650468e-01 -5.51382096e-03 -4.64597233e-03] [-8.17253719e-02 1.31528932e-02 9.96568094e-01 -6.88681323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.511052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.02, Z:-0.67 [[ 9.92593560e-01 -9.33758256e-02 7.77108756e-02 9.79182953e+00] [ 9.23235891e-02 9.95583369e-01 1.70326107e-02 -1.50847393e-02] [-7.89580894e-02 -9.73191273e-03 9.96830432e-01 -6.71753879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.541052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.01, Z:-0.68 [[ 9.92681712e-01 -9.05135587e-02 7.99394426e-02 9.81828319e+00] [ 9.05199454e-02 9.95888310e-01 3.55144707e-03 -6.56697591e-03] [-7.99322106e-02 3.71065742e-03 9.96793395e-01 -6.82397624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.571052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.01, Z:-0.68 [[ 9.92958797e-01 -8.90844532e-02 7.80819260e-02 9.84762152e+00] [ 8.87006320e-02 9.96023103e-01 8.37710671e-03 -7.01732185e-03] [-7.85176722e-02 -1.39220562e-03 9.96911750e-01 -6.79990951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.00, Z:-0.68 [[ 9.93385013e-01 -8.46726960e-02 7.75677189e-02 9.87585900e+00] [ 8.45074722e-02 9.96408126e-01 5.41599063e-03 -2.81438037e-03] [-7.77476920e-02 1.17488792e-03 9.96972375e-01 -6.83228153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.631052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.90, Y:0.00, Z:-0.69 [[ 9.94000617e-01 -7.93370261e-02 7.52888438e-02 9.90346134e+00] [ 7.92439730e-02 9.96846289e-01 4.22721349e-03 8.74144927e-04] [-7.53867791e-02 1.76433429e-03 9.97152807e-01 -6.85827895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.661052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.93, Y:0.00, Z:-0.69 [[ 9.94410435e-01 -7.64692444e-02 7.28034379e-02 9.93111751e+00] [ 7.64078917e-02 9.97070031e-01 3.63151818e-03 3.89119248e-03] [-7.28678255e-02 1.95153762e-03 9.97339697e-01 -6.89281826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.96, Y:0.01, Z:-0.69 [[ 9.94777828e-01 -7.39547746e-02 7.03403448e-02 9.95789871e+00] [ 7.38895042e-02 9.97260176e-01 3.53297949e-03 8.18412035e-03] [-7.04089054e-02 1.68288354e-03 9.97516794e-01 -6.94103840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.721052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.99, Y:0.01, Z:-0.70 [[ 9.95563908e-01 -6.86418846e-02 6.43490277e-02 9.98661953e+00] [ 6.85011208e-02 9.97641364e-01 4.39384781e-03 1.37944448e-02] [-6.44988537e-02 3.36242277e-05 9.97917781e-01 -6.99025240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.01, Y:0.02, Z:-0.70 [[ 9.95531696e-01 -6.80959713e-02 6.54185069e-02 1.00131132e+01] [ 6.79523402e-02 9.97678774e-01 4.42071707e-03 1.58045616e-02] [-6.55676888e-02 4.43766695e-05 9.97848123e-01 -7.00843506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.781052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.04, Y:0.02, Z:-0.70 [[ 9.95381832e-01 -7.11085742e-02 6.44870447e-02 1.00397259e+01] [ 7.05873085e-02 9.97452128e-01 1.03288073e-02 1.58398431e-02] [-6.50572067e-02 -5.72914023e-03 9.97865089e-01 -6.95374934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.811052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.07, Y:0.02, Z:-0.70 [[ 9.94903144e-01 -7.37711789e-02 6.87426219e-02 1.00681000e+01] [ 7.38683956e-02 9.97267358e-01 1.13015203e-03 1.65947396e-02] [-6.86381456e-02 3.95351538e-03 9.97633788e-01 -7.01176488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.10, Y:0.01, Z:-0.70 [[ 9.94425398e-01 -8.03726265e-02 6.82522430e-02 1.00961590e+01] [ 8.00933099e-02 9.96764015e-01 6.82351703e-03 1.37581669e-02] [-6.85798038e-02 -1.31893058e-03 9.97644762e-01 -6.95911909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.871052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.12, Y:0.01, Z:-0.70 [[ 9.94231905e-01 -8.31962148e-02 6.76853616e-02 1.01246131e+01] [ 8.28581588e-02 9.96530891e-01 7.79153695e-03 1.49525248e-02] [-6.80987801e-02 -2.13831018e-03 9.97676292e-01 -6.96449309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.901052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.15, Y:0.02, Z:-0.70 [[ 9.93978425e-01 -8.53611259e-02 6.87049435e-02 1.01522842e+01] [ 8.54103650e-02 9.96343372e-01 2.22592316e-03 1.92721198e-02] [-6.86437224e-02 3.65559471e-03 9.97634540e-01 -7.02618618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.18, Y:0.02, Z:-0.71 [[ 9.92856349e-01 -8.84817932e-02 8.00452471e-02 1.01826030e+01] [ 8.88408755e-02 9.96045399e-01 -9.28779135e-04 2.32736481e-02] [-7.96465200e-02 8.03343410e-03 9.96790798e-01 -7.14692211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.961052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.21, Y:0.02, Z:-0.70 [[ 0.99300832 -0.09259954 0.07321064 10.20917765] [ 0.09129625 0.99560318 0.02095952 0.01939926] [-0.07482958 -0.01412912 0.99709623 -0.695714 ] [ 0. 0. 0. 1. ]] SLAMing on 11.991052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.24, Y:0.03, Z:-0.72 [[ 0.99244997 -0.09219237 0.08089272 10.23802736] [ 0.09342967 0.99555786 -0.01163804 0.03063063] [-0.07946044 0.01910795 0.99665487 -0.72101043] [ 0. 0. 0. 1. ]] SLAMing on 12.021052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:10.27, Y:0.03, Z:-0.71 [[ 9.92534879e-01 -9.35804920e-02 7.82125631e-02 1.02666163e+01] [ 9.35194351e-02 9.95607504e-01 4.45118914e-03 2.75111608e-02] [-7.82855592e-02 2.89643424e-03 9.96926769e-01 -7.14041440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.051052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.29, Y:0.03, Z:-0.72 [[ 9.92911390e-01 -9.28342936e-02 7.42210586e-02 1.02938641e+01] [ 9.27758364e-02 9.95677983e-01 4.24242885e-03 3.07935005e-02] [-7.42941169e-02 2.67356487e-03 9.97232789e-01 -7.15868328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.081052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.32, Y:0.03, Z:-0.69 [[ 0.99349569 -0.09352413 0.06495808 10.3204415 ] [ 0.09172107 0.99532631 0.0302124 0.02712495] [-0.06748007 -0.02405786 0.99743053 -0.69221748] [ 0. 0. 0. 1. ]] SLAMing on 12.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.35, Y:0.04, Z:-0.71 [[ 9.94082846e-01 -8.78634831e-02 6.38694213e-02 1.03460604e+01] [ 8.77332858e-02 9.96132215e-01 4.84569217e-03 3.92497819e-02] [-6.40481475e-02 7.86454727e-04 9.97946500e-01 -7.10258380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.141052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.37, Y:0.04, Z:-0.71 [[ 9.94195934e-01 -8.49074584e-02 6.60694230e-02 1.03740332e+01] [ 8.43196517e-02 9.96370767e-01 1.16400975e-02 3.94255313e-02] [-6.68179727e-02 -6.00158685e-03 9.97747132e-01 -7.10968549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.171052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:10.40, Y:0.04, Z:-0.72 [[ 9.95111415e-01 -7.69667308e-02 6.18821046e-02 1.04034194e+01] [ 7.70656622e-02 9.97025707e-01 7.90035240e-04 4.44232180e-02] [-6.17588555e-02 3.98281228e-03 9.98083153e-01 -7.15012303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.201052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:10.43, Y:0.04, Z:-0.71 [[ 0.99512056 -0.07442628 0.06477504 10.43185329] [ 0.07350452 0.99715834 0.01650218 0.04078982] [-0.06581917 -0.0116604 0.99776343 -0.70804174] [ 0. 0. 0. 1. ]] SLAMing on 12.231052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.46, Y:0.05, Z:-0.72 [[ 9.95562952e-01 -6.99584369e-02 6.29303205e-02 1.04595383e+01] [ 6.99471551e-02 9.97547847e-01 2.38504879e-03 4.58529886e-02] [-6.29428601e-02 2.02733068e-03 9.98015073e-01 -7.15442794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.261052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.49, Y:0.04, Z:-0.71 [[ 0.99562513 -0.07026379 0.06159226 10.48907581] [ 0.06928052 0.99743554 0.01795961 0.0421637 ] [-0.06269622 -0.01361389 0.9979398 -0.70630515] [ 0. 0. 0. 1. ]] SLAMing on 12.291052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.52, Y:0.05, Z:-0.73 [[ 9.95219277e-01 -7.08011796e-02 6.72739506e-02 1.05156570e+01] [ 7.13420112e-02 9.97435808e-01 -5.66806342e-03 4.76884291e-02] [-6.67001417e-02 1.04404249e-02 9.97718442e-01 -7.26071149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.321052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.55, Y:0.04, Z:-0.72 [[ 9.94875597e-01 -7.43189399e-02 6.85510205e-02 1.05451307e+01] [ 7.40834574e-02 9.97234148e-01 5.97454123e-03 4.42607805e-02] [-6.88054401e-02 -8.65428666e-04 9.97629722e-01 -7.20804115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.351052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:10.57, Y:0.05, Z:-0.73 [[ 9.94211519e-01 -7.84323604e-02 7.34290092e-02 1.05723026e+01] [ 7.86635038e-02 9.96901192e-01 -2.56684070e-04 4.55541063e-02] [-7.31813345e-02 6.03138141e-03 9.97300413e-01 -7.27807735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.381052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.60, Y:0.04, Z:-0.71 [[ 0.9942611 -0.08200844 0.06869844 10.60282313] [ 0.08094442 0.9965536 0.01813609 0.03998843] [-0.06994899 -0.01247126 0.99747261 -0.71270532] [ 0. 0. 0. 1. ]] SLAMing on 12.411052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.63, Y:0.05, Z:-0.72 [[ 9.94251674e-01 -8.08910923e-02 7.01444161e-02 1.06299849e+01] [ 8.07177237e-02 9.96722872e-01 5.30719254e-03 4.54039588e-02] [-7.03438484e-02 3.85212524e-04 9.97522729e-01 -7.22303845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.441052754 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:10.66, Y:0.05, Z:-0.72 [[ 9.94306503e-01 -8.17911187e-02 6.82992767e-02 1.06610923e+01] [ 8.13485536e-02 9.96642875e-01 9.24079822e-03 4.52647713e-02] [-6.88258027e-02 -3.63213839e-03 9.97622081e-01 -7.20860838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.471052753999999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:10.69, Y:0.07, Z:-0.77 [[ 0.99455225 -0.07957228 0.06733559 10.6892209 ] [ 0.08283808 0.99544556 -0.0471804 0.06864417] [-0.06327466 0.05250132 0.99661423 -0.7650864 ] [ 0. 0. 0. 1. ]] SLAMing on 12.501052754 meters Centerline goodness : 0.997165 Centerline is valid? [True, True] Translation: X:10.72, Y:0.04, Z:-0.71 [[ 0.99451401 -0.08095513 0.06624309 10.72082529] [ 0.07759866 0.99563982 0.05176683 0.03802251] [-0.07014505 -0.04634246 0.99645976 -0.71061295] [ 0. 0. 0. 1. ]] SLAMing on 12.531052754 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:10.75, Y:0.07, Z:-0.77 [[ 0.99481882 -0.07959192 0.06325065 10.74648322] [ 0.08240771 0.99566074 -0.04322793 0.07148613] [-0.0595356 0.0482163 0.99706103 -0.76847998] [ 0. 0. 0. 1. ]] SLAMing on 12.561052753999999 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:10.78, Y:0.06, Z:-0.75 [[ 9.94609716e-01 -8.48212223e-02 5.96395221e-02 1.07768487e+01] [ 8.47634029e-02 9.96394948e-01 3.50326835e-03 5.75172061e-02] [-5.97216700e-02 1.57086410e-03 9.98213832e-01 -7.46122951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.591052754 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:10.80, Y:0.06, Z:-0.75 [[ 9.94466858e-01 -8.65017962e-02 5.96079428e-02 1.08045573e+01] [ 8.64461350e-02 9.96250319e-01 3.51674336e-03 6.00394599e-02] [-5.96886366e-02 1.65559155e-03 9.98215671e-01 -7.48447270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.621052753999999 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:10.83, Y:0.06, Z:-0.75 [[ 9.94288661e-01 -8.94606212e-02 5.81967042e-02 1.08311989e+01] [ 8.94116169e-02 9.95988783e-01 3.45068339e-03 6.40432680e-02] [-5.82719648e-02 1.77248605e-03 9.98299172e-01 -7.50449787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.651052753999998 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:10.86, Y:0.07, Z:-0.75 [[ 9.94250552e-01 -9.06128649e-02 5.70539162e-02 1.08595228e+01] [ 9.05674793e-02 9.95884565e-01 3.38604699e-03 6.63302342e-02] [-5.71259339e-02 1.80065028e-03 9.98365357e-01 -7.52037871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.681052754 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:10.89, Y:0.07, Z:-0.75 [[ 9.94038255e-01 -9.43166218e-02 5.47021307e-02 1.08868086e+01] [ 9.42795616e-02 9.95540413e-01 3.26345056e-03 6.75968930e-02] [-5.47659794e-02 1.91329821e-03 9.98497384e-01 -7.51785932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.711052753999999 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:10.91, Y:0.07, Z:-0.75 [[ 9.93837217e-01 -9.67851013e-02 5.40391603e-02 1.09144127e+01] [ 9.67524242e-02 9.95303249e-01 3.22665688e-03 7.03989233e-02] [-5.40976441e-02 2.02164807e-03 9.98533604e-01 -7.53681545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.741052753999998 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:10.94, Y:0.07, Z:-0.76 [[ 9.93414532e-01 -1.00794014e-01 5.44805814e-02 1.09410244e+01] [ 1.00765847e-01 9.94904793e-01 3.27072827e-03 7.49710409e-02] [-5.45326613e-02 2.24059293e-03 9.98509473e-01 -7.56137406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.771052754 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:10.97, Y:0.08, Z:-0.76 [[ 9.93186408e-01 -1.03171747e-01 5.41880930e-02 1.09691796e+01] [ 1.03147257e-01 9.94660767e-01 3.25598077e-03 7.65924587e-02] [-5.42346954e-02 2.35555733e-03 9.98525437e-01 -7.56988491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.801052753999999 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:11.00, Y:0.08, Z:-0.76 [[ 9.92703915e-01 -1.07604889e-01 5.44070368e-02 1.09962012e+01] [ 1.07585891e-01 9.94190362e-01 3.28650738e-03 7.92742520e-02] [-5.44445959e-02 2.59090077e-03 9.98513432e-01 -7.57957123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.831052753999998 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:11.02, Y:0.08, Z:-0.76 [[ 9.92559272e-01 -1.08670834e-01 5.49248725e-02 1.10242138e+01] [ 1.08652930e-01 9.94074199e-01 3.32088955e-03 8.15668428e-02] [-5.49602824e-02 2.67156859e-03 9.98484967e-01 -7.59784259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.861052754 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:11.05, Y:0.08, Z:-0.76 [[ 9.92607278e-01 -1.07562366e-01 5.62239263e-02 1.10518956e+01] [ 1.07541018e-01 9.94194787e-01 3.41397249e-03 8.35942916e-02] [-5.62647494e-02 2.65764434e-03 9.98412347e-01 -7.61468293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.891052753999999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:11.08, Y:0.09, Z:-0.76 [[ 9.92629847e-01 -1.06901666e-01 5.70790781e-02 1.10802505e+01] [ 1.06877713e-01 9.94266080e-01 3.48101988e-03 8.59905739e-02] [-5.71239181e-02 2.64511708e-03 9.98363592e-01 -7.63029922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.921052754 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:11.11, Y:0.09, Z:-0.77 [[ 9.92880444e-01 -1.03124331e-01 5.96137311e-02 1.11073684e+01] [ 1.03090238e-01 9.94665291e-01 3.65538918e-03 8.94154931e-02] [-5.96726688e-02 2.51622932e-03 9.98214827e-01 -7.65499893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.951052754 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:11.13, Y:0.09, Z:-0.77 [[ 9.93318942e-01 -9.85003205e-02 6.01262577e-02 1.11337781e+01] [ 9.84567501e-02 9.95134474e-01 3.69405824e-03 9.39509041e-02] [-6.01975778e-02 2.25045791e-03 9.98183945e-01 -7.69850834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.981052753999998 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:11.16, Y:0.10, Z:-0.77 [[ 9.93628015e-01 -9.53941091e-02 6.00277601e-02 1.11615740e+01] [ 9.53447415e-02 9.95437464e-01 3.69268924e-03 9.68845074e-02] [-6.01061421e-02 2.05417179e-03 9.98189878e-01 -7.73220224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.011052754 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:11.19, Y:0.10, Z:-0.77 [[ 9.94587084e-01 -8.72718563e-02 5.63928606e-02 1.11885133e+01] [ 8.72143640e-02 9.96183474e-01 3.48450036e-03 9.82513602e-02] [-5.64817346e-02 1.45262842e-03 9.98402576e-01 -7.74963767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.041052753999999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:11.22, Y:0.10, Z:-0.78 [[ 9.95035483e-01 -8.34601416e-02 5.42106378e-02 1.12163113e+01] [ 8.34012584e-02 9.96510410e-01 3.35152835e-03 9.93564487e-02] [-5.43011839e-02 1.18634579e-03 9.98523898e-01 -7.77024725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.071052753999998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:11.24, Y:0.10, Z:-0.78 [[ 9.95364382e-01 -8.05013062e-02 5.26240212e-02 1.12431248e+01] [ 8.04408797e-02 9.96754022e-01 3.26873986e-03 1.00424141e-01] [-5.27163426e-02 9.79535328e-04 9.98609046e-01 -7.79299527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.101052754 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:11.27, Y:0.10, Z:-0.78 [[ 9.95459822e-01 -7.90275228e-02 5.30508519e-02 1.12717293e+01] [ 7.89636100e-02 9.96872027e-01 3.30297613e-03 9.97674083e-02] [-5.31459363e-02 9.01106747e-04 9.98586350e-01 -7.81318583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.131052753999999 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:11.30, Y:0.10, Z:-0.80 [[ 9.94793489e-01 -8.00180751e-02 6.31111920e-02 1.12981586e+01] [ 8.04512537e-02 9.96749059e-01 -4.34855252e-03 1.01276738e-01] [-6.25580584e-02 9.40328625e-03 9.97997028e-01 -7.95774178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.161052753999998 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:11.33, Y:0.10, Z:-0.78 [[ 9.94783789e-01 -8.49360294e-02 5.64896861e-02 1.13281726e+01] [ 8.44028647e-02 9.96362285e-01 1.17624093e-02 9.66060109e-02] [-5.72832450e-02 -6.93316276e-03 9.98333893e-01 -7.81318727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.191052754 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:11.36, Y:0.10, Z:-0.80 [[ 9.94218302e-01 -8.17614512e-02 6.96062679e-02 1.13552605e+01] [ 8.20745025e-02 9.96624840e-01 -1.64467065e-03 1.01824540e-01] [-6.92368649e-02 7.34806147e-03 9.97573187e-01 -7.96967995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.221052753999999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:11.38, Y:0.10, Z:-0.80 [[ 9.93829419e-01 -8.28788857e-02 7.37168710e-02 1.13838665e+01] [ 8.30037111e-02 9.96548291e-01 1.37393154e-03 1.00844636e-01] [-7.35762917e-02 4.75332027e-03 9.97278264e-01 -7.96016004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.251052753999998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:11.41, Y:0.10, Z:-0.78 [[ 9.94023241e-01 -8.73578929e-02 6.54705722e-02 1.14131495e+01] [ 8.66447663e-02 9.96145628e-01 1.36591412e-02 9.88343573e-02] [-6.64114581e-02 -7.90482139e-03 9.97761009e-01 -7.82492678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.281052754 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:11.44, Y:0.10, Z:-0.79 [[ 9.93628778e-01 -9.03889499e-02 6.73178288e-02 1.14402466e+01] [ 9.03063576e-02 9.95904857e-01 4.27521911e-03 1.03173336e-01] [-6.74285853e-02 1.83124718e-03 9.97722423e-01 -7.91363063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.311052753999999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:11.47, Y:0.11, Z:-0.80 [[ 9.93512828e-01 -9.15875300e-02 6.74090848e-02 1.14679171e+01] [ 9.15062257e-02 9.95795223e-01 4.29935745e-03 1.06572489e-01] [-6.75194121e-02 1.89688415e-03 9.97716157e-01 -7.95909912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.341052754 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:11.50, Y:0.11, Z:-0.80 [[ 9.93514180e-01 -9.12123366e-02 6.78961215e-02 1.14951994e+01] [ 9.11276267e-02 9.95829720e-01 4.35026621e-03 1.09523793e-01] [-6.80097736e-02 1.86516124e-03 9.97682911e-01 -7.98653403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.371052753999999 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:11.52, Y:0.12, Z:-0.82 [[ 0.99333944 -0.08800823 0.07437278 11.52475953] [ 0.08927876 0.99590928 -0.01392849 0.11687273] [-0.07284272 0.02047562 0.99713323 -0.82003554] [ 0. 0. 0. 1. ]] SLAMing on 13.401052753999998 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:11.55, Y:0.12, Z:-0.82 [[ 9.93329505e-01 -8.89455024e-02 7.33838684e-02 1.15548810e+01] [ 8.92276078e-02 9.96011100e-01 -5.68351450e-04 1.15002572e-01] [-7.30405952e-02 7.11242729e-03 9.97303607e-01 -8.16519789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.431052754 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:11.58, Y:0.11, Z:-0.79 [[ 0.99329144 -0.09443467 0.06673981 11.58205966] [ 0.09286306 0.99533207 0.02627777 0.11059809] [-0.06890981 -0.01990382 0.99742432 -0.79441501] [ 0. 0. 0. 1. ]] SLAMing on 13.461052753999999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:11.61, Y:0.12, Z:-0.81 [[ 9.93124574e-01 -9.51553594e-02 6.81838556e-02 1.16076993e+01] [ 9.50769943e-02 9.95460194e-01 4.40093997e-03 1.18935840e-01] [-6.82930871e-02 2.11203442e-03 9.97663066e-01 -8.08762558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.491052753999998 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:11.64, Y:0.12, Z:-0.81 [[ 9.92874445e-01 -9.82172217e-02 6.74812148e-02 1.16357741e+01] [ 9.81470823e-02 9.95162360e-01 4.36199014e-03 1.20980141e-01] [-6.75831875e-02 2.29217581e-03 9.97711010e-01 -8.11862279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.521052754 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:11.66, Y:0.12, Z:-0.82 [[ 9.92542170e-01 -1.02210103e-01 6.64314350e-02 1.16635699e+01] [ 1.02149887e-01 9.94759675e-01 4.31149354e-03 1.22234167e-01] [-6.65239909e-02 2.50662440e-03 9.97781677e-01 -8.15835068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.551052753999999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:11.69, Y:0.12, Z:-0.82 [[ 9.92481917e-01 -1.02475753e-01 6.69205789e-02 1.16915234e+01] [ 1.02414038e-01 9.94732298e-01 4.36129627e-03 1.23217335e-01] [-6.70149883e-02 2.52509903e-03 9.97748774e-01 -8.18250145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.581052753999998 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:11.71, Y:0.15, Z:-0.88 [[ 0.99144661 -0.09927901 0.08471891 11.71253577] [ 0.10440951 0.99281613 -0.05843619 0.15105605] [-0.07830882 0.06678183 0.99468986 -0.87557565] [ 0. 0. 0. 1. ]] SLAMing on 13.611052754 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:11.75, Y:0.11, Z:-0.79 [[ 0.99284191 -0.1008054 0.06405632 11.75357799] [ 0.09634336 0.9929326 0.06930231 0.10572992] [-0.07058965 -0.06263484 0.99553703 -0.78707746] [ 0. 0. 0. 1. ]] SLAMing on 13.641052753999999 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:11.77, Y:0.15, Z:-0.87 [[ 0.99260661 -0.09239715 0.07870755 11.77458179] [ 0.09675447 0.99387114 -0.05346712 0.1509621 ] [-0.07328495 0.06068712 0.9954629 -0.8749625 ] [ 0. 0. 0. 1. ]] SLAMing on 13.671052754 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:11.81, Y:0.11, Z:-0.80 [[ 0.9932782 -0.09387822 0.06771487 11.81137426] [ 0.08973713 0.99404579 0.06180791 0.11237102] [-0.0731141 -0.05531591 0.99578837 -0.80150171] [ 0. 0. 0. 1. ]] SLAMing on 13.701052754 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:11.84, Y:0.14, Z:-0.87 [[ 0.99310108 -0.08770256 0.07783637 11.83902869] [ 0.09087038 0.99513254 -0.03812874 0.14407789] [-0.07411352 0.04493872 0.99623677 -0.86760171] [ 0. 0. 0. 1. ]] SLAMing on 13.731052753999998 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:11.87, Y:0.13, Z:-0.84 [[ 9.92958548e-01 -8.92302161e-02 7.79184826e-02 1.18706978e+01] [ 8.89477685e-02 9.96011022e-01 7.09500002e-03 1.28194599e-01] [-7.82407558e-02 -1.14365772e-04 9.96934487e-01 -8.43701988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.761052754 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:11.90, Y:0.13, Z:-0.85 [[ 9.93054549e-01 -8.80724238e-02 7.80122504e-02 1.18992165e+01] [ 8.82459555e-02 9.96097960e-01 1.22691276e-03 1.32061821e-01] [-7.78159007e-02 5.66587429e-03 9.96951646e-01 -8.48006591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.791052753999999 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:11.93, Y:0.13, Z:-0.84 [[ 9.93336376e-01 -8.58716631e-02 7.68693817e-02 1.19283242e+01] [ 8.55881732e-02 9.96306143e-01 6.98092904e-03 1.30550778e-01] [-7.71849012e-02 -3.55300794e-04 9.97016732e-01 -8.43062863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.821052753999998 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:11.96, Y:0.13, Z:-0.85 [[ 9.93370381e-01 -8.41876692e-02 7.82797735e-02 1.19558652e+01] [ 8.42892815e-02 9.96439297e-01 2.01107165e-03 1.33739359e-01] [-7.81703499e-02 4.60040684e-03 9.96929402e-01 -8.48825134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.851052754 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:11.98, Y:0.13, Z:-0.85 [[ 9.93751651e-01 -8.15624235e-02 7.61920375e-02 1.19847194e+01] [ 8.13709246e-02 9.96668045e-01 5.61962300e-03 1.34287928e-01] [-7.63965192e-02 6.15306904e-04 9.97077326e-01 -8.51012271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.881052753999999 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:12.01, Y:0.14, Z:-0.86 [[ 9.93924087e-01 -7.99826050e-02 7.56154170e-02 1.20118306e+01] [ 7.98725297e-02 9.96795002e-01 4.48360514e-03 1.37011686e-01] [-7.57316802e-02 1.58323149e-03 9.97126976e-01 -8.56110742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.911052753999998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:12.04, Y:0.14, Z:-0.86 [[ 9.94259683e-01 -7.68422323e-02 7.44510236e-02 1.20405594e+01] [ 7.68941295e-02 9.97036895e-01 2.17334667e-03 1.39391286e-01] [-7.43974222e-02 3.56397568e-03 9.97222303e-01 -8.62523629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.941052754 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:12.07, Y:0.14, Z:-0.86 [[ 9.94357896e-01 -7.63241650e-02 7.36681500e-02 1.20704962e+01] [ 7.60841210e-02 9.97082966e-01 6.06338575e-03 1.38238376e-01] [-7.39160403e-02 -4.24199061e-04 9.97264378e-01 -8.61003605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.971052753999999 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:12.10, Y:0.14, Z:-0.86 [[ 9.94339258e-01 -7.59501121e-02 7.43035724e-02 1.20975790e+01] [ 7.57016260e-02 9.97111494e-01 6.15893894e-03 1.37163700e-01] [-7.45567182e-02 -4.99173531e-04 9.97216650e-01 -8.60071273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.001052753999998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:12.13, Y:0.14, Z:-0.86 [[ 9.94371813e-01 -7.59031686e-02 7.39148606e-02 1.21256206e+01] [ 7.56712015e-02 9.97115145e-01 5.93776637e-03 1.37919218e-01] [-7.41523222e-02 -3.11121203e-04 9.97246878e-01 -8.61116880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.031052754 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:12.15, Y:0.14, Z:-0.86 [[ 9.94503197e-01 -7.46778080e-02 7.33935714e-02 1.21524951e+01] [ 7.45207890e-02 9.97207523e-01 4.87929793e-03 1.39673408e-01] [-7.35529968e-02 6.16869457e-04 9.97291119e-01 -8.63066557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.061052753999999 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:12.18, Y:0.13, Z:-0.84 [[ 0.99442499 -0.07283572 0.0762489 12.17955391] [ 0.0700491 0.99679615 0.03860772 0.13205848] [-0.07881663 -0.03305131 0.99634108 -0.84203018] [ 0. 0. 0. 1. ]] SLAMing on 14.091052754 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:12.21, Y:0.15, Z:-0.86 [[ 9.94409519e-01 -7.08457442e-02 7.82980823e-02 1.22054663e+01] [ 7.06338270e-02 9.97487280e-01 5.47623557e-03 1.46932019e-01] [-7.84893091e-02 8.48724180e-05 9.96914952e-01 -8.64873234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.121052753999999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:12.23, Y:0.16, Z:-0.89 [[ 0.99443835 -0.07405002 0.07489294 12.2347635 ] [ 0.07622797 0.99673423 -0.026649 0.16124003] [-0.072675 0.03220972 0.99683543 -0.88927301] [ 0. 0. 0. 1. ]] SLAMing on 14.151052753999998 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:12.26, Y:0.14, Z:-0.85 [[ 0.99357453 -0.08186782 0.07814932 12.26423371] [ 0.07918638 0.99617959 0.03682038 0.14226979] [-0.08086517 -0.03039543 0.99626148 -0.85393764] [ 0. 0. 0. 1. ]] SLAMing on 14.181052754 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:12.29, Y:0.17, Z:-0.89 [[ 0.99355866 -0.08492198 0.07502957 12.2919145 ] [ 0.08710331 0.99585233 -0.02628958 0.16606967] [-0.07248581 0.03265556 0.9968347 -0.89202762] [ 0. 0. 0. 1. ]] SLAMing on 14.211052753999999 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:12.32, Y:0.15, Z:-0.86 [[ 0.99247826 -0.09392518 0.07851726 12.32078687] [ 0.09127035 0.99514777 0.03675098 0.14673696] [-0.08158812 -0.02930825 0.99623512 -0.85706135] [ 0. 0. 0. 1. ]] SLAMing on 14.241052753999998 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:12.35, Y:0.17, Z:-0.90 [[ 0.99248179 -0.0966509 0.07508995 12.34805141] [ 0.09872663 0.9948146 -0.02443273 0.17158896] [-0.07233913 0.03166242 0.9968774 -0.8955076 ] [ 0. 0. 0. 1. ]] SLAMing on 14.271052754 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:12.38, Y:0.16, Z:-0.86 [[ 0.99191618 -0.10776286 0.06700341 12.37939203] [ 0.10639548 0.9940423 0.02366222 0.159078 ] [-0.06915413 -0.01634208 0.99747213 -0.86187175] [ 0. 0. 0. 1. ]] SLAMing on 14.301052753999999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:12.41, Y:0.17, Z:-0.87 [[ 9.91958304e-01 -1.06608718e-01 6.82151379e-02 1.24067160e+01] [ 1.06538966e-01 9.94297560e-01 4.67016691e-03 1.67322878e-01] [-6.83240257e-02 2.63495944e-03 9.97659704e-01 -8.73936381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.331052753999998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:12.43, Y:0.16, Z:-0.87 [[ 9.90959589e-01 -1.06995855e-01 8.09381194e-02 1.24340988e+01] [ 1.06035422e-01 9.94232243e-01 1.60852618e-02 1.62172089e-01] [-8.21923444e-02 -7.35753678e-03 9.96589326e-01 -8.72357643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.361052754 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:12.46, Y:0.18, Z:-0.89 [[ 0.99095796 -0.11007098 0.07672485 12.46238138] [ 0.11193977 0.99350384 -0.02048439 0.17692697] [-0.0739717 0.02888773 0.99684186 -0.89459647] [ 0. 0. 0. 1. ]] SLAMing on 14.391052753999999 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:12.49, Y:0.17, Z:-0.87 [[ 0.99000094 -0.11536383 0.08117471 12.49174823] [ 0.11312358 0.99307538 0.03169124 0.16633655] [-0.08426863 -0.02219159 0.99619593 -0.87098212] [ 0. 0. 0. 1. ]] SLAMing on 14.421052753999998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:12.52, Y:0.18, Z:-0.89 [[ 9.89995878e-01 -1.14993655e-01 8.17595262e-02 1.25164804e+01] [ 1.14900495e-01 9.93359726e-01 5.85924299e-03 1.80184563e-01] [-8.18903963e-02 3.59358363e-03 9.96634862e-01 -8.89612828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.54, Y:0.18, Z:-0.89 [[ 9.90226813e-01 -1.14459577e-01 7.96860384e-02 1.25446576e+01] [ 1.14368143e-01 9.93421937e-01 5.72563160e-03 1.82515630e-01] [-7.98172120e-02 3.44387027e-03 9.96803568e-01 -8.90770975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.481052753999998 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:12.57, Y:0.19, Z:-0.89 [[ 9.90898903e-01 -1.10230714e-01 7.72564193e-02 1.25721976e+01] [ 1.10130353e-01 9.93901537e-01 5.57145826e-03 1.88201583e-01] [-7.73994196e-02 2.98752481e-03 9.96995689e-01 -8.92301521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.511052754 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:12.60, Y:0.19, Z:-0.89 [[ 9.91896169e-01 -1.08795766e-01 6.56160831e-02 1.25985043e+01] [ 1.08567827e-01 9.94064113e-01 7.04027138e-03 1.93753522e-01] [-6.59925452e-02 1.40577323e-04 9.97820106e-01 -8.85294830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.541052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.63, Y:0.20, Z:-0.90 [[ 9.91367414e-01 -1.05508106e-01 7.78375852e-02 1.26283081e+01] [ 1.05537181e-01 9.94408281e-01 3.75155113e-03 1.97560065e-01] [-7.77981583e-02 4.49559379e-03 9.96958994e-01 -8.95996549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.571052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.65, Y:0.20, Z:-0.88 [[ 0.9920595 -0.1058163 0.06797695 12.65270799] [ 0.10459347 0.99428666 0.02131305 0.20013769] [-0.06984385 -0.01403387 0.99745922 -0.8776552 ] [ 0. 0. 0. 1. ]] SLAMing on 14.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.68, Y:0.21, Z:-0.89 [[ 9.92057267e-01 -1.05064179e-01 6.91657193e-02 1.26798325e+01] [ 1.04837739e-01 9.94465363e-01 6.90582002e-03 2.08603061e-01] [-6.95084665e-02 4.00208699e-04 9.97581281e-01 -8.86739650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.631052753999999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:12.71, Y:0.22, Z:-0.91 [[ 9.91262978e-01 -1.04964782e-01 7.98755412e-02 1.27113497e+01] [ 1.06109361e-01 9.94302039e-01 -1.02106903e-02 2.18288467e-01] [-7.83486506e-02 1.85970219e-02 9.96752547e-01 -9.08320183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.661052753999998 meters Centerline goodness : 0.997378 Centerline is valid? [True, True] Translation: X:12.74, Y:0.21, Z:-0.88 [[ 0.99161184 -0.10713573 0.07230421 12.737101 ] [ 0.10536435 0.99404237 0.02789486 0.20858177] [-0.07486199 -0.02004259 0.99699247 -0.88417183] [ 0. 0. 0. 1. ]] SLAMing on 14.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.76, Y:0.22, Z:-0.90 [[ 9.91647229e-01 -1.05647434e-01 7.39891379e-02 1.27629293e+01] [ 1.05707287e-01 9.94392402e-01 3.11758308e-03 2.17748818e-01] [-7.39036012e-02 4.72964842e-03 9.97254174e-01 -8.98516504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.721052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.80, Y:0.23, Z:-0.92 [[ 0.99113681 -0.10513755 0.081203 12.79586758] [ 0.1066399 0.99419373 -0.0143793 0.22544516] [-0.07921971 0.02291133 0.99659385 -0.91653989] [ 0. 0. 0. 1. ]] SLAMing on 14.751052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.82, Y:0.22, Z:-0.91 [[ 9.91261089e-01 -1.05104851e-01 7.97146341e-02 1.28243216e+01] [ 1.04984667e-01 9.94457454e-01 5.70896020e-03 2.22612409e-01] [-7.98728515e-02 2.70974418e-03 9.96801377e-01 -9.08877970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.781052754 meters Centerline goodness : 0.996543 Centerline is valid? [True, True] Translation: X:12.85, Y:0.22, Z:-0.90 [[ 0.99135148 -0.10297475 0.08135384 12.84779561] [ 0.1009408 0.99447719 0.02874158 0.21954002] [-0.08386419 -0.02028109 0.99627078 -0.89754958] [ 0. 0. 0. 1. ]] SLAMing on 14.811052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.88, Y:0.24, Z:-0.93 [[ 0.99166876 -0.09918502 0.08219129 12.87932181] [ 0.10074953 0.99479721 -0.01510113 0.23799403] [-0.08026586 0.02325605 0.99650216 -0.92506667] [ 0. 0. 0. 1. ]] SLAMing on 14.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.91, Y:0.23, Z:-0.92 [[ 9.92000769e-01 -9.87957530e-02 7.85740022e-02 1.29071005e+01] [ 9.86553545e-02 9.95105472e-01 5.67626580e-03 2.34141859e-01] [-7.87502105e-02 2.12088600e-03 9.96892124e-01 -9.18433443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.871052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.93, Y:0.24, Z:-0.92 [[ 9.92184253e-01 -9.84760379e-02 7.66347093e-02 1.29341628e+01] [ 9.83408367e-02 9.95137343e-01 5.54517776e-03 2.35840550e-01] [-7.68081281e-02 2.03448338e-03 9.97043817e-01 -9.20252314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.901052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.96, Y:0.24, Z:-0.92 [[ 9.92204797e-01 -1.00107785e-01 7.42163928e-02 1.29617675e+01] [ 9.99848760e-02 9.94974417e-01 5.37901419e-03 2.37445749e-01] [-7.43818934e-02 2.08343316e-03 9.97227654e-01 -9.22825270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.98, Y:0.25, Z:-0.94 [[ 9.91459562e-01 -1.02069132e-01 8.11777606e-02 1.29818566e+01] [ 1.02756341e-01 9.94697166e-01 -4.32237064e-03 2.46632766e-01] [-8.03061077e-02 1.26269853e-02 9.96690267e-01 -9.36209322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.961052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.02, Y:0.24, Z:-0.92 [[ 9.91678420e-01 -1.05926271e-01 7.31678670e-02 1.30189636e+01] [ 1.04953582e-01 9.94331397e-01 1.70240624e-02 2.35286275e-01] [-7.45564028e-02 -9.20316557e-03 9.97174330e-01 -9.20236362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.991052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.04, Y:0.24, Z:-0.93 [[ 9.91511039e-01 -1.06536809e-01 7.45370255e-02 1.30449213e+01] [ 1.06428407e-01 9.94305508e-01 5.43616860e-03 2.39862820e-01] [-7.46917270e-02 2.54283568e-03 9.97203430e-01 -9.27683172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.07, Y:0.24, Z:-0.93 [[ 9.91340332e-01 -1.09256417e-01 7.28517781e-02 1.30733032e+01] [ 1.09159223e-01 9.94010007e-01 5.32630851e-03 2.39045564e-01] [-7.29973298e-02 2.67225907e-03 9.97328556e-01 -9.29548239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.051052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.10, Y:0.24, Z:-0.93 [[ 9.91206933e-01 -1.12433281e-01 6.97679948e-02 1.31005474e+01] [ 1.12350702e-01 9.93655431e-01 5.11903638e-03 2.36698498e-01] [-6.99008969e-02 2.76445887e-03 9.97550110e-01 -9.32720369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.081052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.13, Y:0.24, Z:-0.93 [[ 9.91110180e-01 -1.14243434e-01 6.81839367e-02 1.31291766e+01] [ 1.14168351e-01 9.93448786e-01 5.00976620e-03 2.36422256e-01] [-6.83095820e-02 2.81921736e-03 9.97660189e-01 -9.34679659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.16, Y:0.24, Z:-0.94 [[ 9.90999469e-01 -1.15713640e-01 6.73082925e-02 1.31572782e+01] [ 1.15642658e-01 9.93278482e-01 4.96307349e-03 2.36740704e-01] [-6.74301739e-02 2.86530668e-03 9.97719881e-01 -9.36714019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.141052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.18, Y:0.24, Z:-0.94 [[ 9.90878896e-01 -1.16660170e-01 6.74493747e-02 1.31840426e+01] [ 1.16589803e-01 9.93167607e-01 4.99228383e-03 2.36852936e-01] [-6.75709348e-02 2.91716063e-03 9.97710208e-01 -9.38703323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.171052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.21, Y:0.23, Z:-0.93 [[ 0.99091327 -0.1142906 0.07091221 13.20782589] [ 0.11291358 0.99333519 0.02314565 0.23177355] [-0.07308492 -0.01492838 0.99721399 -0.93100711] [ 0. 0. 0. 1. ]] SLAMing on 15.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.24, Y:0.24, Z:-0.95 [[ 9.90979216e-01 -1.14861052e-01 6.90444239e-02 1.32394752e+01] [ 1.15918323e-01 9.93192252e-01 -1.14932035e-02 2.42614727e-01] [-6.72542654e-02 1.93930396e-02 9.97547379e-01 -9.49720930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.231052753999998 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:13.27, Y:0.23, Z:-0.94 [[ 9.90891020e-01 -1.14170914e-01 7.14142074e-02 1.32660850e+01] [ 1.13109053e-01 9.93405578e-01 1.87536579e-02 2.31483918e-01] [-7.30843942e-02 -1.05052378e-02 9.97270430e-01 -9.35722916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.261052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.30, Y:0.24, Z:-0.95 [[ 9.91297484e-01 -1.11225211e-01 7.04148511e-02 1.32967532e+01] [ 1.12002206e-01 9.93682077e-01 -7.17186710e-03 2.40915038e-01] [-6.91722830e-02 1.49960724e-02 9.97492012e-01 -9.46201276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.291052753999999 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:13.32, Y:0.24, Z:-0.94 [[ 9.92338062e-01 -1.01110932e-01 7.10052862e-02 1.33234352e+01] [ 1.00739537e-01 9.94873902e-01 8.80146260e-03 2.39739711e-01] [-7.15312302e-02 -1.58098669e-03 9.97437108e-01 -9.44664401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.321052753999998 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:13.35, Y:0.25, Z:-0.95 [[ 9.92955103e-01 -9.67076238e-02 6.84675080e-02 1.33516697e+01] [ 9.66996195e-02 9.95307669e-01 3.43898977e-03 2.46287855e-01] [-6.84788124e-02 3.20601953e-03 9.97647420e-01 -9.51136612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.351052754 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:13.38, Y:0.25, Z:-0.96 [[ 9.93926047e-01 -8.68498753e-02 6.75878045e-02 1.33806869e+01] [ 8.64814236e-02 9.96218354e-01 8.36393807e-03 2.48358309e-01] [-6.80586183e-02 -2.46804636e-03 9.97678271e-01 -9.55057559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.381052753999999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:13.41, Y:0.25, Z:-0.96 [[ 9.94328935e-01 -8.32951717e-02 6.61202155e-02 1.34078121e+01] [ 8.38442710e-02 9.96463310e-01 -5.56867922e-03 2.54703787e-01] [-6.54225247e-02 1.10809001e-02 9.97796125e-01 -9.63056814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.411052753999998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:13.44, Y:0.25, Z:-0.95 [[ 9.94224624e-01 -8.29380005e-02 6.81078925e-02 1.34369640e+01] [ 8.20395633e-02 9.96502409e-01 1.58889557e-02 2.48327841e-01] [-6.91874771e-02 -1.02096492e-02 9.97551430e-01 -9.53592962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.441052754 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:13.47, Y:0.25, Z:-0.96 [[ 9.93962550e-01 -8.45481180e-02 6.99289994e-02 1.34650473e+01] [ 8.46718714e-02 9.96408169e-01 1.19787478e-03 2.53504422e-01] [-6.97791043e-02 4.73037657e-03 9.97551252e-01 -9.62701103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.471052753999999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:13.49, Y:0.25, Z:-0.96 [[ 9.93267572e-01 -9.07761513e-02 7.19668066e-02 1.34938235e+01] [ 9.05528724e-02 9.95871303e-01 6.36588635e-03 2.51177852e-01] [-7.22475482e-02 1.93772575e-04 9.97386712e-01 -9.61947535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.501052753999998 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:13.52, Y:0.25, Z:-0.97 [[ 9.93056335e-01 -9.47534875e-02 6.97200959e-02 1.35222560e+01] [ 9.53904599e-02 9.95422704e-01 -5.85667385e-03 2.54445076e-01] [-6.88460261e-02 1.24666391e-02 9.97549401e-01 -9.68163460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.531052754 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:13.55, Y:0.25, Z:-0.96 [[ 9.92601876e-01 -9.91272191e-02 7.01092755e-02 1.35531317e+01] [ 9.85152952e-02 9.95061470e-01 1.21411834e-02 2.48884372e-01] [-7.09665605e-02 -5.14452543e-03 9.97465429e-01 -9.59848126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.561052753999999 meters Centerline goodness : 0.998301 Centerline is valid? [True, True] Translation: X:13.58, Y:0.25, Z:-0.97 [[ 9.92346349e-01 -1.01408869e-01 7.04625061e-02 1.35820166e+01] [ 1.01383762e-01 9.94839582e-01 3.94182235e-03 2.53707244e-01] [-7.04986259e-02 3.23210094e-03 9.97506640e-01 -9.65614249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.61, Y:0.26, Z:-0.96 [[ 9.92042600e-01 -1.06222125e-01 6.75894987e-02 1.36069623e+01] [ 1.05922079e-01 9.94342108e-01 8.01776504e-03 2.56372919e-01] [-6.80587487e-02 -7.94744231e-04 9.97680999e-01 -9.63346763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.621052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.63, Y:0.26, Z:-0.97 [[ 9.91953960e-01 -1.07290340e-01 6.72021164e-02 1.36340953e+01] [ 1.07185543e-01 9.94225575e-01 5.17359855e-03 2.60569418e-01] [-6.73691399e-02 2.07112373e-03 9.97725969e-01 -9.68296572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.651052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.66, Y:0.26, Z:-0.97 [[ 9.91949978e-01 -1.07980444e-01 6.61472947e-02 1.36621613e+01] [ 1.07879277e-01 9.94150869e-01 5.10990191e-03 2.63453122e-01] [-6.63121600e-02 2.06715523e-03 9.97796785e-01 -9.70425981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.681052754 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:13.70, Y:0.26, Z:-0.97 [[ 9.91964313e-01 -1.08619704e-01 6.48734260e-02 1.36960300e+01] [ 1.08657738e-01 9.94074837e-01 2.95213996e-03 2.63150207e-01] [-6.48097009e-02 4.12058225e-03 9.97889134e-01 -9.74957336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.711052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.72, Y:0.27, Z:-0.97 [[ 9.91629125e-01 -1.11239038e-01 6.55557319e-02 1.37180600e+01] [ 1.11091596e-01 9.93792649e-01 5.90147503e-03 2.69115705e-01] [-6.58052789e-02 1.43061638e-03 9.97831458e-01 -9.71971523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.741052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.75, Y:0.27, Z:-0.98 [[ 9.91750003e-01 -1.09894900e-01 6.59927454e-02 1.37516026e+01] [ 1.10380225e-01 9.93882387e-01 -3.74257910e-03 2.72558684e-01] [-6.51777370e-02 1.09959969e-02 9.97813084e-01 -9.83464619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.771052754 meters Centerline goodness : 0.997650 Centerline is valid? [True, True] Translation: X:13.78, Y:0.27, Z:-0.98 [[ 9.92271824e-01 -1.06082292e-01 6.43675012e-02 1.37819350e+01] [ 1.05913097e-01 9.94357016e-01 6.04482491e-03 2.72610698e-01] [-6.46455253e-02 8.19251926e-04 9.97907954e-01 -9.82354887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.801052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.81, Y:0.28, Z:-0.99 [[ 9.92565167e-01 -1.03216365e-01 6.45040353e-02 1.38093784e+01] [ 1.03341883e-01 9.94644914e-01 1.39648510e-03 2.78233893e-01] [-6.43027508e-02 5.27986603e-03 9.97916469e-01 -9.85868454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.831052753999998 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:13.84, Y:0.28, Z:-0.98 [[ 9.93332355e-01 -9.52889194e-02 6.48910948e-02 1.38401807e+01] [ 9.50648156e-02 9.95449604e-01 6.53957192e-03 2.79083698e-01] [-6.52189633e-02 -3.27108424e-04 9.97870923e-01 -9.84797824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.86, Y:0.28, Z:-0.98 [[ 9.93565196e-01 -9.11410677e-02 6.72421517e-02 1.38604620e+01] [ 9.07859734e-02 9.95835636e-01 8.32423825e-03 2.82619718e-01] [-6.77208109e-02 -2.16602921e-03 9.97701960e-01 -9.82051122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.891052753999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.89, Y:0.29, Z:-0.99 [[ 9.94240918e-01 -8.49075586e-02 6.53888606e-02 1.38939230e+01] [ 8.52093422e-02 9.96361380e-01 -1.83520985e-03 2.85858985e-01] [-6.49951122e-02 7.39638252e-03 9.97858171e-01 -9.88967850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.921052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.92, Y:0.29, Z:-0.98 [[ 9.94253636e-01 -8.29707262e-02 6.76429268e-02 1.39164139e+01] [ 8.23925146e-02 9.96535911e-01 1.12983140e-02 2.86300064e-01] [-6.83460350e-02 -5.66011899e-03 9.97645620e-01 -9.83389006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.94, Y:0.29, Z:-0.99 [[ 9.94323239e-01 -8.28438759e-02 6.67696619e-02 1.39443870e+01] [ 8.26752588e-02 9.96562504e-01 5.28936649e-03 2.88312022e-01] [-6.69783331e-02 2.60859055e-04 9.97754396e-01 -9.89315594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.981052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.97, Y:0.29, Z:-0.99 [[ 9.94164067e-01 -8.53701268e-02 6.59526228e-02 1.39725037e+01] [ 8.52100062e-02 9.96349223e-01 5.24214448e-03 2.88475597e-01] [-6.61593671e-02 4.08271723e-04 9.97808985e-01 -9.91499883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.011052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.00, Y:0.29, Z:-0.99 [[ 9.93508415e-01 -9.29681821e-02 6.55587269e-02 1.39999509e+01] [ 9.28252521e-02 9.95668682e-01 5.22948286e-03 2.87306771e-01] [-6.57609467e-02 8.89970123e-04 9.97835009e-01 -9.93375282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.041052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.03, Y:0.29, Z:-1.00 [[ 9.93015783e-01 -9.77027243e-02 6.61349615e-02 1.40281144e+01] [ 9.75672952e-02 9.95214912e-01 5.28229068e-03 2.88604684e-01] [-6.63345940e-02 1.20721130e-03 9.97796705e-01 -9.95763229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.06, Y:0.29, Z:-0.99 [[ 9.92330632e-01 -1.03794518e-01 6.71313265e-02 1.40565979e+01] [ 1.03667662e-01 9.94597442e-01 5.37998460e-03 2.88701887e-01] [-6.73270585e-02 1.62062411e-03 9.97729643e-01 -9.94763213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.101052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.09, Y:0.29, Z:-1.00 [[ 9.92050156e-01 -1.08868821e-01 6.31194703e-02 1.40883680e+01] [ 1.09131645e-01 9.94027044e-01 -7.21072306e-04 2.93276766e-01] [-6.26639582e-02 7.60367153e-03 9.98005718e-01 -9.98525130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.11, Y:0.29, Z:-0.99 [[ 9.91360739e-01 -1.11349305e-01 6.93196795e-02 1.41127837e+01] [ 1.10869228e-01 9.93776896e-01 1.07468335e-02 2.92026760e-01] [-7.00849484e-02 -2.96856942e-03 9.97536610e-01 -9.94228394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.14, Y:0.30, Z:-1.00 [[ 9.91088871e-01 -1.13140746e-01 7.02995061e-02 1.41403413e+01] [ 1.13021966e-01 9.93576267e-01 5.67781481e-03 2.96581081e-01] [-7.04903130e-02 2.31816931e-03 9.97509770e-01 -9.99704717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.191052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.17, Y:0.30, Z:-1.00 [[ 9.90980410e-01 -1.14355457e-01 6.98616993e-02 1.41667607e+01] [ 1.14239844e-01 9.93437068e-01 5.66121993e-03 2.99148934e-01] [-7.00505932e-02 2.37083159e-03 9.97540623e-01 -1.00250952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.20, Y:0.30, Z:-1.00 [[ 9.90952469e-01 -1.14597704e-01 6.98610820e-02 1.41951995e+01] [ 1.14482156e-01 9.93409130e-01 5.66882832e-03 3.01538133e-01] [-7.00502714e-02 2.38030788e-03 9.97540623e-01 -1.00458784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.22, Y:0.31, Z:-1.01 [[ 9.91214802e-01 -1.14107597e-01 6.68780449e-02 1.42217598e+01] [ 1.13999482e-01 9.93465897e-01 5.44322221e-03 3.06192887e-01] [-6.70621699e-02 2.22866009e-03 9.97746310e-01 -1.00966023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.281052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.25, Y:0.31, Z:-1.01 [[ 9.91639743e-01 -1.10357088e-01 6.68725166e-02 1.42488289e+01] [ 1.10240020e-01 9.93890054e-01 5.44957869e-03 3.12241196e-01] [-6.70653288e-02 1.96800877e-03 9.97746646e-01 -1.01303994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.311052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.28, Y:0.32, Z:-1.01 [[ 9.91640400e-01 -1.13419606e-01 6.15248782e-02 1.42817015e+01] [ 1.13482081e-01 9.93536925e-01 2.48923523e-03 3.17376268e-01] [-6.14095664e-02 4.51354500e-03 9.98102446e-01 -1.01301810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.31, Y:0.32, Z:-1.01 [[ 9.91894760e-01 -1.06731865e-01 6.89426811e-02 1.43058785e+01] [ 1.06470161e-01 9.94287838e-01 7.46997939e-03 3.19732530e-01] [-6.93461542e-02 -6.90950677e-05 9.97592655e-01 -1.01343494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.371052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.34, Y:0.33, Z:-1.02 [[ 9.92050765e-01 -1.08819700e-01 6.31945643e-02 1.43379699e+01] [ 1.09100683e-01 9.94030199e-01 -1.00243235e-03 3.26174135e-01] [-6.27082209e-02 7.88903391e-03 9.98000723e-01 -1.01783400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.36, Y:0.32, Z:-1.01 [[ 9.92187940e-01 -1.03803333e-01 6.91950810e-02 1.43624350e+01] [ 1.03273182e-01 9.94589913e-01 1.12051571e-02 3.24013141e-01] [-6.99838623e-02 -3.97162554e-03 9.97540217e-01 -1.01485298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.39, Y:0.33, Z:-1.02 [[ 9.92299700e-01 -1.02484125e-01 6.95579521e-02 1.43887697e+01] [ 1.02331355e-01 9.94733659e-01 5.76549946e-03 3.27589280e-01] [-6.97825084e-02 1.39685607e-03 9.97561251e-01 -1.01866552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.461052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.42, Y:0.33, Z:-1.02 [[ 9.92353783e-01 -1.00589728e-01 7.15239554e-02 1.44168913e+01] [ 1.00422663e-01 9.94927153e-01 5.93705869e-03 3.31542961e-01] [-7.17583324e-02 1.29096344e-03 9.97421213e-01 -1.02204778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.44, Y:0.34, Z:-1.03 [[ 9.92348614e-01 -9.99749686e-02 7.24515957e-02 1.44438077e+01] [ 9.98004401e-02 9.94989176e-01 6.03414239e-03 3.35057390e-01] [-7.26918167e-02 1.24272830e-03 9.97353676e-01 -1.02501388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.47, Y:0.34, Z:-1.03 [[ 9.92413995e-01 -9.93241460e-02 7.24512027e-02 1.44712915e+01] [ 9.91472623e-02 9.95054424e-01 6.04269040e-03 3.36668326e-01] [-7.26930748e-02 1.18648788e-03 9.97353653e-01 -1.02732669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.50, Y:0.34, Z:-1.03 [[ 9.92463041e-01 -9.91585454e-02 7.20048303e-02 1.44993425e+01] [ 9.89821078e-02 9.95070983e-01 6.02331205e-03 3.37562974e-01] [-7.22471801e-02 1.14927528e-03 9.97386096e-01 -1.02819607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.581052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.53, Y:0.34, Z:-1.03 [[ 9.92598299e-01 -9.86880857e-02 7.07762528e-02 1.45278312e+01] [ 9.85151158e-02 9.95117833e-01 5.93896295e-03 3.37530624e-01] [-7.10168161e-02 1.07752621e-03 9.97474536e-01 -1.02941620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.56, Y:0.34, Z:-1.03 [[ 9.92722716e-01 -9.83025343e-02 6.95573227e-02 1.45550096e+01] [ 9.81331737e-02 9.95156061e-01 5.85606471e-03 3.39609181e-01] [-6.97960573e-02 1.01243237e-03 9.97560768e-01 -1.03210905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.58, Y:0.34, Z:-1.04 [[ 9.92953819e-01 -9.70834026e-02 6.79523844e-02 1.45829933e+01] [ 9.69184267e-02 9.95275844e-01 5.72818120e-03 3.41254867e-01] [-6.81874781e-02 8.98018788e-04 9.97672121e-01 -1.03544842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.671052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.61, Y:0.34, Z:-1.04 [[ 9.92973369e-01 -9.68668263e-02 6.79757804e-02 1.46103581e+01] [ 9.66999039e-02 9.95296976e-01 5.74954683e-03 3.42954905e-01] [-6.82130291e-02 8.64104553e-04 9.97670404e-01 -1.03711222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.64, Y:0.34, Z:-1.04 [[ 9.93203525e-01 -9.60253107e-02 6.57715544e-02 1.46382590e+01] [ 9.58664432e-02 9.95378596e-01 5.57459204e-03 3.44507063e-01] [-6.60028994e-02 7.68580519e-04 9.97819135e-01 -1.04018401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.731052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.67, Y:0.35, Z:-1.04 [[ 9.93357161e-01 -9.57133663e-02 6.38788015e-02 1.46653425e+01] [ 9.55617269e-02 9.95408685e-01 5.43200920e-03 3.46409486e-01] [-6.41054296e-02 7.08443341e-04 9.97942880e-01 -1.04316404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.761052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.69, Y:0.35, Z:-1.05 [[ 9.93368742e-01 -9.66659432e-02 6.22433755e-02 1.46933545e+01] [ 9.65231889e-02 9.95316607e-01 5.30337424e-03 3.46357280e-01] [-6.24645210e-02 7.39722888e-04 9.98046911e-01 -1.04572918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.791052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.72, Y:0.35, Z:-1.05 [[ 9.93191790e-01 -9.83528588e-02 6.24242259e-02 1.47208300e+01] [ 9.82114308e-02 9.95151258e-01 5.33742291e-03 3.47351992e-01] [-6.26464977e-02 8.29687929e-04 9.98035434e-01 -1.04641702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.75, Y:0.35, Z:-1.05 [[ 9.92620711e-01 -1.04081424e-01 6.22188176e-02 1.47493751e+01] [ 1.03951794e-01 9.94568078e-01 5.32568918e-03 3.47272573e-01] [-6.24351551e-02 1.18136831e-03 9.98048323e-01 -1.04644791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.851052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.78, Y:0.35, Z:-1.05 [[ 9.92424838e-01 -1.05555990e-01 6.28559736e-02 1.47773378e+01] [ 1.05425574e-01 9.94412550e-01 5.39714820e-03 3.50866643e-01] [-6.30744703e-02 1.27036315e-03 9.98008015e-01 -1.04810470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.80, Y:0.36, Z:-1.05 [[ 9.92087317e-01 -1.08559181e-01 6.30686820e-02 1.48047725e+01] [ 1.08432873e-01 9.94088931e-01 5.43220713e-03 3.55652008e-01] [-6.32855946e-02 1.44949460e-03 9.97994405e-01 -1.05067424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.83, Y:0.36, Z:-1.05 [[ 9.91870185e-01 -1.10660111e-01 6.28321206e-02 1.48321603e+01] [ 1.10537905e-01 9.93857084e-01 5.42848734e-03 3.58628931e-01] [-6.30468652e-02 1.56097623e-03 9.98009347e-01 -1.05328345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.941052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.86, Y:0.36, Z:-1.06 [[ 9.91441656e-01 -1.14880155e-01 6.20160700e-02 1.48597726e+01] [ 1.14768331e-01 9.93377747e-01 5.37418035e-03 3.62388379e-01] [-6.22227706e-02 1.78929456e-03 9.98060682e-01 -1.05628630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.89, Y:0.37, Z:-1.06 [[ 9.91078796e-01 -1.17704737e-01 6.25173123e-02 1.48870238e+01] [ 1.17595540e-01 9.93046694e-01 5.43615504e-03 3.65221327e-01] [-6.27224715e-02 1.96409909e-03 9.98029075e-01 -1.05749586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.92, Y:0.37, Z:-1.06 [[ 9.90671959e-01 -1.20929234e-01 6.28107447e-02 1.49155668e+01] [ 1.21153269e-01 9.92633782e-01 2.43525994e-04 3.70139907e-01] [-6.23775165e-02 7.36847269e-03 9.98025426e-01 -1.06127685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.031052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.94, Y:0.37, Z:-1.05 [[ 9.89862189e-01 -1.26634275e-01 6.43164583e-02 1.49427688e+01] [ 1.26202518e-01 9.91946267e-01 1.07483498e-02 3.72076415e-01] [-6.51595802e-02 -2.52248605e-03 9.97871668e-01 -1.05460013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.061052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.97, Y:0.38, Z:-1.06 [[ 9.89177004e-01 -1.31116024e-01 6.58592731e-02 1.49695063e+01] [ 1.31022657e-01 9.91362678e-01 5.75367466e-03 3.81501250e-01] [-6.60448243e-02 2.93765430e-03 9.97812333e-01 -1.05941882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.00, Y:0.39, Z:-1.06 [[ 9.88941761e-01 -1.32556759e-01 6.65048861e-02 1.49964315e+01] [ 1.32463522e-01 9.91170740e-01 5.82922811e-03 3.86356295e-01] [-6.66904007e-02 3.04470434e-03 9.97769072e-01 -1.06096805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.121052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.02, Y:0.39, Z:-1.06 [[ 9.88946822e-01 -1.32323820e-01 6.68923755e-02 1.50240519e+01] [ 1.32228146e-01 9.91201895e-01 5.87535624e-03 3.90942525e-01] [-6.70812990e-02 3.03463992e-03 9.97742898e-01 -1.06294075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.151052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.05, Y:0.40, Z:-1.06 [[ 9.89497651e-01 -1.28105804e-01 6.69574571e-02 1.50505477e+01] [ 1.27999001e-01 9.91756744e-01 5.90053451e-03 3.97987645e-01] [-6.71614023e-02 2.73192256e-03 9.97738384e-01 -1.06452501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.08, Y:0.41, Z:-1.07 [[ 9.90360228e-01 -1.21526656e-01 6.64672104e-02 1.50780459e+01] [ 1.21406148e-01 9.92585592e-01 5.86436324e-03 4.05992892e-01] [-6.66870718e-02 2.26169583e-03 9.97771376e-01 -1.06578923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.211052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.10, Y:0.41, Z:-1.07 [[ 9.90877573e-01 -1.17773792e-01 6.55054858e-02 1.51044817e+01] [ 1.17647353e-01 9.93038512e-01 5.79778953e-03 4.10719953e-01] [-6.57322978e-02 1.96164742e-03 9.97835366e-01 -1.06779604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.13, Y:0.42, Z:-1.07 [[ 9.91785657e-01 -1.10619029e-01 6.42233716e-02 1.51323982e+01] [ 1.10481792e-01 9.93861830e-01 5.69533743e-03 4.16705790e-01] [-6.44591703e-02 1.44695921e-03 9.97919296e-01 -1.07129757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.16, Y:0.42, Z:-1.07 [[ 9.92187624e-01 -1.07168328e-01 6.38644587e-02 1.51602439e+01] [ 1.07024389e-01 9.94240168e-01 5.68051085e-03 4.20352265e-01] [-6.41053810e-02 1.19892209e-03 9.97942415e-01 -1.07435480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.301052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.19, Y:0.42, Z:-1.08 [[ 9.93020083e-01 -1.00737514e-01 6.13438542e-02 1.51883959e+01] [ 1.00591454e-01 9.94912766e-01 5.47250763e-03 4.22448274e-01] [-6.15830704e-02 7.36357481e-04 9.98101690e-01 -1.07746559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.331052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.22, Y:0.42, Z:-1.08 [[ 9.93452806e-01 -9.75882769e-02 5.93974020e-02 1.52157141e+01] [ 9.74446280e-02 9.95226744e-01 5.31713571e-03 4.23763063e-01] [-5.96327731e-02 5.05634342e-04 9.98220255e-01 -1.07929167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:0.42, Z:-1.08 [[ 9.93921016e-01 -9.37513745e-02 5.77208242e-02 1.52422016e+01] [ 9.36088541e-02 9.95595607e-01 5.17402842e-03 4.24971211e-01] [-5.79516713e-02 2.60604632e-04 9.98319356e-01 -1.08183578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.27, Y:0.43, Z:-1.08 [[ 9.93947037e-01 -9.34335968e-02 5.77879882e-02 1.52701804e+01] [ 9.32899609e-02 9.95625485e-01 5.18429326e-03 4.27254583e-01] [-5.80195810e-02 2.38126240e-04 9.98315417e-01 -1.08400086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.421052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.30, Y:0.43, Z:-1.09 [[ 9.93725254e-01 -9.49804920e-02 5.90662772e-02 1.52985650e+01] [ 9.48321618e-02 9.95479083e-01 5.31570675e-03 4.26656032e-01] [-5.93041319e-02 3.19030711e-04 9.98239910e-01 -1.08554235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.33, Y:0.43, Z:-1.09 [[ 9.93552311e-01 -9.66596299e-02 5.92513459e-02 1.53258778e+01] [ 9.65122895e-02 9.95317414e-01 5.35016753e-03 4.25819292e-01] [-5.94910415e-02 4.02811730e-04 9.98228758e-01 -1.08648551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.481052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.35, Y:0.42, Z:-1.09 [[ 9.92993993e-01 -1.02304880e-01 5.91324085e-02 1.53548513e+01] [ 1.02167523e-01 9.94752823e-01 5.34955511e-03 4.21423830e-01] [-5.93694159e-02 7.29335600e-04 9.98235814e-01 -1.08669005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.511052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.38, Y:0.42, Z:-1.09 [[ 9.92570824e-01 -1.06212074e-01 5.93477388e-02 1.53828142e+01] [ 1.06079721e-01 9.94343045e-01 5.38522709e-03 4.21010158e-01] [-5.95839875e-02 9.50372313e-04 9.98222843e-01 -1.08822324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.541052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.41, Y:0.42, Z:-1.09 [[ 9.92085096e-01 -1.10245721e-01 6.01085977e-02 1.54111329e+01] [ 1.10116350e-01 9.93903648e-01 5.47068184e-03 4.21047216e-01] [-6.03452738e-02 1.19155747e-03 9.98176852e-01 -1.09023103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.44, Y:0.42, Z:-1.09 [[ 9.91327558e-01 -1.16060570e-01 6.16410359e-02 1.54392118e+01] [ 1.15934688e-01 9.93240900e-01 5.62698333e-03 4.19078415e-01] [-6.18774689e-02 1.56815064e-03 9.98082522e-01 -1.09234220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.601052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.47, Y:0.42, Z:-1.09 [[ 9.91208388e-01 -1.17773896e-01 6.02929643e-02 1.54660187e+01] [ 1.17655504e-01 9.93039116e-01 5.52242638e-03 4.18048498e-01] [-6.05236696e-02 1.61992374e-03 9.98165448e-01 -1.09292540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.49, Y:0.42, Z:-1.09 [[ 9.91413583e-01 -1.16081563e-01 6.02011517e-02 1.54924603e+01] [ 1.15959970e-01 9.93238541e-01 5.52136708e-03 4.20732394e-01] [-6.04350331e-02 1.50696546e-03 9.98170995e-01 -1.09466278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.52, Y:0.43, Z:-1.10 [[ 9.91842772e-01 -1.13039724e-01 5.89061735e-02 1.55203376e+01] [ 1.12917663e-01 9.93589634e-01 5.40742105e-03 4.25367061e-01] [-5.91398168e-02 1.28823598e-03 9.98248878e-01 -1.09751838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.691052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.55, Y:0.43, Z:-1.10 [[ 9.92025233e-01 -1.12012914e-01 5.77844607e-02 1.55482668e+01] [ 1.11892808e-01 9.93706041e-01 5.32013152e-03 4.29177099e-01] [-5.80166912e-02 1.18796083e-03 9.98314906e-01 -1.09998022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.57, Y:0.43, Z:-1.10 [[ 9.92191828e-01 -1.10927262e-01 5.70133309e-02 1.55743955e+01] [ 1.10807529e-01 9.93827928e-01 5.26694874e-03 4.33856837e-01] [-5.72456887e-02 1.09168281e-03 9.98359524e-01 -1.10334143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.60, Y:0.44, Z:-1.11 [[ 9.92209695e-01 -1.11080794e-01 5.64001603e-02 1.56012765e+01] [ 1.10963493e-01 9.93810790e-01 5.21696349e-03 4.37057279e-01] [-5.66305924e-02 1.08203706e-03 9.98394614e-01 -1.10587542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.781052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.63, Y:0.44, Z:-1.11 [[ 9.92128613e-01 -1.12011427e-01 5.59844153e-02 1.56290365e+01] [ 1.11897096e-01 9.93706285e-01 5.18267675e-03 4.40087344e-01] [-5.62125843e-02 1.12261157e-03 9.98418191e-01 -1.10751451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.66, Y:0.44, Z:-1.11 [[ 9.92059503e-01 -1.12449932e-01 5.63289998e-02 1.56573005e+01] [ 1.12334033e-01 9.93656739e-01 5.22976504e-03 4.43438039e-01] [-5.65597769e-02 1.13942561e-03 9.98398564e-01 -1.10927696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.68, Y:0.45, Z:-1.11 [[ 9.92263011e-01 -1.10827148e-01 5.59594497e-02 1.56842119e+01] [ 1.10709201e-01 9.93839171e-01 5.21299525e-03 4.48745163e-01] [-5.61924345e-02 1.02256358e-03 9.98419433e-01 -1.11293295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.871052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.71, Y:0.45, Z:-1.12 [[ 9.92438658e-01 -1.09317448e-01 5.58140328e-02 1.57115664e+01] [ 1.09197501e-01 9.94006453e-01 5.20347700e-03 4.52646805e-01] [-5.60483396e-02 9.30621187e-04 9.98427623e-01 -1.11625281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.74, Y:0.46, Z:-1.12 [[ 9.92457931e-01 -1.06068586e-01 6.14549413e-02 1.57418116e+01] [ 1.06272070e-01 9.94337088e-01 -4.27987926e-05 4.56752006e-01] [-6.11023878e-02 6.57341984e-03 9.98109858e-01 -1.12483445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.77, Y:0.46, Z:-1.12 [[ 9.92750816e-01 -1.05453640e-01 5.76658244e-02 1.57689556e+01] [ 1.05000873e-01 9.94413109e-01 1.08344858e-02 4.55368383e-01] [-5.84861877e-02 -4.70098274e-03 9.98277149e-01 -1.11619852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.961052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.80, Y:0.46, Z:-1.12 [[ 9.92771352e-01 -1.04471428e-01 5.90826911e-02 1.57954206e+01] [ 1.04326215e-01 9.94527670e-01 5.54559203e-03 4.59511290e-01] [-5.93387270e-02 6.58368626e-04 9.98237688e-01 -1.12159481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.82, Y:0.46, Z:-1.12 [[ 9.92632167e-01 -1.04076957e-01 6.20432736e-02 1.58220953e+01] [ 1.03915563e-01 9.94569029e-01 5.83120752e-03 4.61399727e-01] [-6.23132127e-02 6.59017546e-04 9.98056426e-01 -1.12333085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.85, Y:0.46, Z:-1.12 [[ 9.92467045e-01 -1.04742551e-01 6.35465337e-02 1.58498355e+01] [ 1.04574197e-01 9.94499116e-01 5.97878391e-03 4.63309350e-01] [-6.38232047e-02 7.11581699e-04 9.97960967e-01 -1.12499553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.051052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.88, Y:0.46, Z:-1.13 [[ 9.92325214e-01 -1.05500835e-01 6.44999456e-02 1.58763803e+01] [ 1.05327764e-01 9.94418929e-01 6.08731984e-03 4.64821555e-01] [-6.47821841e-02 7.53034057e-04 9.97899144e-01 -1.12626271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.081052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.90, Y:0.47, Z:-1.13 [[ 9.91994774e-01 -1.08279633e-01 6.49760718e-02 1.59047455e+01] [ 1.08109521e-01 9.94120036e-01 6.13876337e-03 4.65836442e-01] [-6.52587179e-02 9.34910845e-04 9.97867940e-01 -1.12831419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.93, Y:0.47, Z:-1.13 [[ 9.91976983e-01 -1.08443517e-01 6.49743719e-02 1.59331120e+01] [ 1.08272581e-01 9.94102179e-01 6.15670021e-03 4.68605915e-01] [-6.52588189e-02 9.27638067e-04 9.97867940e-01 -1.13038055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.141052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.96, Y:0.47, Z:-1.13 [[ 9.91844896e-01 -1.09934346e-01 6.44836550e-02 1.59610843e+01] [ 1.09768493e-01 9.93938340e-01 6.12003010e-03 4.71470468e-01] [-6.47655785e-02 1.00815301e-03 9.97899997e-01 -1.13371470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.171052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.99, Y:0.48, Z:-1.14 [[ 9.91557207e-01 -1.12789523e-01 6.39752202e-02 1.59890679e+01] [ 1.12631130e-01 9.93618216e-01 6.08854591e-03 4.75163741e-01] [-6.42536684e-02 1.16845976e-03 9.97932914e-01 -1.13771654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.02, Y:0.48, Z:-1.14 [[ 9.91329654e-01 -1.14894638e-01 6.37553085e-02 1.60166938e+01] [ 1.14740609e-01 9.93376854e-01 6.08429449e-03 4.78189459e-01] [-6.40321006e-02 1.28378136e-03 9.97947014e-01 -1.14035181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.231052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.04, Y:0.48, Z:-1.14 [[ 9.90864512e-01 -1.19308078e-01 6.28736998e-02 1.60436719e+01] [ 1.19166031e-01 9.92856104e-01 6.01780751e-03 4.81760112e-01] [-6.31425097e-02 1.52957737e-03 9.98003349e-01 -1.14352614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.261052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.07, Y:0.49, Z:-1.16 [[ 9.90376651e-01 -1.21042086e-01 6.71036641e-02 1.60714291e+01] [ 1.22182495e-01 9.92420609e-01 -1.31442743e-02 4.92142883e-01] [-6.50040489e-02 2.12166754e-02 9.97659424e-01 -1.16291351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.10, Y:0.48, Z:-1.14 [[ 0.99007591 -0.12640372 0.06141495 16.1008801 ] [ 0.12506589 0.99182898 0.02517554 0.48341031] [-0.06409541 -0.01724478 0.99779477 -1.13926399] [ 0. 0. 0. 1. ]] SLAMing on 18.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.13, Y:0.49, Z:-1.15 [[ 9.89891298e-01 -1.26866462e-01 6.34044119e-02 1.61273843e+01] [ 1.26735675e-01 9.91917788e-01 6.09671617e-03 4.93296628e-01] [-6.36654328e-02 2.00051465e-03 9.97969293e-01 -1.15183912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.351052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.15, Y:0.50, Z:-1.16 [[ 9.89683291e-01 -1.28368591e-01 6.36277310e-02 1.61533501e+01] [ 1.28238890e-01 9.91724330e-01 6.13519786e-03 4.99468371e-01] [-6.38887356e-02 2.08764677e-03 9.97954844e-01 -1.15727531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.18, Y:0.50, Z:-1.16 [[ 9.89676519e-01 -1.28443064e-01 6.35827643e-02 1.61805714e+01] [ 1.28313046e-01 9.91714702e-01 6.14106301e-03 5.04877515e-01] [-6.38447391e-02 2.08083233e-03 9.97957674e-01 -1.16106364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.21, Y:0.51, Z:-1.16 [[ 9.89688915e-01 -1.28086792e-01 6.41063515e-02 1.62070326e+01] [ 1.27952678e-01 9.91760831e-01 6.21023861e-03 5.08322251e-01] [-6.43736180e-02 2.05637507e-03 9.97923749e-01 -1.16254937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.441052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.23, Y:0.51, Z:-1.16 [[ 9.89601814e-01 -1.27479930e-01 6.66116861e-02 1.62349777e+01] [ 1.27333278e-01 9.91838950e-01 6.46007511e-03 5.12857369e-01] [-6.68915948e-02 2.08898232e-03 9.97758062e-01 -1.16417231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.26, Y:0.52, Z:-1.16 [[ 9.89433617e-01 -1.27704712e-01 6.86485607e-02 1.62634467e+01] [ 1.27548128e-01 9.91809905e-01 6.67738029e-03 5.15951652e-01] [-6.89390554e-02 2.14917090e-03 9.97618558e-01 -1.16491947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.29, Y:0.52, Z:-1.17 [[ 9.89141409e-01 -1.28481595e-01 7.13565129e-02 1.62898608e+01] [ 1.28312927e-01 9.91709296e-01 6.96169783e-03 5.19803759e-01] [-7.16593673e-02 2.26985946e-03 9.97426580e-01 -1.16638637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.531052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.32, Y:0.53, Z:-1.17 [[ 9.88772174e-01 -1.29502692e-01 7.45562927e-02 1.63157014e+01] [ 1.29320745e-01 9.91576068e-01 7.28329128e-03 5.26485521e-01] [-7.48714414e-02 2.44015959e-03 9.97190209e-01 -1.17050175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.561052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.34, Y:0.53, Z:-1.17 [[ 9.88830849e-01 -1.28858273e-01 7.48939098e-02 1.63434183e+01] [ 1.28672122e-01 9.91660133e-01 7.32567470e-03 5.31400799e-01] [-7.52132784e-02 2.39290520e-03 9.97164599e-01 -1.17411812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.37, Y:0.53, Z:-1.18 [[ 9.88972055e-01 -1.28361665e-01 7.38752849e-02 1.63701806e+01] [ 1.28177669e-01 9.91724750e-01 7.24609565e-03 5.34789832e-01] [-7.41940693e-02 2.30297571e-03 9.97241163e-01 -1.17625601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.621052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.40, Y:0.54, Z:-1.18 [[ 9.89323876e-01 -1.26533834e-01 7.23011501e-02 1.63976854e+01] [ 1.26352104e-01 9.91960046e-01 7.10023050e-03 5.38764944e-01] [-7.26182715e-02 2.11097488e-03 9.97357574e-01 -1.17843584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.651052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.43, Y:0.54, Z:-1.18 [[ 9.89489987e-01 -1.25348186e-01 7.20929769e-02 1.64257695e+01] [ 1.25162897e-01 9.92110800e-01 7.09993932e-03 5.42048496e-01] [-7.24141855e-02 1.99804698e-03 9.97372645e-01 -1.18016300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.681052754 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:16.45, Y:0.55, Z:-1.18 [[ 9.89921179e-01 -1.22049296e-01 7.18333368e-02 1.64520956e+01] [ 1.21855225e-01 9.92522531e-01 7.09430982e-03 5.46823019e-01] [-7.21620608e-02 1.73045989e-03 9.97391419e-01 -1.18319364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.711052753999997 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:16.48, Y:0.55, Z:-1.19 [[ 9.90188049e-01 -1.20007698e-01 7.15945473e-02 1.64790700e+01] [ 1.19808610e-01 9.92771731e-01 7.08428528e-03 5.51304674e-01] [-7.19272114e-02 1.56286857e-03 9.97408659e-01 -1.18666683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.741052754 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:16.51, Y:0.56, Z:-1.19 [[ 9.90804406e-01 -1.15074739e-01 7.11648362e-02 1.65067726e+01] [ 1.14864734e-01 9.93356125e-01 7.05000253e-03 5.56552138e-01] [-7.15033031e-02 1.18915643e-03 9.97439654e-01 -1.19214627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.771052754 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:16.53, Y:0.56, Z:-1.19 [[ 9.91014263e-01 -1.13349635e-01 7.10112080e-02 1.65349961e+01] [ 1.13134725e-01 9.93554615e-01 7.05419142e-03 5.59220718e-01] [-7.13531034e-02 1.04302921e-03 9.97450574e-01 -1.19417975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.801052753999997 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:16.56, Y:0.56, Z:-1.19 [[ 9.91338758e-01 -1.09597138e-01 7.23597624e-02 1.65630128e+01] [ 1.09362500e-01 9.93975794e-01 7.20866251e-03 5.59441317e-01] [-7.27139011e-02 7.67217960e-04 9.97352545e-01 -1.19383899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.831052753999998 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:16.59, Y:0.56, Z:-1.20 [[ 9.91447331e-01 -1.08435897e-01 7.26212503e-02 1.65912799e+01] [ 1.08194946e-01 9.94103222e-01 7.25523557e-03 5.61415242e-01] [-7.29797469e-02 6.64068274e-04 9.97333202e-01 -1.19523505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.861052754 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:16.62, Y:0.56, Z:-1.20 [[ 9.91609665e-01 -1.06659834e-01 7.30339172e-02 1.66187228e+01] [ 1.06409808e-01 9.94295436e-01 7.31703240e-03 5.63642655e-01] [-7.33977240e-02 5.15885094e-04 9.97302616e-01 -1.19943625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.65, Y:0.56, Z:-1.20 [[ 9.91723274e-01 -1.05662498e-01 7.29409678e-02 1.66458843e+01] [ 1.05408915e-01 9.94401961e-01 7.32813175e-03 5.64998363e-01] [-7.33069500e-02 4.21149451e-04 9.97309337e-01 -1.20257606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.921052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.67, Y:0.56, Z:-1.21 [[ 9.91735166e-01 -1.04671048e-01 7.41979252e-02 1.66739854e+01] [ 1.04404780e-01 9.94506841e-01 7.46896280e-03 5.63966766e-01] [-7.45721284e-02 3.39385030e-04 9.97215565e-01 -1.20503090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.70, Y:0.56, Z:-1.21 [[ 9.91550747e-01 -1.04988454e-01 7.61875404e-02 1.67019261e+01] [ 1.04706968e-01 9.94473379e-01 7.69090063e-03 5.64868533e-01] [-7.65739364e-02 3.51448082e-04 9.97063844e-01 -1.20705522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.981052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.73, Y:0.56, Z:-1.21 [[ 9.91065616e-01 -1.07231426e-01 7.93118291e-02 1.67303934e+01] [ 1.06931692e-01 9.94233950e-01 8.02908426e-03 5.63663062e-01] [-7.97154833e-02 5.23598755e-04 9.96817520e-01 -1.20834353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.011052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.76, Y:0.56, Z:-1.21 [[ 9.90597024e-01 -1.10662185e-01 8.04451209e-02 1.67577927e+01] [ 1.10363352e-01 9.93857765e-01 8.16536203e-03 5.61378416e-01] [-8.08546049e-02 7.89609867e-04 9.96725594e-01 -1.20913006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.041052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.79, Y:0.56, Z:-1.21 [[ 9.90372114e-01 -1.12611342e-01 8.05093905e-02 1.67863122e+01] [ 1.12317561e-01 9.93638669e-01 8.18293392e-03 5.62314571e-01] [-8.09187348e-02 9.38468827e-04 9.96720260e-01 -1.21162400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.81, Y:0.56, Z:-1.22 [[ 9.90064658e-01 -1.15340782e-01 8.04268474e-02 1.68143781e+01] [ 1.15054788e-01 9.93325329e-01 8.19677839e-03 5.62121199e-01] [-8.08354474e-02 1.13815328e-03 9.96726811e-01 -1.21589442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.101052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.84, Y:0.56, Z:-1.22 [[ 9.89896962e-01 -1.16921777e-01 8.02078762e-02 1.68416649e+01] [ 1.16640808e-01 9.93140350e-01 8.19561752e-03 5.62964889e-01] [-8.06159244e-02 1.24269458e-03 9.96744465e-01 -1.21801932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.87, Y:0.56, Z:-1.22 [[ 9.89673867e-01 -1.18912356e-01 8.00342976e-02 1.68696717e+01] [ 1.18638216e-01 9.92903780e-01 8.18881522e-03 5.64332787e-01] [-8.04401080e-02 1.39086988e-03 9.96758474e-01 -1.22002180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.90, Y:0.57, Z:-1.22 [[ 9.89744811e-01 -1.17645994e-01 8.10224016e-02 1.68974064e+01] [ 1.17358951e-01 9.93054771e-01 8.31255004e-03 5.68743397e-01] [-8.14376207e-02 1.28140079e-03 9.96677617e-01 -1.22297942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.191052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.92, Y:0.57, Z:-1.22 [[ 9.89839763e-01 -1.16872842e-01 8.09813726e-02 1.69240807e+01] [ 1.16581739e-01 9.93146167e-01 8.32999288e-03 5.71699817e-01] [-8.13998897e-02 1.19559108e-03 9.96680806e-01 -1.22471886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.95, Y:0.58, Z:-1.23 [[ 9.89927490e-01 -1.16301569e-01 8.07311008e-02 1.69515366e+01] [ 1.16009079e-01 9.93213305e-01 8.32007811e-03 5.75130087e-01] [-8.11508416e-02 1.12926662e-03 9.96701192e-01 -1.22741941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.98, Y:0.58, Z:-1.23 [[ 9.90034497e-01 -1.15921876e-01 7.99613246e-02 1.69789386e+01] [ 1.15631966e-01 9.93257762e-01 8.26234326e-03 5.78785839e-01] [-8.03799927e-02 1.06608031e-03 9.96763723e-01 -1.22992763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.281052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.01, Y:0.58, Z:-1.23 [[ 9.90420459e-01 -1.14658878e-01 7.69458042e-02 1.70055003e+01] [ 1.14385068e-01 9.93404509e-01 7.97100312e-03 5.81655729e-01] [-7.73522551e-02 9.06806469e-04 9.97003413e-01 -1.23318782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.311052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.03, Y:0.58, Z:-1.24 [[ 9.90602104e-01 -1.14373432e-01 7.50079251e-02 1.70335331e+01] [ 1.14111725e-01 9.93437462e-01 7.77967337e-03 5.84131859e-01] [-7.54054707e-02 8.52722934e-04 9.97152590e-01 -1.23576180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.06, Y:0.59, Z:-1.24 [[ 9.90841734e-01 -1.13667809e-01 7.28854453e-02 1.70603186e+01] [ 1.13417364e-01 9.93518524e-01 7.57924364e-03 5.87071833e-01] [-7.32745560e-02 7.56644142e-04 9.97311520e-01 -1.23972017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.371052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.09, Y:0.59, Z:-1.24 [[ 9.90818523e-01 -1.13403287e-01 7.36094397e-02 1.70883655e+01] [ 1.13146425e-01 9.93548768e-01 7.66373067e-03 5.90830544e-01] [-7.40036604e-02 7.35278646e-04 9.97257699e-01 -1.24281656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.12, Y:0.60, Z:-1.25 [[ 9.90922833e-01 -1.11385580e-01 7.52674626e-02 1.71155454e+01] [ 1.11109568e-01 9.93777098e-01 7.85772098e-03 5.95170493e-01] [-7.56743173e-02 5.76540127e-04 9.97132421e-01 -1.24521097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.14, Y:0.60, Z:-1.25 [[ 9.90923179e-01 -1.10831381e-01 7.60766625e-02 1.71435326e+01] [ 1.10546144e-01 9.93839089e-01 7.96331818e-03 5.98190810e-01] [-7.64905465e-02 5.18945104e-04 9.97070172e-01 -1.24620155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.461052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.17, Y:0.60, Z:-1.25 [[ 9.90707506e-01 -1.11365583e-01 7.80790955e-02 1.71707611e+01] [ 1.11065050e-01 9.93779352e-01 8.19474952e-03 6.00791100e-01] [-7.85060060e-02 5.53258791e-04 9.96913487e-01 -1.24582617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.20, Y:0.60, Z:-1.25 [[ 9.90474694e-01 -1.12709147e-01 7.90982172e-02 1.71984102e+01] [ 1.12404119e-01 9.93627805e-01 8.31253570e-03 6.04178265e-01] [-7.95310868e-02 6.57609144e-04 9.96832169e-01 -1.24738280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.23, Y:0.61, Z:-1.25 [[ 9.90148359e-01 -1.16032172e-01 7.83757694e-02 1.72263058e+01] [ 1.15741432e-01 9.93245052e-01 8.25755511e-03 6.06219593e-01] [-7.88044872e-02 8.95119112e-04 9.96889689e-01 -1.24956377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.551052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.25, Y:0.61, Z:-1.25 [[ 9.90041442e-01 -1.17183027e-01 7.80133390e-02 1.72539717e+01] [ 1.16896901e-01 9.93109870e-01 8.24017386e-03 6.09867671e-01] [-7.84414255e-02 9.61403977e-04 9.96918261e-01 -1.25167097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.581052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.28, Y:0.61, Z:-1.25 [[ 9.89821832e-01 -1.19170437e-01 7.77891218e-02 1.72802899e+01] [ 1.18890445e-01 9.92873209e-01 8.23734470e-03 6.14780445e-01] [-7.82163830e-02 1.09487969e-03 9.96935805e-01 -1.25405806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.31, Y:0.62, Z:-1.26 [[ 9.89646671e-01 -1.20563383e-01 7.78712815e-02 1.73071967e+01] [ 1.20285990e-01 9.92704916e-01 8.26020860e-03 6.18286289e-01] [-7.82990826e-02 1.19213628e-03 9.96929201e-01 -1.25590216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.33, Y:0.62, Z:-1.26 [[ 9.89190217e-01 -1.24326606e-01 7.77535243e-02 1.73347718e+01] [ 1.24060871e-01 9.92240249e-01 8.25767178e-03 6.23651776e-01] [-7.81768246e-02 1.47776178e-03 9.96938414e-01 -1.25902071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.671052753999998 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:17.36, Y:0.62, Z:-1.24 [[ 0.98952614 -0.12794798 0.06683808 17.36466549] [ 0.12553051 0.99131447 0.03921368 0.61731852] [-0.07127487 -0.03041275 0.99699296 -1.23657972] [ 0. 0. 0. 1. ]] SLAMing on 19.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.39, Y:0.64, Z:-1.28 [[ 0.98892416 -0.12628294 0.07798477 17.38851828] [ 0.12846207 0.99143432 -0.0235687 0.64244786] [-0.07434046 0.03332575 0.99667592 -1.28002515] [ 0. 0. 0. 1. ]] SLAMing on 19.731052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.42, Y:0.63, Z:-1.27 [[ 9.88873225e-01 -1.29412589e-01 7.33629808e-02 1.74190555e+01] [ 1.29187186e-01 9.91589316e-01 7.82943670e-03 6.34215288e-01] [-7.37591756e-02 1.73523674e-03 9.97274573e-01 -1.26515163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.761052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.45, Y:0.64, Z:-1.27 [[ 9.89121856e-01 -1.28540664e-01 7.15209837e-02 1.74460809e+01] [ 1.28322726e-01 9.91702935e-01 7.65288130e-03 6.39642364e-01] [-7.19112759e-02 1.60813540e-03 9.97409736e-01 -1.26775750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.791052754 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:17.48, Y:0.63, Z:-1.24 [[ 0.98971957 -0.12926479 0.06120278 17.47512652] [ 0.12683972 0.99103397 0.04199226 0.63239821] [-0.06608216 -0.03379761 0.99724163 -1.24102395] [ 0. 0. 0. 1. ]] SLAMing on 19.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.50, Y:0.66, Z:-1.29 [[ 0.98996076 -0.12090004 0.07321793 17.50015041] [ 0.12314083 0.99202486 -0.02688888 0.65906629] [-0.06938314 0.03563505 0.99695342 -1.28692771] [ 0. 0. 0. 1. ]] SLAMing on 19.851052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.54, Y:0.62, Z:-1.21 [[ 0.99155415 -0.12046467 0.0480482 17.54177551] [ 0.11670981 0.99036704 0.07451136 0.62409791] [-0.05656134 -0.06827435 0.99606196 -1.21474656] [ 0. 0. 0. 1. ]] SLAMing on 19.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.56, Y:0.65, Z:-1.26 [[ 9.92348228e-01 -1.10229473e-01 5.56278580e-02 1.75629068e+01] [ 1.10757761e-01 9.93826206e-01 -6.49546111e-03 6.54981733e-01] [-5.45684318e-02 1.26069763e-02 9.98430443e-01 -1.26479611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.58, Y:0.68, Z:-1.32 [[ 0.99082761 -0.11048979 0.07779887 17.57990461] [ 0.11501314 0.99176887 -0.05627155 0.68233425] [-0.07094106 0.0647033 0.99537975 -1.31902657] [ 0. 0. 0. 1. ]] SLAMing on 19.941052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.61, Y:0.66, Z:-1.29 [[ 9.90320052e-01 -1.18292221e-01 7.26164183e-02 1.76122023e+01] [ 1.18027691e-01 9.92978573e-01 7.93831213e-03 6.57953682e-01] [-7.30455880e-02 7.09278494e-04 9.97328351e-01 -1.28620265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.65, Y:0.64, Z:-1.24 [[ 0.9911692 -0.1204221 0.05551698 17.6499371 ] [ 0.1174848 0.99163514 0.05345156 0.63982757] [-0.06148933 -0.04645714 0.99702598 -1.24286509] [ 0. 0. 0. 1. ]] SLAMing on 20.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.67, Y:0.68, Z:-1.31 [[ 0.98878915 -0.1262361 0.07975255 17.66588893] [ 0.12965402 0.99078336 -0.03921957 0.67596133] [-0.07406658 0.04912012 0.99604285 -1.31076449] [ 0. 0. 0. 1. ]] SLAMing on 20.031052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.70, Y:0.66, Z:-1.29 [[ 9.88660922e-01 -1.30303338e-01 7.46365986e-02 1.76979838e+01] [ 1.30055430e-01 9.91472873e-01 8.19308036e-03 6.62320606e-01] [-7.50677486e-02 1.60671654e-03 9.97177142e-01 -1.28885922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.061052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.73, Y:0.66, Z:-1.29 [[ 9.88116908e-01 -1.33626059e-01 7.59542727e-02 1.77250977e+01] [ 1.33377552e-01 9.91030056e-01 8.35801163e-03 6.64182243e-01] [-7.63898153e-02 1.87190233e-03 9.97076272e-01 -1.28948242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.091052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:17.76, Y:0.65, Z:-1.25 [[ 0.98864432 -0.13559748 0.06477452 17.7599749 ] [ 0.13234272 0.98983064 0.05216039 0.64826578] [-0.07118862 -0.04299564 0.99653578 -1.25221319] [ 0. 0. 0. 1. ]] SLAMing on 20.121052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.78, Y:0.68, Z:-1.29 [[ 9.88151204e-01 -1.35218812e-01 7.26159182e-02 1.77842679e+01] [ 1.36495705e-01 9.90556713e-01 -1.28965249e-02 6.75031325e-01] [-7.01863325e-02 2.26554775e-02 9.97276596e-01 -1.29222110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.151052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.81, Y:0.69, Z:-1.31 [[ 0.98673898 -0.14195566 0.07870693 17.80512296] [ 0.14384839 0.98941934 -0.01889452 0.68810219] [-0.07519198 0.02996582 0.99671872 -1.31179531] [ 0. 0. 0. 1. ]] SLAMing on 20.181052754 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:17.84, Y:0.67, Z:-1.28 [[ 0.98723281 -0.14438308 0.06726742 17.83985562] [ 0.14214977 0.98915689 0.03690638 0.67099677] [-0.07186669 -0.02687314 0.99705216 -1.27644607] [ 0. 0. 0. 1. ]] SLAMing on 20.211052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.86, Y:0.70, Z:-1.32 [[ 0.98625697 -0.14538358 0.07849073 17.86004622] [ 0.14742255 0.98885469 -0.02080849 0.70163144] [-0.07459072 0.03209382 0.99669765 -1.31971486] [ 0. 0. 0. 1. ]] SLAMing on 20.241052754 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:17.89, Y:0.69, Z:-1.29 [[ 0.98667953 -0.14722258 0.06920273 17.89225979] [ 0.14523278 0.98884761 0.03298253 0.68585192] [-0.07328673 -0.02249268 0.99705724 -1.28747171] [ 0. 0. 0. 1. ]] SLAMing on 20.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.92, Y:0.70, Z:-1.30 [[ 9.87093743e-01 -1.43338795e-01 7.14138056e-02 1.79178834e+01] [ 1.42939006e-01 9.89673614e-01 1.07041619e-02 6.98000934e-01] [-7.22106807e-02 -3.58192900e-04 9.97389337e-01 -1.30373331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.301052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.94, Y:0.72, Z:-1.33 [[ 0.98665688 -0.1435824 0.07676133 17.94225763] [ 0.14552498 0.98914603 -0.0203131 0.7174417 ] [-0.07301156 0.03121275 0.99684255 -1.32890842] [ 0. 0. 0. 1. ]] SLAMing on 20.331052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.98, Y:0.71, Z:-1.31 [[ 9.87701122e-01 -1.38165975e-01 7.31891808e-02 1.79754305e+01] [ 1.37139736e-01 9.90371567e-01 1.88905272e-02 7.05467850e-01] [-7.50945118e-02 -8.62105002e-03 9.97139154e-01 -1.30720161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.00, Y:0.72, Z:-1.32 [[ 9.87561050e-01 -1.35401650e-01 7.99347595e-02 1.79989948e+01] [ 1.35986922e-01 9.90708813e-01 -1.89879033e-03 7.18307228e-01] [-7.89349713e-02 1.27452533e-02 9.96798289e-01 -1.32444621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.03, Y:0.72, Z:-1.32 [[ 9.88282818e-01 -1.34155780e-01 7.27962759e-02 1.80270326e+01] [ 1.33911720e-01 9.90958964e-01 8.24520690e-03 7.21680348e-01] [-7.32442642e-02 1.59967821e-03 9.97312749e-01 -1.31674104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.421052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.05, Y:0.72, Z:-1.32 [[ 9.88481550e-01 -1.32305743e-01 7.34807183e-02 1.80546463e+01] [ 1.32051381e-01 9.91207866e-01 8.33061795e-03 7.24970775e-01] [-7.39368545e-02 1.46856817e-03 9.97261844e-01 -1.31849237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.451052754 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:18.09, Y:0.72, Z:-1.32 [[ 9.88740328e-01 -1.31280996e-01 7.18182762e-02 1.80865497e+01] [ 1.30836615e-01 9.91344266e-01 1.08777979e-02 7.23861486e-01] [-7.26246844e-02 -1.35885731e-03 9.97358415e-01 -1.31668331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.481052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.11, Y:0.73, Z:-1.32 [[ 9.88443893e-01 -1.32673718e-01 7.33236353e-02 1.81107711e+01] [ 1.32672024e-01 9.91147806e-01 4.91537549e-03 7.30248160e-01] [-7.33267014e-02 4.86942221e-03 9.97296086e-01 -1.32317998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.511052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.15, Y:0.73, Z:-1.33 [[ 9.88413266e-01 -1.31799294e-01 7.52872018e-02 1.81453242e+01] [ 1.32253434e-01 9.91215371e-01 -1.05679525e-03 7.29420998e-01] [-7.44865468e-02 1.10015414e-02 9.97161331e-01 -1.32851362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.541052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.17, Y:0.73, Z:-1.32 [[ 9.87727243e-01 -1.38086699e-01 7.29860086e-02 1.81680256e+01] [ 1.37221926e-01 9.90398577e-01 1.67571167e-02 7.29200977e-01] [-7.45991740e-02 -6.53617999e-03 9.97192179e-01 -1.31834515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.20, Y:0.73, Z:-1.32 [[ 9.87382382e-01 -1.40034930e-01 7.39340902e-02 1.81952531e+01] [ 1.39793129e-01 9.90144582e-01 8.46096681e-03 7.34168348e-01] [-7.43902697e-02 1.98126827e-03 9.97227237e-01 -1.32332901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.601052753999998 meters Centerline goodness : 0.998324 Centerline is valid? [True, True] Translation: X:18.23, Y:0.73, Z:-1.31 [[ 9.86976917e-01 -1.42060062e-01 7.54685589e-02 1.82269926e+01] [ 1.40274197e-01 9.89702813e-01 2.84866810e-02 7.26228225e-01] [-7.87382647e-02 -1.75294051e-02 9.96741193e-01 -1.31427114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.631052754 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:18.25, Y:0.74, Z:-1.33 [[ 9.86861240e-01 -1.41346235e-01 7.82696259e-02 1.82544956e+01] [ 1.42061467e-01 9.89851225e-01 -3.61840594e-03 7.40170794e-01] [-7.69638370e-02 1.46899624e-02 9.96925661e-01 -1.33403175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.661052754 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:18.28, Y:0.75, Z:-1.34 [[ 9.86900223e-01 -1.44036023e-01 7.26744347e-02 1.82771342e+01] [ 1.44901823e-01 9.89422962e-01 -6.75743981e-03 7.48845428e-01] [-7.09324397e-02 1.71995769e-02 9.97332825e-01 -1.33624306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.691052753999998 meters Centerline goodness : 0.997672 Centerline is valid? [True, True] Translation: X:18.31, Y:0.74, Z:-1.33 [[ 9.87404358e-01 -1.43309982e-01 6.70438830e-02 1.83121891e+01] [ 1.42829797e-01 9.89675405e-01 1.19265318e-02 7.44488048e-01] [-6.80608731e-02 -2.20044528e-03 9.97678744e-01 -1.33385265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.33, Y:0.75, Z:-1.34 [[ 9.87689489e-01 -1.41262074e-01 6.71900292e-02 1.83327972e+01] [ 1.40991437e-01 9.89971908e-01 8.77696749e-03 7.50577311e-01] [-6.77560940e-02 8.04300253e-04 9.97701591e-01 -1.33766639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.36, Y:0.75, Z:-1.34 [[ 9.88352780e-01 -1.37722047e-01 6.47411738e-02 1.83606772e+01] [ 1.37524953e-01 9.90469813e-01 7.51238178e-03 7.53262877e-01] [-6.51587990e-02 1.47864347e-03 9.97873812e-01 -1.33860683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.781052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.39, Y:0.76, Z:-1.34 [[ 9.88609725e-01 -1.36259906e-01 6.39065766e-02 1.83889040e+01] [ 1.36063742e-01 9.90672207e-01 7.43215096e-03 7.55970631e-01] [-6.43231734e-02 1.34787122e-03 9.97928210e-01 -1.33928022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.42, Y:0.76, Z:-1.34 [[ 9.88923548e-01 -1.34360730e-01 6.30667164e-02 1.84161751e+01] [ 1.34164551e-01 9.90931775e-01 7.35464140e-03 7.58306579e-01] [-6.34829883e-02 1.18813960e-03 9.97982214e-01 -1.33936833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.841052754 meters Centerline goodness : 0.997908 Centerline is valid? [True, True] Translation: X:18.45, Y:0.76, Z:-1.34 [[ 9.89227479e-01 -1.32634034e-01 6.19451997e-02 1.84524158e+01] [ 1.31879245e-01 9.91134438e-01 1.61366102e-02 7.55657926e-01] [-6.35362844e-02 -7.79349199e-03 9.97949098e-01 -1.33576627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.871052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.48, Y:0.77, Z:-1.35 [[ 9.88978811e-01 -1.31076820e-01 6.88460536e-02 1.84785215e+01] [ 1.31502458e-01 9.91314442e-01 -1.66747290e-03 7.66433016e-01] [-6.80295201e-02 1.07025206e-02 9.97625902e-01 -1.35270766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.50, Y:0.77, Z:-1.35 [[ 9.89066790e-01 -1.32647843e-01 6.44316328e-02 1.84998044e+01] [ 1.32523016e-01 9.91160372e-01 6.22631035e-03 7.69755870e-01] [-6.46879878e-02 2.38043751e-03 9.97902700e-01 -1.34638515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.53, Y:0.77, Z:-1.35 [[ 9.89189706e-01 -1.31793286e-01 6.42981741e-02 1.85281644e+01] [ 1.31573112e-01 9.91276833e-01 7.66527682e-03 7.68357947e-01] [-6.47475224e-02 8.77497958e-04 9.97901292e-01 -1.34576991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.961052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.56, Y:0.77, Z:-1.35 [[ 9.89371459e-01 -1.30602139e-01 6.39311918e-02 1.85551592e+01] [ 1.30380708e-01 9.91434557e-01 7.64137794e-03 7.68483098e-01] [-6.43815731e-02 7.75232834e-04 9.97925053e-01 -1.34539267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.58, Y:0.77, Z:-1.35 [[ 9.89511642e-01 -1.29655859e-01 6.36872717e-02 1.85831363e+01] [ 1.29433866e-01 9.91558803e-01 7.61676004e-03 7.68991256e-01] [-6.41372324e-02 7.06417089e-04 9.97940838e-01 -1.34574047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.62, Y:0.76, Z:-1.34 [[ 9.89979253e-01 -1.26860454e-01 6.20282502e-02 1.86242876e+01] [ 1.25543292e-01 9.91780469e-01 2.47059337e-02 7.60299874e-01] [-6.46526131e-02 -1.66711310e-02 9.97768567e-01 -1.34057085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.051052753999997 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:18.65, Y:0.77, Z:-1.35 [[ 9.91070189e-01 -1.17286562e-01 6.34329800e-02 1.86486898e+01] [ 1.17148694e-01 9.93096852e-01 5.90131184e-03 7.66630740e-01] [-6.36872374e-02 1.58247650e-03 9.97968653e-01 -1.35193825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.081052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.67, Y:0.78, Z:-1.36 [[ 9.91755391e-01 -1.12698931e-01 6.09934115e-02 1.86676259e+01] [ 1.13512512e-01 9.93485925e-01 -1.00313136e-02 7.75568405e-01] [-5.94655775e-02 1.68721247e-02 9.98087760e-01 -1.35973598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.70, Y:0.77, Z:-1.35 [[ 9.92282391e-01 -1.11168524e-01 5.49291919e-02 1.86974381e+01] [ 1.10981384e-01 9.93801521e-01 6.45512761e-03 7.68983319e-01] [-5.53063214e-02 -3.09191727e-04 9.98469386e-01 -1.35129612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.141052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.72, Y:0.77, Z:-1.35 [[ 9.92352406e-01 -1.11153708e-01 5.36801165e-02 1.87239702e+01] [ 1.10974059e-01 9.93803175e-01 6.32511867e-03 7.70868216e-01] [-5.40505306e-02 -3.19646297e-04 9.98538150e-01 -1.35300119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.171052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.76, Y:0.77, Z:-1.36 [[ 9.91906571e-01 -1.15192540e-01 5.34044340e-02 1.87585553e+01] [ 1.15039505e-01 9.93343151e-01 5.94107965e-03 7.71509943e-01] [-5.37332968e-02 2.50623688e-04 9.98555291e-01 -1.35744000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.201052754 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:18.79, Y:0.77, Z:-1.35 [[ 9.91714450e-01 -1.17124261e-01 5.27670167e-02 1.87896770e+01] [ 1.16457569e-01 9.93073968e-01 1.55476060e-02 7.70454523e-01] [-5.42225526e-02 -9.27366708e-03 9.98485811e-01 -1.35280235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.231052754 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:18.82, Y:0.78, Z:-1.36 [[ 9.91184694e-01 -1.20586363e-01 5.48801489e-02 1.88158413e+01] [ 1.20854238e-01 9.92669012e-01 -1.57663181e-03 7.80489688e-01] [-5.42877029e-02 8.19523191e-03 9.98491704e-01 -1.36336862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.261052753999998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:18.84, Y:0.78, Z:-1.36 [[ 9.91072281e-01 -1.21621622e-01 5.46252232e-02 1.88388716e+01] [ 1.21656111e-01 9.92568622e-01 2.70582302e-03 7.82179346e-01] [-5.45483691e-02 3.96382605e-03 9.98503262e-01 -1.35914089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.291052754 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:18.87, Y:0.78, Z:-1.35 [[ 9.89937754e-01 -1.31529050e-01 5.21857430e-02 1.88719024e+01] [ 1.31196475e-01 9.91308310e-01 9.76314313e-03 7.82490541e-01] [-5.30162976e-02 -2.81831848e-03 9.98589670e-01 -1.35443460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.321052754 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:18.90, Y:0.79, Z:-1.36 [[ 9.89582822e-01 -1.33291660e-01 5.43982707e-02 1.88951802e+01] [ 1.33369805e-01 9.91063884e-01 2.20746382e-03 7.88625048e-01] [-5.42063980e-02 5.07061849e-03 9.98516878e-01 -1.36030803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.351052753999998 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:18.92, Y:0.79, Z:-1.36 [[ 9.88618946e-01 -1.40568264e-01 5.36016984e-02 1.89221453e+01] [ 1.40429205e-01 9.90070226e-01 6.37070333e-03 7.92500306e-01] [-5.39649643e-02 1.22904585e-03 9.98542073e-01 -1.36361597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.381052754 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:18.95, Y:0.80, Z:-1.37 [[ 9.88265353e-01 -1.43320027e-01 5.28295632e-02 1.89498409e+01] [ 1.43188482e-01 9.89675473e-01 6.28624875e-03 7.95844240e-01] [-5.31850683e-02 1.35210311e-03 9.98583757e-01 -1.36607435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.411052754 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:18.98, Y:0.80, Z:-1.37 [[ 9.87956053e-01 -1.45780527e-01 5.18736508e-02 1.89782019e+01] [ 1.45656374e-01 9.89315901e-01 6.18611817e-03 7.98954416e-01] [-5.22212431e-02 1.44411502e-03 9.98634496e-01 -1.36700406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.441052753999998 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:19.01, Y:0.80, Z:-1.37 [[ 9.87955525e-01 -1.45595968e-01 5.23993863e-02 1.90060201e+01] [ 1.45468288e-01 9.89343092e-01 6.26279144e-03 8.03245110e-01] [-5.27528080e-02 1.43508961e-03 9.98606570e-01 -1.36937631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.471052754 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:19.04, Y:0.81, Z:-1.38 [[ 9.88547830e-01 -1.41563300e-01 5.22782850e-02 1.90368028e+01] [ 1.41876382e-01 9.89881692e-01 -2.30822709e-03 8.13311815e-01] [-5.14225569e-02 9.69884681e-03 9.98629888e-01 -1.37586079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.501052754 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:19.06, Y:0.82, Z:-1.37 [[ 9.89895001e-01 -1.31664371e-01 5.26534018e-02 1.90616967e+01] [ 1.31085171e-01 9.91267659e-01 1.43215433e-02 8.15277638e-01] [-5.40792513e-02 -7.27474395e-03 9.98510147e-01 -1.36884460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.531052753999997 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:19.09, Y:0.82, Z:-1.38 [[ 9.90593634e-01 -1.26010604e-01 5.33439718e-02 1.90885217e+01] [ 1.25847881e-01 9.92028829e-01 6.41200031e-03 8.22745744e-01] [-5.37267379e-02 3.61539143e-04 9.98555610e-01 -1.37527073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.561052754 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:19.11, Y:0.83, Z:-1.38 [[ 9.91839735e-01 -1.16566932e-01 5.16341907e-02 1.91146463e+01] [ 1.16400731e-01 9.93182825e-01 6.22464127e-03 8.28096827e-01] [-5.20077787e-02 -1.63589017e-04 9.98646666e-01 -1.37890140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.591052754 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:19.14, Y:0.83, Z:-1.38 [[ 9.92196392e-01 -1.13411376e-01 5.18090593e-02 1.91422196e+01] [ 1.13239660e-01 9.93548061e-01 6.24738190e-03 8.32495953e-01] [-5.21833146e-02 -3.31789546e-04 9.98637468e-01 -1.38231062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.621052753999997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:19.17, Y:0.84, Z:-1.38 [[ 9.92425099e-01 -1.10671876e-01 5.33306477e-02 1.91690850e+01] [ 1.10484891e-01 9.93856869e-01 6.45078663e-03 8.36318679e-01] [-5.37169512e-02 -5.09691761e-04 9.98556072e-01 -1.38488430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.651052754 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:19.20, Y:0.84, Z:-1.39 [[ 9.92368078e-01 -1.08826458e-01 5.79861997e-02 1.91968983e+01] [ 1.08601965e-01 9.94060540e-01 7.01828260e-03 8.37944780e-01] [-5.84055678e-02 -6.67304363e-04 9.98292715e-01 -1.38515851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.681052754 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:19.23, Y:0.84, Z:-1.39 [[ 9.92239329e-01 -1.09219963e-01 5.94315851e-02 1.92253859e+01] [ 1.08983819e-01 9.94017375e-01 7.21012024e-03 8.38547566e-01] [-5.98635173e-02 -6.77083732e-04 9.98206342e-01 -1.38595417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.711052753999997 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:19.25, Y:0.84, Z:-1.39 [[ 9.92136115e-01 -1.10267663e-01 5.92196899e-02 1.92537801e+01] [ 1.10034102e-01 9.93901730e-01 7.20054804e-03 8.40773556e-01] [-5.96525399e-02 -6.27738343e-04 9.98219004e-01 -1.38878313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.741052754 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:19.28, Y:0.84, Z:-1.39 [[ 9.91614656e-01 -1.14975030e-01 5.90009837e-02 1.92810147e+01] [ 1.14750351e-01 9.93368316e-01 7.19346787e-03 8.42034618e-01] [-5.94367770e-02 -3.62764579e-04 9.98232006e-01 -1.39320348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.771052754 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:19.31, Y:0.84, Z:-1.40 [[ 9.91179866e-01 -1.18460134e-01 5.94110310e-02 1.93085897e+01] [ 1.18238336e-01 9.92958796e-01 7.24736527e-03 8.44433645e-01] [-5.98512297e-02 -1.58781074e-04 9.98207296e-01 -1.39670797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.801052753999997 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:19.34, Y:0.84, Z:-1.40 [[ 9.90232764e-01 -1.25669319e-01 6.03845626e-02 1.93357092e+01] [ 1.25452351e-01 9.92072152e-01 7.38603789e-03 8.44872686e-01] [-6.08340413e-02 2.61488644e-04 9.98147860e-01 -1.39920318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.831052753999998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:19.36, Y:0.85, Z:-1.40 [[ 9.89609910e-01 -1.30086245e-01 6.12355673e-02 1.93642754e+01] [ 1.29871294e-01 9.91502537e-01 7.49438099e-03 8.46422173e-01] [-6.16901363e-02 5.36228672e-04 9.98095206e-01 -1.40123963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.861052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:19.39, Y:0.85, Z:-1.40 [[ 9.89021746e-01 -1.34451360e-01 6.13092050e-02 1.93914325e+01] [ 1.34243021e-01 9.90919880e-01 7.52346698e-03 8.47084866e-01] [-6.17640504e-02 7.89460475e-04 9.98090466e-01 -1.40222309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.891052753999997 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:19.42, Y:0.85, Z:-1.40 [[ 9.88274049e-01 -1.39694040e-01 6.16439732e-02 1.94196779e+01] [ 1.39493317e-01 9.90194084e-01 7.56906958e-03 8.49117035e-01] [-6.20968514e-02 1.11860723e-03 9.98069501e-01 -1.40207513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.921052753999998 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:19.45, Y:0.85, Z:-1.40 [[ 9.88238580e-01 -1.39945664e-01 6.16418749e-02 1.94479825e+01] [ 1.39744366e-01 9.90158555e-01 7.58611380e-03 8.52667721e-01] [-6.20968734e-02 1.11721439e-03 9.98069502e-01 -1.40438878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.951052754 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:19.47, Y:0.86, Z:-1.41 [[ 9.88053653e-01 -1.40714428e-01 6.28444785e-02 1.94749086e+01] [ 1.40505715e-01 9.90049532e-01 7.75038100e-03 8.60665127e-01] [-6.33097370e-02 1.17221613e-03 9.97993238e-01 -1.41048113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.981052754 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:19.50, Y:0.87, Z:-1.41 [[ 9.88178036e-01 -1.39999331e-01 6.24848436e-02 1.95015599e+01] [ 1.39790310e-01 9.90150987e-01 7.72607469e-03 8.66011645e-01] [-6.29510748e-02 1.10003831e-03 9.98016008e-01 -1.41394455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.011052753999998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:19.53, Y:0.87, Z:-1.42 [[ 9.88572381e-01 -1.38024808e-01 6.06118809e-02 1.95289228e+01] [ 1.37824175e-01 9.90428325e-01 7.49864762e-03 8.72517191e-01] [-6.10667231e-02 9.40826532e-04 9.98133243e-01 -1.41871726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.041052754 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:19.56, Y:0.88, Z:-1.42 [[ 9.88796891e-01 -1.36633406e-01 6.01000862e-02 1.95569917e+01] [ 1.36432640e-01 9.90621330e-01 7.45084701e-03 8.77129545e-01] [-6.05544619e-02 8.32239060e-04 9.98164548e-01 -1.42156658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.071052754 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:19.58, Y:0.88, Z:-1.42 [[ 9.89090882e-01 -1.34549917e-01 5.99628781e-02 1.95848510e+01] [ 1.34345276e-01 9.90906579e-01 7.44979138e-03 8.83265664e-01] [-6.04199792e-02 6.87208677e-04 9.98172808e-01 -1.42422273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.101052753999998 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:19.61, Y:0.89, Z:-1.43 [[ 9.89027862e-01 -1.34426261e-01 6.12655613e-02 1.96121527e+01] [ 1.34211349e-01 9.90923368e-01 7.62842485e-03 8.88126439e-01] [-6.17349370e-02 6.77808920e-04 9.98092350e-01 -1.42685479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.131052754 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:19.64, Y:0.89, Z:-1.43 [[ 9.88690294e-01 -1.35011442e-01 6.52948171e-02 1.96395248e+01] [ 1.34767321e-01 9.90843761e-01 8.14922778e-03 8.93627984e-01] [-6.57972011e-02 7.42545168e-04 9.97832740e-01 -1.42934284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.161052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:19.67, Y:0.90, Z:-1.43 [[ 9.88492850e-01 -1.35661682e-01 6.69163242e-02 1.96662602e+01] [ 1.35405340e-01 9.90754910e-01 8.37265529e-03 8.97459200e-01] [-6.74335253e-02 7.84517723e-04 9.97723461e-01 -1.43088399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.191052753999998 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:19.69, Y:0.90, Z:-1.43 [[ 9.88032851e-01 -1.37553677e-01 6.97858908e-02 1.96944473e+01] [ 1.37279076e-01 9.90493862e-01 8.73866600e-03 8.98452150e-01] [-7.03245321e-02 9.46053549e-04 9.97523717e-01 -1.42968131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.221052754 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:19.72, Y:0.90, Z:-1.43 [[ 9.87736088e-01 -1.38746533e-01 7.16018212e-02 1.97216190e+01] [ 1.38458973e-01 9.90327383e-01 8.98813034e-03 9.00343152e-01] [-7.21563162e-02 1.03601394e-03 9.97392798e-01 -1.42971568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.251052754 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:19.75, Y:0.90, Z:-1.43 [[ 9.87225024e-01 -1.41182862e-01 7.38522205e-02 1.97488665e+01] [ 1.40883035e-01 9.89982754e-01 9.27990346e-03 9.02213340e-01] [-7.44225880e-02 1.24317202e-03 9.97226019e-01 -1.42996849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.281052753999997 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:19.78, Y:0.91, Z:-1.43 [[ 9.86852193e-01 -1.43180490e-01 7.49806366e-02 1.97769844e+01] [ 1.42876568e-01 9.89695593e-01 9.42970395e-03 9.06135163e-01] [-7.55581553e-02 1.40725198e-03 9.97140404e-01 -1.43280182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.311052754 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:19.80, Y:0.91, Z:-1.44 [[ 9.86707293e-01 -1.43942934e-01 7.54264495e-02 1.98048034e+01] [ 1.43636030e-01 9.89584922e-01 9.50646884e-03 9.10344782e-01] [-7.60092662e-02 1.45385360e-03 9.97106051e-01 -1.43536889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.341052754 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:19.83, Y:0.91, Z:-1.44 [[ 9.86571207e-01 -1.45210191e-01 7.47746831e-02 1.98326748e+01] [ 1.44910677e-01 9.89399665e-01 9.44455219e-03 9.14072628e-01] [-7.53534916e-02 1.51792667e-03 9.97155729e-01 -1.43749179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.371052753999997 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:19.86, Y:0.92, Z:-1.44 [[ 9.85854990e-01 -1.50613157e-01 7.35228862e-02 1.98604925e+01] [ 1.50337131e-01 9.88590991e-01 9.30593102e-03 9.17034295e-01] [-7.40856585e-02 1.87892123e-03 9.97250111e-01 -1.44037197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.401052754 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:19.89, Y:0.92, Z:-1.44 [[ 9.85595342e-01 -1.52678334e-01 7.27402811e-02 1.98874483e+01] [ 1.52412239e-01 9.88273929e-01 9.22768137e-03 9.20891921e-01] [-7.32961904e-02 1.99174932e-03 9.97308228e-01 -1.44363212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.431052754 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:19.91, Y:0.93, Z:-1.45 [[ 9.85327431e-01 -1.54712752e-01 7.20681517e-02 1.99146779e+01] [ 1.54456470e-01 9.87957229e-01 9.14947440e-03 9.25069399e-01] [-7.26157918e-02 2.11616418e-03 9.97357744e-01 -1.44700068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.461052753999997 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:19.94, Y:0.93, Z:-1.45 [[ 9.85238008e-01 -1.55987593e-01 7.05261561e-02 1.99412601e+01] [ 1.55743941e-01 9.87756692e-01 8.97452672e-03 9.28946773e-01] [-7.10625974e-02 2.14197668e-03 9.97469558e-01 -1.44941874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.491052754 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:19.97, Y:0.93, Z:-1.45 [[ 9.85665489e-01 -1.54342544e-01 6.81316606e-02 1.99685588e+01] [ 1.54110838e-01 9.88015477e-01 8.67567451e-03 9.33613657e-01] [-6.86541608e-02 1.94851435e-03 9.97638617e-01 -1.45129753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.521052754 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:20.00, Y:0.94, Z:-1.45 [[ 9.86012058e-01 -1.52752359e-01 6.66853745e-02 1.99955496e+01] [ 1.52525358e-01 9.88262898e-01 8.51231839e-03 9.37866252e-01] [-6.72029582e-02 1.77796204e-03 9.97737742e-01 -1.45414868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.551052753999997 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:20.02, Y:0.94, Z:-1.46 [[ 9.86767130e-01 -1.48380782e-01 6.53741085e-02 2.00233727e+01] [ 1.48152665e-01 9.88929247e-01 8.35061825e-03 9.41851204e-01] [-6.58894391e-02 1.44523281e-03 9.97825883e-01 -1.45726784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.581052753999998 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:20.05, Y:0.94, Z:-1.46 [[ 9.87146207e-01 -1.45810272e-01 6.54349336e-02 2.00516286e+01] [ 1.45574927e-01 9.89311773e-01 8.37598779e-03 9.44889056e-01] [-6.59568552e-02 1.25736109e-03 9.97821684e-01 -1.45809851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.611052754 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:20.08, Y:0.95, Z:-1.46 [[ 9.87891308e-01 -1.40401439e-01 6.60166560e-02 2.00797212e+01] [ 1.40148568e-01 9.90094264e-01 8.46918675e-03 9.47522936e-01] [-6.65517984e-02 8.85503797e-04 9.97782579e-01 -1.45710675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.641052753999997 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:20.11, Y:0.95, Z:-1.46 [[ 9.88625520e-01 -1.35019477e-01 6.62519631e-02 2.01079147e+01] [ 1.34751469e-01 9.90842815e-01 8.51805820e-03 9.49186168e-01] [-6.67953854e-02 5.06379628e-04 9.97766566e-01 -1.45626572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.671052753999998 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:20.14, Y:0.95, Z:-1.46 [[ 9.88933095e-01 -1.32567135e-01 6.66129731e-02 2.01356092e+01] [ 1.32289381e-01 9.91173976e-01 8.58311852e-03 9.51796484e-01] [-6.71628848e-02 3.24059015e-04 9.97741972e-01 -1.45664363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.701052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:20.16, Y:0.96, Z:-1.46 [[ 9.89163671e-01 -1.30774735e-01 6.67323102e-02 2.01622189e+01] [ 1.30490504e-01 9.91412092e-01 8.61931475e-03 9.55377987e-01] [-6.72864078e-02 1.82019809e-04 9.97733685e-01 -1.45851367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.731052754 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:20.19, Y:0.96, Z:-1.46 [[ 9.89104979e-01 -1.31730916e-01 6.57138148e-02 2.01900793e+01] [ 1.31457048e-01 9.91285483e-01 8.49325305e-03 9.59077936e-01] [-6.62599747e-02 2.37825214e-04 9.97802365e-01 -1.46151955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.761052753999998 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:20.22, Y:0.96, Z:-1.46 [[ 9.88945351e-01 -1.33520936e-01 6.44922738e-02 2.02180331e+01] [ 1.33259837e-01 9.91045937e-01 8.35269945e-03 9.61756950e-01] [-6.50300662e-02 3.33866605e-04 9.97883249e-01 -1.46437518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.791052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:20.25, Y:0.96, Z:-1.46 [[ 9.88456286e-01 -1.37469828e-01 6.36884305e-02 2.02468077e+01] [ 1.37222285e-01 9.90505791e-01 8.26571181e-03 9.61581513e-01] [-6.42200452e-02 5.69177188e-04 9.97935600e-01 -1.46268258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.821052754 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:20.27, Y:0.96, Z:-1.46 [[ 9.88143645e-01 -1.39035675e-01 6.51246279e-02 2.02737656e+01] [ 1.38778876e-01 9.90287149e-01 8.47264493e-03 9.63926274e-01] [-6.56700820e-02 6.65732436e-04 9.97841168e-01 -1.46219734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.851052753999998 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:20.30, Y:0.97, Z:-1.46 [[ 9.87420713e-01 -1.43485677e-01 6.64243618e-02 2.03014525e+01] [ 1.43228172e-01 9.89651914e-01 8.64758625e-03 9.68135666e-01] [-6.69778015e-02 9.75034152e-04 9.97753989e-01 -1.46221918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.881052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:20.33, Y:0.97, Z:-1.47 [[ 9.87043535e-01 -1.46951497e-01 6.44229642e-02 2.03271709e+01] [ 1.46715400e-01 9.89143025e-01 8.40633395e-03 9.74659928e-01] [-6.49588491e-02 1.15442341e-03 9.97887276e-01 -1.46724354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.911052754 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:20.35, Y:0.98, Z:-1.47 [[ 9.87215237e-01 -1.46600822e-01 6.25641623e-02 2.03529797e+01] [ 1.46524438e-01 9.89189858e-01 5.83222270e-03 9.79980373e-01] [-6.27428435e-02 3.40951962e-03 9.98023903e-01 -1.47193173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.941052753999998 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:20.38, Y:0.98, Z:-1.47 [[ 9.87454315e-01 -1.46620820e-01 5.86200653e-02 2.03811031e+01] [ 1.46268586e-01 9.89191515e-01 1.02784569e-02 9.84528998e-01] [-5.94935070e-02 -1.57523257e-03 9.98227450e-01 -1.47469966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.971052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:20.41, Y:0.99, Z:-1.48 [[ 9.87727731e-01 -1.45486261e-01 5.68126445e-02 2.04085395e+01] [ 1.45299066e-01 9.89359852e-01 7.43405879e-03 9.90269162e-01] [-5.72897030e-02 9.11998189e-04 9.98357180e-01 -1.47916122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.001052754 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:20.44, Y:1.00, Z:-1.48 [[ 9.88239737e-01 -1.42928426e-01 5.43478384e-02 2.04355965e+01] [ 1.42784284e-01 9.89732185e-01 6.54598237e-03 9.96794089e-01] [-5.47254118e-02 1.29101730e-03 9.98500607e-01 -1.48186625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.031052753999997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:20.46, Y:1.00, Z:-1.48 [[ 9.88408400e-01 -1.41196245e-01 5.57893912e-02 2.04635717e+01] [ 1.40972687e-01 9.89981626e-01 7.94236768e-03 1.00144665e+00] [-5.63519047e-02 1.44774868e-05 9.98410969e-01 -1.48299194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.061052754 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:20.49, Y:1.01, Z:-1.48 [[ 9.88981817e-01 -1.36325812e-01 5.77082120e-02 2.04895462e+01] [ 1.36232995e-01 9.90661234e-01 5.55799289e-03 1.00680893e+00] [-5.79269863e-02 2.36500865e-03 9.98318021e-01 -1.48385352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.091052754 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:20.52, Y:1.01, Z:-1.49 [[ 9.89137279e-01 -1.35272129e-01 5.75229948e-02 2.05189322e+01] [ 1.35118563e-01 9.90807663e-01 6.56874320e-03 1.01070199e+00] [-5.78827919e-02 1.27503564e-03 9.98322571e-01 -1.48555947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.121052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.55, Y:1.01, Z:-1.49 [[ 9.89667402e-01 -1.31064679e-01 5.81419306e-02 2.05460537e+01] [ 1.30704023e-01 9.91371204e-01 9.97966996e-03 1.01191349e+00] [-5.89482180e-02 -2.27716977e-03 9.98258445e-01 -1.48681388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.151052754 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:20.57, Y:1.02, Z:-1.49 [[ 9.89913699e-01 -1.28940034e-01 5.86969881e-02 2.05722621e+01] [ 1.28959978e-01 9.91643749e-01 3.46405774e-03 1.01741386e+00] [-5.86531570e-02 4.14044408e-03 9.98269835e-01 -1.49256761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.181052754 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:20.60, Y:1.02, Z:-1.49 [[ 9.89988912e-01 -1.28001418e-01 5.94776466e-02 2.06012672e+01] [ 1.27941688e-01 9.91769945e-01 4.82713274e-03 1.01865624e+00] [-5.96060222e-02 2.83086260e-03 9.98217966e-01 -1.49457112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.211052753999997 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:20.63, Y:1.02, Z:-1.50 [[ 9.89860824e-01 -1.28998814e-01 5.94546408e-02 2.06318351e+01] [ 1.29262170e-01 9.91610279e-01 -5.88824380e-04 1.02354376e+00] [-5.88798753e-02 8.26809008e-03 9.98230835e-01 -1.49864571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.241052754 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:20.66, Y:1.02, Z:-1.49 [[ 9.89398571e-01 -1.32162271e-01 6.01963604e-02 2.06622585e+01] [ 1.31852317e-01 9.91227510e-01 9.10992851e-03 1.02125192e+00] [-6.08722772e-02 -1.07632065e-03 9.98144983e-01 -1.49458847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.271052754 meters Centerline goodness : 0.998319 Centerline is valid? [True, True] Translation: X:20.69, Y:1.04, Z:-1.53 [[ 0.9889947 -0.12886695 0.07268287 20.6866513 ] [ 0.13160469 0.99071188 -0.03420789 1.03537032] [-0.06759952 0.04339683 0.99676829 -1.53131489] [ 0. 0. 0. 1. ]] SLAMing on 23.301052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.72, Y:1.01, Z:-1.47 [[ 0.98918938 -0.13535941 0.05641093 20.72352281] [ 0.13194573 0.98941496 0.06040162 1.01013505] [-0.06398975 -0.05230546 0.99657887 -1.46925709] [ 0. 0. 0. 1. ]] SLAMing on 23.331052753999998 meters Centerline goodness : 0.997467 Centerline is valid? [True, True] Translation: X:20.74, Y:1.04, Z:-1.54 [[ 0.98903325 -0.12835559 0.07306215 20.74461384] [ 0.13150249 0.99050818 -0.04000811 1.04475608] [-0.06723339 0.04917721 0.9965246 -1.53747232] [ 0. 0. 0. 1. ]] SLAMing on 23.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.78, Y:1.02, Z:-1.48 [[ 0.98940329 -0.13457138 0.05451298 20.77932691] [ 0.13126978 0.98951691 0.06020402 1.02213708] [-0.06204325 -0.05241015 0.99669645 -1.47907419] [ 0. 0. 0. 1. ]] SLAMing on 23.391052753999997 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:20.80, Y:1.06, Z:-1.55 [[ 0.98909428 -0.12942324 0.07030035 20.80294117] [ 0.13272276 0.9901551 -0.04446968 1.06033069] [-0.06385284 0.05331516 0.99653415 -1.55165126] [ 0. 0. 0. 1. ]] SLAMing on 23.421052753999998 meters Centerline goodness : 0.998008 Centerline is valid? [True, True] Translation: X:20.84, Y:1.04, Z:-1.49 [[ 0.98863128 -0.14128979 0.05143339 20.83732208] [ 0.13916485 0.98934379 0.04280199 1.03514727] [-0.05693279 -0.03515767 0.99775879 -1.49461493] [ 0. 0. 0. 1. ]] SLAMing on 23.451052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:20.86, Y:1.04, Z:-1.51 [[ 9.88211945e-01 -1.41761881e-01 5.77989789e-02 2.08618757e+01] [ 1.40674845e-01 9.89800563e-01 2.24818367e-02 1.04316323e+00] [-6.03965293e-02 -1.40859572e-02 9.98075070e-01 -1.50831291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.481052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.89, Y:1.05, Z:-1.52 [[ 9.87289312e-01 -1.47052848e-01 6.02932314e-02 2.08882128e+01] [ 1.46833012e-01 9.89128253e-01 8.08486783e-03 1.05261525e+00] [-6.08266415e-02 8.70933182e-04 9.98147966e-01 -1.51989741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.511052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.92, Y:1.06, Z:-1.52 [[ 9.86808171e-01 -1.49810641e-01 6.13710486e-02 2.09162599e+01] [ 1.49587132e-01 9.88714157e-01 8.24652986e-03 1.05694667e+00] [-6.19138425e-02 1.04257608e-03 9.98080953e-01 -1.52345858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.541052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.94, Y:1.06, Z:-1.53 [[ 9.86523632e-01 -1.50960608e-01 6.31032395e-02 2.09426141e+01] [ 1.50725342e-01 9.88539138e-01 8.49968133e-03 1.06128116e+00] [-6.36631391e-02 1.12612086e-03 9.97970809e-01 -1.52545323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.97, Y:1.07, Z:-1.53 [[ 9.86668448e-01 -1.49822923e-01 6.35489205e-02 2.09693584e+01] [ 1.49581527e-01 9.88712285e-01 8.56648136e-03 1.06543943e+00] [-6.41150537e-02 1.05346774e-03 9.97941957e-01 -1.52757580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.601052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.00, Y:1.07, Z:-1.53 [[ 9.87466824e-01 -1.44661449e-01 6.31057635e-02 2.09955584e+01] [ 1.44412071e-01 9.89480962e-01 8.51934779e-03 1.06955693e+00] [-6.36743728e-02 7.00660726e-04 9.97970482e-01 -1.53069677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.02, Y:1.07, Z:-1.53 [[ 9.87996249e-01 -1.41382699e-01 6.22442400e-02 2.10233975e+01] [ 1.41133277e-01 9.89954900e-01 8.40795811e-03 1.07366679e+00] [-6.28077302e-02 4.77702524e-04 9.98025531e-01 -1.53358321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.04, Y:1.09, Z:-1.57 [[ 0.98798562 -0.1357219 0.0739187 21.04461761] [ 0.137828 0.99016161 -0.02415439 1.09343662] [-0.06991318 0.03405226 0.99697171 -1.57131793] [ 0. 0. 0. 1. ]] SLAMing on 23.691052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.08, Y:1.07, Z:-1.53 [[ 0.9893431 -0.1337452 0.05755386 21.08304262] [ 0.13140018 0.99040589 0.04278034 1.07133717] [-0.06272335 -0.03476184 0.99742538 -1.52553984] [ 0. 0. 0. 1. ]] SLAMing on 23.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.11, Y:1.08, Z:-1.55 [[ 9.89351617e-01 -1.30589740e-01 6.42627185e-02 2.11068525e+01] [ 1.30298905e-01 9.91436462e-01 8.71417679e-03 1.08367622e+00] [-6.48503844e-02 -2.48023018e-04 9.97894967e-01 -1.54570760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.13, Y:1.09, Z:-1.55 [[ 9.89162232e-01 -1.31586906e-01 6.51380537e-02 2.11346009e+01] [ 1.31289852e-01 9.91304620e-01 8.83883098e-03 1.08532511e+00] [-6.57347279e-02 -1.91072337e-04 9.97837115e-01 -1.54594148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.781052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.16, Y:1.09, Z:-1.55 [[ 9.88405835e-01 -1.35183173e-01 6.91333181e-02 2.11627540e+01] [ 1.34855938e-01 9.90820624e-01 9.40038110e-03 1.08661302e+00] [-6.97694907e-02 3.16469216e-05 9.97563139e-01 -1.54841413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.19, Y:1.09, Z:-1.55 [[ 9.88193394e-01 -1.35380262e-01 7.17356362e-02 2.11894926e+01] [ 1.35026934e-01 9.90793714e-01 9.77461523e-03 1.09187016e+00] [-7.23985074e-02 2.70328075e-05 9.97375784e-01 -1.55194839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.22, Y:1.10, Z:-1.55 [[ 9.88160553e-01 -1.35620658e-01 7.17339386e-02 2.12177450e+01] [ 1.35267059e-01 9.90760837e-01 9.78705743e-03 1.09581165e+00] [-7.23985042e-02 3.20548413e-05 9.97375785e-01 -1.55417350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.871052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.24, Y:1.11, Z:-1.58 [[ 9.87606209e-01 -1.35595297e-01 7.90436040e-02 2.12419313e+01] [ 1.37191123e-01 9.90429562e-01 -1.50956382e-02 1.10962050e+00] [-7.62402245e-02 2.57526268e-02 9.96756856e-01 -1.57898044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.28, Y:1.09, Z:-1.54 [[ 0.98781129 -0.14000693 0.06802136 21.27575077] [ 0.13785808 0.98982121 0.03534286 1.09457368] [-0.07227723 -0.02553478 0.99705766 -1.54486959] [ 0. 0. 0. 1. ]] SLAMing on 23.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.30, Y:1.11, Z:-1.56 [[ 9.87266790e-01 -1.41715348e-01 7.22568070e-02 2.13006355e+01] [ 1.41369348e-01 9.89907355e-01 9.90637390e-03 1.10723530e+00] [-7.29314299e-02 4.34663718e-04 9.97336863e-01 -1.56220972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.961052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.33, Y:1.11, Z:-1.57 [[ 9.86959719e-01 -1.43535867e-01 7.28557990e-02 2.13277728e+01] [ 1.43187640e-01 9.89644960e-01 1.00076342e-02 1.11191816e+00] [-7.35378288e-02 5.54918061e-04 9.97292274e-01 -1.56524479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.35, Y:1.13, Z:-1.60 [[ 9.85536741e-01 -1.47894345e-01 8.27320647e-02 2.13481186e+01] [ 1.50040149e-01 9.88471149e-01 -2.03160147e-02 1.13126381e+00] [-7.87736354e-02 3.24353103e-02 9.96364725e-01 -1.59562081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.021052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:21.38, Y:1.12, Z:-1.57 [[ 9.85824001e-01 -1.50976263e-01 7.31929387e-02 2.13837529e+01] [ 1.49895293e-01 9.88498046e-01 2.00752107e-02 1.12023844e+00] [-7.53819572e-02 -8.81934758e-03 9.97115730e-01 -1.57187820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.051052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.41, Y:1.14, Z:-1.60 [[ 9.84306412e-01 -1.57974195e-01 7.86450268e-02 2.14084406e+01] [ 1.59478152e-01 9.87113407e-01 -1.31848335e-02 1.13883863e+00] [-7.55486969e-02 2.55200797e-02 9.96815489e-01 -1.59810077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.081052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.45, Y:1.11, Z:-1.55 [[ 0.98445226 -0.16171298 0.06857596 21.44557564] [ 0.15789043 0.98575491 0.0579471 1.11418235] [-0.07696989 -0.04621866 0.99596158 -1.55118819] [ 0. 0. 0. 1. ]] SLAMing on 24.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.47, Y:1.15, Z:-1.60 [[ 9.83778626e-01 -1.60541667e-01 8.00374129e-02 2.14651215e+01] [ 1.62530337e-01 9.86521722e-01 -1.89415095e-02 1.14636900e+00] [-7.59177449e-02 3.16427599e-02 9.96611876e-01 -1.60307639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.141052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.49, Y:1.14, Z:-1.59 [[ 9.84011282e-01 -1.61441886e-01 7.52217719e-02 2.14927654e+01] [ 1.60885813e-01 9.86881588e-01 1.34345480e-02 1.13992473e+00] [-7.64038805e-02 -1.11763087e-03 9.97076325e-01 -1.58820334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.171052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.52, Y:1.14, Z:-1.59 [[ 9.84319279e-01 -1.59290833e-01 7.57758990e-02 2.15214119e+01] [ 1.58592694e-01 9.87227363e-01 1.51819088e-02 1.14422995e+00] [-7.72263799e-02 -2.92634163e-03 9.97009289e-01 -1.58994658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.55, Y:1.14, Z:-1.58 [[ 9.84906189e-01 -1.57652347e-01 7.14530361e-02 2.15534543e+01] [ 1.55787251e-01 9.87304101e-01 3.09991166e-02 1.14102876e+00] [-7.54329590e-02 -1.93997497e-02 9.96962145e-01 -1.57783243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.231052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.58, Y:1.16, Z:-1.60 [[ 9.85846973e-01 -1.51378786e-01 7.20431108e-02 2.15793081e+01] [ 1.52019651e-01 9.88371397e-01 -3.46528458e-03 1.15546545e+00] [-7.06807794e-02 1.43682088e-02 9.97395499e-01 -1.59738537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.261052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.61, Y:1.15, Z:-1.58 [[ 9.86100359e-01 -1.49780212e-01 7.19164113e-02 2.16095730e+01] [ 1.48512583e-01 9.88650137e-01 2.26918432e-02 1.15028388e+00] [-7.44989589e-02 -1.16959427e-02 9.97152501e-01 -1.58364130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.64, Y:1.16, Z:-1.59 [[ 9.86077801e-01 -1.48338801e-01 7.51410096e-02 2.16356603e+01] [ 1.47981491e-01 9.88936162e-01 1.03317936e-02 1.15834374e+00] [-7.58422675e-02 9.31526352e-04 9.97119392e-01 -1.59209658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.66, Y:1.16, Z:-1.60 [[ 9.85735190e-01 -1.49202706e-01 7.78761037e-02 2.16635599e+01] [ 1.48820312e-01 9.88806106e-01 1.07238043e-02 1.16397262e+00] [-7.86043874e-02 1.01871479e-03 9.96905368e-01 -1.59548577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.351052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.69, Y:1.17, Z:-1.60 [[ 9.86007153e-01 -1.49024540e-01 7.47099770e-02 2.16910800e+01] [ 1.48843985e-01 9.88828249e-01 8.01018359e-03 1.16810104e+00] [-7.50690496e-02 3.22203239e-03 9.97173133e-01 -1.59617953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.72, Y:1.17, Z:-1.60 [[ 9.85346894e-01 -1.51077497e-01 7.91649412e-02 2.17184799e+01] [ 1.50493453e-01 9.88521171e-01 1.33272071e-02 1.17035807e+00] [-8.02696615e-02 -1.21811673e-03 9.96772440e-01 -1.59820413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.75, Y:1.17, Z:-1.60 [[ 9.86041006e-01 -1.48917477e-01 7.44763058e-02 2.17470796e+01] [ 1.48403338e-01 9.88848904e-01 1.24214979e-02 1.17440166e+00] [-7.54955915e-02 -1.19557392e-03 9.97145419e-01 -1.59577123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.441052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.77, Y:1.18, Z:-1.61 [[ 9.85619509e-01 -1.48805388e-01 8.00695983e-02 2.17723478e+01] [ 1.48568594e-01 9.88861691e-01 8.94026114e-03 1.18158302e+00] [-8.05081175e-02 3.08413187e-03 9.96749182e-01 -1.60515770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.80, Y:1.18, Z:-1.60 [[ 9.86584702e-01 -1.46084633e-01 7.28690981e-02 2.18019281e+01] [ 1.45350691e-01 9.89261829e-01 1.53039189e-02 1.18478710e+00] [-7.43222847e-02 -4.50703850e-03 9.97224089e-01 -1.60023450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.83, Y:1.19, Z:-1.60 [[ 9.87134258e-01 -1.42468171e-01 7.25863404e-02 2.18289927e+01] [ 1.42032218e-01 9.89799132e-01 1.11591803e-02 1.19140896e+00] [-7.34357248e-02 -7.06010317e-04 9.97299702e-01 -1.60352798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.531052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.86, Y:1.20, Z:-1.61 [[ 9.87394230e-01 -1.40958264e-01 7.19958479e-02 2.18566476e+01] [ 1.40518469e-01 9.90015125e-01 1.11629776e-02 1.19532045e+00] [-7.28504923e-02 -9.05513376e-04 9.97342462e-01 -1.60620627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.561052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.88, Y:1.20, Z:-1.62 [[ 9.87313108e-01 -1.38952103e-01 7.68449097e-02 2.18812824e+01] [ 1.39149811e-01 9.90267378e-01 2.80177009e-03 1.20351333e+00] [-7.64863191e-02 7.92673035e-03 9.97039122e-01 -1.62081678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.91, Y:1.20, Z:-1.62 [[ 9.87411105e-01 -1.38822284e-01 7.58134808e-02 2.19086511e+01] [ 1.38417895e-01 9.90317309e-01 1.05884112e-02 1.20473793e+00] [-7.65493097e-02 3.88275746e-05 9.97065796e-01 -1.61987527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.621052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.94, Y:1.20, Z:-1.61 [[ 9.88025604e-01 -1.37472632e-01 7.00477046e-02 2.19397421e+01] [ 1.36321189e-01 9.90442423e-01 2.09842929e-02 1.20280532e+00] [-7.22629842e-02 -1.11840323e-02 9.97322906e-01 -1.61203679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.651052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.96, Y:1.21, Z:-1.62 [[ 9.88374013e-01 -1.34690495e-01 7.05356777e-02 2.19641909e+01] [ 1.34814306e-01 9.90866266e-01 3.02415316e-03 1.21068572e+00] [-7.02987482e-02 6.52022407e-03 9.97504673e-01 -1.62234663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.681052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.99, Y:1.21, Z:-1.63 [[ 9.87459786e-01 -1.37117114e-01 7.82436493e-02 2.19926262e+01] [ 1.37083505e-01 9.90542361e-01 5.82617529e-03 1.21045320e+00] [-7.83025174e-02 4.97279991e-03 9.96917242e-01 -1.62633797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.711052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.02, Y:1.20, Z:-1.61 [[ 9.87705318e-01 -1.39346559e-01 7.08571840e-02 2.20249047e+01] [ 1.37985671e-01 9.90148822e-01 2.37753020e-02 1.20416270e+00] [-7.34721638e-02 -1.37057162e-02 9.97203086e-01 -1.60969435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.05, Y:1.22, Z:-1.63 [[ 9.86923567e-01 -1.40084936e-01 7.97375975e-02 2.20492361e+01] [ 1.40741168e-01 9.90042899e-01 -2.64215692e-03 1.21563167e+00] [-7.85735158e-02 1.38299696e-02 9.96812387e-01 -1.63253905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.08, Y:1.21, Z:-1.63 [[ 9.86718852e-01 -1.42646708e-01 7.77034413e-02 2.20781348e+01] [ 1.42227726e-01 9.89773633e-01 1.09283649e-02 1.21448622e+00] [-7.84677126e-02 2.68360106e-04 9.96916619e-01 -1.62926788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.801052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.11, Y:1.22, Z:-1.63 [[ 9.86547175e-01 -1.43984901e-01 7.74145996e-02 2.21050471e+01] [ 1.43571515e-01 9.89579822e-01 1.09085446e-02 1.21750788e+00] [-7.81785914e-02 3.52737513e-04 9.96939308e-01 -1.63265984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.831052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.13, Y:1.22, Z:-1.64 [[ 9.86200663e-01 -1.46851398e-01 7.64389918e-02 2.21332970e+01] [ 1.46456254e-01 9.89158405e-01 1.07803600e-02 1.21908738e+00] [-7.71933821e-02 5.63370266e-04 9.97015980e-01 -1.63521288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.16, Y:1.22, Z:-1.63 [[ 9.85883604e-01 -1.48371143e-01 7.75855799e-02 2.21618265e+01] [ 1.47967053e-01 9.88931521e-01 1.09634900e-02 1.22200794e+00] [-7.83534911e-02 6.71384544e-04 9.96925413e-01 -1.63449023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.891052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.19, Y:1.23, Z:-1.64 [[ 9.85834668e-01 -1.48441009e-01 7.80722370e-02 2.21890082e+01] [ 1.48030380e-01 9.88921044e-01 1.10533213e-02 1.22630543e+00] [-7.88480443e-02 6.60315567e-04 9.96886428e-01 -1.63511614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.921052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.22, Y:1.23, Z:-1.64 [[ 9.85917178e-01 -1.47797380e-01 7.82512141e-02 2.22154718e+01] [ 1.47382100e-01 9.89017479e-01 1.10879820e-02 1.23464611e+00] [-7.90305931e-02 6.00996284e-04 9.96872010e-01 -1.63818744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.24, Y:1.24, Z:-1.64 [[ 9.86042118e-01 -1.47322562e-01 7.75693466e-02 2.22425021e+01] [ 1.46912281e-01 9.89088349e-01 1.10009055e-02 1.24124419e+00] [-7.83436186e-02 5.48533439e-04 9.96926264e-01 -1.64138066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.981052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.27, Y:1.25, Z:-1.65 [[ 9.86437407e-01 -1.46110660e-01 7.47858036e-02 2.22686086e+01] [ 1.45724347e-01 9.89268165e-01 1.06260406e-02 1.24790185e+00] [-7.55357925e-02 4.16188471e-04 9.97143004e-01 -1.64535560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.011052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.30, Y:1.25, Z:-1.65 [[ 9.86575837e-01 -1.46290192e-01 7.25761505e-02 2.22963577e+01] [ 1.45925925e-01 9.89241637e-01 1.03251169e-02 1.25228075e+00] [-7.33058133e-02 4.04231027e-04 9.97309428e-01 -1.64737305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.041052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.32, Y:1.26, Z:-1.65 [[ 9.86588225e-01 -1.48175287e-01 6.84672077e-02 2.23246193e+01] [ 1.47854486e-01 9.88960989e-01 9.75771581e-03 1.25635951e+00] [-6.91572498e-02 4.96336251e-04 9.97605648e-01 -1.64927702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.35, Y:1.26, Z:-1.65 [[ 9.86278412e-01 -1.50797283e-01 6.71942966e-02 2.23527209e+01] [ 1.50493184e-01 9.88564493e-01 9.59399023e-03 1.26092826e+00] [-6.78726434e-02 6.49938175e-04 9.97693782e-01 -1.65204075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.101052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.38, Y:1.27, Z:-1.66 [[ 9.85328541e-01 -1.57358363e-01 6.60758009e-02 2.23791054e+01] [ 1.57077787e-01 9.87540992e-01 9.45288785e-03 1.26559576e+00] [-6.67400530e-02 1.06484037e-03 9.97769829e-01 -1.65658144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.41, Y:1.27, Z:-1.66 [[ 9.84842411e-01 -1.60522922e-01 6.57100964e-02 2.24068275e+01] [ 1.60251709e-01 9.87031308e-01 9.41210322e-03 1.26924495e+00] [-6.63687807e-02 1.26071678e-03 9.97794365e-01 -1.65846069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.44, Y:1.27, Z:-1.66 [[ 9.83640428e-01 -1.66622590e-01 6.84720401e-02 2.24352380e+01] [ 1.66341477e-01 9.86019240e-01 9.82704414e-03 1.27117328e+00] [-6.91521565e-02 1.72346240e-03 9.97604636e-01 -1.65718680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.191052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.46, Y:1.27, Z:-1.66 [[ 9.83027829e-01 -1.69531097e-01 7.01105903e-02 2.24634626e+01] [ 1.69242352e-01 9.85522899e-01 1.00817334e-02 1.27467113e+00] [-7.08047596e-02 1.95505668e-03 9.97488278e-01 -1.65736033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.49, Y:1.28, Z:-1.66 [[ 9.82215393e-01 -1.73495108e-01 7.17800074e-02 2.24919056e+01] [ 1.73201498e-01 9.84832106e-01 1.03423571e-02 1.27828055e+00] [-7.24856042e-02 2.27398243e-03 9.97366866e-01 -1.65737680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.251052754 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:22.52, Y:1.28, Z:-1.66 [[ 9.81673709e-01 -1.76294126e-01 7.23678839e-02 2.25185743e+01] [ 1.75224424e-01 9.84306158e-01 2.09234236e-02 1.28140456e+00] [-7.49208304e-02 -7.85935408e-03 9.97158513e-01 -1.65580708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.281052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.54, Y:1.29, Z:-1.67 [[ 9.81666651e-01 -1.75056614e-01 7.54040303e-02 2.25442268e+01] [ 1.74898297e-01 9.84547628e-01 8.74950772e-03 1.29072075e+00] [-7.57705184e-02 4.59893657e-03 9.97114677e-01 -1.66554883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.311052754 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:22.57, Y:1.29, Z:-1.66 [[ 9.81876158e-01 -1.73760007e-01 7.56747659e-02 2.25728916e+01] [ 1.73232633e-01 9.84788012e-01 1.35286840e-02 1.29370225e+00] [-7.68743466e-02 -1.74153256e-04 9.97040774e-01 -1.66482908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.341052754 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:22.60, Y:1.30, Z:-1.67 [[ 9.82769319e-01 -1.68775113e-01 7.53619687e-02 2.26002632e+01] [ 1.68582004e-01 9.85646883e-01 8.96265272e-03 1.29896342e+00] [-7.57929623e-02 3.89645160e-03 9.97115963e-01 -1.66686914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.371052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.63, Y:1.30, Z:-1.67 [[ 9.83139980e-01 -1.66459769e-01 7.56764482e-02 2.26266423e+01] [ 1.66382054e-01 9.86033784e-01 7.37490157e-03 1.30443337e+00] [-7.58471590e-02 5.34064231e-03 9.97105153e-01 -1.67117312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.66, Y:1.31, Z:-1.68 [[ 9.83876472e-01 -1.62795648e-01 7.40585182e-02 2.26553248e+01] [ 1.62696236e-01 9.86648352e-01 7.41385694e-03 1.31242103e+00] [-7.42766585e-02 4.75472273e-03 9.97226339e-01 -1.67622015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.68, Y:1.32, Z:-1.68 [[ 9.84933538e-01 -1.56862213e-01 7.28022799e-02 2.26833425e+01] [ 1.56510802e-01 9.87619980e-01 1.05424928e-02 1.31784262e+00] [-7.35547050e-02 1.01068855e-03 9.97290672e-01 -1.67817012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.461052753999997 meters Centerline goodness : 0.998271 Centerline is valid? [True, True] Translation: X:22.71, Y:1.32, Z:-1.68 [[ 9.85651930e-01 -1.52556567e-01 7.22271893e-02 2.27078086e+01] [ 1.51891936e-01 9.88288689e-01 1.46392173e-02 1.32077011e+00] [-7.36146230e-02 -3.45844523e-03 9.97280766e-01 -1.67956880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.74, Y:1.33, Z:-1.68 [[ 9.86056359e-01 -1.50248450e-01 7.15420190e-02 2.27376163e+01] [ 1.50146676e-01 9.88640147e-01 6.82906107e-03 1.32764346e+00] [-7.17553680e-02 4.00795728e-03 9.97414209e-01 -1.68347355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.76, Y:1.33, Z:-1.68 [[ 9.86768522e-01 -1.46565145e-01 6.93292262e-02 2.27649972e+01] [ 1.46218530e-01 9.89201001e-01 1.00757638e-02 1.33032786e+00] [-7.00572957e-02 1.94770936e-04 9.97542950e-01 -1.68267815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.551052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.79, Y:1.33, Z:-1.69 [[ 9.87020543e-01 -1.45148814e-01 6.87187667e-02 2.27929131e+01] [ 1.44804344e-01 9.89409831e-01 9.99438110e-03 1.33411870e+00] [-6.94416959e-02 8.61164773e-05 9.97586008e-01 -1.68517094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.581052753999998 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:22.82, Y:1.34, Z:-1.69 [[ 9.87427940e-01 -1.42612164e-01 6.81750241e-02 2.28188614e+01] [ 1.42524085e-01 9.89772046e-01 6.17924109e-03 1.33847010e+00] [-6.83589680e-02 3.61502764e-03 9.97654240e-01 -1.69274860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.85, Y:1.34, Z:-1.69 [[ 9.87075333e-01 -1.45081782e-01 6.80702879e-02 2.28493742e+01] [ 1.44460539e-01 9.89411686e-01 1.39881203e-02 1.33961723e+00] [-6.93789598e-02 -3.97385795e-03 9.97582462e-01 -1.68975298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.641052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.88, Y:1.34, Z:-1.69 [[ 9.86493705e-01 -1.48540554e-01 6.90353094e-02 2.28770416e+01] [ 1.48198008e-01 9.88906277e-01 1.00859248e-02 1.33979693e+00] [-6.97676197e-02 2.81193989e-04 9.97563231e-01 -1.69091978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.671052753999998 meters Centerline goodness : 0.996988 Centerline is valid? [True, True] Translation: X:22.91, Y:1.34, Z:-1.69 [[ 9.85646333e-01 -1.55636831e-01 6.54101087e-02 2.29080908e+01] [ 1.55450605e-01 9.87811610e-01 7.95824095e-03 1.34009285e+00] [-6.58514602e-02 2.32402995e-03 9.97826730e-01 -1.69111938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.93, Y:1.34, Z:-1.69 [[ 9.84802448e-01 -1.58973160e-01 6.99405011e-02 2.29336699e+01] [ 1.58572694e-01 9.87282905e-01 1.12768095e-02 1.34249463e+00] [-7.08437711e-02 -1.47758870e-05 9.97487423e-01 -1.69312822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.731052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.96, Y:1.35, Z:-1.70 [[ 9.84763800e-01 -1.59149138e-01 7.00843009e-02 2.29618059e+01] [ 1.58818655e-01 9.87254057e-01 1.02985950e-02 1.34703084e+00] [-7.08300229e-02 9.89010822e-04 9.97487910e-01 -1.69581626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.761052753999998 meters Centerline goodness : 0.997879 Centerline is valid? [True, True] Translation: X:22.99, Y:1.35, Z:-1.70 [[ 9.84817443e-01 -1.58166896e-01 7.15390603e-02 2.29911319e+01] [ 1.58236755e-01 9.87389891e-01 4.72577998e-03 1.34864705e+00] [-7.13844069e-02 6.66607816e-03 9.97426604e-01 -1.70351199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.791052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.02, Y:1.35, Z:-1.70 [[ 9.83550205e-01 -1.65499644e-01 7.23799887e-02 2.30190587e+01] [ 1.64765144e-01 9.86202314e-01 1.60450598e-02 1.35108302e+00] [-7.40367640e-02 -3.85542263e-03 9.97248060e-01 -1.69570633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.05, Y:1.36, Z:-1.71 [[ 9.83810723e-01 -1.62479616e-01 7.56097548e-02 2.30477141e+01] [ 1.63630629e-01 9.86478365e-01 -9.24407629e-03 1.36150975e+00] [-7.30854133e-02 2.14664931e-02 9.97094635e-01 -1.71452108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.851052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.08, Y:1.36, Z:-1.71 [[ 9.82977095e-01 -1.66913572e-01 7.67846980e-02 2.30754486e+01] [ 1.66475030e-01 9.85971150e-01 1.21225415e-02 1.36161709e+00] [-7.77309137e-02 8.66554242e-04 9.96973999e-01 -1.70709842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.10, Y:1.36, Z:-1.69 [[ 9.83795183e-01 -1.65420503e-01 6.91599168e-02 2.31049619e+01] [ 1.63588362e-01 9.86028709e-01 3.14043525e-02 1.36044356e+00] [-7.33885872e-02 -1.95816932e-02 9.97111164e-01 -1.69096200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.13, Y:1.38, Z:-1.73 [[ 9.83307201e-01 -1.63196443e-01 8.04603632e-02 2.31296045e+01] [ 1.64905988e-01 9.86194677e-01 -1.50357521e-02 1.38212531e+00] [-7.68958007e-02 2.80531589e-02 9.96644398e-01 -1.72867604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.941052753999998 meters Centerline goodness : 0.997173 Centerline is valid? [True, True] Translation: X:23.16, Y:1.37, Z:-1.71 [[ 9.83977975e-01 -1.63882180e-01 7.02137874e-02 2.31616596e+01] [ 1.62423926e-01 9.86377496e-01 2.60366024e-02 1.37194902e+00] [-7.35242349e-02 -1.42150443e-02 9.97192118e-01 -1.70671568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.971052754 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:23.19, Y:1.39, Z:-1.72 [[ 9.84264135e-01 -1.59456682e-01 7.61424891e-02 2.31882451e+01] [ 1.59551415e-01 9.87177575e-01 4.87671487e-03 1.38539214e+00] [-7.59437825e-02 7.34866631e-03 9.97085021e-01 -1.72422823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.22, Y:1.39, Z:-1.73 [[ 9.84244619e-01 -1.60156855e-01 7.49153581e-02 2.32152184e+01] [ 1.60256551e-01 9.87064121e-01 4.71782550e-03 1.39312133e+00] [-7.47018542e-02 7.36218256e-03 9.97178736e-01 -1.72568278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.031052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.24, Y:1.40, Z:-1.72 [[ 9.85581189e-01 -1.54063835e-01 6.99575169e-02 2.32436104e+01] [ 1.53786232e-01 9.88059721e-01 9.36928362e-03 1.39632921e+00] [-7.05656724e-02 1.52431324e-03 9.97505971e-01 -1.72199185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.061052754 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:23.27, Y:1.40, Z:-1.72 [[ 9.86546002e-01 -1.48024392e-01 6.93957149e-02 2.32719552e+01] [ 1.47436289e-01 9.88978738e-01 1.35497673e-02 1.39922080e+00] [-7.06365826e-02 -3.13602211e-03 9.97497187e-01 -1.72298910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.091052754 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:23.30, Y:1.41, Z:-1.73 [[ 9.86597810e-01 -1.48108078e-01 6.84745129e-02 2.32992954e+01] [ 1.47689654e-01 9.88970773e-01 1.11614070e-02 1.40524458e+00] [-6.93723865e-02 -8.98842577e-04 9.97590429e-01 -1.72586043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.121052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.32, Y:1.41, Z:-1.73 [[ 9.86189329e-01 -1.49396538e-01 7.14932333e-02 2.33213789e+01] [ 1.49158252e-01 9.88775147e-01 8.69043909e-03 1.40906090e+00] [-7.19890538e-02 2.09338741e-03 9.97403225e-01 -1.73088923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.151052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.35, Y:1.41, Z:-1.73 [[ 9.85646580e-01 -1.53450129e-01 7.03837874e-02 2.33529691e+01] [ 1.53507143e-01 9.88136689e-01 4.63049237e-03 1.41370187e+00] [-7.02593523e-02 6.24038514e-03 9.97509239e-01 -1.73470764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.181052754 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:23.38, Y:1.41, Z:-1.73 [[ 9.84939256e-01 -1.58476431e-01 6.91367004e-02 2.33804347e+01] [ 1.58105123e-01 9.87362729e-01 1.08448852e-02 1.41196425e+00] [-6.99816599e-02 2.49313321e-04 9.97548247e-01 -1.73025540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.211052753999997 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:23.41, Y:1.41, Z:-1.73 [[ 9.84212459e-01 -1.61704410e-01 7.19549823e-02 2.34075892e+01] [ 1.60767714e-01 9.86815810e-01 1.86627898e-02 1.41327052e+00] [-7.40241695e-02 -6.80011222e-03 9.97233263e-01 -1.72687553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.241052754 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:23.43, Y:1.42, Z:-1.73 [[ 9.83449757e-01 -1.65003011e-01 7.48370330e-02 2.34336804e+01] [ 1.64832945e-01 9.86284993e-01 8.48609428e-03 1.41938200e+00] [-7.52108736e-02 3.98996115e-03 9.97159669e-01 -1.73228195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.271052754 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:23.46, Y:1.42, Z:-1.74 [[ 9.83314335e-01 -1.66232688e-01 7.38891850e-02 2.34621797e+01] [ 1.66075474e-01 9.86078031e-01 8.30984067e-03 1.42478658e+00] [-7.42418693e-02 4.09999596e-03 9.97231836e-01 -1.73512875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.301052753999997 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:23.49, Y:1.43, Z:-1.74 [[ 9.83098460e-01 -1.67862050e-01 7.30735923e-02 2.34929602e+01] [ 1.67150628e-01 9.85804947e-01 1.57883919e-02 1.42787591e+00] [-7.46865806e-02 -3.30724691e-03 9.97201573e-01 -1.73543078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.331052753999998 meters Centerline goodness : 0.998223 Centerline is valid? [True, True] Translation: X:23.52, Y:1.43, Z:-1.74 [[ 9.83629086e-01 -1.64957697e-01 7.25450119e-02 2.35185008e+01] [ 1.65048647e-01 9.86273841e-01 4.78064521e-03 1.43450005e+00] [-7.23378517e-02 7.27107436e-03 9.97353682e-01 -1.74128546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.55, Y:1.43, Z:-1.73 [[ 9.83420803e-01 -1.66122224e-01 7.27112834e-02 2.35485381e+01] [ 1.64740050e-01 9.86028888e-01 2.46525624e-02 1.43358639e+00] [-7.57907644e-02 -1.22653823e-02 9.97048304e-01 -1.73368635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.391052753999997 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:23.57, Y:1.45, Z:-1.75 [[ 9.84683969e-01 -1.58145700e-01 7.33990344e-02 2.35707957e+01] [ 1.58512924e-01 9.87356552e-01 8.31864390e-04 1.44764685e+00] [-7.26025733e-02 1.08155720e-02 9.97302306e-01 -1.74941601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.421052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.61, Y:1.44, Z:-1.72 [[ 0.98490618 -0.16091201 0.0637741 23.60738745] [ 0.15777178 0.98612764 0.0515786 1.43738164] [-0.07118901 -0.04073832 0.99663058 -1.72092962] [ 0. 0. 0. 1. ]] SLAMing on 26.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.63, Y:1.46, Z:-1.75 [[ 9.85614737e-01 -1.53743228e-01 7.01898104e-02 2.36306681e+01] [ 1.54039980e-01 9.88063890e-01 1.19757553e-03 1.45714110e+00] [-6.95361362e-02 9.63168890e-03 9.97532935e-01 -1.75109243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.481052753999997 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:23.66, Y:1.47, Z:-1.76 [[ 9.85925926e-01 -1.51242589e-01 7.12442749e-02 2.36559518e+01] [ 1.52433179e-01 9.88246283e-01 -1.15503539e-02 1.46622863e+00] [-6.86599844e-02 2.22477847e-02 9.97392021e-01 -1.76262726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.511052753999998 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:23.69, Y:1.45, Z:-1.74 [[ 9.86258015e-01 -1.53465973e-01 6.11826991e-02 2.36906838e+01] [ 1.51838639e-01 9.87936381e-01 3.04423181e-02 1.45467534e+00] [-6.51164743e-02 -2.07340824e-02 9.97662239e-01 -1.73719874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.541052754 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:23.71, Y:1.46, Z:-1.75 [[ 9.85140354e-01 -1.57428776e-01 6.86634016e-02 2.37146761e+01] [ 1.56736109e-01 9.87520522e-01 1.53951272e-02 1.46395174e+00] [-7.02301543e-02 -4.40432667e-03 9.97521091e-01 -1.74967226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.571052754 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:23.75, Y:1.47, Z:-1.75 [[ 9.85142735e-01 -1.59628788e-01 6.33438343e-02 2.37454628e+01] [ 1.59535853e-01 9.87170372e-01 6.55507097e-03 1.46774838e+00] [-6.35775345e-02 3.64793207e-03 9.97970235e-01 -1.75094113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.601052753999998 meters Centerline goodness : 0.990578 Centerline is valid? [True, True] Translation: X:23.77, Y:1.48, Z:-1.77 [[ 9.84059388e-01 -1.63115749e-01 7.08545983e-02 2.37707576e+01] [ 1.64557580e-01 9.86253829e-01 -1.49728995e-02 1.47706418e+00] [-6.74383032e-02 2.63938835e-02 9.97374272e-01 -1.76989283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.631052754 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:23.80, Y:1.47, Z:-1.74 [[ 9.83544828e-01 -1.69842200e-01 6.15889396e-02 2.37993530e+01] [ 1.68466638e-01 9.85339775e-01 2.69169148e-02 1.46846816e+00] [-6.52576599e-02 -1.60983107e-02 9.97738584e-01 -1.74443595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.661052754 meters Centerline goodness : 0.990397 Centerline is valid? [True, True] Translation: X:23.83, Y:1.49, Z:-1.77 [[ 9.83860463e-01 -1.65236743e-01 6.86688336e-02 2.38267461e+01] [ 1.66750412e-01 9.85854482e-01 -1.68890878e-02 1.48553989e+00] [-6.49067795e-02 2.80670621e-02 9.97496541e-01 -1.77069453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.691052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.86, Y:1.48, Z:-1.76 [[ 9.83380268e-01 -1.68934439e-01 6.65161841e-02 2.38577768e+01] [ 1.67836464e-01 9.85573709e-01 2.18033342e-02 1.48055363e+00] [-6.92399363e-02 -1.02771275e-02 9.97547098e-01 -1.75634884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.88, Y:1.49, Z:-1.75 [[ 9.83943429e-01 -1.67887290e-01 6.05738034e-02 2.38822687e+01] [ 1.66085817e-01 9.85536083e-01 3.36768418e-02 1.48748181e+00] [-6.53515827e-02 -2.30756577e-02 9.97595451e-01 -1.74742132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.751052754 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:23.92, Y:1.49, Z:-1.75 [[ 0.98490062 -0.16354749 0.05677133 23.91784928] [ 0.16167712 0.98618177 0.03613898 1.4905751 ] [-0.06189729 -0.02641468 0.99773293 -1.74543799] [ 0. 0. 0. 1. ]] SLAMing on 26.781052753999997 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:23.94, Y:1.52, Z:-1.79 [[ 0.98530851 -0.15699092 0.06723826 23.93779796] [ 0.15960633 0.98654436 -0.03544064 1.51777796] [-0.06076967 0.04565161 0.9971073 -1.78579319] [ 0. 0. 0. 1. ]] SLAMing on 26.811052754 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:23.97, Y:1.50, Z:-1.75 [[ 0.98522325 -0.16100785 0.05840904 23.97399053] [ 0.15875236 0.98644906 0.0414238 1.49745777] [-0.0642871 -0.03153912 0.99743293 -1.74614923] [ 0. 0. 0. 1. ]] SLAMing on 26.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.00, Y:1.52, Z:-1.77 [[ 9.84908135e-01 -1.58524389e-01 6.94693022e-02 2.39957727e+01] [ 1.58526846e-01 9.87339277e-01 5.51287642e-03 1.51699772e+00] [-6.94636959e-02 5.58307251e-03 9.97568857e-01 -1.77204836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.871052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.02, Y:1.53, Z:-1.79 [[ 9.84456673e-01 -1.58633959e-01 7.53679361e-02 2.40195384e+01] [ 1.59127452e-01 9.87257895e-01 -5.50016391e-04 1.52610544e+00] [-7.43203387e-02 1.25345749e-02 9.97155641e-01 -1.78564468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.05, Y:1.53, Z:-1.78 [[ 9.84042891e-01 -1.63465952e-01 7.02742593e-02 2.40478408e+01] [ 1.63760860e-01 9.86498796e-01 1.58314612e-03 1.53319558e+00] [-6.95842627e-02 9.95028945e-03 9.97526452e-01 -1.78045104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.08, Y:1.53, Z:-1.77 [[ 9.84580659e-01 -1.60690401e-01 6.91340797e-02 2.40805481e+01] [ 1.59823970e-01 9.86982813e-01 1.79227717e-02 1.52890038e+00] [-7.11141659e-02 -6.59713121e-03 9.97446366e-01 -1.77346185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.961052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.10, Y:1.54, Z:-1.79 [[ 9.83927239e-01 -1.62973361e-01 7.29854183e-02 2.41041942e+01] [ 1.63531914e-01 9.86536574e-01 -1.70340585e-03 1.54183372e+00] [-7.17251748e-02 1.36114726e-02 9.97331553e-01 -1.79215388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.13, Y:1.54, Z:-1.78 [[ 9.83622204e-01 -1.66661426e-01 6.86391238e-02 2.41308003e+01] [ 1.65523367e-01 9.85960744e-01 2.19869405e-02 1.53895595e+00] [-7.13398564e-02 -1.02654639e-02 9.97399241e-01 -1.77839392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.16, Y:1.55, Z:-1.80 [[ 9.82990053e-01 -1.67867946e-01 7.45044226e-02 2.41608434e+01] [ 1.68745781e-01 9.85643682e-01 -5.60294139e-03 1.54901913e+00] [-7.24942592e-02 1.80799426e-02 9.97204943e-01 -1.80086133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.051052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.19, Y:1.55, Z:-1.78 [[ 9.82086592e-01 -1.75942030e-01 6.74561140e-02 2.41877626e+01] [ 1.74723541e-01 9.84334585e-01 2.36031689e-02 1.54613073e+00] [-7.05521754e-02 -1.13941846e-02 9.97443012e-01 -1.78340534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.081052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.21, Y:1.55, Z:-1.80 [[ 9.81702587e-01 -1.76915779e-01 7.04332188e-02 2.42144130e+01] [ 1.77515014e-01 9.84115425e-01 -2.29154941e-03 1.55446701e+00] [-6.89090058e-02 1.47525738e-02 9.97513865e-01 -1.80022649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.25, Y:1.55, Z:-1.80 [[ 9.81371251e-01 -1.77482665e-01 7.35552318e-02 2.42461331e+01] [ 1.77641312e-01 9.84085322e-01 4.43215497e-03 1.55420647e+00] [-7.31712546e-02 8.71685843e-03 9.97281296e-01 -1.80127728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.141052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.27, Y:1.55, Z:-1.80 [[ 9.81144696e-01 -1.77710433e-01 7.59874206e-02 2.42741528e+01] [ 1.76963192e-01 9.84078974e-01 1.65106651e-02 1.55476937e+00] [-7.77117403e-02 -2.75237493e-03 9.96972071e-01 -1.79749947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.171052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.30, Y:1.56, Z:-1.79 [[ 9.81406144e-01 -1.79235846e-01 6.86767255e-02 2.43011339e+01] [ 1.78336793e-01 9.83784964e-01 1.90560402e-02 1.56196365e+00] [-7.09786554e-02 -6.45412795e-03 9.97456954e-01 -1.79342997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.33, Y:1.57, Z:-1.80 [[ 9.81686550e-01 -1.77370104e-01 6.95080127e-02 2.43285412e+01] [ 1.77374561e-01 9.84124155e-01 6.15731361e-03 1.57163948e+00] [-6.94966377e-02 6.28440127e-03 9.97562391e-01 -1.80325110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.231052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.36, Y:1.57, Z:-1.80 [[ 9.81786639e-01 -1.77011799e-01 6.90059364e-02 2.43568319e+01] [ 1.76347640e-01 9.84203543e-01 1.56491339e-02 1.57379856e+00] [-7.06859685e-02 -3.19507655e-03 9.97493501e-01 -1.80094425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.261052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.38, Y:1.58, Z:-1.81 [[ 9.82227255e-01 -1.74405869e-01 6.93701143e-02 2.43835024e+01] [ 1.74061572e-01 9.84673062e-01 1.10240685e-02 1.58000034e+00] [-7.02295452e-02 1.24653062e-03 9.97530078e-01 -1.80635555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.41, Y:1.58, Z:-1.81 [[ 9.82415539e-01 -1.73175698e-01 6.97845764e-02 2.44104269e+01] [ 1.72822647e-01 9.84890282e-01 1.11114579e-02 1.58431280e+00] [-7.06543856e-02 1.14428638e-03 9.97500200e-01 -1.80776128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.44, Y:1.59, Z:-1.81 [[ 9.83067630e-01 -1.68876791e-01 7.11242843e-02 2.44353244e+01] [ 1.68075500e-01 9.85624975e-01 1.71474398e-02 1.58907602e+00] [-7.29976755e-02 -4.90284331e-03 9.97320060e-01 -1.80566449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.351052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.46, Y:1.60, Z:-1.82 [[ 9.83391990e-01 -1.67198330e-01 7.06039158e-02 2.44644564e+01] [ 1.67177525e-01 9.85907027e-01 6.24568145e-03 1.60046134e+00] [-7.06531643e-02 5.66143478e-03 9.97484876e-01 -1.81627302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.49, Y:1.60, Z:-1.82 [[ 9.83432939e-01 -1.67441217e-01 6.94484887e-02 2.44921724e+01] [ 1.67076424e-01 9.85881801e-01 1.10699209e-02 1.60344459e+00] [-7.03215621e-02 7.16680337e-04 9.97524117e-01 -1.81658103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.52, Y:1.61, Z:-1.82 [[ 9.83053482e-01 -1.70182078e-01 6.81462590e-02 2.45171317e+01] [ 1.70226458e-01 9.85391260e-01 5.19793384e-03 1.60886254e+00] [-6.80353232e-02 6.49044934e-03 9.97661801e-01 -1.82121560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.441052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.55, Y:1.61, Z:-1.83 [[ 9.82246457e-01 -1.71782588e-01 7.53832863e-02 2.45494521e+01] [ 1.71825862e-01 9.85109310e-01 5.95997508e-03 1.61292266e+00] [-7.52845971e-02 7.09863375e-03 9.97136821e-01 -1.83052831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.58, Y:1.61, Z:-1.82 [[ 9.81212704e-01 -1.81126858e-01 6.64431450e-02 2.45753254e+01] [ 1.80022515e-01 9.83409733e-01 2.22978024e-02 1.61487731e+00] [-6.93795664e-02 -9.91762496e-03 9.97541035e-01 -1.81726357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.60, Y:1.62, Z:-1.82 [[ 9.80743389e-01 -1.82779990e-01 6.88032023e-02 2.46017976e+01] [ 1.82453867e-01 9.83152340e-01 1.10481864e-02 1.62245140e+00] [-6.96634168e-02 1.71797451e-03 9.97569074e-01 -1.82388435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.531052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.63, Y:1.63, Z:-1.82 [[ 9.80269388e-01 -1.85016962e-01 6.95747892e-02 2.46293409e+01] [ 1.84687734e-01 9.82733531e-01 1.11914159e-02 1.62629126e+00] [-7.04440801e-02 1.87900775e-03 9.97513960e-01 -1.82465462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.561052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.66, Y:1.63, Z:-1.83 [[ 9.79724210e-01 -1.87320849e-01 7.10729969e-02 2.46563537e+01] [ 1.86981803e-01 9.82296606e-01 1.14535140e-02 1.63056580e+00] [-7.19602456e-02 2.06807212e-03 9.97405357e-01 -1.82517653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.68, Y:1.64, Z:-1.83 [[ 9.79428329e-01 -1.88510346e-01 7.19999804e-02 2.46829552e+01] [ 1.88165023e-01 9.82068793e-01 1.16107408e-02 1.63812499e+00] [-7.28976786e-02 2.17598956e-03 9.97337051e-01 -1.82946709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.621052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.71, Y:1.64, Z:-1.83 [[ 9.79506940e-01 -1.88071393e-01 7.20784686e-02 2.47099813e+01] [ 1.87722654e-01 9.82153059e-01 1.16435833e-02 1.64356996e+00] [-7.29819134e-02 2.12579076e-03 9.97330999e-01 -1.83246307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.651052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.74, Y:1.65, Z:-1.83 [[ 9.79474708e-01 -1.88240447e-01 7.20751662e-02 2.47380936e+01] [ 1.87890665e-01 9.82120690e-01 1.16639886e-02 1.64818962e+00] [-7.29821464e-02 2.11766902e-03 9.97330999e-01 -1.83470094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.681052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.76, Y:1.65, Z:-1.84 [[ 9.80084937e-01 -1.85037054e-01 7.20749896e-02 2.47647577e+01] [ 1.84677702e-01 9.82729772e-01 1.16765557e-02 1.65180285e+00] [-7.29908336e-02 1.86662709e-03 9.97330865e-01 -1.83635885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.711052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.79, Y:1.66, Z:-1.84 [[ 9.80586341e-01 -1.82460615e-01 7.18230657e-02 2.47916398e+01] [ 1.82095869e-01 9.83211770e-01 1.16494974e-02 1.65591521e+00] [-7.27428580e-02 1.65534551e-03 9.97349355e-01 -1.83791788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.82, Y:1.66, Z:-1.85 [[ 9.81571924e-01 -1.77498960e-01 7.07861415e-02 2.48214845e+01] [ 1.77751924e-01 9.84071459e-01 2.75990326e-03 1.66459757e+00] [-7.01485015e-02 9.87332926e-03 9.97487697e-01 -1.84509601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.85, Y:1.66, Z:-1.84 [[ 9.82185200e-01 -1.74248349e-01 7.03544343e-02 2.48481816e+01] [ 1.73297374e-01 9.84677492e-01 1.94488274e-02 1.66436149e+00] [-7.26653540e-02 -6.91011174e-03 9.97332440e-01 -1.83929184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.801052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.87, Y:1.67, Z:-1.84 [[ 9.83175122e-01 -1.67405696e-01 7.30890764e-02 2.48738016e+01] [ 1.66982101e-01 9.85887970e-01 1.19116920e-02 1.67147150e+00] [-7.40517263e-02 4.93288308e-04 9.97254280e-01 -1.84436281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.831052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.90, Y:1.68, Z:-1.85 [[ 9.83636856e-01 -1.64321137e-01 7.38721867e-02 2.49021115e+01] [ 1.63879066e-01 9.86406863e-01 1.20479445e-02 1.67543285e+00] [-7.48477639e-02 2.55302760e-04 9.97194939e-01 -1.84524201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.93, Y:1.68, Z:-1.85 [[ 9.84359294e-01 -1.60166945e-01 7.33711799e-02 2.49299541e+01] [ 1.59717828e-01 9.87089937e-01 1.19863335e-02 1.67790934e+00] [-7.43437678e-02 -8.01732941e-05 9.97232670e-01 -1.84698559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.891052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.96, Y:1.68, Z:-1.85 [[ 9.84424213e-01 -1.60140120e-01 7.25541940e-02 2.49577368e+01] [ 1.59699400e-01 9.87094287e-01 1.18730714e-02 1.68202166e+00] [-7.35191855e-02 -1.01277712e-04 9.97293798e-01 -1.85028794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.921052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.99, Y:1.69, Z:-1.86 [[ 9.83940181e-01 -1.64021534e-01 7.04177264e-02 2.49859172e+01] [ 1.64273977e-01 9.86412228e-01 2.23068365e-03 1.68880904e+00] [-6.98267866e-02 9.37294069e-03 9.97515097e-01 -1.86129280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.02, Y:1.69, Z:-1.87 [[ 9.84096566e-01 -1.63597802e-01 6.92077094e-02 2.50192655e+01] [ 1.63723154e-01 9.86498633e-01 3.89573009e-03 1.68900779e+00] [-6.89106436e-02 7.49712983e-03 9.97594665e-01 -1.86535230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.981052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.05, Y:1.69, Z:-1.86 [[ 9.82500016e-01 -1.72734843e-01 6.96878226e-02 2.50452390e+01] [ 1.72156827e-01 9.84966300e-01 1.42623746e-02 1.68839241e+00] [-7.11037658e-02 -2.01554881e-03 9.97466888e-01 -1.85748357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.011052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.07, Y:1.69, Z:-1.85 [[ 9.82051226e-01 -1.74221779e-01 7.22645223e-02 2.50707252e+01] [ 1.72979224e-01 9.84653164e-01 2.31589046e-02 1.68853080e+00] [-7.51902761e-02 -1.02429697e-02 9.97116595e-01 -1.85309315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.041052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.10, Y:1.69, Z:-1.86 [[ 9.80794835e-01 -1.79671609e-01 7.58920548e-02 2.50977209e+01] [ 1.79243427e-01 9.83725691e-01 1.24723245e-02 1.69492414e+00] [-7.68978866e-02 1.37036057e-03 9.97038032e-01 -1.86124673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.13, Y:1.70, Z:-1.86 [[ 9.80441772e-01 -1.83308511e-01 7.16374249e-02 2.51309477e+01] [ 1.82767987e-01 9.83055175e-01 1.40849744e-02 1.69616664e+00] [-7.30054369e-02 -7.16469332e-04 9.97331285e-01 -1.86090345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.101052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.15, Y:1.70, Z:-1.87 [[ 9.79413964e-01 -1.86213218e-01 7.79289709e-02 2.51524515e+01] [ 1.86037638e-01 9.82495999e-01 9.57129537e-03 1.70432350e+00] [-7.83472038e-02 5.12346130e-03 9.96912968e-01 -1.86913181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.18, Y:1.71, Z:-1.88 [[ 9.79178949e-01 -1.88386081e-01 7.56258510e-02 2.51819847e+01] [ 1.88983140e-01 9.81980043e-01 -7.52927166e-04 1.71148716e+00] [-7.41212354e-02 1.50292612e-02 9.97135981e-01 -1.87683362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.21, Y:1.71, Z:-1.86 [[ 9.78750810e-01 -1.91134178e-01 7.42602040e-02 2.52108874e+01] [ 1.89815269e-01 9.81514198e-01 2.44957762e-02 1.70595025e+00] [-7.75694246e-02 -9.87954020e-03 9.96938002e-01 -1.86407715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.191052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.24, Y:1.71, Z:-1.87 [[ 9.78548440e-01 -1.91326188e-01 7.64018311e-02 2.52361812e+01] [ 1.90919744e-01 9.81524042e-01 1.26572245e-02 1.71403127e+00] [-7.74118926e-02 2.20091079e-03 9.96996768e-01 -1.87188764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.26, Y:1.72, Z:-1.87 [[ 9.78289291e-01 -1.92344690e-01 7.71594700e-02 2.52634938e+01] [ 1.91932111e-01 9.81324757e-01 1.27978801e-02 1.72101846e+00] [-7.81801024e-02 2.28935086e-03 9.96936623e-01 -1.87478942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.29, Y:1.73, Z:-1.88 [[ 9.78110821e-01 -1.93461767e-01 7.66274513e-02 2.52914334e+01] [ 1.93057273e-01 9.81105002e-01 1.27225811e-02 1.72677673e+00] [-7.76409087e-02 2.34939260e-03 9.96978620e-01 -1.87622612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.281052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.32, Y:1.73, Z:-1.88 [[ 9.78113866e-01 -1.93637773e-01 7.61424796e-02 2.53191050e+01] [ 1.93237294e-01 9.81070331e-01 1.26630581e-02 1.73279890e+00] [-7.71531741e-02 2.32765404e-03 9.97016534e-01 -1.87857652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.311052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.34, Y:1.74, Z:-1.88 [[ 9.78138061e-01 -1.93479172e-01 7.62347872e-02 2.53441805e+01] [ 1.93075580e-01 9.81101694e-01 1.26998441e-02 1.74250015e+00] [-7.72512342e-02 2.29687490e-03 9.97009013e-01 -1.88324029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.37, Y:1.75, Z:-1.89 [[ 9.78109660e-01 -1.93749438e-01 7.59121133e-02 2.53713049e+01] [ 1.93349383e-01 9.81048351e-01 1.26549994e-02 1.74899645e+00] [-7.69253526e-02 2.29958313e-03 9.97034203e-01 -1.88658274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.371052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.40, Y:1.76, Z:-1.89 [[ 9.78307294e-01 -1.93561402e-01 7.38161336e-02 2.53972150e+01] [ 1.93181044e-01 9.81085695e-01 1.23265448e-02 1.75557731e+00] [-7.48058960e-02 2.20072911e-03 9.97195685e-01 -1.88846530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.42, Y:1.76, Z:-1.89 [[ 9.78389029e-01 -1.93151622e-01 7.38062209e-02 2.54247465e+01] [ 1.92769561e-01 9.81166542e-01 1.23334456e-02 1.76169962e+00] [-7.47984195e-02 2.16068492e-03 9.97196334e-01 -1.89035976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.45, Y:1.77, Z:-1.89 [[ 9.79044971e-01 -1.89391625e-01 7.48448835e-02 2.54506029e+01] [ 1.88986107e-01 9.81899834e-01 1.25286703e-02 1.76875424e+00] [-7.58630039e-02 1.87851153e-03 9.97116481e-01 -1.89137800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.461052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.48, Y:1.77, Z:-1.89 [[ 9.79530131e-01 -1.86739973e-01 7.51592006e-02 2.54769134e+01] [ 1.86322138e-01 9.82407964e-01 1.25957732e-02 1.77471863e+00] [-7.61891315e-02 1.66588356e-03 9.97091992e-01 -1.89283995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.50, Y:1.78, Z:-1.90 [[ 9.80664416e-01 -1.80515438e-01 7.55743377e-02 2.55040153e+01] [ 1.80073400e-01 9.83571450e-01 1.26796381e-02 1.78287121e+00] [-7.66216314e-02 1.17445803e-03 9.97059550e-01 -1.89651809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.53, Y:1.79, Z:-1.90 [[ 9.81277907e-01 -1.77253445e-01 7.53318293e-02 2.55305611e+01] [ 1.76802966e-01 9.84164831e-01 1.26608155e-02 1.78899479e+00] [-7.63831103e-02 8.95112314e-04 9.97078141e-01 -1.89978919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.551052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.56, Y:1.80, Z:-1.90 [[ 9.82130373e-01 -1.72097480e-01 7.61734053e-02 2.55573963e+01] [ 1.71620203e-01 9.85079805e-01 1.28173108e-02 1.79628193e+00] [-7.72427101e-02 4.84625064e-04 9.97012201e-01 -1.90441688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.581052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.58, Y:1.80, Z:-1.91 [[ 9.82398023e-01 -1.70502764e-01 7.63081387e-02 2.55844635e+01] [ 1.70017290e-01 9.85357140e-01 1.28618855e-02 1.80157599e+00] [-7.73837564e-02 3.38212089e-04 9.97001324e-01 -1.90689548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.61, Y:1.81, Z:-1.91 [[ 9.82549298e-01 -1.69686094e-01 7.61807539e-02 2.56109114e+01] [ 1.69198083e-01 9.85498131e-01 1.28624461e-02 1.80688549e+00] [-7.72585688e-02 2.51650181e-04 9.97011058e-01 -1.90947300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.641052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.64, Y:1.81, Z:-1.91 [[ 9.82212537e-01 -1.71976050e-01 7.53841483e-02 2.56371832e+01] [ 1.71504225e-01 9.85101042e-01 1.27372451e-02 1.81068568e+00] [-7.64515042e-02 4.18018082e-04 9.97073213e-01 -1.91091363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.671052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.66, Y:1.81, Z:-1.91 [[ 9.81844057e-01 -1.74259071e-01 7.49401374e-02 2.56635552e+01] [ 1.73798733e-01 9.84699668e-01 1.26713950e-02 1.81407656e+00] [-7.60016340e-02 5.83166996e-04 9.97107523e-01 -1.91197952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.69, Y:1.82, Z:-1.91 [[ 9.80769332e-01 -1.79919915e-01 7.56329336e-02 2.56916881e+01] [ 1.79467109e-01 9.83680730e-01 1.27975556e-02 1.81749644e+00] [-7.67011944e-02 1.02217393e-03 9.97053600e-01 -1.91344618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.731052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.72, Y:1.82, Z:-1.92 [[ 9.80307681e-01 -1.82551357e-01 7.53117101e-02 2.57189593e+01] [ 1.82108541e-01 9.83195584e-01 1.27640971e-02 1.82200160e+00] [-7.63762440e-02 1.20216323e-03 9.97078344e-01 -1.91621059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.761052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.75, Y:1.83, Z:-1.92 [[ 9.79709508e-01 -1.86247688e-01 7.40343050e-02 2.57454088e+01] [ 1.85828746e-01 9.82501762e-01 1.25683957e-02 1.82732963e+00] [-7.50796698e-02 1.44432530e-03 9.97176492e-01 -1.92085142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.791052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.77, Y:1.83, Z:-1.92 [[ 9.79395120e-01 -1.88065745e-01 7.35967000e-02 2.57733478e+01] [ 1.87656249e-01 9.82155193e-01 1.25023664e-02 1.83218816e+00] [-7.46346479e-02 1.56612402e-03 9.97209715e-01 -1.92373811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.821052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.80, Y:1.83, Z:-1.92 [[ 9.78887242e-01 -1.90325313e-01 7.45388638e-02 2.58000339e+01] [ 1.89910112e-01 9.81719538e-01 1.26845635e-02 1.83461804e+00] [-7.55904525e-02 1.73892660e-03 9.97137433e-01 -1.92405496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.851052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.83, Y:1.84, Z:-1.92 [[ 9.78801622e-01 -1.90474116e-01 7.52794529e-02 2.58285426e+01] [ 1.90050352e-01 9.81690642e-01 1.28197523e-02 1.83760467e+00] [-7.63429654e-02 1.75889220e-03 9.97080066e-01 -1.92389695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.86, Y:1.84, Z:-1.92 [[ 9.78857844e-01 -1.89540529e-01 7.68876406e-02 2.58559589e+01] [ 1.89093883e-01 9.81871425e-01 1.31152250e-02 1.84231518e+00] [-7.79796439e-02 1.70104164e-03 9.96953500e-01 -1.92378696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.88, Y:1.85, Z:-1.93 [[ 9.79039707e-01 -1.88316461e-01 7.75768126e-02 2.58829007e+01] [ 1.87856193e-01 9.82107103e-01 1.32547588e-02 1.84840157e+00] [-7.86848280e-02 1.59634945e-03 9.96898264e-01 -1.92655661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.941052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.91, Y:1.85, Z:-1.93 [[ 9.80304102e-01 -1.82079658e-01 7.64909522e-02 2.59103083e+01] [ 1.81611584e-01 9.83283213e-01 1.30903147e-02 1.85485674e+00] [-7.75957492e-02 1.05915380e-03 9.96984342e-01 -1.93002995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.94, Y:1.86, Z:-1.93 [[ 9.81019656e-01 -1.78819132e-01 7.49943520e-02 2.59370274e+01] [ 1.78358107e-01 9.83881666e-01 1.28550542e-02 1.85940036e+00] [-7.60842977e-02 7.64789857e-04 9.97101096e-01 -1.93179629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.96, Y:1.86, Z:-1.93 [[ 9.82119393e-01 -1.73545810e-01 7.29612889e-02 2.59648815e+01] [ 1.73094342e-01 9.84825740e-01 1.25144561e-02 1.86393473e+00] [-7.40259867e-02 3.38496205e-04 9.97256255e-01 -1.93371450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.031052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.98, Y:1.88, Z:-1.96 [[ 9.81218756e-01 -1.73378614e-01 8.45553609e-02 2.59835894e+01] [ 1.74987752e-01 9.84498100e-01 -1.19489470e-02 1.88151231e+00] [-8.11729003e-02 2.65206834e-02 9.96347135e-01 -1.96147312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.061052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.02, Y:1.87, Z:-1.93 [[ 0.9829131 -0.17278539 0.06345903 26.02330842] [ 0.17056236 0.98457632 0.03896101 1.86518707] [-0.06921216 -0.02747157 0.99722364 -1.92582065] [ 0. 0. 0. 1. ]] SLAMing on 29.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.05, Y:1.88, Z:-1.94 [[ 9.82724387e-01 -1.72750233e-01 6.64088645e-02 2.60482415e+01] [ 1.72373251e-01 9.84965635e-01 1.14087939e-02 1.87711380e+00] [-6.73813212e-02 2.35411932e-04 9.97727268e-01 -1.94142284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.121052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.08, Y:1.88, Z:-1.94 [[ 9.82420096e-01 -1.74784505e-01 6.55830171e-02 2.60766348e+01] [ 1.74223103e-01 9.84603404e-01 1.42283850e-02 1.88019789e+00] [-6.70601631e-02 -2.55217459e-03 9.97745669e-01 -1.94138862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.151052754 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:26.11, Y:1.88, Z:-1.93 [[ 9.81971292e-01 -1.77863388e-01 6.40077925e-02 2.61087017e+01] [ 1.75904183e-01 9.83781763e-01 3.50878986e-02 1.87508787e+00] [-6.92105515e-02 -2.31960707e-02 9.97332363e-01 -1.93047314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.13, Y:1.89, Z:-1.96 [[ 9.80776739e-01 -1.82882199e-01 6.80521022e-02 2.61308072e+01] [ 1.84109422e-01 9.82830435e-01 -1.21678365e-02 1.89276566e+00] [-6.46583965e-02 2.44629642e-02 9.97607566e-01 -1.95576042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.211052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.14, Y:1.91, Z:-1.99 [[ 0.97537647 -0.19953377 0.09395218 26.14386464] [ 0.20295382 0.97877992 -0.02827754 1.9108573 ] [-0.08631618 0.04664921 0.99517504 -1.98925439] [ 0. 0. 0. 1. ]] SLAMing on 29.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.20, Y:1.87, Z:-1.91 [[ 0.9777502 -0.20188498 0.05698249 26.19773427] [ 0.1972413 0.97725346 0.0779201 1.87123704] [-0.07141723 -0.06494709 0.99532982 -1.91017163] [ 0. 0. 0. 1. ]] SLAMing on 29.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.20, Y:1.92, Z:-2.00 [[ 0.97360376 -0.20616912 0.09792859 26.20053389] [ 0.21084436 0.97670267 -0.03995695 1.91961351] [-0.08740922 0.05954993 0.99439099 -1.99684409] [ 0. 0. 0. 1. ]] SLAMing on 29.301052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.24, Y:1.90, Z:-1.97 [[ 9.73298494e-01 -2.11582280e-01 8.90111266e-02 2.62388588e+01] [ 2.11376555e-01 9.77332991e-01 1.18396462e-02 1.90432279e+00] [-8.94985699e-02 7.29135546e-03 9.95960261e-01 -1.97385218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.331052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.28, Y:1.88, Z:-1.92 [[ 0.97586767 -0.20881607 0.06386027 26.28466235] [ 0.20443369 0.97645367 0.0688846 1.88301683] [-0.0767408 -0.05416707 0.99557861 -1.92210749] [ 0. 0. 0. 1. ]] SLAMing on 29.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.29, Y:1.93, Z:-2.00 [[ 0.97380531 -0.20693643 0.09423657 26.29256325] [ 0.21061432 0.97708369 -0.03080687 1.92827617] [-0.08570195 0.04984746 0.99507307 -1.99638238] [ 0. 0. 0. 1. ]] SLAMing on 29.391052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.34, Y:1.90, Z:-1.94 [[ 0.97601311 -0.20614952 0.07000563 26.33770608] [ 0.2031061 0.97796998 0.04819368 1.90170873] [-0.07839851 -0.03281909 0.99638174 -1.94401328] [ 0. 0. 0. 1. ]] SLAMing on 29.421052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.36, Y:1.92, Z:-1.96 [[ 9.76988977e-01 -1.99971235e-01 7.41892440e-02 2.63616325e+01] [ 1.99080953e-01 9.79793317e-01 1.92828924e-02 1.91556759e+00] [-7.65461493e-02 -4.06950792e-03 9.97057735e-01 -1.95992494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.39, Y:1.93, Z:-1.98 [[ 9.77294456e-01 -1.97294372e-01 7.72688687e-02 2.63855865e+01] [ 1.97797543e-01 9.80242205e-01 1.16254279e-03 1.92900365e+00] [-7.59715694e-02 1.41474457e-02 9.97009614e-01 -1.97532279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.481052753999997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:26.42, Y:1.92, Z:-1.96 [[ 9.78533544e-01 -1.94554334e-01 6.79758360e-02 2.64160978e+01] [ 1.93088070e-01 9.80793828e-01 2.75765097e-02 1.92314387e+00] [-7.20354099e-02 -1.38592168e-02 9.97305782e-01 -1.95815210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.511052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.44, Y:1.94, Z:-1.97 [[ 9.79604879e-01 -1.90886217e-01 6.27433927e-02 2.64421407e+01] [ 1.91343497e-01 9.81522267e-01 -1.30611877e-03 1.94019705e+00] [-6.13347169e-02 1.32850205e-02 9.98028838e-01 -1.97272522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.541052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.47, Y:1.94, Z:-1.97 [[ 9.79504535e-01 -1.92069541e-01 6.06642993e-02 2.64713765e+01] [ 1.91780289e-01 9.81380533e-01 1.06099586e-02 1.94138285e+00] [-6.15726122e-02 1.24171424e-03 9.98101834e-01 -1.96882862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.571052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.50, Y:1.95, Z:-1.97 [[ 9.79591631e-01 -1.91759911e-01 6.02359754e-02 2.64986041e+01] [ 1.91473238e-01 9.81441134e-01 1.05498979e-02 1.94769690e+00] [-6.11411115e-02 1.19898556e-03 9.98128412e-01 -1.97192340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.601052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.53, Y:1.94, Z:-1.96 [[ 9.79557033e-01 -1.91848388e-01 6.05162331e-02 2.65259392e+01] [ 1.89971559e-01 9.81150102e-01 3.54299804e-02 1.94496008e+00] [-6.61726930e-02 -2.32093233e-02 9.97538221e-01 -1.96120697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.55, Y:1.96, Z:-1.97 [[ 9.79588750e-01 -1.90475041e-01 6.42272488e-02 2.65509649e+01] [ 1.90004385e-01 9.81691591e-01 1.34146790e-02 1.95668140e+00] [-6.56065116e-02 -9.37409722e-04 9.97845132e-01 -1.97368054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.58, Y:1.96, Z:-1.98 [[ 9.79615130e-01 -1.90009800e-01 6.51956512e-02 2.65774660e+01] [ 1.89617178e-01 9.81782114e-01 1.22150239e-02 1.96098508e+00] [-6.63288985e-02 3.96193226e-04 9.97797735e-01 -1.97571176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.691052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.61, Y:1.98, Z:-1.99 [[ 9.79759109e-01 -1.90042641e-01 6.28958161e-02 2.66070506e+01] [ 1.91363911e-01 9.81394532e-01 -1.56405547e-02 1.97513342e+00] [-5.87532376e-02 2.73599653e-02 9.97897535e-01 -1.99041712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.64, Y:1.97, Z:-1.98 [[ 9.79271622e-01 -1.92221263e-01 6.38598207e-02 2.66367950e+01] [ 1.90979785e-01 9.81273909e-01 2.50646794e-02 1.97194996e+00] [-6.74819402e-02 -1.23491944e-02 9.97644067e-01 -1.97605535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.66, Y:1.99, Z:-2.00 [[ 9.79058419e-01 -1.90194865e-01 7.25983791e-02 2.66581663e+01] [ 1.91068324e-01 9.81562869e-01 -5.21822143e-03 1.99121522e+00] [-7.02673943e-02 1.89801943e-02 9.97347605e-01 -2.00268438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.781052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.69, Y:1.99, Z:-1.99 [[ 9.79085001e-01 -1.90978089e-01 7.01422102e-02 2.66877029e+01] [ 1.90073078e-01 9.81577856e-01 1.94200273e-02 1.98906146e+00] [-7.25588400e-02 -5.68171166e-03 9.97347950e-01 -1.99367202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.72, Y:1.99, Z:-2.00 [[ 9.79654349e-01 -1.88349905e-01 6.92940749e-02 2.67155486e+01] [ 1.88174083e-01 9.82093389e-01 9.11531622e-03 1.99398461e+00] [-6.97701218e-02 4.10948983e-03 9.97554631e-01 -1.99651828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.74, Y:2.00, Z:-1.99 [[ 9.79745659e-01 -1.88646406e-01 6.71638122e-02 2.67427302e+01] [ 1.87965439e-01 9.82039125e-01 1.63753202e-02 1.99515361e+00] [-6.90466367e-02 -3.41917346e-03 9.97607574e-01 -1.99107644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.871052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.77, Y:2.00, Z:-2.00 [[ 9.79472625e-01 -1.89661577e-01 6.82778368e-02 2.67700483e+01] [ 1.89418160e-01 9.81844759e-01 1.00812133e-02 2.00375397e+00] [-6.89502550e-02 3.05878980e-03 9.97615410e-01 -1.99603027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.80, Y:2.01, Z:-1.99 [[ 9.79953189e-01 -1.89798351e-01 6.05667597e-02 2.68008475e+01] [ 1.89419092e-01 9.81823052e-01 1.19959101e-02 2.00670824e+00] [-6.17426448e-02 -2.82929728e-04 9.98092063e-01 -1.99290346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.83, Y:2.01, Z:-2.00 [[ 9.79851248e-01 -1.90560790e-01 5.98173652e-02 2.68275800e+01] [ 1.90269478e-01 9.81674874e-01 1.05814462e-02 2.01235700e+00] [-6.07376132e-02 1.01317564e-03 9.98153253e-01 -1.99698150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.961052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.85, Y:2.02, Z:-2.00 [[ 9.79829122e-01 -1.91154782e-01 5.82643978e-02 2.68549568e+01] [ 1.90878912e-01 9.81559383e-01 1.03159580e-02 2.01786697e+00] [-5.91619110e-02 1.01356881e-03 9.98247886e-01 -2.00110563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.88, Y:2.02, Z:-2.01 [[ 9.80051369e-01 -1.91032887e-01 5.48247190e-02 2.68822418e+01] [ 1.90787664e-01 9.81583194e-01 9.72116662e-03 2.02398001e+00] [-5.56720853e-02 9.32637388e-04 9.98448671e-01 -2.00601398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.91, Y:2.03, Z:-2.01 [[ 9.80428534e-01 -1.89592956e-01 5.30509257e-02 2.69084803e+01] [ 1.89360372e-01 9.81862444e-01 9.42286060e-03 2.02831535e+00] [-5.38752195e-02 8.07301616e-04 9.98547349e-01 -2.00712385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.051052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.94, Y:2.03, Z:-2.01 [[ 9.80047471e-01 -1.90043553e-01 5.82271605e-02 2.69355693e+01] [ 1.89166880e-01 9.81735798e-01 2.02660850e-02 2.03119246e+00] [-6.10151266e-02 -8.84707508e-03 9.98097632e-01 -2.00504050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.081052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.96, Y:2.04, Z:-2.01 [[ 9.80615692e-01 -1.87385477e-01 5.72673311e-02 2.69634046e+01] [ 1.87664449e-01 9.82233062e-01 5.15250939e-04 2.03956134e+00] [-5.63464165e-02 1.02417790e-02 9.98358747e-01 -2.01222879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.99, Y:2.04, Z:-2.01 [[ 9.80383953e-01 -1.88575640e-01 5.73282873e-02 2.69915887e+01] [ 1.88300483e-01 9.82058357e-01 1.02132983e-02 2.04095003e+00] [-5.82257029e-02 7.81990460e-04 9.98303138e-01 -2.00930026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.141052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.02, Y:2.04, Z:-2.01 [[ 9.80263639e-01 -1.88660522e-01 5.90796463e-02 2.70193449e+01] [ 1.87837821e-01 9.82011739e-01 1.92327003e-02 2.04258310e+00] [-6.16453575e-02 -7.75572477e-03 9.98067983e-01 -2.00754776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.171052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.05, Y:2.05, Z:-2.02 [[ 9.79691708e-01 -1.88873389e-01 6.73127056e-02 2.70453923e+01] [ 1.88664986e-01 9.81995579e-01 9.49762812e-03 2.05038503e+00] [-6.78946285e-02 3.39480315e-03 9.97686722e-01 -2.02090648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.07, Y:2.06, Z:-2.03 [[ 9.79614315e-01 -1.89116937e-01 6.77538037e-02 2.70733517e+01] [ 1.89055889e-01 9.81938668e-01 7.37047745e-03 2.05574322e+00] [-6.79239619e-02 5.58903036e-03 9.97674846e-01 -2.02516246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.231052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.10, Y:2.06, Z:-2.03 [[ 9.79394388e-01 -1.88357080e-01 7.28576883e-02 2.70983911e+01] [ 1.88508368e-01 9.82059575e-01 4.85654701e-03 2.06102614e+00] [-7.24653554e-02 8.97780901e-03 9.97330523e-01 -2.03261627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.261052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.13, Y:2.06, Z:-2.03 [[ 9.80012449e-01 -1.84999283e-01 7.31496120e-02 2.71271258e+01] [ 1.84874133e-01 9.82725125e-01 8.53718281e-03 2.06294851e+00] [-7.34653343e-02 5.15692571e-03 9.97284438e-01 -2.03241122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.16, Y:2.06, Z:-2.03 [[ 9.80795827e-01 -1.81938484e-01 7.02704337e-02 2.71582226e+01] [ 1.81210623e-01 9.83303333e-01 1.66513166e-02 2.06300457e+00] [-7.21266670e-02 -3.59779279e-03 9.97388991e-01 -2.02771131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.321052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.19, Y:2.06, Z:-2.02 [[ 9.82373015e-01 -1.74772763e-01 6.63154599e-02 2.71873188e+01] [ 1.73757526e-01 9.84568255e-01 2.08248403e-02 2.06351351e+00] [-6.89317115e-02 -8.93495092e-03 9.97581368e-01 -2.02452176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.351052753999998 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:27.21, Y:2.08, Z:-2.04 [[ 9.82651516e-01 -1.71387376e-01 7.08686516e-02 2.72109036e+01] [ 1.71833703e-01 9.85125950e-01 -2.04570608e-04 2.07667048e+00] [-6.97794869e-02 1.23786445e-02 9.97485635e-01 -2.04210231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.381052754 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:27.24, Y:2.07, Z:-2.03 [[ 9.83193811e-01 -1.70712783e-01 6.47076191e-02 2.72429779e+01] [ 1.69445399e-01 9.85231673e-01 2.46334747e-02 2.07471585e+00] [-6.79572449e-02 -1.32550715e-02 9.97600178e-01 -2.03100092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.411052754 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:27.27, Y:2.09, Z:-2.05 [[ 9.83927284e-01 -1.64349460e-01 6.98308949e-02 2.72682092e+01] [ 1.64464552e-01 9.86374316e-01 4.13750932e-03 2.08762539e+00] [-6.95593987e-02 7.41369855e-03 9.97550263e-01 -2.04813056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.441052753999998 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:27.30, Y:2.09, Z:-2.05 [[ 9.83791597e-01 -1.65433033e-01 6.91809634e-02 2.72959370e+01] [ 1.65049607e-01 9.86220968e-01 1.12619077e-02 2.08849365e+00] [-7.00908082e-02 3.38920592e-04 9.97540557e-01 -2.04560603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.471052754 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:27.33, Y:2.09, Z:-2.04 [[ 9.83513227e-01 -1.68362217e-01 6.59992072e-02 2.73264853e+01] [ 1.67199796e-01 9.85659432e-01 2.27971924e-02 2.08686843e+00] [-6.88909269e-02 -1.13862863e-02 9.97559218e-01 -2.03827026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.501052754 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:27.35, Y:2.09, Z:-2.04 [[ 9.82143966e-01 -1.74878043e-01 6.93606583e-02 2.73536836e+01] [ 1.74187614e-01 9.84583661e-01 1.59276161e-02 2.09025989e+00] [-7.10767612e-02 -3.56144446e-03 9.97464491e-01 -2.04337384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.531052753999997 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:27.38, Y:2.10, Z:-2.05 [[ 9.81787999e-01 -1.77798280e-01 6.69335303e-02 2.73802350e+01] [ 1.77636299e-01 9.84060255e-01 8.41183264e-03 2.09573085e+00] [-6.73622363e-02 3.63118830e-03 9.97721977e-01 -2.04898327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.561052754 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:27.41, Y:2.10, Z:-2.05 [[ 9.80587433e-01 -1.84678750e-01 6.58942019e-02 2.74090177e+01] [ 1.84061045e-01 9.82794512e-01 1.53778985e-02 2.09649253e+00] [-6.76004310e-02 -2.95081838e-03 9.97708111e-01 -2.04845870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.591052754 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:27.43, Y:2.11, Z:-2.08 [[ 9.79703268e-01 -1.86525992e-01 7.34136334e-02 2.74299056e+01] [ 1.88283696e-01 9.81954510e-01 -1.77366668e-02 2.11468182e+00] [-6.87804991e-02 3.11992606e-02 9.97143846e-01 -2.07766241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.621052753999997 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:27.46, Y:2.11, Z:-2.06 [[ 9.79570560e-01 -1.89970148e-01 6.59762134e-02 2.74631257e+01] [ 1.89158833e-01 9.81774262e-01 1.83911482e-02 2.10813276e+00] [-6.82675174e-02 -5.53544385e-03 9.97651695e-01 -2.05862491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.651052754 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:27.49, Y:2.11, Z:-2.04 [[ 9.79545009e-01 -1.92813653e-01 5.75714337e-02 2.74934530e+01] [ 1.91232153e-01 9.81027223e-01 3.18724191e-02 2.10890112e+00] [-6.26245813e-02 -2.02109598e-02 9.97832490e-01 -2.04419282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.681052754 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:27.51, Y:2.13, Z:-2.08 [[ 9.77900711e-01 -1.95888952e-01 7.30596868e-02 2.75132709e+01] [ 1.97024458e-01 9.80360831e-01 -8.60257094e-03 2.13178140e+00] [-6.99397066e-02 2.28070054e-02 9.97290468e-01 -2.07826059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.711052753999997 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:27.54, Y:2.13, Z:-2.07 [[ 9.77564282e-01 -1.99433348e-01 6.77821079e-02 2.75444869e+01] [ 1.98965022e-01 9.79911385e-01 1.36600770e-02 2.12916325e+00] [-6.91447341e-02 1.32665297e-04 9.97606630e-01 -2.06554487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.741052754 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:27.58, Y:2.13, Z:-2.05 [[ 9.77327569e-01 -2.03236463e-01 5.93781415e-02 2.75771732e+01] [ 2.01687777e-01 9.78957018e-01 3.10676125e-02 2.12575268e+00] [-6.44427200e-02 -1.83873888e-02 9.97751993e-01 -2.04697677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.771052754 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:27.60, Y:2.15, Z:-2.08 [[ 9.76239224e-01 -2.04089199e-01 7.28325233e-02 2.75997309e+01] [ 2.04936084e-01 9.78766040e-01 -4.27098212e-03 2.14589568e+00] [-7.04143391e-02 1.90955124e-02 9.97335040e-01 -2.07701426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.801052753999997 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:27.63, Y:2.14, Z:-2.05 [[ 9.76837987e-01 -2.05465976e-01 5.97601913e-02 2.76316662e+01] [ 2.04130472e-01 9.78551143e-01 2.77202318e-02 2.14134065e+00] [-6.41739680e-02 -1.48792993e-02 9.97827795e-01 -2.05479040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.831052753999998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:27.66, Y:2.15, Z:-2.07 [[ 9.77788383e-01 -2.00235501e-01 6.19323955e-02 2.76559558e+01] [ 1.99924100e-01 9.79746820e-01 1.12482682e-02 2.15246815e+00] [-6.29303702e-02 1.38335242e-03 9.98016961e-01 -2.06544308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.861052754 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:27.68, Y:2.16, Z:-2.08 [[ 9.78128214e-01 -1.96680698e-01 6.76897266e-02 2.76817786e+01] [ 1.97152299e-01 9.80372830e-01 -2.92720612e-04 2.16337629e+00] [-6.63035963e-02 1.36315035e-02 9.97706377e-01 -2.07935497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.891052753999997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:27.71, Y:2.16, Z:-2.06 [[ 9.79267324e-01 -1.93725128e-01 5.92121763e-02 2.77132488e+01] [ 1.92656064e-01 9.80989337e-01 2.33144023e-02 2.16073487e+00] [-6.26030992e-02 -1.14234475e-02 9.97973124e-01 -2.06419284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.921052753999998 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:27.74, Y:2.17, Z:-2.07 [[ 9.80656876e-01 -1.85172630e-01 6.34286064e-02 2.77382170e+01] [ 1.84811917e-01 9.82705931e-01 1.15588825e-02 2.17258845e+00] [-6.44720564e-02 3.87064777e-04 9.97919438e-01 -2.07304578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.951052754 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:27.76, Y:2.19, Z:-2.09 [[ 9.80788721e-01 -1.81956881e-01 7.03219585e-02 2.77610095e+01] [ 1.82658929e-01 9.83169635e-01 -3.63096978e-03 2.18585182e+00] [-6.84777344e-02 1.64061478e-02 9.97517738e-01 -2.08924718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.981052753999997 meters Centerline goodness : 0.997493 Centerline is valid? [True, True] Translation: X:27.79, Y:2.19, Z:-2.08 [[ 9.81538039e-01 -1.78760341e-01 6.80280757e-02 2.77895465e+01] [ 1.78605340e-01 9.83884910e-01 8.40339281e-03 2.18756530e+00] [-6.84339905e-02 3.90192789e-03 9.97648016e-01 -2.08490393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.011052753999998 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:27.82, Y:2.19, Z:-2.09 [[ 9.81693405e-01 -1.78228373e-01 6.71766700e-02 2.78173709e+01] [ 1.78127862e-01 9.83978526e-01 7.53153640e-03 2.19262762e+00] [-6.74427342e-02 4.57237702e-03 9.97712670e-01 -2.08698503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.041052754 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:27.85, Y:2.20, Z:-2.09 [[ 9.81273569e-01 -1.80951311e-01 6.60212543e-02 2.78459521e+01] [ 1.80668972e-01 9.83490319e-01 1.02720893e-02 2.19646974e+00] [-6.67900125e-02 1.84826239e-03 9.97765342e-01 -2.08701083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.071052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.88, Y:2.19, Z:-2.07 [[ 9.79603933e-01 -1.90366933e-01 6.43161375e-02 2.78777762e+01] [ 1.88313147e-01 9.81424235e-01 3.66692031e-02 2.19375381e+00] [-7.01020197e-02 -2.38097213e-02 9.97255636e-01 -2.07455248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.101052753999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:27.90, Y:2.21, Z:-2.09 [[ 9.78650098e-01 -1.93350071e-01 6.97118070e-02 2.79029495e+01] [ 1.92931070e-01 9.81129360e-01 1.27585315e-02 2.20687770e+00] [-7.08631636e-02 9.63435437e-04 9.97485581e-01 -2.08963656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.93, Y:2.21, Z:-2.09 [[ 9.77684744e-01 -1.97918178e-01 7.04339191e-02 2.79307076e+01] [ 1.97500812e-01 9.80217698e-01 1.29109701e-02 2.21183298e+00] [-7.15958897e-02 1.28789777e-03 9.97432890e-01 -2.09250405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.161052754 meters Centerline goodness : 0.997532 Centerline is valid? [True, True] Translation: X:27.95, Y:2.22, Z:-2.11 [[ 9.76478145e-01 -2.02690366e-01 7.35326381e-02 2.79525016e+01] [ 2.04170521e-01 9.78847347e-01 -1.31251278e-02 2.22497165e+00] [-6.93168908e-02 2.78295975e-02 9.97206439e-01 -2.10878648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.191052753999998 meters Centerline goodness : 0.997006 Centerline is valid? [True, True] Translation: X:27.98, Y:2.22, Z:-2.10 [[ 9.75571211e-01 -2.08803398e-01 6.82784979e-02 2.79841974e+01] [ 2.08518565e-01 9.77952524e-01 1.13520606e-02 2.22078455e+00] [-6.91434782e-02 3.16259084e-03 9.97601713e-01 -2.09616698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.02, Y:2.22, Z:-2.08 [[ 9.74820955e-01 -2.12947638e-01 6.61619907e-02 2.80176921e+01] [ 2.10595696e-01 9.76722562e-01 4.07736457e-02 2.21741266e+00] [-7.33045606e-02 -2.58135738e-02 9.96975477e-01 -2.08253933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.04, Y:2.23, Z:-2.10 [[ 9.75009630e-01 -2.10679255e-01 7.05015795e-02 2.80415914e+01] [ 2.10290160e-01 9.77552835e-01 1.29808786e-02 2.23357372e+00] [-7.16538207e-02 2.16930679e-03 9.97427202e-01 -2.10118087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.281052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.07, Y:2.24, Z:-2.10 [[ 9.75399465e-01 -2.09185869e-01 6.95496703e-02 2.80682943e+01] [ 2.08802008e-01 9.77873828e-01 1.28256623e-02 2.23964722e+00] [-7.06937497e-02 2.01196663e-03 9.97496038e-01 -2.10435562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.311052754 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:28.09, Y:2.25, Z:-2.12 [[ 9.76266333e-01 -2.04773878e-01 7.05103243e-02 2.80889469e+01] [ 2.05949027e-01 9.78514221e-01 -9.74254823e-03 2.25413718e+00] [-6.70003357e-02 2.40328545e-02 9.97463471e-01 -2.12102638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.12, Y:2.24, Z:-2.10 [[ 9.76935243e-01 -2.03684669e-01 6.41099635e-02 2.81245045e+01] [ 2.01755598e-01 9.78798945e-01 3.53171982e-02 2.24391882e+00] [-6.99443365e-02 -2.15680715e-02 9.97317707e-01 -2.09845026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.371052753999997 meters Centerline goodness : 0.998176 Centerline is valid? [True, True] Translation: X:28.15, Y:2.26, Z:-2.12 [[ 9.77922237e-01 -1.97388389e-01 6.85997191e-02 2.81459380e+01] [ 1.98189536e-01 9.80150921e-01 -5.00794070e-03 2.26158704e+00] [-6.62495686e-02 1.84931231e-02 9.97631695e-01 -2.11835902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.18, Y:2.25, Z:-2.10 [[ 9.78403016e-01 -1.96023812e-01 6.55911857e-02 2.81812917e+01] [ 1.94387380e-01 9.80449722e-01 3.05268632e-02 2.25426375e+00] [-7.02928519e-02 -1.71174763e-02 9.97379520e-01 -2.10005970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.21, Y:2.27, Z:-2.11 [[ 9.79039953e-01 -1.91626498e-01 6.89931566e-02 2.82065246e+01] [ 1.91199813e-01 9.81467700e-01 1.27978212e-02 2.26595579e+00] [-7.01669565e-02 6.61900365e-04 9.97535042e-01 -2.11178113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.461052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.23, Y:2.27, Z:-2.11 [[ 9.78992664e-01 -1.91869160e-01 6.89897701e-02 2.82345622e+01] [ 1.91441793e-01 9.81420292e-01 1.28160505e-02 2.27124073e+00] [-7.01669652e-02 6.60705811e-04 9.97535042e-01 -2.11387652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.26, Y:2.28, Z:-2.12 [[ 9.79069699e-01 -1.91502011e-01 6.89166534e-02 2.82623331e+01] [ 1.91073410e-01 9.81492027e-01 1.28199940e-02 2.27704392e+00] [-7.00962005e-02 6.16472365e-04 9.97540046e-01 -2.11783081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.29, Y:2.28, Z:-2.12 [[ 9.79069849e-01 -1.91791022e-01 6.81060551e-02 2.82902591e+01] [ 1.91371853e-01 9.81435597e-01 1.26879284e-02 2.28203887e+00] [-6.92751376e-02 6.11213837e-04 9.97597405e-01 -2.12134368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.551052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.32, Y:2.28, Z:-2.12 [[ 9.78814050e-01 -1.93837149e-01 6.59561649e-02 2.83170604e+01] [ 1.93447437e-01 9.81033460e-01 1.23060387e-02 2.28470623e+00] [-6.70905721e-02 7.13727488e-04 9.97746634e-01 -2.12493361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.581052753999998 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:28.35, Y:2.29, Z:-2.13 [[ 9.78242330e-01 -1.96735183e-01 6.58575027e-02 2.83453851e+01] [ 1.96352734e-01 9.80456246e-01 1.22944685e-02 2.28844917e+00] [-6.69891544e-02 9.04331176e-04 9.97753294e-01 -2.12656410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.611052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:28.37, Y:2.29, Z:-2.13 [[ 9.76713229e-01 -2.03385708e-01 6.83046217e-02 2.83733681e+01] [ 2.02989096e-01 9.79097706e-01 1.27713724e-02 2.28975297e+00] [-6.94744131e-02 1.39112506e-03 9.97582764e-01 -2.12621400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.641052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.40, Y:2.29, Z:-2.13 [[ 9.75302242e-01 -2.09368356e-01 7.03592762e-02 2.84020738e+01] [ 2.08961518e-01 9.77835090e-01 1.31764916e-02 2.29148589e+00] [-7.15585096e-02 1.85131933e-03 9.97434686e-01 -2.12578607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.671052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.42, Y:2.30, Z:-2.13 [[ 9.75572354e-01 -2.08555170e-01 6.90168359e-02 2.84245284e+01] [ 2.09261570e-01 9.77854825e-01 -3.08798533e-03 2.30088066e+00] [-6.68444307e-02 1.74551246e-02 9.97610716e-01 -2.13404516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.701052754 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:28.46, Y:2.30, Z:-2.13 [[ 9.75574664e-01 -2.09721172e-01 6.53536902e-02 2.84563537e+01] [ 2.08838658e-01 9.77742876e-01 2.01316554e-02 2.30027077e+00] [-6.81211394e-02 -5.99155598e-03 9.97659066e-01 -2.12574885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.731052753999997 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:28.48, Y:2.31, Z:-2.14 [[ 9.76520275e-01 -2.05682156e-01 6.40546883e-02 2.84800598e+01] [ 2.05804464e-01 9.78581585e-01 4.75436481e-03 2.31101627e+00] [-6.36606264e-02 8.54000713e-03 9.97935064e-01 -2.13539746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.761052753999998 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:28.51, Y:2.31, Z:-2.13 [[ 9.76818549e-01 -2.04429065e-01 6.35159828e-02 2.85136336e+01] [ 2.02916722e-01 9.78752082e-01 2.94816350e-02 2.31247479e+00] [-6.81933035e-02 -1.59097529e-02 9.97545264e-01 -2.12753597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.791052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.54, Y:2.32, Z:-2.14 [[ 9.77395951e-01 -2.00552710e-01 6.69011650e-02 2.85385874e+01] [ 2.00158252e-01 9.79682341e-01 1.26168725e-02 2.32424842e+00] [-6.80722379e-02 1.05914016e-03 9.97679833e-01 -2.13786993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.821052753999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.57, Y:2.33, Z:-2.14 [[ 9.77896345e-01 -1.98169853e-01 6.66891888e-02 2.85664194e+01] [ 1.97771885e-01 9.80167296e-01 1.25838428e-02 2.33050904e+00] [-6.78603001e-02 8.83552667e-04 9.97694442e-01 -2.13909127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.851052753999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.59, Y:2.34, Z:-2.14 [[ 9.78904289e-01 -1.93292487e-01 6.62148642e-02 2.85944854e+01] [ 1.92887793e-01 9.81141040e-01 1.25123617e-02 2.33616011e+00] [-6.73846662e-02 5.23634472e-04 9.97726933e-01 -2.13933975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.881052754 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:28.62, Y:2.35, Z:-2.14 [[ 9.80186784e-01 -1.88502234e-01 6.08340057e-02 2.86194198e+01] [ 1.88745844e-01 9.82024377e-01 1.76886104e-03 2.34604488e+00] [-6.00739108e-02 9.74835153e-03 9.98146329e-01 -2.14338626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.911052754 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:28.65, Y:2.35, Z:-2.14 [[ 9.80227936e-01 -1.88709076e-01 5.95153584e-02 2.86479875e+01] [ 1.88604413e-01 9.82025095e-01 7.42218675e-03 2.35042960e+00] [-5.98462095e-02 3.94942443e-03 9.98199796e-01 -2.14439506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.941052753999998 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:28.68, Y:2.35, Z:-2.14 [[ 9.79664136e-01 -1.91998139e-01 5.82657217e-02 2.86775929e+01] [ 1.91645754e-01 9.81395263e-01 1.16293533e-02 2.35412111e+00] [-5.94145175e-02 -2.26482231e-04 9.98233371e-01 -2.14430381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.971052754 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:28.71, Y:2.36, Z:-2.15 [[ 9.79219459e-01 -1.93868697e-01 5.95330089e-02 2.87054684e+01] [ 1.93447080e-01 9.81026937e-01 1.28209453e-02 2.35801748e+00] [-6.08890653e-02 -1.03803241e-03 9.98144000e-01 -2.14536467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.001052754 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:28.73, Y:2.36, Z:-2.15 [[ 9.78148679e-01 -1.98661772e-01 6.13079239e-02 2.87333439e+01] [ 1.98332500e-01 9.80067661e-01 1.14716883e-02 2.36162542e+00] [-6.23648995e-02 9.38337105e-04 9.98052974e-01 -2.14631845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.031052754 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:28.76, Y:2.37, Z:-2.15 [[ 9.77056875e-01 -2.03568549e-01 6.26075745e-02 2.87623688e+01] [ 2.03461785e-01 9.79049020e-01 8.14362483e-03 2.36603052e+00] [-6.29536704e-02 4.78146426e-03 9.98004996e-01 -2.14909838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.061052754 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:28.79, Y:2.36, Z:-2.14 [[ 9.76653660e-01 -2.05995309e-01 6.09390020e-02 2.87919198e+01] [ 2.04612281e-01 9.78436983e-01 2.81936986e-02 2.36342020e+00] [-6.54327429e-02 -1.50666107e-02 9.97743230e-01 -2.13982830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.82, Y:2.38, Z:-2.16 [[ 9.76727586e-01 -2.04703993e-01 6.40273200e-02 2.88155423e+01] [ 2.05099562e-01 9.78741032e-01 4.02901265e-04 2.37669790e+00] [-6.27486408e-02 1.27384505e-02 9.97948065e-01 -2.15581087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.121052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.85, Y:2.37, Z:-2.15 [[ 9.76864616e-01 -2.05503861e-01 5.91919298e-02 2.88516229e+01] [ 2.04905403e-01 9.78649780e-01 1.60743299e-02 2.37382458e+00] [-6.12315059e-02 -3.57369784e-03 9.98117193e-01 -2.14916076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.151052754 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:28.87, Y:2.38, Z:-2.15 [[ 9.76598065e-01 -2.06833527e-01 5.89585522e-02 2.88748141e+01] [ 2.06186926e-01 9.78366428e-01 1.69140169e-02 2.38157601e+00] [-6.11814539e-02 -4.36171360e-03 9.98117130e-01 -2.15156233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.181052754 meters Centerline goodness : 0.996688 Centerline is valid? [True, True] Translation: X:28.90, Y:2.39, Z:-2.16 [[ 9.76691770e-01 -2.06098306e-01 5.99722851e-02 2.89025935e+01] [ 2.05809096e-01 9.78530028e-01 1.10272766e-02 2.39000095e+00] [-6.09573849e-02 1.57259153e-03 9.98139131e-01 -2.15707077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.211052754 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:28.93, Y:2.39, Z:-2.16 [[ 9.76795575e-01 -2.05650216e-01 5.98196703e-02 2.89290969e+01] [ 2.05093191e-01 9.78621702e-01 1.53735976e-02 2.39398545e+00] [-6.17024112e-02 -2.74825510e-03 9.98090807e-01 -2.15633133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.241052754 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:28.96, Y:2.41, Z:-2.17 [[ 9.77170127e-01 -2.04089197e-01 5.90435641e-02 2.89565234e+01] [ 2.04667577e-01 9.78823946e-01 -3.85560138e-03 2.40722896e+00] [-5.70063678e-02 1.58518817e-02 9.98247961e-01 -2.16566784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.99, Y:2.41, Z:-2.16 [[ 9.77867938e-01 -2.01673304e-01 5.56971717e-02 2.89865360e+01] [ 2.01240469e-01 9.79451140e-01 1.33318423e-02 2.40754442e+00] [-5.72413350e-02 -1.82825622e-03 9.98358697e-01 -2.16095792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.301052754000004 meters Centerline goodness : 0.996992 Centerline is valid? [True, True] Translation: X:29.01, Y:2.41, Z:-2.16 [[ 9.77838709e-01 -2.01966691e-01 5.51444923e-02 2.90138204e+01] [ 2.01116891e-01 9.79350497e-01 2.06058319e-02 2.41376114e+00] [-5.81674776e-02 -9.05869122e-03 9.98265739e-01 -2.15984342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.331052754000005 meters Centerline goodness : 0.996390 Centerline is valid? [True, True] Translation: X:29.05, Y:2.42, Z:-2.17 [[ 9.79393584e-01 -1.94568485e-01 5.41415944e-02 2.90464711e+01] [ 1.94114951e-01 9.80885011e-01 1.35639296e-02 2.42154017e+00] [-5.57457917e-02 -2.77473268e-03 9.98441139e-01 -2.16818222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.361052754 meters Centerline goodness : 0.997279 Centerline is valid? [True, True] Translation: X:29.07, Y:2.43, Z:-2.17 [[ 9.79675161e-01 -1.92687704e-01 5.57496906e-02 2.90679843e+01] [ 1.92254602e-01 9.81257892e-01 1.30811833e-02 2.43076994e+00] [-5.72254070e-02 -2.09717581e-03 9.98359081e-01 -2.17080112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.09, Y:2.44, Z:-2.18 [[ 9.81803905e-01 -1.82591789e-01 5.21663813e-02 2.90928178e+01] [ 1.83039185e-01 9.83097918e-01 -3.89099146e-03 2.43918721e+00] [-5.05741978e-02 1.33686825e-02 9.98630827e-01 -2.17853767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.421052754 meters Centerline goodness : 0.997158 Centerline is valid? [True, True] Translation: X:29.13, Y:2.44, Z:-2.17 [[ 9.81835625e-01 -1.83243633e-01 4.91993482e-02 2.91255051e+01] [ 1.82610904e-01 9.83036549e-01 1.70997567e-02 2.43779751e+00] [-5.14981790e-02 -7.80481290e-03 9.98642590e-01 -2.17015373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.451052754 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:29.15, Y:2.44, Z:-2.17 [[ 9.81959944e-01 -1.81071009e-01 5.44789743e-02 2.91533822e+01] [ 1.80360743e-01 9.83440824e-01 1.77242199e-02 2.44070290e+00] [-5.67861897e-02 -7.57860570e-03 9.98357598e-01 -2.17160375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.481052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.18, Y:2.45, Z:-2.18 [[ 9.81822769e-01 -1.81008258e-01 5.70969426e-02 2.91797225e+01] [ 1.81204263e-01 9.83443891e-01 1.76883226e-03 2.45031804e+00] [-5.64718127e-02 8.60952961e-03 9.98367072e-01 -2.18063828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.511052754000005 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:29.22, Y:2.45, Z:-2.17 [[ 9.81192356e-01 -1.85531410e-01 5.32884235e-02 2.92161420e+01] [ 1.84743351e-01 9.82595398e-01 1.93953191e-02 2.44538505e+00] [-5.59594006e-02 -9.18585694e-03 9.98390788e-01 -2.17300351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.541052754 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:29.24, Y:2.45, Z:-2.18 [[ 9.80073143e-01 -1.89545110e-01 5.94077894e-02 2.92393254e+01] [ 1.88913119e-01 9.81861299e-01 1.61314601e-02 2.44798288e+00] [-6.13878487e-02 -4.58709998e-03 9.98103447e-01 -2.17690731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.571052754 meters Centerline goodness : 0.997930 Centerline is valid? [True, True] Translation: X:29.27, Y:2.46, Z:-2.19 [[ 9.79335130e-01 -1.93589562e-01 5.85301941e-02 2.92704527e+01] [ 1.94077769e-01 9.80982374e-01 -2.72044903e-03 2.45754709e+00] [-5.68904382e-02 1.40236408e-02 9.98281932e-01 -2.18665508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.601052754 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:29.30, Y:2.46, Z:-2.18 [[ 9.77470671e-01 -2.02657364e-01 5.90006836e-02 2.93043406e+01] [ 2.02532112e-01 9.79241640e-01 8.15804376e-03 2.46039187e+00] [-5.94292138e-02 3.97528453e-03 9.98224607e-01 -2.18214035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.631052754 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:29.33, Y:2.46, Z:-2.18 [[ 9.76780369e-01 -2.05117530e-01 6.18620226e-02 2.93291258e+01] [ 2.04462439e-01 9.78730090e-01 1.68084063e-02 2.46395270e+00] [-6.39939218e-02 -3.76966130e-03 9.97943169e-01 -2.18022052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.661052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:29.35, Y:2.47, Z:-2.19 [[ 9.76782489e-01 -2.04258476e-01 6.46099421e-02 2.93467661e+01] [ 2.04743958e-01 9.78815139e-01 -9.13539239e-04 2.47364114e+00] [-6.30545914e-02 1.41208244e-02 9.97910177e-01 -2.18692234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.691052754000005 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:29.39, Y:2.47, Z:-2.17 [[ 0.97481493 -0.21396941 0.0628724 29.38500604] [ 0.21133427 0.97633015 0.04601364 2.46714483] [-0.07122973 -0.03156769 0.99696028 -2.17135219] [ 0. 0. 0. 1. ]] SLAMing on 32.721052754 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:29.41, Y:2.50, Z:-2.21 [[ 9.74799777e-01 -2.11794406e-01 7.00608655e-02 2.94057930e+01] [ 2.13994532e-01 9.76502931e-01 -2.54630515e-02 2.49936892e+00] [-6.30217086e-02 3.98140190e-02 9.97217683e-01 -2.21186848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.751052754 meters Centerline goodness : 0.996306 Centerline is valid? [True, True] Translation: X:29.44, Y:2.50, Z:-2.20 [[ 9.74311991e-01 -2.16720608e-01 6.12235395e-02 2.94407360e+01] [ 2.16467226e-01 9.76229910e-01 1.08214116e-02 2.49568571e+00] [-6.21134734e-02 2.70945872e-03 9.98065416e-01 -2.19552532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.781052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.46, Y:2.50, Z:-2.19 [[ 9.75418123e-01 -2.12009110e-01 6.00967830e-02 2.94594037e+01] [ 2.11189625e-01 9.77245601e-01 1.97478676e-02 2.49857515e+00] [-6.29160447e-02 -6.57061093e-03 9.97997194e-01 -2.19354403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.811052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:29.49, Y:2.51, Z:-2.20 [[ 9.75644099e-01 -2.11233585e-01 5.91520439e-02 2.94854332e+01] [ 2.10905807e-01 9.77435138e-01 1.18021675e-02 2.50832400e+00] [-6.03103003e-02 9.60794528e-04 9.98179215e-01 -2.20054716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.841052754 meters Centerline goodness : 0.995877 Centerline is valid? [True, True] Translation: X:29.52, Y:2.52, Z:-2.21 [[ 9.75165891e-01 -2.14059893e-01 5.68317468e-02 2.95193706e+01] [ 2.14149892e-01 9.76790104e-01 4.57340457e-03 2.51976748e+00] [-5.64916703e-02 7.71068430e-03 9.98373295e-01 -2.20844156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.871052754000004 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:29.55, Y:2.52, Z:-2.21 [[ 9.75524687e-01 -2.12675356e-01 5.58639237e-02 2.95467254e+01] [ 2.12520890e-01 9.77117254e-01 8.76031426e-03 2.52301715e+00] [-5.64487067e-02 3.32634793e-03 9.98399959e-01 -2.20596422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.57, Y:2.53, Z:-2.21 [[ 9.75772785e-01 -2.11043402e-01 5.76901556e-02 2.95722047e+01] [ 2.10804399e-01 9.77474343e-01 1.02671708e-02 2.53036252e+00] [-5.85574656e-02 2.14291277e-03 9.98281739e-01 -2.20544596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.931052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:29.60, Y:2.54, Z:-2.21 [[ 9.76507919e-01 -2.07488422e-01 5.81449784e-02 2.95987266e+01] [ 2.07113303e-01 9.78237464e-01 1.24717005e-02 2.53580238e+00] [-5.94673297e-02 -1.36115799e-04 9.98230243e-01 -2.20738967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.63, Y:2.54, Z:-2.21 [[ 9.76699680e-01 -2.06466387e-01 5.85607965e-02 2.96265244e+01] [ 2.06153025e-01 9.78453252e-01 1.14089167e-02 2.54055620e+00] [-5.96545597e-02 9.29400046e-04 9.98218648e-01 -2.20846052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.65, Y:2.54, Z:-2.21 [[ 9.76869277e-01 -2.05644625e-01 5.86234053e-02 2.96540904e+01] [ 2.05100567e-01 9.78622613e-01 1.52164174e-02 2.54281045e+00] [-6.04993645e-02 -2.84075704e-03 9.98164193e-01 -2.20500123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.68, Y:2.55, Z:-2.21 [[ 9.76540808e-01 -2.06641349e-01 6.05590927e-02 2.96785585e+01] [ 2.06325409e-01 9.78415932e-01 1.14930154e-02 2.54995676e+00] [-6.16269134e-02 1.27148105e-03 9.98098445e-01 -2.20886387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.051052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.71, Y:2.55, Z:-2.21 [[ 9.76322785e-01 -2.06572851e-01 6.41987267e-02 2.97069470e+01] [ 2.05755360e-01 9.78415743e-01 1.91667862e-02 2.55171023e+00] [-6.67723825e-02 -5.50373792e-03 9.97753055e-01 -2.20612209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.081052754000005 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:29.73, Y:2.56, Z:-2.21 [[ 9.76749063e-01 -2.04735031e-01 6.35990201e-02 2.97348265e+01] [ 2.04604782e-01 9.78806675e-01 8.62413454e-03 2.55980406e+00] [-6.40168079e-02 4.58904831e-03 9.97938269e-01 -2.21207407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.111052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:29.77, Y:2.56, Z:-2.20 [[ 9.76276572e-01 -2.06881686e-01 6.39063598e-02 2.97653799e+01] [ 2.04928449e-01 9.78121592e-01 3.58117694e-02 2.55772327e+00] [-6.99169896e-02 -2.18659602e-02 9.97313138e-01 -2.19946961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.141052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.79, Y:2.57, Z:-2.22 [[ 9.76376090e-01 -2.05108264e-01 6.79730170e-02 2.97904275e+01] [ 2.05870826e-01 9.78569575e-01 -4.33475187e-03 2.57320319e+00] [-6.56272329e-02 1.82260093e-02 9.97677743e-01 -2.22105032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.171052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.82, Y:2.57, Z:-2.21 [[ 9.76216209e-01 -2.07811354e-01 6.17766423e-02 2.98189954e+01] [ 2.07580724e-01 9.78164721e-01 1.01991325e-02 2.57251699e+00] [-6.25472276e-02 2.86708170e-03 9.98037887e-01 -2.21449230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.201052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:29.85, Y:2.58, Z:-2.22 [[ 9.75661579e-01 -2.10847503e-01 6.02313414e-02 2.98491080e+01] [ 2.10584133e-01 9.77516523e-01 1.07596846e-02 2.57873707e+00] [-6.11457840e-02 2.18595398e-03 9.98126452e-01 -2.21720890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.231052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.88, Y:2.58, Z:-2.21 [[ 9.75361056e-01 -2.12699049e-01 5.85655628e-02 2.98769148e+01] [ 2.11436485e-01 9.77017547e-01 2.70430296e-02 2.58060247e+00] [-6.29716092e-02 -1.39938212e-02 9.97917206e-01 -2.21235598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.261052754000005 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:29.90, Y:2.60, Z:-2.24 [[ 9.75333357e-01 -2.11785305e-01 6.22240085e-02 2.99017487e+01] [ 2.12549285e-01 9.77132834e-01 -5.85035588e-03 2.59670313e+00] [-5.95621024e-02 1.89317158e-02 9.98045062e-01 -2.23543250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.291052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:29.93, Y:2.59, Z:-2.22 [[ 9.75153473e-01 -2.15310488e-01 5.21257965e-02 2.99299840e+01] [ 2.14602329e-01 9.76518862e-01 1.88878909e-02 2.59324311e+00] [-5.49685845e-02 -7.23227512e-03 9.98461892e-01 -2.22239468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.96, Y:2.60, Z:-2.22 [[ 9.74593655e-01 -2.17566655e-01 5.32161381e-02 2.99588055e+01] [ 2.16637567e-01 9.75987804e-01 2.27149803e-02 2.59788047e+00] [-5.68803241e-02 -1.06092610e-02 9.98324633e-01 -2.22317436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.98, Y:2.61, Z:-2.24 [[ 9.74005973e-01 -2.18846842e-01 5.84672901e-02 2.99837841e+01] [ 2.19114717e-01 9.75697315e-01 1.86828621e-03 2.60888834e+00] [-5.74552465e-02 1.09913218e-02 9.98287577e-01 -2.23722270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.01, Y:2.61, Z:-2.23 [[ 9.73911526e-01 -2.19777830e-01 5.65158781e-02 3.00127130e+01] [ 2.19467910e-01 9.75549439e-01 1.17101907e-02 2.61153889e+00] [-5.77076734e-02 9.98731972e-04 9.98333024e-01 -2.23415831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.04, Y:2.62, Z:-2.24 [[ 9.73750863e-01 -2.19804989e-01 5.91187289e-02 3.00407197e+01] [ 2.19746653e-01 9.75527627e-01 7.56691259e-03 2.61510614e+00] [-5.93351984e-02 5.62285516e-03 9.98222279e-01 -2.23793276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.441052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.07, Y:2.61, Z:-2.22 [[ 9.72639310e-01 -2.25633158e-01 5.53394116e-02 3.00706979e+01] [ 2.24610148e-01 9.74149688e-01 2.41385075e-02 2.61366677e+00] [-5.93553182e-02 -1.10482678e-02 9.98175777e-01 -2.22443831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.09, Y:2.63, Z:-2.24 [[ 9.72705271e-01 -2.24258649e-01 5.96029764e-02 3.00937812e+01] [ 2.24512537e-01 9.74468022e-01 2.48904244e-03 2.62557812e+00] [-5.86393838e-02 1.09605108e-02 9.98219059e-01 -2.23905715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.12, Y:2.63, Z:-2.24 [[ 9.72164010e-01 -2.25485659e-01 6.36659596e-02 3.01231393e+01] [ 2.25200048e-01 9.74242042e-01 1.17209666e-02 2.63020179e+00] [-6.46689643e-02 2.94287531e-03 9.97902432e-01 -2.24448103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.531052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.15, Y:2.64, Z:-2.25 [[ 9.72371047e-01 -2.24714125e-01 6.32305933e-02 3.01467528e+01] [ 2.24519459e-01 9.74415595e-01 1.02596910e-02 2.63849959e+00] [-6.39183737e-02 4.22027217e-03 9.97946206e-01 -2.24811105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.561052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.18, Y:2.64, Z:-2.25 [[ 9.72841516e-01 -2.21631987e-01 6.67731004e-02 3.01785619e+01] [ 2.20983172e-01 9.75128673e-01 1.70443014e-02 2.63884165e+00] [-6.88899271e-02 -1.82567243e-03 9.97622596e-01 -2.24576068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.21, Y:2.65, Z:-2.25 [[ 9.73403628e-01 -2.18204795e-01 6.98000362e-02 3.02060567e+01] [ 2.17732951e-01 9.75902276e-01 1.43912770e-02 2.64578325e+00] [-7.12582599e-02 1.18924659e-03 9.97457190e-01 -2.24803167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.621052754000004 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:30.23, Y:2.65, Z:-2.25 [[ 9.73887665e-01 -2.15992201e-01 6.99298623e-02 3.02321667e+01] [ 2.15511503e-01 9.76394566e-01 1.44375716e-02 2.65304215e+00] [-7.13975405e-02 1.01011680e-03 9.97447428e-01 -2.25085516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.651052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.26, Y:2.66, Z:-2.25 [[ 9.74903298e-01 -2.11477899e-01 6.95748350e-02 3.02584496e+01] [ 2.10990026e-01 9.77382551e-01 1.43721000e-02 2.66213292e+00] [-7.10406113e-02 6.68188569e-04 9.97473200e-01 -2.25433604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.681052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:30.29, Y:2.67, Z:-2.26 [[ 9.75445601e-01 -2.09092226e-01 6.91832335e-02 3.02858295e+01] [ 2.08602528e-01 9.77895811e-01 1.43097372e-02 2.66913997e+00] [-7.06460490e-02 4.73427151e-04 9.97501334e-01 -2.25735914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.31, Y:2.68, Z:-2.26 [[ 9.76544310e-01 -2.05083083e-01 6.55906973e-02 3.03116926e+01] [ 2.04632703e-01 9.78744555e-01 1.35849929e-02 2.67575670e+00] [-6.69825901e-02 1.55654201e-04 9.97754132e-01 -2.25961389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.34, Y:2.68, Z:-2.26 [[ 9.76811930e-01 -2.04313871e-01 6.39866797e-02 3.03391174e+01] [ 2.03883218e-01 9.78905426e-01 1.32589663e-02 2.68138480e+00] [-6.53458986e-02 9.42937540e-05 9.97862668e-01 -2.26167408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.37, Y:2.69, Z:-2.27 [[ 9.76715923e-01 -2.05161902e-01 6.27263795e-02 3.03662588e+01] [ 2.04748695e-01 9.78728040e-01 1.30151874e-02 2.68973091e+00] [-6.40622871e-02 1.31003624e-04 9.97945893e-01 -2.26625286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.801052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.39, Y:2.70, Z:-2.27 [[ 9.76425281e-01 -2.06655699e-01 6.23465605e-02 3.03930032e+01] [ 2.06249409e-01 9.78413705e-01 1.29538938e-02 2.69719781e+00] [-6.36777252e-02 2.10431882e-04 9.97970492e-01 -2.27061685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.831052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.42, Y:2.70, Z:-2.27 [[ 9.75468023e-01 -2.10958054e-01 6.29192811e-02 3.04209481e+01] [ 2.10552033e-01 9.77494998e-01 1.30908495e-02 2.70265050e+00] [-6.42649026e-02 4.78077476e-04 9.97932760e-01 -2.27321125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.45, Y:2.71, Z:-2.27 [[ 9.74801199e-01 -2.13638212e-01 6.41976456e-02 3.04488446e+01] [ 2.13220092e-01 9.76912633e-01 1.33753577e-02 2.70636439e+00] [-6.55729785e-02 6.49913166e-04 9.97847565e-01 -2.27313930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.48, Y:2.71, Z:-2.27 [[ 9.73708392e-01 -2.18103371e-01 6.57486595e-02 3.04765758e+01] [ 2.17673595e-01 9.75925207e-01 1.37184743e-02 2.70945565e+00] [-6.71578196e-02 9.53953445e-04 9.97741909e-01 -2.27049486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.921052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.50, Y:2.72, Z:-2.27 [[ 9.73223148e-01 -2.19896628e-01 6.69490599e-02 3.05034632e+01] [ 2.19454722e-01 9.75522570e-01 1.39764153e-02 2.71607010e+00] [-6.83836856e-02 1.09011644e-03 9.97658500e-01 -2.27304488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.53, Y:2.72, Z:-2.28 [[ 9.72797633e-01 -2.21107587e-01 6.91100563e-02 3.05303109e+01] [ 2.20638309e-01 9.75248691e-01 1.44473892e-02 2.72497753e+00] [-7.05939193e-02 1.19393996e-03 9.97504423e-01 -2.27689998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.981052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.56, Y:2.73, Z:-2.28 [[ 9.72843219e-01 -2.20502671e-01 7.03892222e-02 3.05575605e+01] [ 2.20012806e-01 9.75385691e-01 1.47349870e-02 2.73087559e+00] [-7.19057441e-02 1.15169809e-03 9.97410767e-01 -2.27713764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.011052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.59, Y:2.74, Z:-2.28 [[ 9.72887014e-01 -2.20281884e-01 7.04751735e-02 3.05853436e+01] [ 2.19788810e-01 9.75435617e-01 1.47728135e-02 2.73636222e+00] [-7.19981775e-02 1.11737613e-03 9.97404138e-01 -2.27816798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.041052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.61, Y:2.74, Z:-2.28 [[ 9.72748075e-01 -2.20904661e-01 7.04436965e-02 3.06129021e+01] [ 2.20412230e-01 9.75294737e-01 1.47859985e-02 2.74337331e+00] [-7.19696624e-02 1.14360063e-03 9.97406166e-01 -2.28179968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.64, Y:2.75, Z:-2.29 [[ 9.72421600e-01 -2.22502522e-01 6.99203730e-02 3.06404641e+01] [ 2.22020085e-01 9.74931335e-01 1.46960708e-02 2.74997042e+00] [-7.14374754e-02 1.23295042e-03 9.97444318e-01 -2.28545470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.67, Y:2.76, Z:-2.29 [[ 9.71946641e-01 -2.24785173e-01 6.92195962e-02 3.06677416e+01] [ 2.24316754e-01 9.74407387e-01 1.45683868e-02 2.75538636e+00] [-7.07228432e-02 1.36742053e-03 9.97495067e-01 -2.28958478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.69, Y:2.76, Z:-2.29 [[ 9.71754756e-01 -2.25663021e-01 6.90571918e-02 3.06946876e+01] [ 2.25197581e-01 9.74204403e-01 1.45544334e-02 2.76033145e+00] [-7.05602177e-02 1.40817271e-03 9.97506528e-01 -2.29165688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.72, Y:2.77, Z:-2.29 [[ 9.71714087e-01 -2.26429831e-01 6.70914610e-02 3.07210636e+01] [ 2.25991480e-01 9.74026460e-01 1.41529507e-02 2.76570868e+00] [-6.85535085e-02 1.40947700e-03 9.97646445e-01 -2.29315453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.191052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.75, Y:2.77, Z:-2.30 [[ 9.71842686e-01 -2.26124979e-01 6.62516912e-02 3.07482644e+01] [ 2.25696027e-01 9.74097350e-01 1.39877091e-02 2.77185177e+00] [-6.76985673e-02 1.35889075e-03 9.97704895e-01 -2.29578553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.78, Y:2.78, Z:-2.30 [[ 9.72530989e-01 -2.23122439e-01 6.63313883e-02 3.07756767e+01] [ 2.22684230e-01 9.74789769e-01 1.40228654e-02 2.77936646e+00] [-6.77879746e-02 1.13328297e-03 9.97699106e-01 -2.29939212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.80, Y:2.78, Z:-2.30 [[ 9.73098396e-01 -2.20881010e-01 6.55064131e-02 3.08027701e+01] [ 2.20447371e-01 9.75300303e-01 1.38663211e-02 2.78483349e+00] [-6.69512316e-02 9.47421732e-04 9.97755799e-01 -2.30177729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.281052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.83, Y:2.79, Z:-2.30 [[ 9.73247149e-01 -2.20266570e-01 6.53653192e-02 3.08288396e+01] [ 2.19832120e-01 9.75439314e-01 1.38557856e-02 2.79040571e+00] [-6.68118685e-02 8.84292909e-04 9.97765199e-01 -2.30385240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.311052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.86, Y:2.80, Z:-2.31 [[ 9.73124879e-01 -2.20658044e-01 6.58634766e-02 3.08562280e+01] [ 2.20217357e-01 9.75350807e-01 1.39684775e-02 2.79664932e+00] [-6.73222520e-02 9.11207775e-04 9.97730868e-01 -2.30612817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.88, Y:2.80, Z:-2.31 [[ 9.72577614e-01 -2.23102112e-01 6.57132544e-02 3.08824522e+01] [ 2.22667715e-01 9.74794504e-01 1.39557429e-02 2.80338174e+00] [-6.71704750e-02 1.05917707e-03 9.97740951e-01 -2.30966589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.371052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.91, Y:2.81, Z:-2.31 [[ 9.72150667e-01 -2.25157237e-01 6.50176831e-02 3.09102776e+01] [ 2.24736143e-01 9.74321724e-01 1.38146458e-02 2.80878847e+00] [-6.64586086e-02 1.18190619e-03 9.97788483e-01 -2.31137096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.401052754 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:30.94, Y:2.81, Z:-2.31 [[ 9.71174613e-01 -2.29169641e-01 6.55831290e-02 3.09381434e+01] [ 2.28749108e-01 9.73385416e-01 1.39526803e-02 2.81182853e+00] [-6.70351921e-02 1.45159336e-03 9.97749556e-01 -2.31131730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.96, Y:2.82, Z:-2.31 [[ 9.70746463e-01 -2.30589440e-01 6.69314145e-02 3.09645072e+01] [ 2.30153423e-01 9.73049880e-01 1.42594607e-02 2.81698369e+00] [-6.84156859e-02 1.56217307e-03 9.97655679e-01 -2.31226868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.99, Y:2.82, Z:-2.31 [[ 9.70436696e-01 -2.31092622e-01 6.96334657e-02 3.09920575e+01] [ 2.30620965e-01 9.72930358e-01 1.48489061e-02 2.82306304e+00] [-7.11799853e-02 1.64901368e-03 9.97462125e-01 -2.31374159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.02, Y:2.83, Z:-2.32 [[ 9.70722149e-01 -2.29914073e-01 6.95559398e-02 3.10190894e+01] [ 2.29439055e-01 9.73209711e-01 1.48518747e-02 2.83000519e+00] [-7.11071711e-02 1.54180534e-03 9.97467490e-01 -2.31659844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.05, Y:2.84, Z:-2.32 [[ 9.70816270e-01 -2.29356719e-01 7.00804181e-02 3.10465292e+01] [ 2.28871621e-01 9.73341290e-01 1.49838006e-02 2.83720460e+00] [-7.16487999e-02 1.49290152e-03 9.97428805e-01 -2.32024284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.551052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.07, Y:2.84, Z:-2.32 [[ 9.70841484e-01 -2.28993957e-01 7.09124883e-02 3.10736142e+01] [ 2.28494824e-01 9.73426743e-01 1.51819201e-02 2.84361173e+00] [-7.25046805e-02 1.46389873e-03 9.97366998e-01 -2.32362893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.581052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.10, Y:2.85, Z:-2.33 [[ 9.70770731e-01 -2.28214283e-01 7.43130500e-02 3.10980208e+01] [ 2.27809954e-01 9.73605160e-01 1.39863525e-02 2.85106217e+00] [-7.55434543e-02 3.35171082e-03 9.97136878e-01 -2.32852943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.13, Y:2.85, Z:-2.33 [[ 9.71238580e-01 -2.27687884e-01 6.96695592e-02 3.11283929e+01] [ 2.27029989e-01 9.73733643e-01 1.73256324e-02 2.85414137e+00] [-7.17844302e-02 -1.01024343e-03 9.97419658e-01 -2.32545796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.15, Y:2.86, Z:-2.33 [[ 9.71396433e-01 -2.26138082e-01 7.24605937e-02 3.11534699e+01] [ 2.25751003e-01 9.74090159e-01 1.35958218e-02 2.86316838e+00] [-7.36576843e-02 3.15111885e-03 9.97278605e-01 -2.33083427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.671052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.18, Y:2.87, Z:-2.33 [[ 9.72320752e-01 -2.23338697e-01 6.86453267e-02 3.11827608e+01] [ 2.22693593e-01 9.74740099e-01 1.70089063e-02 2.86904231e+00] [-7.07100995e-02 -1.25123806e-03 9.97496123e-01 -2.33081306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.21, Y:2.88, Z:-2.34 [[ 9.72370100e-01 -2.22425612e-01 7.08747935e-02 3.12079829e+01] [ 2.22022068e-01 9.74946484e-01 1.36218704e-02 2.87799879e+00] [-7.21289836e-02 2.49026880e-03 9.97392204e-01 -2.33627206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.731052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.24, Y:2.88, Z:-2.34 [[ 9.72013428e-01 -2.24732649e-01 6.84480224e-02 3.12368122e+01] [ 2.24120379e-01 9.74420140e-01 1.65965455e-02 2.88276644e+00] [-7.04269172e-02 -7.91468383e-04 9.97516628e-01 -2.33705868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.761052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.26, Y:2.89, Z:-2.34 [[ 9.71418278e-01 -2.27425255e-01 6.80020824e-02 3.12638718e+01] [ 2.26956159e-01 9.73794797e-01 1.46490888e-02 2.88814760e+00] [-6.95516468e-02 1.20309885e-03 9.97577627e-01 -2.33999245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.791052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.29, Y:2.89, Z:-2.34 [[ 9.70252225e-01 -2.32506646e-01 6.74631761e-02 3.12884607e+01] [ 2.31643796e-01 9.72585671e-01 2.04515017e-02 2.88788340e+00] [-7.03688284e-02 -4.21568879e-03 9.97512133e-01 -2.33738710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.32, Y:2.90, Z:-2.34 [[ 9.68248658e-01 -2.40275448e-01 6.90090283e-02 3.13192992e+01] [ 2.40180057e-01 9.70678886e-01 9.79997681e-03 2.89589834e+00] [-6.93403006e-02 7.08577796e-03 9.97567900e-01 -2.34338530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.35, Y:2.90, Z:-2.34 [[ 9.67746103e-01 -2.42136067e-01 6.95528920e-02 3.13475242e+01] [ 2.41680283e-01 9.70239643e-01 1.50225217e-02 2.89983967e+00] [-7.11204674e-02 2.27157573e-03 9.97465147e-01 -2.34166542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.37, Y:2.91, Z:-2.34 [[ 9.67441937e-01 -2.42888595e-01 7.11423146e-02 3.13745099e+01] [ 2.42412341e-01 9.70051315e-01 1.53851565e-02 2.90518798e+00] [-7.27485749e-02 2.36152941e-03 9.97347516e-01 -2.34241182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.40, Y:2.91, Z:-2.34 [[ 9.67334209e-01 -2.42891955e-01 7.25811712e-02 3.14020629e+01] [ 2.42395598e-01 9.70050375e-01 1.57048754e-02 2.90993809e+00] [-7.42219803e-02 2.40149317e-03 9.97238853e-01 -2.34274331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.941052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.43, Y:2.92, Z:-2.35 [[ 9.67391336e-01 -2.42799527e-01 7.21276108e-02 3.14296002e+01] [ 2.42307645e-01 9.70073615e-01 1.56264563e-02 2.91650665e+00] [-7.37631884e-02 2.36017311e-03 9.97272993e-01 -2.34612413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.45, Y:2.92, Z:-2.35 [[ 9.67850462e-01 -2.41786637e-01 6.93159811e-02 3.14548195e+01] [ 2.41328420e-01 9.70327003e-01 1.50366595e-02 2.92461625e+00] [-7.08948315e-02 2.17467831e-03 9.97481425e-01 -2.35387757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.48, Y:2.93, Z:-2.36 [[ 9.68221727e-01 -2.40502665e-01 6.85941402e-02 3.14816506e+01] [ 2.40049826e-01 9.70646321e-01 1.48929657e-02 2.93099872e+00] [-7.01624478e-02 2.04631847e-03 9.97533480e-01 -2.35738094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.031052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.51, Y:2.94, Z:-2.36 [[ 9.69552163e-01 -2.35089770e-01 6.85667750e-02 3.15083097e+01] [ 2.34622323e-01 9.71972289e-01 1.49075264e-02 2.93570539e+00] [-7.01496122e-02 1.63367156e-03 9.97535144e-01 -2.35715270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.061052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.54, Y:2.94, Z:-2.36 [[ 9.71534742e-01 -2.27512031e-01 6.60190945e-02 3.15352333e+01] [ 2.27060695e-01 9.73774716e-01 1.43611570e-02 2.94130018e+00] [-6.75550610e-02 1.03797847e-03 9.97715008e-01 -2.35708746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.56, Y:2.95, Z:-2.36 [[ 9.72464406e-01 -2.23856473e-01 6.48171124e-02 3.15624715e+01] [ 2.23412546e-01 9.74621826e-01 1.41113306e-02 2.94789222e+00] [-6.63310852e-02 7.58189376e-04 9.97797380e-01 -2.35972883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.121052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.59, Y:2.95, Z:-2.36 [[ 9.74075894e-01 -2.17124050e-01 6.35082622e-02 3.15883787e+01] [ 2.16682333e-01 9.76143981e-01 1.38453992e-02 2.95407016e+00] [-6.49993770e-02 2.74648827e-04 9.97885267e-01 -2.36356650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.151052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.61, Y:2.96, Z:-2.37 [[ 9.74546109e-01 -2.15297362e-01 6.25054176e-02 3.16144196e+01] [ 2.14865258e-01 9.76548527e-01 1.36343480e-02 2.96028506e+00] [-6.39750127e-02 1.42941902e-04 9.97951490e-01 -2.36764208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.64, Y:2.97, Z:-2.39 [[ 9.73808252e-01 -2.17564816e-01 6.60533032e-02 3.16394802e+01] [ 2.18001343e-01 9.75948277e-01 6.13145831e-04 2.97180528e+00] [-6.45980063e-02 1.38026223e-02 9.97815907e-01 -2.38524074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.67, Y:2.97, Z:-2.37 [[ 9.73296109e-01 -2.21263786e-01 6.11311836e-02 3.16703797e+01] [ 2.19972056e-01 9.75127077e-01 2.71933591e-02 2.96612854e+00] [-6.56275780e-02 -1.30200385e-02 9.97759239e-01 -2.36924242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.70, Y:2.97, Z:-2.37 [[ 9.71155105e-01 -2.28838386e-01 6.70130932e-02 3.16962352e+01] [ 2.28371328e-01 9.73463836e-01 1.46525364e-02 2.97158502e+00] [-6.85878856e-02 1.07398361e-03 9.97644500e-01 -2.37445878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.72, Y:2.98, Z:-2.38 [[ 9.69964664e-01 -2.33463849e-01 6.82874983e-02 3.17239295e+01] [ 2.32989343e-01 9.72364453e-01 1.49444371e-02 2.97540785e+00] [-6.98893218e-02 1.41468351e-03 9.97553749e-01 -2.37550283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.301052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.75, Y:2.98, Z:-2.38 [[ 9.69904474e-01 -2.33714989e-01 6.82833448e-02 3.17517971e+01] [ 2.33239770e-01 9.72304122e-01 1.49633904e-02 2.98157347e+00] [-6.98893463e-02 1.41333234e-03 9.97553749e-01 -2.37760234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.78, Y:2.98, Z:-2.38 [[ 9.68005304e-01 -2.41099290e-01 6.95475686e-02 3.17789284e+01] [ 2.40623886e-01 9.70498469e-01 1.52599693e-02 2.98368082e+00] [-7.11749767e-02 1.96307498e-03 9.97461914e-01 -2.37623527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.81, Y:2.99, Z:-2.38 [[ 9.67207283e-01 -2.44073121e-01 7.02736354e-02 3.18053724e+01] [ 2.43594915e-01 9.69754345e-01 1.54281663e-02 2.98809373e+00] [-7.19137640e-02 2.19606541e-03 9.97408436e-01 -2.37708084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.83, Y:3.00, Z:-2.38 [[ 9.66211767e-01 -2.47306020e-01 7.26261254e-02 3.18318391e+01] [ 2.46803632e-01 9.68934175e-01 1.59540467e-02 2.99589919e+00] [-7.43154667e-02 2.50940388e-03 9.97231625e-01 -2.38087119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.421052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.86, Y:3.00, Z:-2.39 [[ 9.66119136e-01 -2.47449015e-01 7.33675663e-02 3.18588409e+01] [ 2.46935146e-01 9.68897623e-01 1.61378236e-02 3.00422716e+00] [-7.50789492e-02 2.52597046e-03 9.97174393e-01 -2.38517847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.89, Y:3.01, Z:-2.39 [[ 9.66435730e-01 -2.46273830e-01 7.31517602e-02 3.18859405e+01] [ 2.45758081e-01 9.69197299e-01 1.61108975e-02 3.01285620e+00] [-7.48661809e-02 2.40748927e-03 9.97190683e-01 -2.38890057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.481052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.91, Y:3.02, Z:-2.39 [[ 9.67434721e-01 -2.42428328e-01 7.27912567e-02 3.19131058e+01] [ 2.41905266e-01 9.70167089e-01 1.60518255e-02 3.02089509e+00] [-7.45110989e-02 2.07949495e-03 9.97218016e-01 -2.38986423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.511052754000005 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:31.94, Y:3.03, Z:-2.39 [[ 9.68267050e-01 -2.39087369e-01 7.27746483e-02 3.19386479e+01] [ 2.38553579e-01 9.70996387e-01 1.60687956e-02 3.02842726e+00] [-7.45057666e-02 1.80176751e-03 9.97218955e-01 -2.39153625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.541052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.96, Y:3.04, Z:-2.39 [[ 9.70014760e-01 -2.32046668e-01 7.22890662e-02 3.19637643e+01] [ 2.31499774e-01 9.72703859e-01 1.59704957e-02 3.03759220e+00] [-7.40217540e-02 1.24328588e-03 9.97255852e-01 -2.39372432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.571052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:31.99, Y:3.05, Z:-2.40 [[ 9.70702518e-01 -2.29229028e-01 7.20463378e-02 3.19889962e+01] [ 2.28677028e-01 9.73371990e-01 1.59306918e-02 3.04602510e+00] [-7.37796642e-02 1.01137974e-03 9.97274054e-01 -2.39724032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.601052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:32.02, Y:3.06, Z:-2.40 [[ 9.71151403e-01 -2.27209943e-01 7.23919499e-02 3.20159329e+01] [ 2.26646382e-01 9.73845426e-01 1.60157510e-02 3.05526982e+00] [-7.41375072e-02 8.53654504e-04 9.97247663e-01 -2.40156402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.631052754 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:32.04, Y:3.06, Z:-2.41 [[ 9.71573704e-01 -2.24684830e-01 7.45738916e-02 3.20408360e+01] [ 2.24077627e-01 9.74431266e-01 1.65204396e-02 3.06492053e+00] [-7.63790237e-02 6.59515971e-04 9.97078638e-01 -2.40587069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.661052754 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:32.07, Y:3.07, Z:-2.41 [[ 9.71730835e-01 -2.23771277e-01 7.52701798e-02 3.20674243e+01] [ 2.23148792e-01 9.74641514e-01 1.66894029e-02 3.07076430e+00] [-7.70960510e-02 5.78842259e-04 9.97023502e-01 -2.40634713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.691052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.10, Y:3.08, Z:-2.41 [[ 9.71469893e-01 -2.24869554e-01 7.53653156e-02 3.20950278e+01] [ 2.24248025e-01 9.74388655e-01 1.67203832e-02 3.07627328e+00] [-7.71950137e-02 6.57174279e-04 9.97015796e-01 -2.40769306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.721052754 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:32.12, Y:3.08, Z:-2.41 [[ 9.70493689e-01 -2.29193345e-01 7.49160192e-02 3.21209100e+01] [ 2.28590480e-01 9.73380429e-01 1.66412779e-02 3.08163592e+00] [-7.67358571e-02 9.74833624e-04 9.97050981e-01 -2.41058680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.751052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:32.15, Y:3.09, Z:-2.41 [[ 9.69606505e-01 -2.32685182e-01 7.56361766e-02 3.21485410e+01] [ 2.32080481e-01 9.72551302e-01 1.68111757e-02 3.08832712e+00] [-7.74717735e-02 1.25345492e-03 9.96993758e-01 -2.41383747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.781052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.18, Y:3.09, Z:-2.42 [[ 9.67900852e-01 -2.39066372e-01 7.75577870e-02 3.21751973e+01] [ 2.38449223e-01 9.71001582e-01 1.72596376e-02 3.09316345e+00] [-7.94349328e-02 1.78797614e-03 9.96838450e-01 -2.41636510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.811052754 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:32.20, Y:3.10, Z:-2.42 [[ 9.67306981e-01 -2.41339095e-01 7.79271826e-02 3.22032770e+01] [ 2.40722560e-01 9.70438842e-01 1.73523386e-02 3.09824303e+00] [-7.98113625e-02 1.97379258e-03 9.96808031e-01 -2.41842804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.841052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:32.23, Y:3.10, Z:-2.42 [[ 9.66487069e-01 -2.44330768e-01 7.87732244e-02 3.22300859e+01] [ 2.43708881e-01 9.69689400e-01 1.75627407e-02 3.10289835e+00] [-8.06766786e-02 2.22357255e-03 9.96737844e-01 -2.42074426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.871052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.26, Y:3.11, Z:-2.42 [[ 9.66089822e-01 -2.45532076e-01 7.99027859e-02 3.22571357e+01] [ 2.44895357e-01 9.69385628e-01 1.78260732e-02 3.10871140e+00] [-8.18334850e-02 2.34623345e-03 9.96643254e-01 -2.42306080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.901052754 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:32.28, Y:3.11, Z:-2.43 [[ 9.66276425e-01 -2.43948796e-01 8.24551777e-02 3.22828646e+01] [ 2.43263026e-01 9.69785477e-01 1.84181566e-02 3.11471852e+00] [-8.44569210e-02 2.26126551e-03 9.96424566e-01 -2.42634485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.931052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:32.31, Y:3.12, Z:-2.43 [[ 9.66561865e-01 -2.42400781e-01 8.36661368e-02 3.23105700e+01] [ 2.41687842e-01 9.70173829e-01 1.87010264e-02 3.12141979e+00] [-8.57038397e-02 2.14538912e-03 9.96318347e-01 -2.42885167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.961052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:32.34, Y:3.13, Z:-2.43 [[ 9.67786913e-01 -2.37287157e-01 8.41623201e-02 3.23382674e+01] [ 2.36544351e-01 9.71438102e-01 1.88357224e-02 3.12610637e+00] [-8.62279595e-02 1.67915578e-03 9.96274018e-01 -2.43075433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.991052754 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:32.37, Y:3.14, Z:-2.44 [[ 9.68747998e-01 -2.34471814e-01 8.09338274e-02 3.23663000e+01] [ 2.35128237e-01 9.71963264e-01 1.45774523e-03 3.13705279e+00] [-7.90065072e-02 1.76176404e-02 9.96718411e-01 -2.44080672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.021052754 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:32.39, Y:3.13, Z:-2.43 [[ 9.70260942e-01 -2.28731101e-01 7.92198742e-02 3.23944730e+01] [ 2.26712624e-01 9.73377772e-01 3.37209026e-02 3.13307930e+00] [-8.48238839e-02 -1.47579292e-02 9.96286662e-01 -2.42935952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.051052754000004 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:32.42, Y:3.14, Z:-2.44 [[ 9.71321324e-01 -2.23350169e-01 8.15450005e-02 3.24199176e+01] [ 2.22599060e-01 9.74738203e-01 1.83055800e-02 3.14442295e+00] [-8.35735817e-02 3.71240255e-04 9.96501540e-01 -2.44131557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.081052754 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:32.45, Y:3.15, Z:-2.45 [[ 9.73309973e-01 -2.15479119e-01 7.89711685e-02 3.24457177e+01] [ 2.14747124e-01 9.76508397e-01 1.77489115e-02 3.15068085e+00] [-8.09405290e-02 -3.16361249e-04 9.96718882e-01 -2.44545880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.47, Y:3.16, Z:-2.45 [[ 9.74404801e-01 -2.10875709e-01 7.78891469e-02 3.24735434e+01] [ 2.10148122e-01 9.77512632e-01 1.75163118e-02 3.15567758e+00] [-7.98313896e-02 -6.99720359e-04 9.96808136e-01 -2.44843677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.141052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:32.50, Y:3.16, Z:-2.45 [[ 9.74470937e-01 -2.10804359e-01 7.72522804e-02 3.25012332e+01] [ 2.10086695e-01 9.77528006e-01 1.73947718e-02 3.16020506e+00] [-7.91831613e-02 -7.21023254e-04 9.96859823e-01 -2.45079384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.171052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:32.53, Y:3.16, Z:-2.45 [[ 9.74359798e-01 -2.11544902e-01 7.66272768e-02 3.25292326e+01] [ 2.10839416e-01 9.77368046e-01 1.72755237e-02 3.16454445e+00] [-7.85476007e-02 -6.76525429e-04 9.96910135e-01 -2.45244593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.201052754 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:32.56, Y:3.17, Z:-2.46 [[ 9.73151390e-01 -2.19543430e-01 6.91162330e-02 3.25598906e+01] [ 2.19435863e-01 9.75583181e-01 9.23897311e-03 3.17064871e+00] [-6.94569903e-02 6.17566068e-03 9.97565831e-01 -2.45653880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.231052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.58, Y:3.17, Z:-2.45 [[ 9.71884297e-01 -2.22792132e-01 7.61877870e-02 3.25839832e+01] [ 2.21684247e-01 9.74851680e-01 2.28100312e-02 3.17085352e+00] [-7.93536876e-02 -5.27907895e-03 9.96832545e-01 -2.45490346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.261052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.61, Y:3.18, Z:-2.46 [[ 9.70600804e-01 -2.27470585e-01 7.86842505e-02 3.26110988e+01] [ 2.26774803e-01 9.73784780e-01 1.77873975e-02 3.17817636e+00] [-8.06676353e-02 5.79143024e-04 9.96740888e-01 -2.45899207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.64, Y:3.19, Z:-2.46 [[ 9.70133816e-01 -2.29040476e-01 7.98801528e-02 3.26369512e+01] [ 2.28326822e-01 9.73416649e-01 1.80801072e-02 3.18585593e+00] [-8.18977470e-02 6.98658014e-04 9.96640492e-01 -2.46160698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.66, Y:3.19, Z:-2.46 [[ 9.69240657e-01 -2.32071489e-01 8.19473733e-02 3.26634889e+01] [ 2.31330129e-01 9.72698251e-01 1.85602630e-02 3.19379264e+00] [-8.40173745e-02 9.67534968e-04 9.96463820e-01 -2.46257621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.69, Y:3.20, Z:-2.46 [[ 9.68750922e-01 -2.33620930e-01 8.33241414e-02 3.26897016e+01] [ 2.32858136e-01 9.72327134e-01 1.88953141e-02 3.20017121e+00] [-8.54326645e-02 1.09785133e-03 9.96343342e-01 -2.46014919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.381052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:32.72, Y:3.21, Z:-2.46 [[ 9.68604344e-01 -2.34203033e-01 8.33940314e-02 3.27168766e+01] [ 2.33440029e-01 9.72187042e-01 1.89237498e-02 3.20734687e+00] [-8.55065963e-02 1.13787889e-03 9.96336955e-01 -2.46164448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.74, Y:3.22, Z:-2.46 [[ 9.69054942e-01 -2.33089420e-01 8.12517166e-02 3.27441733e+01] [ 2.32359334e-01 9.72454802e-01 1.84607091e-02 3.21542921e+00] [-8.33166180e-02 9.90153364e-04 9.96522634e-01 -2.46446834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.441052754000005 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:32.77, Y:3.22, Z:-2.47 [[ 9.69446003e-01 -2.32066668e-01 7.94953433e-02 3.27703847e+01] [ 2.31362602e-01 9.72699502e-01 1.80838510e-02 3.22146113e+00] [-8.15217398e-02 8.60932438e-04 9.96671192e-01 -2.46641730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.471052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:32.80, Y:3.23, Z:-2.47 [[ 9.70455712e-01 -2.29019459e-01 7.59328553e-02 3.27974894e+01] [ 2.28366685e-01 9.73421682e-01 1.72883493e-02 3.22875958e+00] [-7.78740561e-02 5.62957106e-04 9.96963046e-01 -2.46964440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.501052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:32.82, Y:3.24, Z:-2.47 [[ 9.70899828e-01 -2.27634360e-01 7.44051153e-02 3.28244170e+01] [ 2.27001927e-01 9.73746589e-01 1.69618648e-02 3.23584740e+00] [-7.63128305e-02 4.21832956e-04 9.97083835e-01 -2.47302944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.531052754 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:32.86, Y:3.24, Z:-2.47 [[ 9.71859852e-01 -2.26936523e-01 6.31525386e-02 3.28567375e+01] [ 2.25992062e-01 9.73884926e-01 2.18114242e-02 3.24153614e+00] [-6.64531141e-02 -6.92567511e-03 9.97765513e-01 -2.46910567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.561052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.88, Y:3.25, Z:-2.48 [[ 9.72198169e-01 -2.21754224e-01 7.52049477e-02 3.28779063e+01] [ 2.21729157e-01 9.75068689e-01 8.78825142e-03 3.25210388e+00] [-7.52788216e-02 8.13120773e-03 9.97129371e-01 -2.48279747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.591052754 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:32.92, Y:3.25, Z:-2.46 [[ 9.73470536e-01 -2.20410313e-01 6.14362256e-02 3.29154420e+01] [ 2.19010122e-01 9.75299039e-01 2.87463294e-02 3.24785796e+00] [-6.62546792e-02 -1.45285494e-02 9.97696967e-01 -2.46198254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.621052754000004 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:32.94, Y:3.26, Z:-2.47 [[ 9.73485158e-01 -2.18426509e-01 6.79448880e-02 3.29402213e+01] [ 2.18232229e-01 9.75841876e-01 1.03598467e-02 3.26018301e+00] [-6.85663322e-02 4.74260740e-03 9.97635287e-01 -2.47370955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.651052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.96, Y:3.27, Z:-2.48 [[ 9.73066189e-01 -2.17082249e-01 7.75724778e-02 3.29609111e+01] [ 2.17246754e-01 9.76095644e-01 6.41421274e-03 3.26828868e+00] [-7.71105693e-02 1.06109154e-02 9.96966082e-01 -2.48369825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.681052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.99, Y:3.27, Z:-2.48 [[ 9.71676044e-01 -2.23410453e-01 7.70287944e-02 3.29901206e+01] [ 2.22709361e-01 9.74724458e-01 1.76853599e-02 3.26864985e+00] [-7.90329441e-02 -2.94069669e-05 9.96872004e-01 -2.48000187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.02, Y:3.27, Z:-2.48 [[ 9.70699927e-01 -2.27388423e-01 7.76927097e-02 3.30173257e+01] [ 2.26686111e-01 9.73804102e-01 1.78599479e-02 3.27351433e+00] [-7.97186248e-02 2.75208126e-04 9.96817368e-01 -2.48151864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.05, Y:3.28, Z:-2.48 [[ 9.69728059e-01 -2.31328913e-01 7.81947915e-02 3.30454784e+01] [ 2.30628458e-01 9.72875427e-01 1.79977195e-02 3.27801416e+00] [-8.02371841e-02 5.81050582e-04 9.96775630e-01 -2.48328134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.07, Y:3.28, Z:-2.48 [[ 9.68595735e-01 -2.36792736e-01 7.58386620e-02 3.30736114e+01] [ 2.36148989e-01 9.71559692e-01 1.74762334e-02 3.28069860e+00] [-7.78200323e-02 9.81818307e-04 9.96966940e-01 -2.48415686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.801052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.10, Y:3.29, Z:-2.49 [[ 9.68485383e-01 -2.37928341e-01 7.36625294e-02 3.31008358e+01] [ 2.37322808e-01 9.71282173e-01 1.69948739e-02 3.28773922e+00] [-7.55906638e-02 1.02251139e-03 9.97138409e-01 -2.48678168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.13, Y:3.30, Z:-2.49 [[ 9.68586959e-01 -2.37584824e-01 7.34353670e-02 3.31267821e+01] [ 2.36980481e-01 9.71366309e-01 1.69630804e-02 3.29536390e+00] [-7.53628119e-02 9.72530108e-04 9.97155705e-01 -2.48879285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.15, Y:3.30, Z:-2.49 [[ 9.68915417e-01 -2.36089738e-01 7.39225923e-02 3.31524017e+01] [ 2.35472295e-01 9.71730883e-01 1.70847906e-02 3.30458311e+00] [-7.58664096e-02 8.53005472e-04 9.97117626e-01 -2.49078507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.891052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:33.18, Y:3.31, Z:-2.49 [[ 9.69156262e-01 -2.35481799e-01 7.26943030e-02 3.31791107e+01] [ 2.34882368e-01 9.71878443e-01 1.68096584e-02 3.31218598e+00] [-7.46083947e-02 7.83424322e-04 9.97212602e-01 -2.49274034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.921052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.21, Y:3.32, Z:-2.49 [[ 9.69398202e-01 -2.34981968e-01 7.10675848e-02 3.32060661e+01] [ 2.34406356e-01 9.71999471e-01 1.64526302e-02 3.32037092e+00] [-7.29437262e-02 7.09543442e-04 9.97335806e-01 -2.49491927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.23, Y:3.33, Z:-2.50 [[ 9.69575261e-01 -2.34452471e-01 7.03978089e-02 3.32323250e+01] [ 2.33884867e-01 9.72127370e-01 1.63170216e-02 3.32711082e+00] [-7.22612029e-02 6.44401752e-04 9.97385534e-01 -2.49624212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.981052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.26, Y:3.34, Z:-2.50 [[ 9.69793510e-01 -2.33554451e-01 7.03766035e-02 3.32580454e+01] [ 2.32984226e-01 9.72343558e-01 1.63204190e-02 3.33508809e+00] [-7.22419435e-02 5.69202071e-04 9.97386975e-01 -2.49689196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.011052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.28, Y:3.34, Z:-2.50 [[ 9.69706236e-01 -2.33967788e-01 7.02060594e-02 3.32849677e+01] [ 2.33400478e-01 9.72244172e-01 1.62937480e-02 3.34283637e+00] [-7.20696443e-02 5.85978788e-04 9.97399430e-01 -2.49884064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.041052754 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:33.31, Y:3.35, Z:-2.50 [[ 9.69830743e-01 -2.33446428e-01 7.02217642e-02 3.33106791e+01] [ 2.32876012e-01 9.72369522e-01 1.63179584e-02 3.35214023e+00] [-7.20908724e-02 5.27306616e-04 9.97397929e-01 -2.50178864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.34, Y:3.36, Z:-2.50 [[ 9.70163139e-01 -2.32271463e-01 6.95230334e-02 3.33365043e+01] [ 2.31708725e-01 9.72650906e-01 1.61642016e-02 3.35947813e+00] [-7.13761242e-02 4.27180900e-04 9.97449380e-01 -2.50366082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.36, Y:3.37, Z:-2.51 [[ 9.70708800e-01 -2.30425250e-01 6.80340369e-02 3.33630121e+01] [ 2.29881324e-01 9.73089989e-01 1.58256148e-02 3.36760807e+00] [-6.98498615e-02 2.77690955e-04 9.97557477e-01 -2.50603569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.131052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:33.39, Y:3.37, Z:-2.51 [[ 9.70909399e-01 -2.29931701e-01 6.68307673e-02 3.33900906e+01] [ 2.29404432e-01 9.73206743e-01 1.55641345e-02 3.37406816e+00] [-6.86188413e-02 2.19909738e-04 9.97642925e-01 -2.50764177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.161052754 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:33.42, Y:3.37, Z:-2.49 [[ 9.70102253e-01 -2.35590295e-01 5.82995034e-02 3.34240437e+01] [ 2.33781498e-01 9.71614659e-01 3.62100298e-02 3.37283025e+00] [-6.51753837e-02 -2.14980862e-02 9.97642221e-01 -2.49319975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.191052754000005 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:33.45, Y:3.39, Z:-2.51 [[ 9.70051492e-01 -2.34352222e-01 6.38681373e-02 3.34489855e+01] [ 2.33944142e-01 9.72150663e-01 1.39005709e-02 3.38679072e+00] [-6.53470818e-02 1.45730711e-03 9.97861531e-01 -2.50731447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.221052754 meters Centerline goodness : 0.996396 Centerline is valid? [True, True] Translation: X:33.47, Y:3.39, Z:-2.51 [[ 9.69218499e-01 -2.36613600e-01 6.80404673e-02 3.34749439e+01] [ 2.36539602e-01 9.71577737e-01 9.25841951e-03 3.39496361e+00] [-6.82972712e-02 7.12083362e-03 9.97639603e-01 -2.51193945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.251052754 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:33.50, Y:3.40, Z:-2.51 [[ 9.67073471e-01 -2.45228254e-01 6.80588299e-02 3.35022331e+01] [ 2.44876865e-01 9.69458961e-01 1.35883704e-02 3.39918605e+00] [-6.93124949e-02 3.52508038e-03 9.97588769e-01 -2.51011807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.281052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.53, Y:3.41, Z:-2.52 [[ 9.65594264e-01 -2.49530046e-01 7.32289062e-02 3.35262830e+01] [ 2.49849146e-01 9.68272286e-01 4.91780811e-03 3.40961191e+00] [-7.21326612e-02 1.35475724e-02 9.97303034e-01 -2.51978525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.311052754 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:33.55, Y:3.41, Z:-2.52 [[ 9.63990016e-01 -2.56353975e-01 7.07523080e-02 3.35548056e+01] [ 2.55819192e-01 9.66580846e-01 1.66735952e-02 3.41297330e+00] [-7.26621681e-02 2.02661896e-03 9.97354552e-01 -2.51608269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.58, Y:3.42, Z:-2.52 [[ 9.63744197e-01 -2.57450412e-01 7.01171005e-02 3.35817353e+01] [ 2.56926601e-01 9.66289294e-01 1.65445455e-02 3.41926974e+00] [-7.20128036e-02 2.07023857e-03 9.97401559e-01 -2.51753896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.371052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.61, Y:3.43, Z:-2.52 [[ 9.64122561e-01 -2.56140620e-01 6.97113385e-02 3.36080652e+01] [ 2.55617911e-01 9.66637584e-01 1.64701257e-02 3.42585430e+00] [-7.16042680e-02 1.94024695e-03 9.97431233e-01 -2.51811435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.401052754 meters Centerline goodness : 0.998197 Centerline is valid? [True, True] Translation: X:33.63, Y:3.43, Z:-2.52 [[ 9.64639170e-01 -2.54104149e-01 7.00168106e-02 3.36339666e+01] [ 2.53570897e-01 9.67175207e-01 1.65505047e-02 3.43305594e+00] [-7.19240752e-02 1.78896041e-03 9.97408506e-01 -2.51979947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.66, Y:3.44, Z:-2.52 [[ 9.66785830e-01 -2.46712692e-01 6.67682998e-02 3.36599946e+01] [ 2.46208678e-01 9.69087975e-01 1.58045386e-02 3.44279423e+00] [-6.86035367e-02 1.15933089e-03 9.97643328e-01 -2.52295013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.69, Y:3.45, Z:-2.53 [[ 9.68071099e-01 -2.42013291e-01 6.53292755e-02 3.36859991e+01] [ 2.41518448e-01 9.70272617e-01 1.54883026e-02 3.45148405e+00] [-6.71355822e-02 7.84447106e-04 9.97743553e-01 -2.52634978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.491052754 meters Centerline goodness : 0.999885 Centerline is valid? [True, True] Translation: X:33.71, Y:3.46, Z:-2.52 [[ 9.70706943e-01 -2.32470928e-01 6.07066675e-02 3.37133936e+01] [ 2.31069988e-01 9.72497151e-01 2.92566413e-02 3.45569056e+00] [-6.58383797e-02 -1.43721359e-02 9.97726791e-01 -2.52252045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.521052754 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:33.74, Y:3.47, Z:-2.54 [[ 9.73204053e-01 -2.21370833e-01 6.21998898e-02 3.37393953e+01] [ 2.21629554e-01 9.75126928e-01 2.79550400e-03 3.47212733e+00] [-6.12716306e-02 1.10647380e-02 9.98059797e-01 -2.53708132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.551052754000004 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:33.77, Y:3.47, Z:-2.53 [[ 9.74291834e-01 -2.17559787e-01 5.85077812e-02 3.37679238e+01] [ 2.16176247e-01 9.75920716e-01 2.90961395e-02 3.46981826e+00] [-6.34291056e-02 -1.57001385e-02 9.97862843e-01 -2.52692093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.581052754 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:33.79, Y:3.49, Z:-2.54 [[ 9.75629029e-01 -2.10414588e-01 6.22390415e-02 3.37934698e+01] [ 2.10751222e-01 9.77539017e-01 1.18028488e-03 3.48647480e+00] [-6.10894406e-02 1.19654338e-02 9.98060574e-01 -2.54253584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.611052754 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:33.82, Y:3.49, Z:-2.54 [[ 9.75978422e-01 -2.09657400e-01 5.92443659e-02 3.38219251e+01] [ 2.09068493e-01 9.77769448e-01 1.60397008e-02 3.48700939e+00] [-6.12901729e-02 -3.26827160e-03 9.98114639e-01 -2.53734281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.641052754 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:33.85, Y:3.49, Z:-2.54 [[ 9.75901533e-01 -2.09753090e-01 6.01650914e-02 3.38493059e+01] [ 2.08382999e-01 9.77638401e-01 2.82786490e-02 3.48785426e+00] [-6.47512378e-02 -1.50597947e-02 9.97787793e-01 -2.53508209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.671052754 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:33.88, Y:3.49, Z:-2.54 [[ 9.75257065e-01 -2.11257841e-01 6.51443149e-02 3.38765618e+01] [ 2.10725273e-01 9.77429935e-01 1.50193712e-02 3.49335562e+00] [-6.68469634e-02 -9.20194369e-04 9.97762816e-01 -2.54320202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.701052754 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:33.90, Y:3.50, Z:-2.55 [[ 9.74800835e-01 -2.13095835e-01 6.59810407e-02 3.39034943e+01] [ 2.12717471e-01 9.77030044e-01 1.27895018e-02 3.49767873e+00] [-6.71908486e-02 1.56810306e-03 9.97738909e-01 -2.54588836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.731052754000004 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:33.93, Y:3.50, Z:-2.54 [[ 9.73548865e-01 -2.18649311e-01 6.62954521e-02 3.39323550e+01] [ 2.17972835e-01 9.75800428e-01 1.73599400e-02 3.49851259e+00] [-6.84868695e-02 -2.45014225e-03 9.97649009e-01 -2.54444118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.761052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.96, Y:3.51, Z:-2.55 [[ 9.71871170e-01 -2.25438562e-01 6.81460472e-02 3.39621058e+01] [ 2.25875720e-01 9.74155230e-01 1.32148387e-03 3.50832946e+00] [-6.66827417e-02 1.41082254e-02 9.97674481e-01 -2.55281223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.791052754 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:33.99, Y:3.50, Z:-2.54 [[ 9.71403928e-01 -2.28321373e-01 6.51441513e-02 3.39895373e+01] [ 2.26748674e-01 9.73469608e-01 3.06913856e-02 3.50287573e+00] [-7.04233507e-02 -1.50423825e-02 9.97403769e-01 -2.54058923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.821052754 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:34.02, Y:3.51, Z:-2.55 [[ 9.69688174e-01 -2.34593812e-01 6.83416987e-02 3.40163984e+01] [ 2.34249555e-01 9.72087936e-01 1.31221582e-02 3.51304998e+00] [-6.95125180e-02 3.28461086e-03 9.97575672e-01 -2.55373863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.851052754 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:34.04, Y:3.52, Z:-2.55 [[ 9.68993584e-01 -2.37929696e-01 6.66400293e-02 3.40444516e+01] [ 2.37426320e-01 9.71282039e-01 1.54900920e-02 3.51709223e+00] [-6.84118164e-02 8.12297148e-04 9.97656837e-01 -2.55431756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.881052754 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:34.07, Y:3.52, Z:-2.56 [[ 9.67971803e-01 -2.43113064e-01 6.26628004e-02 3.40708180e+01] [ 2.43151387e-01 9.69962147e-01 7.12995221e-03 3.52266798e+00] [-6.25139289e-02 8.33495412e-03 9.98009287e-01 -2.55890360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.911052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:34.10, Y:3.53, Z:-2.57 [[ 9.67556659e-01 -2.43847078e-01 6.61265006e-02 3.41025169e+01] [ 2.43961615e-01 9.69763362e-01 6.46150535e-03 3.52938109e+00] [-6.57026768e-02 9.88045537e-03 9.97790326e-01 -2.56584581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.941052754000005 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:34.13, Y:3.53, Z:-2.55 [[ 9.67120131e-01 -2.47523683e-01 5.84010062e-02 3.41308263e+01] [ 2.46261041e-01 9.68798355e-01 2.80222454e-02 3.52945382e+00] [-6.35149681e-02 -1.27189851e-02 9.97899833e-01 -2.55065597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.971052754 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:34.16, Y:3.54, Z:-2.56 [[ 9.66497780e-01 -2.48604420e-01 6.38583088e-02 3.41556170e+01] [ 2.48486360e-01 9.68584687e-01 9.91130260e-03 3.54419015e+00] [-6.43161736e-02 6.28866675e-03 9.97909757e-01 -2.56429970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.18, Y:3.55, Z:-2.57 [[ 9.66403350e-01 -2.49592625e-01 6.13847436e-02 3.41804005e+01] [ 2.49147453e-01 9.68350538e-01 1.49258598e-02 3.55088395e+00] [-6.31673341e-02 8.69451587e-04 9.98002571e-01 -2.56687557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.031052754 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:34.21, Y:3.56, Z:-2.57 [[ 9.66029779e-01 -2.51264623e-01 6.04363784e-02 3.42068536e+01] [ 2.50797293e-01 9.67918366e-01 1.53217285e-02 3.55944473e+00] [-6.23472889e-02 3.56034094e-04 9.98054452e-01 -2.56983848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.061052754 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:34.23, Y:3.57, Z:-2.57 [[ 9.65735484e-01 -2.52511118e-01 5.99425578e-02 3.42327509e+01] [ 2.51695693e-01 9.67580521e-01 2.09096406e-02 3.56768793e+00] [-6.32791681e-02 -5.10589818e-03 9.97982804e-01 -2.57139731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.091052754 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:34.26, Y:3.58, Z:-2.58 [[ 9.65739941e-01 -2.52340192e-01 6.05870775e-02 3.42590647e+01] [ 2.52423525e-01 9.67595678e-01 6.40067679e-03 3.57999265e+00] [-6.02389423e-02 9.11221447e-03 9.98142393e-01 -2.57837437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.121052754000004 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:34.29, Y:3.58, Z:-2.57 [[ 9.66017292e-01 -2.52193200e-01 5.66496328e-02 3.42895528e+01] [ 2.51441554e-01 9.67662854e-01 2.01431508e-02 3.58090058e+00] [-5.98977110e-02 -5.21456028e-03 9.98190900e-01 -2.56968433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.151052754 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:34.31, Y:3.59, Z:-2.58 [[ 9.65426353e-01 -2.53586059e-01 6.03826684e-02 3.43130094e+01] [ 2.53783117e-01 9.67250631e-01 4.51067098e-03 3.59478443e+00] [-5.95490174e-02 1.09693812e-02 9.98165110e-01 -2.57996651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.35, Y:3.60, Z:-2.58 [[ 9.65022366e-01 -2.55049740e-01 6.06750686e-02 3.43469623e+01] [ 2.54950087e-01 9.66907458e-01 9.50899548e-03 3.60087717e+00] [-6.10924432e-02 6.29272074e-03 9.98112276e-01 -2.58037487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.211052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:34.37, Y:3.61, Z:-2.58 [[ 9.65176265e-01 -2.54303036e-01 6.13575101e-02 3.43737098e+01] [ 2.54031419e-01 9.67117519e-01 1.23183861e-02 3.60553194e+00] [-6.24725259e-02 3.69732143e-03 9.98039836e-01 -2.58099896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.241052754 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:34.40, Y:3.61, Z:-2.58 [[ 9.65293129e-01 -2.53974324e-01 6.08787109e-02 3.43973621e+01] [ 2.53038235e-01 9.67188738e-01 2.27507497e-02 3.61156328e+00] [-6.46593098e-02 -6.55650079e-03 9.97885858e-01 -2.57810490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.271052754 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:34.42, Y:3.62, Z:-2.58 [[ 9.66060922e-01 -2.50316174e-01 6.37817242e-02 3.44228216e+01] [ 2.49431502e-01 9.68151433e-01 2.16039147e-02 3.61785337e+00] [-6.71581769e-02 -4.96152646e-03 9.97730005e-01 -2.58151047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.301052754000004 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:34.45, Y:3.63, Z:-2.59 [[ 9.67385244e-01 -2.45036289e-01 6.42106423e-02 3.44501097e+01] [ 2.44753792e-01 9.69506588e-01 1.23513745e-02 3.62695963e+00] [-6.52791757e-02 3.76726078e-03 9.97859929e-01 -2.58612382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.331052754 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:34.48, Y:3.63, Z:-2.58 [[ 9.68653300e-01 -2.40518051e-01 6.21437996e-02 3.44800289e+01] [ 2.39950295e-01 9.70644015e-01 1.65545400e-02 3.62885628e+00] [-6.43011728e-02 -1.12418679e-03 9.97929905e-01 -2.58444512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.51, Y:3.64, Z:-2.59 [[ 9.69635406e-01 -2.35409922e-01 6.62521513e-02 3.45099821e+01] [ 2.35171779e-01 9.71885998e-01 1.14822392e-02 3.64001117e+00] [-6.70925712e-02 4.44705058e-03 9.97736844e-01 -2.59051765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.54, Y:3.64, Z:-2.59 [[ 9.71199984e-01 -2.30110203e-01 6.18052163e-02 3.45398441e+01] [ 2.29479763e-01 9.73161288e-01 1.72088855e-02 3.64458303e+00] [-6.41063840e-02 -2.53022294e-03 9.97939863e-01 -2.58746271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.421052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.57, Y:3.65, Z:-2.59 [[ 9.70916816e-01 -2.31115196e-01 6.25004165e-02 3.45686532e+01] [ 2.30469488e-01 9.72923083e-01 1.74496019e-02 3.65267157e+00] [-6.48409661e-02 -2.53767287e-03 9.97892384e-01 -2.59010213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.60, Y:3.66, Z:-2.59 [[ 9.71153213e-01 -2.30323729e-01 6.17447721e-02 3.45956068e+01] [ 2.29713979e-01 9.73111521e-01 1.68954492e-02 3.65787054e+00] [-6.39759719e-02 -2.22443250e-03 9.97948960e-01 -2.59157899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.481052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.62, Y:3.66, Z:-2.60 [[ 9.70414653e-01 -2.33653040e-01 6.08412600e-02 3.46238786e+01] [ 2.33471575e-01 9.72310392e-01 1.01746929e-02 3.66431588e+00] [-6.15339373e-02 4.33103371e-03 9.98095595e-01 -2.59564734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.511052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.65, Y:3.67, Z:-2.60 [[ 9.69749585e-01 -2.36339116e-01 6.10701585e-02 3.46512963e+01] [ 2.35671262e-01 9.71665744e-01 1.80204914e-02 3.66737801e+00] [-6.35987280e-02 -3.08288266e-03 9.97970790e-01 -2.59536020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.541052754 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:34.67, Y:3.67, Z:-2.60 [[ 9.68206674e-01 -2.42407770e-01 6.17600918e-02 3.46745623e+01] [ 2.41849916e-01 9.70173933e-01 1.64668873e-02 3.67306091e+00] [-6.39097326e-02 -1.00667711e-03 9.97955176e-01 -2.60187346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.70, Y:3.68, Z:-2.61 [[ 9.67453439e-01 -2.45595710e-01 6.09638491e-02 3.47010705e+01] [ 2.45488843e-01 9.69354289e-01 9.35357404e-03 3.67782388e+00] [-6.13927663e-02 5.91679743e-03 9.98096148e-01 -2.60566208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.73, Y:3.68, Z:-2.60 [[ 9.67393083e-01 -2.46291697e-01 5.90848797e-02 3.47287162e+01] [ 2.45868181e-01 9.69195593e-01 1.44478495e-02 3.68232649e+00] [-6.08231904e-02 5.50342301e-04 9.98148404e-01 -2.60369925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.76, Y:3.69, Z:-2.61 [[ 9.68081830e-01 -2.43334265e-01 6.00500322e-02 3.47598693e+01] [ 2.43540007e-01 9.69882684e-01 3.98059304e-03 3.69129030e+00] [-5.92101011e-02 1.07710454e-02 9.98187432e-01 -2.61346883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.661052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:34.79, Y:3.70, Z:-2.61 [[ 9.67796147e-01 -2.45259750e-01 5.67298332e-02 3.47872421e+01] [ 2.44880904e-01 9.69457159e-01 1.36440452e-02 3.69750178e+00] [-5.83434781e-02 6.87398477e-04 9.98296332e-01 -2.61143882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.691052754000005 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:34.81, Y:3.71, Z:-2.61 [[ 9.66805814e-01 -2.50030788e-01 5.26414555e-02 3.48097164e+01] [ 2.49484180e-01 9.68232842e-01 1.68168683e-02 3.70752806e+00] [-5.51739210e-02 -3.12543570e-03 9.98471867e-01 -2.61144112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.84, Y:3.71, Z:-2.61 [[ 9.66364943e-01 -2.50924221e-01 5.63545147e-02 3.48350078e+01] [ 2.50335555e-01 9.68002980e-01 1.73879431e-02 3.71433842e+00] [-5.89143943e-02 -2.69555995e-03 9.98259399e-01 -2.61494816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.87, Y:3.72, Z:-2.62 [[ 9.65754242e-01 -2.51509184e-01 6.37328395e-02 3.48661593e+01] [ 2.51613206e-01 9.67805911e-01 6.52025068e-03 3.72207193e+00] [-6.33209217e-02 9.73906432e-03 9.97945696e-01 -2.62307021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.781052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:34.89, Y:3.73, Z:-2.62 [[ 9.65172733e-01 -2.53832726e-01 6.33288408e-02 3.48939446e+01] [ 2.53439348e-01 9.67245526e-01 1.43034500e-02 3.72742603e+00] [-6.48852216e-02 2.24472019e-03 9.97890209e-01 -2.62133881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.811052754 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:34.92, Y:3.74, Z:-2.63 [[ 9.64692658e-01 -2.54749458e-01 6.68639663e-02 3.49213184e+01] [ 2.54700905e-01 9.66974257e-01 9.39333016e-03 3.73990948e+00] [-6.70486800e-02 7.96863608e-03 9.97717884e-01 -2.63140487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.841052754 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:34.95, Y:3.75, Z:-2.63 [[ 9.65036763e-01 -2.53892390e-01 6.51360132e-02 3.49469752e+01] [ 2.53699533e-01 9.67216442e-01 1.13534503e-02 3.74781078e+00] [-6.58831776e-02 5.56847924e-03 9.97811805e-01 -2.63366407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.871052754000004 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:34.98, Y:3.75, Z:-2.63 [[ 9.66692555e-01 -2.48201144e-01 6.24635663e-02 3.49764909e+01] [ 2.47380298e-01 9.68697921e-01 2.06718769e-02 3.75356716e+00] [-6.56391103e-02 -4.53109377e-03 9.97833141e-01 -2.62866014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.901052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:35.01, Y:3.76, Z:-2.63 [[ 9.68132518e-01 -2.42896224e-01 6.09987906e-02 3.50053856e+01] [ 2.42295086e-01 9.70050513e-01 1.71782884e-02 3.76150924e+00] [-6.33444495e-02 -1.85115240e-03 9.97990007e-01 -2.63003263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.03, Y:3.77, Z:-2.64 [[ 9.70496302e-01 -2.33839290e-01 5.87887241e-02 3.50305852e+01] [ 2.33817798e-01 9.72252717e-01 7.34115879e-03 3.77398701e+00] [-5.88741481e-02 6.62128254e-03 9.98243454e-01 -2.63545191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.961052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:35.06, Y:3.78, Z:-2.63 [[ 9.72164581e-01 -2.26810725e-01 5.87615825e-02 3.50616205e+01] [ 2.25765456e-01 9.73887412e-01 2.39430156e-02 3.77700277e+00] [-6.26576982e-02 -1.00102162e-02 9.97984874e-01 -2.62976728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.991052754 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:35.09, Y:3.79, Z:-2.64 [[ 9.72455359e-01 -2.24698652e-01 6.19765372e-02 3.50868258e+01] [ 2.24264757e-01 9.74428249e-01 1.39609171e-02 3.78754066e+00] [-6.35286879e-02 3.22784348e-04 9.97979961e-01 -2.63610971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.021052754 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:35.12, Y:3.79, Z:-2.63 [[ 9.72711750e-01 -2.23260615e-01 6.31391250e-02 3.51159150e+01] [ 2.22479939e-01 9.74747678e-01 1.92260436e-02 3.78989547e+00] [-6.58371338e-02 -4.65420984e-03 9.97819528e-01 -2.63108046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.051052754000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:35.14, Y:3.80, Z:-2.64 [[ 9.72338564e-01 -2.24345148e-01 6.50151596e-02 3.51432990e+01] [ 2.23918032e-01 9.74509170e-01 1.38777869e-02 3.79721522e+00] [-6.64712833e-02 1.06415919e-03 9.97787771e-01 -2.63519956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.081052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:35.17, Y:3.80, Z:-2.64 [[ 9.72232032e-01 -2.24891621e-01 6.47196628e-02 3.51711875e+01] [ 2.24392938e-01 9.74383784e-01 1.49683547e-02 3.80397966e+00] [-6.64280474e-02 -3.00786410e-05 9.97791217e-01 -2.63679963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.111052754 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:35.20, Y:3.81, Z:-2.64 [[ 9.71055600e-01 -2.30424005e-01 6.28951540e-02 3.51995218e+01] [ 2.29965514e-01 9.73090260e-01 1.45329932e-02 3.80907310e+00] [-6.45514123e-02 3.51372042e-04 9.97914321e-01 -2.63892741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.141052754 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:35.23, Y:3.81, Z:-2.64 [[ 9.70139149e-01 -2.34603080e-01 6.15745615e-02 3.52279942e+01] [ 2.34073239e-01 9.72090832e-01 1.57839580e-02 3.81448325e+00] [-6.35590319e-02 -8.99678462e-04 9.97977675e-01 -2.64018437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.171052754 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:35.26, Y:3.82, Z:-2.64 [[ 9.67906659e-01 -2.43519294e-01 6.20890803e-02 3.52557977e+01] [ 2.43024888e-01 9.69896050e-01 1.55098787e-02 3.81850824e+00] [-6.39969085e-02 7.70768835e-05 9.97950094e-01 -2.64181204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.201052754 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:35.28, Y:3.83, Z:-2.64 [[ 9.66446383e-01 -2.49489533e-01 6.11257807e-02 3.52842272e+01] [ 2.49197856e-01 9.68372279e-01 1.24723284e-02 3.82568364e+00] [-6.23042269e-02 3.17857676e-03 9.98052143e-01 -2.64488083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.231052754000004 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:35.31, Y:3.83, Z:-2.65 [[ 9.64042191e-01 -2.58985124e-01 5.95764953e-02 3.53103411e+01] [ 2.58576600e-01 9.65880396e-01 1.46014358e-02 3.82912167e+00] [-6.13253235e-02 1.32868744e-03 9.98116947e-01 -2.64500236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.261052754000005 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:35.34, Y:3.84, Z:-2.65 [[ 9.63009277e-01 -2.62755132e-01 5.97735201e-02 3.53400768e+01] [ 2.62456814e-01 9.64857120e-01 1.29290282e-02 3.83552957e+00] [-6.10700750e-02 3.23719358e-03 9.98128232e-01 -2.64847793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.291052754 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:35.37, Y:3.85, Z:-2.65 [[ 9.61353204e-01 -2.68717139e-01 5.99259223e-02 3.53672668e+01] [ 2.68485404e-01 9.63208541e-01 1.20371970e-02 3.84658549e+00] [-6.09557613e-02 4.51723757e-03 9.98130247e-01 -2.65382970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.321052754 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:35.40, Y:3.85, Z:-2.64 [[ 9.60932988e-01 -2.72264394e-01 4.97985229e-02 3.53987631e+01] [ 2.70885609e-01 9.62054674e-01 3.27382277e-02 3.84711529e+00] [-5.68223554e-02 -1.79695397e-02 9.98222578e-01 -2.63866884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.351052754 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:35.41, Y:3.87, Z:-2.67 [[ 9.58168233e-01 -2.78055339e-01 6.78149332e-02 3.54123938e+01] [ 2.78894939e-01 9.60316765e-01 -3.05342215e-03 3.87065906e+00] [-6.42747969e-02 2.18389337e-02 9.97693245e-01 -2.67098607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.381052754 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:35.45, Y:3.87, Z:-2.66 [[ 9.58886306e-01 -2.77575885e-01 5.90650541e-02 3.54487333e+01] [ 2.77287745e-01 9.60696453e-01 1.31845609e-02 3.87077677e+00] [-6.04033041e-02 3.73552072e-03 9.98167064e-01 -2.65798921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.411052754 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:35.48, Y:3.88, Z:-2.66 [[ 9.59126165e-01 -2.76838086e-01 5.86316822e-02 3.54767779e+01] [ 2.76488744e-01 9.60912959e-01 1.41513257e-02 3.87983669e+00] [-6.02575691e-02 2.63809342e-03 9.98179376e-01 -2.65774336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.441052754000005 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:35.50, Y:3.89, Z:-2.66 [[ 9.60079251e-01 -2.73622637e-01 5.81247352e-02 3.55016435e+01] [ 2.73094801e-01 9.61837023e-01 1.69932825e-02 3.89030748e+00] [-6.05562690e-02 -4.41334962e-04 9.98164688e-01 -2.65673319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.471052754 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:35.53, Y:3.90, Z:-2.66 [[ 9.60223227e-01 -2.72491317e-01 6.09904604e-02 3.55269794e+01] [ 2.72263216e-01 9.62145716e-01 1.21804093e-02 3.90315560e+00] [-6.20007660e-02 4.90954699e-03 9.98064027e-01 -2.66344013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.501052754 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:35.56, Y:3.91, Z:-2.66 [[ 9.61125491e-01 -2.69885915e-01 5.83042384e-02 3.55569059e+01] [ 2.68740840e-01 9.62839349e-01 2.68094826e-02 3.90686519e+00] [-6.33731167e-02 -1.00985471e-02 9.97938809e-01 -2.65656351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.531052754 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:35.58, Y:3.92, Z:-2.67 [[ 9.61776830e-01 -2.65897195e-01 6.54523599e-02 3.55816631e+01] [ 2.65818820e-01 9.63970480e-01 1.00632719e-02 3.92212718e+00] [-6.57699386e-02 7.71984734e-03 9.97804950e-01 -2.66787168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.561052754 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:35.61, Y:3.93, Z:-2.67 [[ 9.62161441e-01 -2.65429848e-01 6.15821227e-02 3.56121551e+01] [ 2.65045846e-01 9.64127195e-01 1.44724185e-02 3.92764714e+00] [-6.32144111e-02 2.39728275e-03 9.97997090e-01 -2.66523061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.591052754 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:35.64, Y:3.94, Z:-2.67 [[ 9.62916898e-01 -2.62876443e-01 6.07208680e-02 3.56379193e+01] [ 2.62217230e-01 9.64827204e-01 1.87240839e-02 3.93704391e+00] [-6.35072659e-02 -2.10767895e-03 9.97979151e-01 -2.66629415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.621052754000004 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:35.66, Y:3.95, Z:-2.68 [[ 9.63941599e-01 -2.58659157e-01 6.25462547e-02 3.56606582e+01] [ 2.58788263e-01 9.65914377e-01 6.16866181e-03 3.95284404e+00] [-6.20099074e-02 1.02400068e-02 9.98023003e-01 -2.67911694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.651052754 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:35.69, Y:3.96, Z:-2.68 [[ 9.64402837e-01 -2.56568692e-01 6.40287004e-02 3.56886236e+01] [ 2.56027994e-01 9.66525941e-01 1.66514829e-02 3.95698816e+00] [-6.61576491e-02 3.34402372e-04 9.97809127e-01 -2.67733043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.681052754 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:35.72, Y:3.97, Z:-2.68 [[ 9.65110790e-01 -2.53719363e-01 6.47120355e-02 3.57167107e+01] [ 2.53767057e-01 9.67235358e-01 7.61858601e-03 3.96672120e+00] [-6.45247516e-02 9.06900324e-03 9.97874897e-01 -2.68114752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.711052754 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:35.75, Y:3.97, Z:-2.67 [[ 9.65706385e-01 -2.52640472e-01 5.98662684e-02 3.57450322e+01] [ 2.51678445e-01 9.67532231e-01 2.32237413e-02 3.96766946e+00] [-6.37898012e-02 -7.36026590e-03 9.97936214e-01 -2.67436687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.741052754 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:35.77, Y:3.98, Z:-2.69 [[ 9.66313539e-01 -2.49694798e-01 6.23750990e-02 3.57695245e+01] [ 2.49634677e-01 9.68299364e-01 8.88087987e-03 3.98298241e+00] [-6.26152782e-02 6.98927324e-03 9.98013265e-01 -2.69008237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.771052754 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:35.80, Y:3.99, Z:-2.69 [[ 9.66471119e-01 -2.49506911e-01 6.06619959e-02 3.57976371e+01] [ 2.49091936e-01 9.68372319e-01 1.44311656e-02 3.99070870e+00] [-6.23440732e-02 1.16310922e-03 9.98054038e-01 -2.69174273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.801052754000004 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:35.82, Y:4.00, Z:-2.69 [[ 9.66396428e-01 -2.49900267e-01 6.02312274e-02 3.58218323e+01] [ 2.48946906e-01 9.68244817e-01 2.29654548e-02 3.99679636e+00] [-6.40576470e-02 -7.19935575e-03 9.97920231e-01 -2.68974799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.831052754 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:35.85, Y:4.00, Z:-2.69 [[ 9.67186864e-01 -2.46651535e-01 6.09310265e-02 3.58516764e+01] [ 2.45710706e-01 9.69079786e-01 2.25968449e-02 4.00165034e+00] [-6.46205726e-02 -6.88396602e-03 9.97886162e-01 -2.68868682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.861052754 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:35.88, Y:4.01, Z:-2.70 [[ 9.67166586e-01 -2.45921645e-01 6.41197360e-02 3.58812320e+01] [ 2.46118084e-01 9.69227260e-01 4.94036488e-03 4.01267670e+00] [-6.33615387e-02 1.10028707e-02 9.97929984e-01 -2.69723132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.891052754 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:35.91, Y:4.02, Z:-2.69 [[ 9.66580359e-01 -2.48585932e-01 6.26693248e-02 3.59095477e+01] [ 2.48014506e-01 9.68609551e-01 1.68624398e-02 4.01775884e+00] [-6.48938719e-02 -7.56001476e-04 9.97891885e-01 -2.69448827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.921052754 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:35.93, Y:4.02, Z:-2.70 [[ 9.66173574e-01 -2.50053776e-01 6.31009763e-02 3.59345871e+01] [ 2.49342311e-01 9.68228301e-01 1.90360105e-02 4.02447373e+00] [-6.58561774e-02 -2.65834699e-03 9.97825585e-01 -2.69578163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.951052754 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:35.96, Y:4.04, Z:-2.70 [[ 9.65234942e-01 -2.53515822e-01 6.36493098e-02 3.59624093e+01] [ 2.53475613e-01 9.67301380e-01 8.84041273e-03 4.03645302e+00] [-6.38092497e-02 7.60047255e-03 9.97933170e-01 -2.70399269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.981052754000004 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:35.99, Y:4.04, Z:-2.70 [[ 9.62695054e-01 -2.63805342e-01 6.02077566e-02 3.59892684e+01] [ 2.63134913e-01 9.64572957e-01 1.89480585e-02 4.03970040e+00] [-6.30733728e-02 -2.39843948e-03 9.98006011e-01 -2.70228972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.011052754000005 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:36.01, Y:4.05, Z:-2.71 [[ 9.60023580e-01 -2.72390734e-01 6.44826679e-02 3.60148083e+01] [ 2.72098345e-01 9.62175536e-01 1.34434976e-02 4.04725170e+00] [-6.57055298e-02 4.63955251e-03 9.97828271e-01 -2.70655408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.041052754 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:36.04, Y:4.06, Z:-2.71 [[ 9.58616641e-01 -2.77239341e-01 6.47493941e-02 3.60439893e+01] [ 2.77083120e-01 9.60776406e-01 1.15603797e-02 4.05579944e+00] [-6.54146822e-02 6.85899178e-03 9.97834592e-01 -2.71060248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.071052754 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:36.07, Y:4.06, Z:-2.71 [[ 9.57031131e-01 -2.82561153e-01 6.51967027e-02 3.60675510e+01] [ 2.81953770e-01 9.59249067e-01 1.85283346e-02 4.06376941e+00] [-6.77752638e-02 6.50263149e-04 9.97700401e-01 -2.70950116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.101052754 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:36.10, Y:4.07, Z:-2.71 [[ 9.56905964e-01 -2.82697898e-01 6.64294693e-02 3.60977961e+01] [ 2.81639582e-01 9.59194902e-01 2.49857095e-02 4.06679477e+00] [-7.07822158e-02 -5.19980648e-03 9.97478240e-01 -2.70557915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.131052754 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:36.12, Y:4.08, Z:-2.71 [[ 9.57397227e-01 -2.80236528e-01 6.96996306e-02 3.61232829e+01] [ 2.79904636e-01 9.59915505e-01 1.46839515e-02 4.07892902e+00] [-7.10207357e-02 5.45087527e-03 9.97459946e-01 -2.71194517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.161052754 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:36.15, Y:4.09, Z:-2.71 [[ 9.57872372e-01 -2.79195806e-01 6.73069174e-02 3.61522236e+01] [ 2.78549618e-01 9.60234030e-01 1.89925520e-02 4.08646160e+00] [-6.99330335e-02 5.55875349e-04 9.97551533e-01 -2.71055862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.191052754000005 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:36.17, Y:4.11, Z:-2.74 [[ 9.57331118e-01 -2.77252649e-01 8.15358776e-02 3.61712351e+01] [ 2.78930181e-01 9.60262091e-01 -9.72987667e-03 4.10752004e+00] [-7.55981783e-02 3.20575308e-02 9.96622913e-01 -2.74001607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.221052754 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:36.21, Y:4.10, Z:-2.71 [[ 9.59872504e-01 -2.73070865e-01 6.38520087e-02 3.62070507e+01] [ 2.71166792e-01 9.61822408e-01 3.69624992e-02 4.10231586e+00] [-7.15076744e-02 -1.81647423e-02 9.97274634e-01 -2.71298112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.251052754 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:36.23, Y:4.12, Z:-2.72 [[ 9.61784293e-01 -2.66109377e-01 6.44730455e-02 3.62333651e+01] [ 2.65005630e-01 9.63915860e-01 2.52632157e-02 4.11720281e+00] [-6.88693697e-02 -7.21204396e-03 9.97599617e-01 -2.71983268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.281052754 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:36.26, Y:4.13, Z:-2.73 [[ 9.62267241e-01 -2.63281875e-01 6.87343581e-02 3.62585214e+01] [ 2.62966672e-01 9.64706827e-01 1.37574284e-02 4.13001961e+00] [-6.99305860e-02 4.83652272e-03 9.97540135e-01 -2.73014681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.311052754 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:36.29, Y:4.14, Z:-2.73 [[ 9.63658189e-01 -2.59682784e-01 6.26717348e-02 3.62867034e+01] [ 2.59026848e-01 9.65692634e-01 1.85156511e-02 4.13569238e+00] [-6.53298284e-02 -1.60909688e-03 9.97862428e-01 -2.72694052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.341052754 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:36.31, Y:4.14, Z:-2.73 [[ 9.63797912e-01 -2.59116471e-01 6.28668315e-02 3.63140315e+01] [ 2.58605482e-01 9.65845913e-01 1.62750608e-02 4.14418110e+00] [-6.49368086e-02 5.71837590e-04 9.97889214e-01 -2.73055679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.371052754000004 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:36.34, Y:4.15, Z:-2.74 [[ 9.63017886e-01 -2.61807208e-01 6.36673932e-02 3.63386000e+01] [ 2.61715108e-01 9.65094081e-01 9.93061571e-03 4.15412836e+00] [-6.40449311e-02 7.09935815e-03 9.97921763e-01 -2.73772474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.401052754 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:36.37, Y:4.16, Z:-2.73 [[ 9.62192217e-01 -2.65741779e-01 5.97280958e-02 3.63692836e+01] [ 2.64959657e-01 9.64035152e-01 2.07991978e-02 4.15706853e+00] [-6.31071997e-02 -4.18729051e-03 9.97997970e-01 -2.73288172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.431052754 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:36.40, Y:4.16, Z:-2.74 [[ 9.59425751e-01 -2.75267398e-01 6.10744458e-02 3.63970891e+01] [ 2.74850888e-01 9.61365362e-01 1.52849770e-02 4.16403943e+00] [-6.29223125e-02 2.12156515e-03 9.98016173e-01 -2.73817308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.461052754 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:36.42, Y:4.17, Z:-2.74 [[ 9.58265192e-01 -2.79731709e-01 5.89745054e-02 3.64241386e+01] [ 2.80220526e-01 9.59935652e-01 -1.92526930e-05 4.17463690e+00] [-5.66063447e-02 1.65443161e-02 9.98259489e-01 -2.74454864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.491052754 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:36.46, Y:4.17, Z:-2.74 [[ 9.55442448e-01 -2.89734146e-01 5.64256425e-02 3.64558046e+01] [ 2.88944719e-01 9.57096202e-01 2.18588742e-02 4.17448988e+00] [-6.03380303e-02 -4.58100483e-03 9.98167489e-01 -2.73695550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.521052754 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:36.48, Y:4.18, Z:-2.74 [[ 9.54212102e-01 -2.92961385e-01 6.04391580e-02 3.64825309e+01] [ 2.92156694e-01 9.56118637e-01 2.19458112e-02 4.18285846e+00] [-6.42162806e-02 -3.28325399e-03 9.97930604e-01 -2.73975871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.551052754000004 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:36.51, Y:4.20, Z:-2.75 [[ 9.52695843e-01 -2.96289431e-01 6.76993672e-02 3.65091719e+01] [ 2.96339239e-01 9.55035130e-01 9.53708386e-03 4.19729251e+00] [-6.74810111e-02 1.09760388e-02 9.97660182e-01 -2.74965624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.581052754 meters Centerline goodness : 0.996401 Centerline is valid? [True, True] Translation: X:36.54, Y:4.20, Z:-2.75 [[ 9.52038416e-01 -2.98555500e-01 6.69885633e-02 3.65382334e+01] [ 2.97487492e-01 9.54381828e-01 2.56226305e-02 4.20066990e+00] [-7.15824448e-02 -4.46546888e-03 9.97424690e-01 -2.74531499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.611052754 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:36.55, Y:4.22, Z:-2.75 [[ 9.51875709e-01 -2.98284917e-01 7.04183372e-02 3.65540636e+01] [ 2.98687071e-01 9.54338039e-01 4.99408590e-03 4.21778728e+00] [-6.86925583e-02 1.62792978e-02 9.97505046e-01 -2.75407744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.641052754 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:36.58, Y:4.22, Z:-2.75 [[ 9.52222466e-01 -2.97958859e-01 6.70290520e-02 3.65812697e+01] [ 2.97421101e-01 9.54574883e-01 1.80964566e-02 4.22252922e+00] [-6.93762490e-02 2.70400186e-03 9.97586901e-01 -2.75045353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.671052754 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:36.61, Y:4.23, Z:-2.76 [[ 9.54428914e-01 -2.90723320e-01 6.74195722e-02 3.66147237e+01] [ 2.90504913e-01 9.56781919e-01 1.32383996e-02 4.23317008e+00] [-6.83545391e-02 6.95060559e-03 9.97636881e-01 -2.75865866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.63, Y:4.24, Z:-2.76 [[ 9.54843106e-01 -2.89995079e-01 6.46335543e-02 3.66339438e+01] [ 2.89249909e-01 9.57027416e-01 2.08090037e-02 4.24159869e+00] [-6.78905922e-02 -1.17408402e-03 9.97692081e-01 -2.75580192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.731052754000004 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:36.66, Y:4.26, Z:-2.78 [[ 9.57262190e-01 -2.78507467e-01 7.79916020e-02 3.66613375e+01] [ 2.79824005e-01 9.60030825e-01 -6.27230037e-03 4.25894322e+00] [-7.31274595e-02 2.78281584e-02 9.96934285e-01 -2.78263594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.761052754000005 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:36.69, Y:4.25, Z:-2.76 [[ 9.58149463e-01 -2.77896643e-01 6.87245405e-02 3.66936714e+01] [ 2.75456410e-01 9.60354212e-01 4.29366311e-02 4.25101030e+00] [-7.79318476e-02 -2.22090949e-02 9.96711284e-01 -2.76269189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.791052754 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:36.71, Y:4.27, Z:-2.78 [[ 9.62262950e-01 -2.63824606e-01 6.66827731e-02 3.67111717e+01] [ 2.63528236e-01 9.64559143e-01 1.33614416e-02 4.26501555e+00] [-6.78445556e-02 4.71557333e-03 9.97684760e-01 -2.77907052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.821052754 meters Centerline goodness : 0.996582 Centerline is valid? [True, True] Translation: X:36.74, Y:4.28, Z:-2.78 [[ 9.61138974e-01 -2.66690977e-01 7.13287839e-02 3.67417016e+01] [ 2.66073178e-01 9.63780952e-01 1.82027745e-02 4.27768351e+00] [-7.35998390e-02 1.48328024e-03 9.97286751e-01 -2.78177103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.851052754 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:36.77, Y:4.29, Z:-2.79 [[ 9.61602620e-01 -2.65137665e-01 7.08690343e-02 3.67688455e+01] [ 2.64782765e-01 9.64198646e-01 1.45278752e-02 4.28608831e+00] [-7.21837138e-02 4.79485605e-03 9.97379828e-01 -2.78552750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.881052754 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:36.80, Y:4.29, Z:-2.79 [[ 9.60981115e-01 -2.67361118e-01 7.09459650e-02 3.67968140e+01] [ 2.66830050e-01 9.63593008e-01 1.70364095e-02 4.29267334e+00] [-7.29179093e-02 2.55884760e-03 9.97334663e-01 -2.78784969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.911052754 meters Centerline goodness : 0.998053 Centerline is valid? [True, True] Translation: X:36.83, Y:4.30, Z:-2.78 [[ 9.60394855e-01 -2.70539981e-01 6.67071320e-02 3.68254729e+01] [ 2.69226644e-01 9.62666229e-01 2.81202157e-02 4.29636160e+00] [-7.18243458e-02 -9.04717318e-03 9.97376264e-01 -2.78143266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.941052754000005 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:36.85, Y:4.31, Z:-2.80 [[ 9.59364892e-01 -2.72220926e-01 7.42615137e-02 3.68511969e+01] [ 2.72468672e-01 9.62139409e-01 6.96999358e-03 4.30855837e+00] [-7.33473070e-02 1.35471689e-02 9.97214444e-01 -2.79609511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.971052754 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:36.88, Y:4.31, Z:-2.79 [[ 9.59145706e-01 -2.73818811e-01 7.11531621e-02 3.68802680e+01] [ 2.73232233e-01 9.61778918e-01 1.80404781e-02 4.31286168e+00] [-7.33734335e-02 2.13789026e-03 9.97302245e-01 -2.79312694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.91, Y:4.32, Z:-2.79 [[ 9.58486917e-01 -2.76278220e-01 7.05207414e-02 3.69061556e+01] [ 2.75526511e-01 9.61077696e-01 2.03667568e-02 4.32004641e+00] [-7.34028030e-02 -9.09361550e-05 9.97302372e-01 -2.79207911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.031052754 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:36.93, Y:4.33, Z:-2.80 [[ 9.58504061e-01 -2.75618518e-01 7.28312988e-02 3.69342986e+01] [ 2.75698378e-01 9.61200611e-01 9.15366369e-03 4.33072690e+00] [-7.25284081e-02 1.13056471e-02 9.97302267e-01 -2.80041295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.061052754 meters Centerline goodness : 0.997955 Centerline is valid? [True, True] Translation: X:36.96, Y:4.33, Z:-2.80 [[ 9.58648074e-01 -2.75339694e-01 7.19855816e-02 3.69647160e+01] [ 2.74630014e-01 9.61346654e-01 1.97728390e-02 4.33476369e+00] [-7.46473455e-02 8.14207283e-04 9.97209662e-01 -2.79964566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.091052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:36.99, Y:4.34, Z:-2.80 [[ 9.60188184e-01 -2.69683392e-01 7.28664454e-02 3.69923190e+01] [ 2.68954142e-01 9.62948885e-01 1.98271213e-02 4.34045040e+00] [-7.55137076e-02 5.59964761e-04 9.97144607e-01 -2.80278288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.121052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.02, Y:4.35, Z:-2.81 [[ 9.61122278e-01 -2.66311447e-01 7.29532779e-02 3.70203122e+01] [ 2.65755598e-01 9.63883357e-01 1.74021828e-02 4.34898473e+00] [-7.49528509e-02 2.66211638e-03 9.97183525e-01 -2.80735764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.151052754 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:37.05, Y:4.37, Z:-2.82 [[ 9.63367324e-01 -2.57835920e-01 7.37837201e-02 3.70517593e+01] [ 2.59230158e-01 9.65765618e-01 -9.82327686e-03 4.36844351e+00] [-6.87249864e-02 2.85903894e-02 9.97225885e-01 -2.82397980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.07, Y:4.35, Z:-2.79 [[ 0.9660282 -0.25185822 0.05793923 37.07304435] [ 0.24888869 0.96703243 0.0538767 4.34567736] [-0.06959841 -0.03762599 0.99686526 -2.78954295] [ 0. 0. 0. 1. ]] SLAMing on 41.211052754 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:37.10, Y:4.36, Z:-2.82 [[ 9.67277406e-01 -2.42367190e-01 7.50504152e-02 3.71013692e+01] [ 2.42093697e-01 9.70167664e-01 1.28586481e-02 4.36384847e+00] [-7.59280004e-02 5.73135274e-03 9.97096831e-01 -2.81906160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.241052754 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:37.13, Y:4.37, Z:-2.82 [[ 9.68141746e-01 -2.39337089e-01 7.36160191e-02 3.71277230e+01] [ 2.38986973e-01 9.70926704e-01 1.36587855e-02 4.36833246e+00] [-7.47448127e-02 4.36962920e-03 9.97193120e-01 -2.82221470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.271052754 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:37.16, Y:4.37, Z:-2.83 [[ 9.69500806e-01 -2.34360996e-01 7.17154923e-02 3.71554090e+01] [ 2.34080152e-01 9.72138032e-01 1.24149050e-02 4.37113042e+00] [-7.26269270e-02 4.75091296e-03 9.97347862e-01 -2.82739437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.301052754000004 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:37.18, Y:4.38, Z:-2.84 [[ 9.69486362e-01 -2.32403650e-01 7.80047314e-02 3.71821933e+01] [ 2.33083334e-01 9.72456682e-01 4.02132950e-04 4.37884264e+00] [-7.59496795e-02 1.77917405e-02 9.96952908e-01 -2.84441013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.21, Y:4.38, Z:-2.83 [[ 9.68795803e-01 -2.37339210e-01 7.14478194e-02 3.72110676e+01] [ 2.36181235e-01 9.71403530e-01 2.43640369e-02 4.37598805e+00] [-7.51872053e-02 -6.72914252e-03 9.97146731e-01 -2.83472538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.361052754 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:37.24, Y:4.37, Z:-2.84 [[ 9.68576380e-01 -2.37877117e-01 7.26241873e-02 3.72400343e+01] [ 2.37356958e-01 9.71293402e-01 1.58367393e-02 4.37313199e+00] [-7.43065918e-02 1.89876455e-03 9.97233636e-01 -2.83695894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.27, Y:4.38, Z:-2.84 [[ 9.65590641e-01 -2.49794889e-01 7.23686955e-02 3.72715881e+01] [ 2.48894098e-01 9.68295262e-01 2.13544866e-02 4.38009798e+00] [-7.54085065e-02 -2.60755121e-03 9.97149316e-01 -2.83559111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.421052754 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:37.30, Y:4.37, Z:-2.84 [[ 9.63520661e-01 -2.57426391e-01 7.32092111e-02 3.73022330e+01] [ 2.56350441e-01 9.66288544e-01 2.38935291e-02 4.37335348e+00] [-7.68920470e-02 -4.25469540e-03 9.97030346e-01 -2.83573681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.33, Y:4.37, Z:-2.82 [[ 9.61805001e-01 -2.65715295e-01 6.57763012e-02 3.73344692e+01] [ 2.63822881e-01 9.63894847e-01 3.61138799e-02 4.37349843e+00] [-7.29974480e-02 -1.73812170e-02 9.97180659e-01 -2.82497441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.481052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.36, Y:4.37, Z:-2.82 [[ 9.58955972e-01 -2.75849818e-01 6.56530398e-02 3.73593730e+01] [ 2.74175805e-01 9.61097668e-01 3.34499605e-02 4.37442661e+00] [-7.23261490e-02 -1.40765643e-02 9.97281695e-01 -2.82129445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.511052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.39, Y:4.39, Z:-2.84 [[ 9.57356622e-01 -2.77627935e-01 7.99439024e-02 3.73875048e+01] [ 2.77936503e-01 9.60570437e-01 7.46568000e-03 4.39129831e+00] [-7.88644306e-02 1.50720104e-02 9.96771406e-01 -2.84374759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.541052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.41, Y:4.39, Z:-2.82 [[ 9.56787987e-01 -2.81475709e-01 7.29943296e-02 3.74143946e+01] [ 2.79661733e-01 9.59489479e-01 3.41943748e-02 4.38891066e+00] [-7.96621772e-02 -1.23030464e-02 9.96745992e-01 -2.82496537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.44, Y:4.40, Z:-2.83 [[ 9.53649829e-01 -2.89292234e-01 8.28372293e-02 3.74383428e+01] [ 2.88369209e-01 9.57239136e-01 2.31610915e-02 4.40070532e+00] [-8.59953616e-02 1.80013540e-03 9.96293911e-01 -2.83239901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.47, Y:4.41, Z:-2.83 [[ 9.49120223e-01 -3.02843128e-01 8.63530111e-02 3.74650255e+01] [ 3.01893865e-01 9.53035262e-01 2.41636826e-02 4.40841095e+00] [-8.96152697e-02 3.13520449e-03 9.95971523e-01 -2.83309959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.49, Y:4.42, Z:-2.84 [[ 9.46990510e-01 -3.09404657e-01 8.64738793e-02 3.74913100e+01] [ 3.08477743e-01 9.50923125e-01 2.42217405e-02 4.41585900e+00] [-8.97243309e-02 3.73750879e-03 9.95959625e-01 -2.83504609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.52, Y:4.43, Z:-2.84 [[ 9.43421956e-01 -3.20346688e-01 8.56330092e-02 3.75174048e+01] [ 3.19481268e-01 9.47288632e-01 2.39993088e-02 4.42669974e+00] [-8.88072753e-02 4.71666760e-03 9.96037660e-01 -2.84021566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.691052754000005 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:37.54, Y:4.44, Z:-2.84 [[ 9.41550107e-01 -3.26093889e-01 8.45350288e-02 3.75431036e+01] [ 3.25271309e-01 9.45323271e-01 2.37168701e-02 4.43771736e+00] [-8.76468563e-02 5.16619784e-03 9.96138213e-01 -2.84433432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.57, Y:4.45, Z:-2.85 [[ 9.38886947e-01 -3.34397891e-01 8.16660949e-02 3.75678601e+01] [ 3.33659350e-01 9.42414661e-01 2.29356633e-02 4.45223260e+00] [-8.46329626e-02 5.71466124e-03 9.96395807e-01 -2.85050596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.751052754 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:37.59, Y:4.46, Z:-2.85 [[ 9.37905997e-01 -3.37545121e-01 7.99726928e-02 3.75924668e+01] [ 3.36846391e-01 9.41291159e-01 2.24825233e-02 4.46283604e+00] [-8.28664547e-02 5.85201949e-03 9.96543479e-01 -2.85369354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.781052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.62, Y:4.48, Z:-2.86 [[ 9.36986449e-01 -3.40539009e-01 7.80357445e-02 3.76171182e+01] [ 3.39883180e-01 9.40211513e-01 2.19484405e-02 4.47691211e+00] [-8.08444056e-02 5.95764566e-03 9.96708929e-01 -2.85907145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.64, Y:4.49, Z:-2.87 [[ 9.36231351e-01 -3.41190272e-01 8.40241340e-02 3.76384833e+01] [ 3.41533271e-01 9.39808724e-01 1.07045314e-02 4.49369882e+00] [-8.26188962e-02 1.86751194e-02 9.96406221e-01 -2.87371563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.67, Y:4.50, Z:-2.86 [[ 9.37682901e-01 -3.39438488e-01 7.43793610e-02 3.76701802e+01] [ 3.37782457e-01 9.40602606e-01 3.42015957e-02 4.49837782e+00] [-8.15707588e-02 -6.94620820e-03 9.96643347e-01 -2.85836162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.871052754000004 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:37.69, Y:4.52, Z:-2.88 [[ 9.37466510e-01 -3.37583260e-01 8.48179529e-02 3.76891058e+01] [ 3.37655715e-01 9.41166660e-01 1.39261165e-02 4.51877505e+00] [-8.45290533e-02 1.55839987e-02 9.96299141e-01 -2.87581674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.72, Y:4.53, Z:-2.87 [[ 9.38963479e-01 -3.33414238e-01 8.47498159e-02 3.77166068e+01] [ 3.32429273e-01 9.42772548e-01 2.58979101e-02 4.52940723e+00] [-8.85345318e-02 3.85612793e-03 9.96065644e-01 -2.87266361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.74, Y:4.54, Z:-2.87 [[ 9.40416011e-01 -3.30320137e-01 8.06618488e-02 3.77447241e+01] [ 3.28840228e-01 9.43864251e-01 3.13748402e-02 4.53632154e+00] [-8.64975769e-02 -2.98054132e-03 9.96247603e-01 -2.86802478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.77, Y:4.55, Z:-2.88 [[ 9.42210172e-01 -3.23358509e-01 8.76314258e-02 3.77678189e+01] [ 3.23032655e-01 9.46211484e-01 1.82683459e-02 4.55312494e+00] [-8.88250866e-02 1.10951908e-02 9.95985442e-01 -2.87875503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.79, Y:4.56, Z:-2.88 [[ 9.43282257e-01 -3.20697828e-01 8.58573587e-02 3.77935974e+01] [ 3.19815612e-01 9.47170307e-01 2.42153689e-02 4.56151793e+00] [-8.90873570e-02 4.61659587e-03 9.96013117e-01 -2.87886335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.021052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:37.82, Y:4.57, Z:-2.88 [[ 9.45414160e-01 -3.15403062e-01 8.19327433e-02 3.78211525e+01] [ 3.13940585e-01 9.48952704e-01 3.04971405e-02 4.57339928e+00] [-8.73691898e-02 -3.11041513e-03 9.96171145e-01 -2.87703636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.051052754000004 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:37.85, Y:4.59, Z:-2.88 [[ 9.45691347e-01 -3.13801603e-01 8.48317787e-02 3.78456281e+01] [ 3.12907626e-01 9.49480713e-01 2.39831809e-02 4.58725812e+00] [-8.80720984e-02 3.86382377e-03 9.96106609e-01 -2.88391387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.87, Y:4.60, Z:-2.89 [[ 9.45540779e-01 -3.13626211e-01 8.71276953e-02 3.78694855e+01] [ 3.13149982e-01 9.49504761e-01 1.94370179e-02 4.60054193e+00] [-8.88241198e-02 8.90554324e-03 9.96007514e-01 -2.89031157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.111052754 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:37.90, Y:4.61, Z:-2.89 [[ 9.44269415e-01 -3.17844619e-01 8.56158244e-02 3.78964891e+01] [ 3.16677439e-01 9.48141808e-01 2.72490627e-02 4.60976593e+00] [-8.98369105e-02 1.38214358e-03 9.95955531e-01 -2.88817245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.141052754 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:37.92, Y:4.62, Z:-2.89 [[ 9.41649453e-01 -3.25448147e-01 8.59058299e-02 3.79230075e+01] [ 3.24335767e-01 9.45556736e-01 2.69957280e-02 4.62116790e+00] [-9.00145458e-02 2.44182069e-03 9.95937457e-01 -2.88884282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.171052754 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.95, Y:4.63, Z:-2.89 [[ 9.40016950e-01 -3.29821124e-01 8.70985639e-02 3.79483153e+01] [ 3.28940487e-01 9.44027777e-01 2.46923597e-02 4.63285861e+00] [-9.03675255e-02 5.43900738e-03 9.95893633e-01 -2.89254960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.97, Y:4.64, Z:-2.90 [[ 9.38351421e-01 -3.34433771e-01 8.74680753e-02 3.79738093e+01] [ 3.33563137e-01 9.42400892e-01 2.48232349e-02 4.64470477e+00] [-9.07317202e-02 5.88320783e-03 9.95857993e-01 -2.89547962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.231052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.00, Y:4.66, Z:-2.90 [[ 9.35728808e-01 -3.41943732e-01 8.65221540e-02 3.79971284e+01] [ 3.41121506e-01 9.39697838e-01 2.45782752e-02 4.66159387e+00] [-8.97090682e-02 6.51596736e-03 9.95946698e-01 -2.89989000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.261052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.02, Y:4.68, Z:-2.90 [[ 9.34062946e-01 -3.46703121e-01 8.55766252e-02 3.80215219e+01] [ 3.45917387e-01 9.37949660e-01 2.43227813e-02 4.67738930e+00] [-8.86993507e-02 6.88343375e-03 9.96034660e-01 -2.90419435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.05, Y:4.69, Z:-2.91 [[ 9.33398209e-01 -3.48375701e-01 8.60357688e-02 3.80476765e+01] [ 3.47586242e-01 9.37328428e-01 2.44790269e-02 4.68867866e+00] [-8.91716700e-02 7.05616972e-03 9.95991277e-01 -2.90617920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.07, Y:4.71, Z:-2.91 [[ 9.33345373e-01 -3.48306470e-01 8.68850856e-02 3.80724453e+01] [ 3.47498677e-01 9.37353862e-01 2.47468514e-02 4.70505484e+00] [-9.00615590e-02 7.09509302e-03 9.95910927e-01 -2.90764259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.351052754 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:38.10, Y:4.72, Z:-2.91 [[ 9.33711519e-01 -3.47449097e-01 8.63824316e-02 3.80960896e+01] [ 3.46644864e-01 9.37673095e-01 2.46273225e-02 4.71877712e+00] [-8.95552230e-02 6.94921155e-03 9.95957615e-01 -2.91046292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.12, Y:4.73, Z:-2.91 [[ 9.33975705e-01 -3.46856974e-01 8.59047236e-02 3.81210406e+01] [ 3.46057943e-01 9.37893082e-01 2.45044127e-02 4.73402205e+00] [-8.90689724e-02 6.84148582e-03 9.96001964e-01 -2.91419064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.14, Y:4.76, Z:-2.92 [[ 9.34749514e-01 -3.44772174e-01 8.58806921e-02 3.81421134e+01] [ 3.44568417e-01 9.38595154e-01 1.76562521e-02 4.75728566e+00] [-8.66945858e-02 1.30876011e-02 9.96148967e-01 -2.92033149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.441052754000005 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:38.17, Y:4.77, Z:-2.92 [[ 9.34914823e-01 -3.44799934e-01 8.39480763e-02 3.81704335e+01] [ 3.43416930e-01 9.38676198e-01 3.08513645e-02 4.76580280e+00] [-8.94376096e-02 -1.42072817e-05 9.95992427e-01 -2.91670114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.471052754 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:38.19, Y:4.79, Z:-2.92 [[ 9.35589194e-01 -3.42282334e-01 8.66929296e-02 3.81931709e+01] [ 3.41914289e-01 9.39528296e-01 1.95243515e-02 4.78822490e+00] [-8.81333010e-02 1.13747791e-02 9.96043742e-01 -2.92293164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.22, Y:4.80, Z:-2.92 [[ 9.36070478e-01 -3.41750450e-01 8.35385502e-02 3.82183900e+01] [ 3.39794012e-01 9.39769617e-01 3.70553046e-02 4.80183510e+00] [-9.11706583e-02 -6.30047755e-03 9.95815352e-01 -2.91721397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.531052754 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.24, Y:4.82, Z:-2.93 [[ 9.36470280e-01 -3.39087013e-01 8.96850686e-02 3.82417878e+01] [ 3.38925545e-01 9.40650590e-01 1.74911965e-02 4.82285477e+00] [-9.02933503e-02 1.40165750e-02 9.95816573e-01 -2.92941495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.561052754 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:38.27, Y:4.84, Z:-2.93 [[ 9.37182053e-01 -3.37609730e-01 8.78035814e-02 3.82652346e+01] [ 3.36723150e-01 9.41267208e-01 2.51706671e-02 4.84061763e+00] [-9.11444940e-02 5.97600107e-03 9.95819747e-01 -2.93132106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.591052754 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:38.29, Y:4.85, Z:-2.93 [[ 9.37558061e-01 -3.36732476e-01 8.71557354e-02 3.82908927e+01] [ 3.35853935e-01 9.41582288e-01 2.49986002e-02 4.85373364e+00] [-9.04821372e-02 5.83395754e-03 9.95880991e-01 -2.93404199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.621052754000004 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:38.32, Y:4.87, Z:-2.94 [[ 9.37607618e-01 -3.36949539e-01 8.57727361e-02 3.83150479e+01] [ 3.36097294e-01 9.41505228e-01 2.46275132e-02 4.87054244e+00] [-8.90537087e-02 5.73704053e-03 9.96010303e-01 -2.93578600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.651052754 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:38.34, Y:4.88, Z:-2.94 [[ 9.37507133e-01 -3.37462785e-01 8.48483642e-02 3.83395087e+01] [ 3.36628850e-01 9.41321607e-01 2.43854140e-02 4.88347492e+00] [-8.80987683e-02 5.70090779e-03 9.96095431e-01 -2.93757262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.681052754 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:38.36, Y:4.90, Z:-2.94 [[ 9.37316562e-01 -3.38192274e-01 8.40455085e-02 3.83624525e+01] [ 3.37375845e-01 9.41059759e-01 2.41675363e-02 4.90343273e+00] [-8.72651200e-02 5.70229239e-03 9.96168802e-01 -2.93949403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.711052754 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:38.39, Y:4.92, Z:-2.94 [[ 9.37256729e-01 -3.38455933e-01 8.36504898e-02 3.83871987e+01] [ 3.37646028e-01 9.40965123e-01 2.40789596e-02 4.91715880e+00] [-8.68618602e-02 5.67608868e-03 9.96204196e-01 -2.94189584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.741052754 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:38.41, Y:4.94, Z:-2.94 [[ 9.37195489e-01 -3.38436904e-01 8.44101731e-02 3.84096559e+01] [ 3.37610073e-01 9.40971798e-01 2.43210589e-02 4.93601536e+00] [-8.76587363e-02 5.70413799e-03 9.96134232e-01 -2.94394975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.771052754 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:38.43, Y:4.95, Z:-2.94 [[ 9.37176040e-01 -3.39339358e-01 8.09312705e-02 3.84326584e+01] [ 3.38100061e-01 9.40663998e-01 2.89757169e-02 4.94854229e+00] [-8.59617336e-02 2.07519856e-04 9.96298418e-01 -2.94221107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.801052754000004 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:38.46, Y:4.97, Z:-2.95 [[ 9.38222772e-01 -3.34895416e-01 8.70809410e-02 3.84594304e+01] [ 3.34440139e-01 9.42200432e-01 2.02024747e-02 4.96688728e+00] [-8.88134163e-02 1.01689403e-02 9.95996370e-01 -2.94874534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.831052754 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:38.49, Y:4.98, Z:-2.95 [[ 9.38862796e-01 -3.33479707e-01 8.56033601e-02 3.84858894e+01] [ 3.32604744e-01 9.42742534e-01 2.47102974e-02 4.97756464e+00] [-8.89423114e-02 5.27250480e-03 9.96022824e-01 -2.94913693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.861052754 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:38.51, Y:5.00, Z:-2.95 [[ 9.41015744e-01 -3.27858046e-01 8.36568699e-02 3.85091007e+01] [ 3.26998317e-01 9.44715750e-01 2.41712967e-02 4.99587845e+00] [-8.69567167e-02 4.61008498e-03 9.96201424e-01 -2.95069676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.891052754 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:38.54, Y:5.00, Z:-2.95 [[ 9.40931832e-01 -3.28099645e-01 8.36535163e-02 3.85364325e+01] [ 3.27239838e-01 9.44631820e-01 2.41828974e-02 5.00383523e+00] [-8.69561734e-02 4.62030522e-03 9.96201424e-01 -2.95285218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.921052754 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:38.56, Y:5.02, Z:-2.96 [[ 9.42126725e-01 -3.24918991e-01 8.26128508e-02 3.85610887e+01] [ 3.24066302e-01 9.45732300e-01 2.39050069e-02 5.01725287e+00] [-8.58968321e-02 4.25049523e-03 9.96294970e-01 -2.95609527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.951052754 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:38.58, Y:5.03, Z:-2.96 [[ 9.44815839e-01 -3.17653410e-01 8.01207929e-02 3.85844844e+01] [ 3.16823497e-01 9.48200585e-01 2.32060992e-02 5.03442949e+00] [-8.33420793e-02 3.45865968e-03 9.96514995e-01 -2.96029050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.981052754000004 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:38.61, Y:5.05, Z:-2.96 [[ 9.45884738e-01 -3.14534556e-01 7.98127536e-02 3.86108762e+01] [ 3.13698973e-01 9.49240763e-01 2.31285256e-02 5.04521809e+00] [-8.30362396e-02 3.16025941e-03 9.96541517e-01 -2.96226587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.011052754 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:38.64, Y:5.06, Z:-2.96 [[ 9.47898272e-01 -3.08361828e-01 8.00115560e-02 3.86356770e+01] [ 3.07498183e-01 9.51265581e-01 2.32091091e-02 5.05784608e+00] [-8.32690426e-02 2.60353366e-03 9.96523702e-01 -2.96239484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.041052754 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:38.66, Y:5.07, Z:-2.96 [[ 9.48571485e-01 -3.05947870e-01 8.12898395e-02 3.86621334e+01] [ 3.05046482e-01 9.52045195e-01 2.35921925e-02 5.06875510e+00] [-8.46095821e-02 2.41829844e-03 9.96411246e-01 -2.96420586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.071052754 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:38.69, Y:5.08, Z:-2.97 [[ 9.49750407e-01 -3.02240988e-01 8.13913337e-02 3.86860315e+01] [ 3.01321736e-01 9.53229306e-01 2.36453392e-02 5.08237021e+00] [-8.47311952e-02 2.06780743e-03 9.96401700e-01 -2.96566706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.101052754 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:38.71, Y:5.09, Z:-2.97 [[ 9.50458857e-01 -3.00317893e-01 8.02316858e-02 3.87126458e+01] [ 2.99416428e-01 9.53837371e-01 2.33253734e-02 5.09244257e+00] [-8.35330072e-02 1.85287694e-03 9.96503288e-01 -2.96828510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.131052754 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:38.74, Y:5.10, Z:-2.97 [[ 9.51229906e-01 -2.98132685e-01 7.92374205e-02 3.87376561e+01] [ 2.97243993e-01 9.54523066e-01 2.30591646e-02 5.10348338e+00] [-8.25086362e-02 1.61828033e-03 9.96589036e-01 -2.97094502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.161052754 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:38.76, Y:5.12, Z:-2.99 [[ 9.51026910e-01 -2.96090755e-01 8.87585533e-02 3.87601963e+01] [ 2.96767606e-01 9.54932265e-01 5.77561348e-03 5.11895291e+00] [-8.64685121e-02 2.08478996e-02 9.96036426e-01 -2.98510071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.191052754000005 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:38.79, Y:5.11, Z:-2.97 [[ 9.51031684e-01 -3.00182312e-01 7.36838916e-02 3.87941901e+01] [ 2.97780263e-01 9.53713265e-01 4.19275978e-02 5.11373931e+00] [-8.28592281e-02 -1.79328654e-02 9.96399900e-01 -2.97076981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.221052754 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:38.82, Y:5.13, Z:-2.98 [[ 9.50635421e-01 -3.00140392e-01 7.87911263e-02 3.88188859e+01] [ 2.99264548e-01 9.53893460e-01 2.29781960e-02 5.12914216e+00] [-8.20550248e-02 1.73550375e-03 9.96626290e-01 -2.97690567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.251052754 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:38.84, Y:5.14, Z:-2.98 [[ 9.50824560e-01 -2.99728014e-01 7.80754315e-02 3.88424419e+01] [ 2.99385442e-01 9.53992443e-01 1.63332884e-02 5.14049399e+00] [-7.93789157e-02 7.84455587e-03 9.96813649e-01 -2.98245825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.281052754 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:38.87, Y:5.14, Z:-2.98 [[ 9.50487438e-01 -3.01491351e-01 7.53431821e-02 3.88730149e+01] [ 3.00137718e-01 9.53456271e-01 2.89566742e-02 5.14330321e+00] [-8.05666162e-02 -4.90962431e-03 9.96737135e-01 -2.97981940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.311052754 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:38.90, Y:5.15, Z:-2.98 [[ 9.50509076e-01 -3.00956049e-01 7.71877800e-02 3.88980695e+01] [ 3.00113872e-01 9.53636465e-01 2.25645002e-02 5.15207335e+00] [-8.04000045e-02 1.71736133e-03 9.96761200e-01 -2.98245162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.341052754 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:38.92, Y:5.16, Z:-2.98 [[ 9.50504497e-01 -3.00884022e-01 7.75242270e-02 3.89249713e+01] [ 3.00033336e-01 9.53659209e-01 2.26739887e-02 5.15915212e+00] [-8.07539340e-02 1.70812425e-03 9.96732604e-01 -2.98425032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.371052754000004 meters Centerline goodness : 0.996911 Centerline is valid? [True, True] Translation: X:38.95, Y:5.17, Z:-2.99 [[ 9.51044511e-01 -2.98574356e-01 7.97978230e-02 3.89511341e+01] [ 2.98618560e-01 9.54301327e-01 1.16589852e-02 5.17062587e+00] [-7.96322425e-02 1.27408971e-02 9.96742883e-01 -2.99188028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.401052754 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:38.98, Y:5.17, Z:-2.99 [[ 9.51370342e-01 -2.99415592e-01 7.24208266e-02 3.89801239e+01] [ 2.97783814e-01 9.54075800e-01 3.26215773e-02 5.17091693e+00] [-7.88623670e-02 -9.46945115e-03 9.96840537e-01 -2.98645687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.431052754 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:39.01, Y:5.18, Z:-3.00 [[ 9.53300704e-01 -2.91842337e-01 7.77548624e-02 3.90063837e+01] [ 2.92271747e-01 9.56316152e-01 6.05336918e-03 5.18468094e+00] [-7.61248602e-02 1.69548684e-02 9.96954130e-01 -3.00084694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.461052754 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:39.04, Y:5.18, Z:-2.99 [[ 9.53780180e-01 -2.93044173e-01 6.65468390e-02 3.90364547e+01] [ 2.91212744e-01 9.55982685e-01 3.59477925e-02 5.18103798e+00] [-7.41519170e-02 -1.49070044e-02 9.97135535e-01 -2.98970834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.491052754 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:39.06, Y:5.19, Z:-2.99 [[ 9.55457541e-01 -2.86993729e-01 6.88148694e-02 3.90621968e+01] [ 2.86281851e-01 9.57932379e-01 2.02054006e-02 5.18937294e+00] [-7.17188149e-02 3.95045817e-04 9.97424812e-01 -2.99425175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.521052754 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:39.09, Y:5.19, Z:-3.00 [[ 9.56554676e-01 -2.83385306e-01 6.85267797e-02 3.90900370e+01] [ 2.82669537e-01 9.59006129e-01 2.01290309e-02 5.19479405e+00] [-7.14218733e-02 1.15914462e-04 9.97446190e-01 -2.99659753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.551052754000004 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:39.12, Y:5.20, Z:-3.00 [[ 9.56882273e-01 -2.82344566e-01 6.82485338e-02 3.91159136e+01] [ 2.81630434e-01 9.59313059e-01 2.00687046e-02 5.20075672e+00] [-7.11379995e-02 1.74765141e-05 9.97466483e-01 -2.99856148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.581052754 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:39.14, Y:5.21, Z:-3.00 [[ 9.56944893e-01 -2.82051311e-01 6.85822844e-02 3.91428056e+01] [ 2.81328783e-01 9.59399321e-01 2.01756821e-02 5.20579644e+00] [-7.14883747e-02 -1.28453726e-05 9.97441433e-01 -3.00035490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.611052754 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:39.17, Y:5.21, Z:-3.00 [[ 9.56116150e-01 -2.84394701e-01 7.04383555e-02 3.91721123e+01] [ 2.83637778e-01 9.58707271e-01 2.07359591e-02 5.20622276e+00] [-7.34269605e-02 1.52993270e-04 9.97300586e-01 -2.99931433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.641052754 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:39.20, Y:5.21, Z:-3.00 [[ 9.55058243e-01 -2.87931747e-01 7.04206120e-02 3.92015975e+01] [ 2.87431622e-01 9.57643915e-01 1.73549385e-02 5.20633053e+00] [-7.24349084e-02 3.66613367e-03 9.97366404e-01 -2.99985091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.671052754 meters Centerline goodness : 0.995896 Centerline is valid? [True, True] Translation: X:39.23, Y:5.21, Z:-3.00 [[ 9.53863783e-01 -2.92463210e-01 6.78907551e-02 3.92308967e+01] [ 2.91834695e-01 9.56275631e-01 1.92205037e-02 5.21216634e+00] [-7.05435649e-02 1.47913542e-03 9.97507603e-01 -3.00049498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.701052754 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:39.26, Y:5.22, Z:-3.00 [[ 9.51923725e-01 -2.98110274e-01 7.05087685e-02 3.92570693e+01] [ 2.97171577e-01 9.54530095e-01 2.36928509e-02 5.21632115e+00] [-7.43658237e-02 -1.60058494e-03 9.97229744e-01 -3.00161127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.731052754000004 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:39.28, Y:5.22, Z:-3.00 [[ 9.51249820e-01 -2.99902992e-01 7.19859390e-02 3.92830509e+01] [ 2.99153433e-01 9.53968766e-01 2.12324513e-02 5.22282763e+00] [-7.50400131e-02 1.33747534e-03 9.97179627e-01 -3.00419982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.761052754 meters Centerline goodness : 0.995761 Centerline is valid? [True, True] Translation: X:39.31, Y:5.23, Z:-3.01 [[ 9.50948193e-01 -3.01583780e-01 6.88822068e-02 3.93127429e+01] [ 3.01015274e-01 9.53435220e-01 1.87373018e-02 5.22875537e+00] [-7.13255883e-02 2.91639309e-03 9.97448823e-01 -3.00584620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.791052754 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:39.34, Y:5.23, Z:-3.01 [[ 9.50560477e-01 -3.02771441e-01 6.90234280e-02 3.93397372e+01] [ 3.01999825e-01 9.53063145e-01 2.16043201e-02 5.23049630e+00] [-7.23248565e-02 3.08850341e-04 9.97381081e-01 -3.00619300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.821052754 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:39.37, Y:5.24, Z:-3.01 [[ 9.51623683e-01 -2.99499335e-01 6.86477495e-02 3.93678054e+01] [ 2.98813802e-01 9.54095747e-01 2.02883766e-02 5.23500950e+00] [-7.15728811e-02 1.20599538e-03 9.97434644e-01 -3.00596057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.851052754 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:39.39, Y:5.24, Z:-3.01 [[ 9.52566476e-01 -2.96562130e-01 6.83228459e-02 3.93949284e+01] [ 2.95874058e-01 9.55013079e-01 2.02129066e-02 5.24246098e+00] [-7.12435940e-02 9.60820485e-04 9.97458484e-01 -3.00762838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.881052754 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:39.43, Y:5.25, Z:-3.01 [[ 9.54030548e-01 -2.92142832e-01 6.69199479e-02 3.94251310e+01] [ 2.91650450e-01 9.56369747e-01 1.72314602e-02 5.24953089e+00] [-6.90342612e-02 3.07789345e-03 9.97609542e-01 -3.01092713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.911052754 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:39.45, Y:5.25, Z:-3.01 [[ 9.55580444e-01 -2.87526139e-01 6.47667769e-02 3.94499328e+01] [ 2.86747794e-01 9.57771290e-01 2.12098925e-02 5.25404854e+00] [-6.81301580e-02 -1.69602810e-03 9.97675000e-01 -3.01137409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.941052754000005 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:39.48, Y:5.26, Z:-3.01 [[ 9.56454630e-01 -2.85062896e-01 6.27191075e-02 3.94804825e+01] [ 2.84607615e-01 9.58506073e-01 1.62669159e-02 5.25972126e+00] [-6.47537396e-02 2.29176859e-03 9.97898643e-01 -3.01481482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.971052754 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:39.51, Y:5.27, Z:-3.02 [[ 9.56683594e-01 -2.83380969e-01 6.67212697e-02 3.95079380e+01] [ 2.83293326e-01 9.58970568e-01 1.09699907e-02 5.26544126e+00] [-6.70924205e-02 8.40688030e-03 9.97711347e-01 -3.02344437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.001052754 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:39.54, Y:5.26, Z:-3.02 [[ 9.57128918e-01 -2.83440345e-01 5.97143696e-02 3.95365106e+01] [ 2.82208226e-01 9.58935029e-01 2.83218448e-02 5.26308220e+00] [-6.52897542e-02 -1.02557703e-02 9.97813644e-01 -3.01503863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.031052754 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:39.58, Y:5.25, Z:-3.00 [[ 0.9581476 -0.2830249 0.04301262 39.57590998] [ 0.28015865 0.95792467 0.0623815 5.24900751] [-0.05885836 -0.04772032 0.9971251 -2.99581817] [ 0. 0. 0. 1. ]] SLAMing on 44.061052754 meters Centerline goodness : 0.995221 Centerline is valid? [True, True] Translation: X:39.59, Y:5.29, Z:-3.03 [[ 9.58066350e-01 -2.77602648e-01 7.10326660e-02 3.95946442e+01] [ 2.80020605e-01 9.59627887e-01 -2.65100059e-02 5.28524025e+00] [-6.08056793e-02 4.52889547e-02 9.97121648e-01 -3.02541481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.091052754 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:39.63, Y:5.27, Z:-3.02 [[ 9.58916333e-01 -2.77608014e-01 5.84230886e-02 3.96281964e+01] [ 2.77087024e-01 9.60694425e-01 1.70001108e-02 5.27119625e+00] [-6.08461025e-02 -1.13404142e-04 9.98147153e-01 -3.01542057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.121052754000004 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:39.65, Y:5.28, Z:-3.02 [[ 9.59264073e-01 -2.76327519e-01 5.87838472e-02 3.96547089e+01] [ 2.75909096e-01 9.61062259e-01 1.52808460e-02 5.27678256e+00] [-6.07174553e-02 1.56063153e-03 9.98153773e-01 -3.01912467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.151052754 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:39.68, Y:5.28, Z:-3.02 [[ 9.59501163e-01 -2.75744166e-01 5.76426359e-02 3.96839341e+01] [ 2.75276830e-01 9.61230950e-01 1.60538809e-02 5.27725040e+00] [-5.98346497e-02 4.63964716e-04 9.98208194e-01 -3.02081157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.181052754 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:39.71, Y:5.28, Z:-3.02 [[ 9.58934059e-01 -2.78005412e-01 5.62001958e-02 3.97119677e+01] [ 2.77462170e-01 9.60578881e-01 1.74056780e-02 5.28134890e+00] [-5.88235939e-02 -1.09746911e-03 9.98267790e-01 -3.02171797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.211052754 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:39.74, Y:5.28, Z:-3.02 [[ 9.56630746e-01 -2.85626660e-01 5.72278517e-02 3.97410623e+01] [ 2.85119797e-01 9.58340967e-01 1.70085943e-02 5.28071648e+00] [-5.97019027e-02 4.58492081e-05 9.98216249e-01 -3.02251756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.241052754 meters Centerline goodness : 0.995328 Centerline is valid? [True, True] Translation: X:39.77, Y:5.28, Z:-3.02 [[ 9.53747948e-01 -2.94923940e-01 5.81783674e-02 3.97713211e+01] [ 2.94389589e-01 9.55520711e-01 1.77465694e-02 5.27915854e+00] [-6.08245231e-02 2.01351529e-04 9.98148454e-01 -3.02196826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.271052754 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:39.80, Y:5.29, Z:-3.03 [[ 9.51890474e-01 -3.00422512e-01 6.04221795e-02 3.97990499e+01] [ 3.00347619e-01 9.53771650e-01 1.05331743e-02 5.28745174e+00] [-6.07933645e-02 8.12122943e-03 9.98117334e-01 -3.02692331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.301052754000004 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:39.83, Y:5.29, Z:-3.03 [[ 9.49833450e-01 -3.07360989e-01 5.78415061e-02 3.98277605e+01] [ 3.07219023e-01 9.51568714e-01 1.15522017e-02 5.28788418e+00] [-5.85908638e-02 6.79734340e-03 9.98258938e-01 -3.02745793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.331052754 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:39.86, Y:5.29, Z:-3.03 [[ 9.49138565e-01 -3.09618964e-01 5.72021162e-02 3.98560371e+01] [ 3.08709658e-01 9.50845213e-01 2.43254629e-02 5.28907821e+00] [-6.19219830e-02 -5.42938919e-03 9.98066225e-01 -3.02572599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.361052754 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:39.88, Y:5.30, Z:-3.03 [[ 9.49041456e-01 -3.09551872e-01 5.91435063e-02 3.98835854e+01] [ 3.09070320e-01 9.50880836e-01 1.73543401e-02 5.29711313e+00] [-6.16104952e-02 1.80951419e-03 9.98098629e-01 -3.02951527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.391052754 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:39.91, Y:5.30, Z:-3.03 [[ 9.49281987e-01 -3.09932394e-01 5.29681077e-02 3.99115397e+01] [ 3.09216722e-01 9.50750379e-01 2.14181157e-02 5.29945524e+00] [-5.69976163e-02 -3.95320682e-03 9.98366488e-01 -3.02500911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.421052754 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:39.94, Y:5.30, Z:-3.03 [[ 9.49231709e-01 -3.09551355e-01 5.60100150e-02 3.99409511e+01] [ 3.09164737e-01 9.50879565e-01 1.56594542e-02 5.30497711e+00] [-5.81061840e-02 2.45187109e-03 9.98307397e-01 -3.03029936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.451052754 meters Centerline goodness : 0.993591 Centerline is valid? [True, True] Translation: X:39.97, Y:5.31, Z:-3.03 [[ 9.49686515e-01 -3.07953306e-01 5.70988945e-02 3.99668189e+01] [ 3.07533372e-01 9.51399031e-01 1.62206444e-02 5.31033768e+00] [-5.93190339e-02 2.15528829e-03 9.98236749e-01 -3.03208491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.481052754000004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:39.99, Y:5.31, Z:-3.03 [[ 9.51777870e-01 -3.01940505e-01 5.43214355e-02 3.99947756e+01] [ 3.01268119e-01 9.53321998e-01 2.03639129e-02 5.31435332e+00] [-5.79345096e-02 -3.01660490e-03 9.98315828e-01 -3.02935247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.511052754 meters Centerline goodness : 0.995293 Centerline is valid? [True, True] Translation: X:40.02, Y:5.33, Z:-3.04 [[ 9.52295110e-01 -2.99707107e-01 5.75297596e-02 4.00218816e+01] [ 2.99517295e-01 9.54014171e-01 1.20975975e-02 5.32600362e+00] [-5.85099418e-02 5.71067503e-03 9.98270492e-01 -3.03631873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.541052754 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:40.05, Y:5.33, Z:-3.04 [[ 9.53846826e-01 -2.94142588e-01 6.04679249e-02 4.00478803e+01] [ 2.94114515e-01 9.55722315e-01 9.56604453e-03 5.33358317e+00] [-6.06043263e-02 8.65995319e-03 9.98124301e-01 -3.04260935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.571052754 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:40.08, Y:5.33, Z:-3.03 [[ 9.54807114e-01 -2.92542577e-01 5.25567865e-02 4.00771032e+01] [ 2.91596502e-01 9.56214155e-01 2.50193909e-02 5.33317071e+00] [-5.75747803e-02 -8.56331730e-03 9.98304470e-01 -3.03497024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.11, Y:5.34, Z:-3.04 [[ 9.56933305e-01 -2.85509740e-01 5.25626985e-02 4.01058332e+01] [ 2.85013704e-01 9.58375112e-01 1.68622058e-02 5.33670932e+00] [-5.51891060e-02 -1.15491695e-03 9.98475252e-01 -3.03730696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.13, Y:5.35, Z:-3.05 [[ 9.58096918e-01 -2.80591758e-01 5.76069574e-02 4.01319165e+01] [ 2.80709112e-01 9.59772795e-01 6.21107109e-03 5.34636255e+00] [-5.70323659e-02 1.02199898e-02 9.98320019e-01 -3.04662050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.661052754 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:40.16, Y:5.35, Z:-3.04 [[ 9.60180303e-01 -2.75242304e-01 4.79109552e-02 4.01601055e+01] [ 2.74896141e-01 9.61374884e-01 1.38001472e-02 5.34927617e+00] [-4.98587734e-02 -8.00928148e-05 9.98756275e-01 -3.04074432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.691052754000005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:40.19, Y:5.35, Z:-3.04 [[ 9.61396779e-01 -2.71117662e-01 4.70260259e-02 4.01877903e+01] [ 2.69994571e-01 9.62427884e-01 2.89049957e-02 5.35127127e+00] [-5.30958135e-02 -1.50923981e-02 9.98475365e-01 -3.03806365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.21, Y:5.36, Z:-3.05 [[ 9.63481648e-01 -2.63023062e-01 5.02193478e-02 4.02134969e+01] [ 2.62585963e-01 9.64788401e-01 1.52300500e-02 5.35917817e+00] [-5.24568986e-02 -1.48697786e-03 9.98622082e-01 -3.04515113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.751052754 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:40.24, Y:5.37, Z:-3.05 [[ 9.64073889e-01 -2.61076184e-01 4.89975837e-02 4.02426436e+01] [ 2.60850500e-01 9.65315871e-01 1.10582673e-02 5.36524194e+00] [-5.01851955e-02 2.12005743e-03 9.98737679e-01 -3.04696180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.781052754 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:40.27, Y:5.36, Z:-3.05 [[ 9.65277808e-01 -2.56942366e-01 4.71102352e-02 4.02728370e+01] [ 2.56647054e-01 9.66426707e-01 1.23170488e-02 5.36364799e+00] [-4.86933612e-02 2.01329193e-04 9.98813754e-01 -3.04519271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.811052754 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:40.30, Y:5.37, Z:-3.05 [[ 9.65216073e-01 -2.57277743e-01 4.65413213e-02 4.02993475e+01] [ 2.56906615e-01 9.66336412e-01 1.38899449e-02 5.37134315e+00] [-4.85481471e-02 -1.45002470e-03 9.98819791e-01 -3.04635757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.841052754 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:40.33, Y:5.38, Z:-3.05 [[ 9.65562582e-01 -2.56190753e-01 4.53342896e-02 4.03268997e+01] [ 2.56186618e-01 9.66608720e-01 5.99995188e-03 5.37864946e+00] [-4.53576518e-02 5.82070929e-03 9.98953854e-01 -3.05017401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.871052754000004 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:40.36, Y:5.38, Z:-3.06 [[ 9.66145674e-01 -2.53987952e-01 4.53062591e-02 4.03569672e+01] [ 2.54299830e-01 9.67124731e-01 -1.16211203e-03 5.38347258e+00] [-4.35216412e-02 1.26441435e-02 9.98972468e-01 -3.05873586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.901052754 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:40.39, Y:5.38, Z:-3.05 [[ 9.66619266e-01 -2.53350281e-01 3.82207899e-02 4.03859412e+01] [ 2.52716964e-01 9.67319659e-01 2.06594697e-02 5.37894370e+00] [-4.22058039e-02 -1.03107995e-02 9.99055733e-01 -3.05038237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.931052754 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:40.42, Y:5.38, Z:-3.05 [[ 9.66988413e-01 -2.51411453e-01 4.15414339e-02 4.04166488e+01] [ 2.50693456e-01 9.67821976e-01 2.17580762e-02 5.37675365e+00] [-4.56749422e-02 -1.06256420e-02 9.98899843e-01 -3.05373868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.961052754 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:40.44, Y:5.38, Z:-3.05 [[ 9.66952394e-01 -2.51715733e-01 4.05247778e-02 4.04428069e+01] [ 2.51146304e-01 9.67769244e-01 1.86607775e-02 5.38064236e+00] [-4.39158448e-02 -7.86643531e-03 9.99004263e-01 -3.05469741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.991052754 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:40.47, Y:5.38, Z:-3.06 [[ 9.66327444e-01 -2.53887743e-01 4.18603016e-02 4.04740671e+01] [ 2.53746540e-01 9.67231246e-01 8.74129063e-03 5.38085622e+00] [-4.27078982e-02 2.17495766e-03 9.99085234e-01 -3.05723272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.50, Y:5.37, Z:-3.05 [[ 9.65835720e-01 -2.55877207e-01 4.10879209e-02 4.05036073e+01] [ 2.55405435e-01 9.66694315e-01 1.64366833e-02 5.37480427e+00] [-4.39252322e-02 -5.38105755e-03 9.99020329e-01 -3.05271432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.051052754000004 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:40.53, Y:5.38, Z:-3.06 [[ 9.65289997e-01 -2.57747919e-01 4.22046520e-02 4.05316818e+01] [ 2.57459530e-01 9.66211745e-01 1.22251415e-02 5.37963967e+00] [-4.39296352e-02 -9.34816931e-04 9.99034190e-01 -3.05594798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.081052754 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:40.56, Y:5.39, Z:-3.06 [[ 9.64599364e-01 -2.59994818e-01 4.41674204e-02 4.05609349e+01] [ 2.60326115e-01 9.65519029e-01 -1.82172338e-03 5.38918230e+00] [-4.21708462e-02 1.32551662e-02 9.99022482e-01 -3.06311351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.59, Y:5.38, Z:-3.05 [[ 9.64258297e-01 -2.61537464e-01 4.24746006e-02 4.05925654e+01] [ 2.60477321e-01 9.65046679e-01 2.89218201e-02 5.37670098e+00] [-4.85541117e-02 -1.68244348e-02 9.98678846e-01 -3.05151188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.141052754 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:40.62, Y:5.39, Z:-3.07 [[ 9.63777351e-01 -2.62442656e-01 4.75086336e-02 4.06179559e+01] [ 2.62816372e-01 9.64844396e-01 -1.68687398e-03 5.39021753e+00] [-4.53957312e-02 1.41118177e-02 9.98869403e-01 -3.06714058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.171052754 meters Centerline goodness : 0.999954 Centerline is valid? [True, True] Translation: X:40.65, Y:5.38, Z:-3.05 [[ 9.62996602e-01 -2.66224991e-01 4.19737841e-02 4.06526684e+01] [ 2.65226138e-01 9.63782462e-01 2.79009325e-02 5.37806994e+00] [-4.78815225e-02 -1.57359586e-02 9.98729062e-01 -3.05356003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.201052754 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:40.68, Y:5.39, Z:-3.07 [[ 9.62776168e-01 -2.66234766e-01 4.67022505e-02 4.06788788e+01] [ 2.66253086e-01 9.63884838e-01 5.94249639e-03 5.38746016e+00] [-4.65976903e-02 6.71332441e-03 9.98891179e-01 -3.06546614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.231052754000004 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:40.71, Y:5.38, Z:-3.06 [[ 9.61167277e-01 -2.72780398e-01 4.18129084e-02 4.07092255e+01] [ 2.72113965e-01 9.62036125e-01 2.09877331e-02 5.38221304e+00] [-4.59505705e-02 -8.79484599e-03 9.98904998e-01 -3.05755732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.261052754 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:40.73, Y:5.39, Z:-3.07 [[ 9.60008687e-01 -2.76526893e-01 4.37744058e-02 4.07347997e+01] [ 2.76555294e-01 9.60982116e-01 5.52638646e-03 5.39227550e+00] [-4.35946157e-02 6.80066469e-03 9.99026156e-01 -3.06762021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.76, Y:5.39, Z:-3.06 [[ 9.58009464e-01 -2.83758453e-01 4.12190194e-02 4.07635012e+01] [ 2.83124126e-01 9.58861791e-01 2.06105424e-02 5.38983384e+00] [-4.53717584e-02 -8.07499583e-03 9.98937535e-01 -3.06386299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.79, Y:5.40, Z:-3.07 [[ 9.57259949e-01 -2.85977112e-01 4.32490634e-02 4.07897295e+01] [ 2.85664475e-01 9.58236343e-01 1.33760521e-02 5.39817024e+00] [-4.52680691e-02 -4.49638023e-04 9.98974774e-01 -3.06877763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.351052754 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:40.82, Y:5.41, Z:-3.07 [[ 9.57176936e-01 -2.86011706e-01 4.48287441e-02 4.08160004e+01] [ 2.85675175e-01 9.58226004e-01 1.38787196e-02 5.40750157e+00] [-4.69255446e-02 -4.77930983e-04 9.98898276e-01 -3.07042838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.381052754 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:40.84, Y:5.42, Z:-3.07 [[ 9.57385081e-01 -2.85353500e-01 4.45778698e-02 4.08412580e+01] [ 2.85019259e-01 9.58422196e-01 1.38172149e-02 5.41612140e+00] [-4.66672105e-02 -5.22844013e-04 9.98910355e-01 -3.07146974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.411052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:40.87, Y:5.43, Z:-3.07 [[ 9.58113877e-01 -2.82728205e-01 4.56350887e-02 4.08672557e+01] [ 2.82374778e-01 9.59199830e-01 1.41481723e-02 5.42775760e+00] [-4.77732567e-02 -6.69362241e-04 9.98857982e-01 -3.07362816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.441052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.89, Y:5.44, Z:-3.07 [[ 9.58386282e-01 -2.81713709e-01 4.61857116e-02 4.08936511e+01] [ 2.81349855e-01 9.59498221e-01 1.43325805e-02 5.43711792e+00] [-4.83527925e-02 -7.41805274e-04 9.98830044e-01 -3.07465712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.92, Y:5.45, Z:-3.08 [[ 9.58728033e-01 -2.80574666e-01 4.60262402e-02 4.09204009e+01] [ 2.80211355e-01 9.59831861e-01 1.42966777e-02 5.44628999e+00] [-4.81887374e-02 -8.09550582e-04 9.98837920e-01 -3.07571785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.501052754 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:40.94, Y:5.46, Z:-3.08 [[ 9.59032031e-01 -2.79662783e-01 4.52359467e-02 4.09449422e+01] [ 2.79709924e-01 9.60069297e-01 5.41327904e-03 5.45799906e+00] [-4.49435363e-02 7.46143523e-03 9.98961664e-01 -3.08204901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.531052754 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:40.98, Y:5.47, Z:-3.08 [[ 9.58906456e-01 -2.80776297e-01 4.07808773e-02 4.09752317e+01] [ 2.80414153e-01 9.59770158e-01 1.44619144e-02 5.46607715e+00] [-4.32008318e-02 -2.43208791e-03 9.99063448e-01 -3.08218067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.561052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:41.00, Y:5.47, Z:-3.08 [[ 9.58548567e-01 -2.81761075e-01 4.23714805e-02 4.10006094e+01] [ 2.81173485e-01 9.59461571e-01 1.93640346e-02 5.47171296e+00] [-4.61098385e-02 -6.64763081e-03 9.98914256e-01 -3.08191138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.03, Y:5.48, Z:-3.09 [[ 9.58112315e-01 -2.82655457e-01 4.61159896e-02 4.10274312e+01] [ 2.82290823e-01 9.59221209e-01 1.43723461e-02 5.48112075e+00] [-4.82978574e-02 -7.52201127e-04 9.98832694e-01 -3.08601257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.621052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.05, Y:5.49, Z:-3.09 [[ 9.57574651e-01 -2.83975704e-01 4.90773549e-02 4.10532810e+01] [ 2.83563502e-01 9.58831185e-01 1.53133678e-02 5.48850090e+00] [-5.14055228e-02 -7.47146214e-04 9.98677583e-01 -3.08574010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.651052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.08, Y:5.50, Z:-3.09 [[ 9.57555444e-01 -2.83846655e-01 5.01861257e-02 4.10803968e+01] [ 2.83415179e-01 9.58869373e-01 1.56640197e-02 5.49713909e+00] [-5.25681185e-02 -7.75657551e-04 9.98617039e-01 -3.08663567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.681052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.11, Y:5.51, Z:-3.09 [[ 9.57964475e-01 -2.82363425e-01 5.07440638e-02 4.11075633e+01] [ 2.81919434e-01 9.59307104e-01 1.58528337e-02 5.50577660e+00] [-5.31554013e-02 -8.80713803e-04 9.98585864e-01 -3.08904300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.711052754 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:41.13, Y:5.52, Z:-3.09 [[ 9.58120709e-01 -2.82070102e-01 4.94081409e-02 4.11337516e+01] [ 2.81648055e-01 9.59393387e-01 1.54500174e-02 5.51541284e+00] [-5.17598316e-02 -8.87274794e-04 9.98659167e-01 -3.09278464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.16, Y:5.52, Z:-3.10 [[ 9.58323259e-01 -2.81508546e-01 4.86772009e-02 4.11601543e+01] [ 2.81097438e-01 9.59558282e-01 1.52359590e-02 5.52470768e+00] [-5.09976639e-02 -9.17937377e-04 9.98698351e-01 -3.09742902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.19, Y:5.53, Z:-3.10 [[ 9.58085968e-01 -2.82526662e-01 4.74337776e-02 4.11874811e+01] [ 2.82136857e-01 9.59259065e-01 1.48606666e-02 5.53209945e+00] [-4.96998157e-02 -8.54979248e-04 9.98763835e-01 -3.09988512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.801052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.21, Y:5.54, Z:-3.10 [[ 9.57157740e-01 -2.85687989e-01 4.72380599e-02 4.12148864e+01] [ 2.85304403e-01 9.58322428e-01 1.48162457e-02 5.53674213e+00] [-4.95021158e-02 -7.04257777e-04 9.98773770e-01 -3.09836878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.24, Y:5.54, Z:-3.10 [[ 9.56809210e-01 -2.86891325e-01 4.70053481e-02 4.12415880e+01] [ 2.86512780e-01 9.57962920e-01 1.47469150e-02 5.54414079e+00] [-4.92601425e-02 -6.42351156e-04 9.98785776e-01 -3.09927780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.27, Y:5.55, Z:-3.10 [[ 9.56829209e-01 -2.87072318e-01 4.54681083e-02 4.12684856e+01] [ 2.86717727e-01 9.57908708e-01 1.42776481e-02 5.55303253e+00] [-4.76530145e-02 -6.24758062e-04 9.98863754e-01 -3.10190180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.30, Y:5.56, Z:-3.10 [[ 9.56857938e-01 -2.87079525e-01 4.48133026e-02 4.12952661e+01] [ 2.86734518e-01 9.57906547e-01 1.40841458e-02 5.56192550e+00] [-4.69702259e-02 -6.27006005e-04 9.98896093e-01 -3.10472400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.921052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.32, Y:5.57, Z:-3.11 [[ 9.57049924e-01 -2.86379672e-01 4.51898943e-02 4.13211200e+01] [ 2.86027255e-01 9.58115972e-01 1.42194442e-02 5.56967716e+00] [-4.73693193e-02 -6.83176577e-04 9.98877210e-01 -3.10593274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.35, Y:5.58, Z:-3.11 [[ 9.56870689e-01 -2.86881447e-01 4.57986942e-02 4.13477887e+01] [ 2.86519880e-01 9.57965859e-01 1.44142943e-02 5.57724608e+00] [-4.80087790e-02 -6.70379337e-04 9.98846689e-01 -3.10617752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.981052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.37, Y:5.59, Z:-3.11 [[ 9.56330631e-01 -2.88202289e-01 4.86946001e-02 4.13735529e+01] [ 2.87794298e-01 9.57569321e-01 1.53439586e-02 5.58685844e+00] [-5.10506191e-02 -6.59869343e-04 9.98695849e-01 -3.10831064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.011052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.40, Y:5.60, Z:-3.11 [[ 9.56146621e-01 -2.88617742e-01 4.98341055e-02 4.14002031e+01] [ 2.88190741e-01 9.57444185e-01 1.57076359e-02 5.59679502e+00] [-5.22468770e-02 -6.57075225e-04 9.98633983e-01 -3.11096911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.041052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:41.43, Y:5.61, Z:-3.12 [[ 9.55810470e-01 -2.89303929e-01 5.22454032e-02 4.14279973e+01] [ 2.89748381e-01 9.57102356e-01 -9.77379713e-04 5.61211988e+00] [-4.97214387e-02 1.60722107e-02 9.98633798e-01 -3.12018785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.46, Y:5.61, Z:-3.10 [[ 9.55994084e-01 -2.89534331e-01 4.73833661e-02 4.14566843e+01] [ 2.88256015e-01 9.57017120e-01 3.20421874e-02 5.60887567e+00] [-5.46240059e-02 -1.69736013e-02 9.98362717e-01 -3.10463744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.48, Y:5.62, Z:-3.11 [[ 9.55950537e-01 -2.88825554e-01 5.23294292e-02 4.14804861e+01] [ 2.88353051e-01 9.57381477e-01 1.65295524e-02 5.62158207e+00] [-5.48733833e-02 -7.12083990e-04 9.98493067e-01 -3.11466210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.131052754 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:41.51, Y:5.63, Z:-3.12 [[ 9.56063410e-01 -2.88603842e-01 5.14837687e-02 4.15065480e+01] [ 2.88145678e-01 9.57448328e-01 1.62716706e-02 5.63052877e+00] [-5.39891149e-02 -7.21923444e-04 9.98541263e-01 -3.11733338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.53, Y:5.64, Z:-3.12 [[ 9.56648537e-01 -2.86961019e-01 4.97689613e-02 4.15323868e+01] [ 2.86529939e-01 9.57941925e-01 1.57436262e-02 5.64136628e+00] [-5.21935816e-02 -8.00819585e-04 9.98636665e-01 -3.12357035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.191052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.56, Y:5.65, Z:-3.13 [[ 9.57793379e-01 -2.83500717e-01 4.75309099e-02 4.15584847e+01] [ 2.83102617e-01 9.58971546e-01 1.50493399e-02 5.65250837e+00] [-4.98472888e-02 -9.58033197e-04 9.98756392e-01 -3.12789293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.58, Y:5.66, Z:-3.13 [[ 9.58403020e-01 -2.81725132e-01 4.57668077e-02 4.15841272e+01] [ 2.81353260e-01 9.59494605e-01 1.45067904e-02 5.66149083e+00] [-4.79999325e-02 -1.02671121e-03 9.98846811e-01 -3.13061930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.61, Y:5.67, Z:-3.13 [[ 9.59519902e-01 -2.78525407e-01 4.17750446e-02 4.16103696e+01] [ 2.78212520e-01 9.60428249e-01 1.32428136e-02 5.67043745e+00] [-4.38103930e-02 -1.08440278e-03 9.99039275e-01 -3.13356973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.281052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:41.64, Y:5.68, Z:-3.14 [[ 9.59776974e-01 -2.77744678e-01 4.10615886e-02 4.16371737e+01] [ 2.77441158e-01 9.60654285e-01 1.30287352e-02 5.67988579e+00] [-4.30646530e-02 -1.11250540e-03 9.99071668e-01 -3.13612049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.311052754 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:41.66, Y:5.69, Z:-3.14 [[ 9.59818902e-01 -2.77534038e-01 4.15034235e-02 4.16635867e+01] [ 2.77223196e-01 9.60715121e-01 1.31816370e-02 5.68909648e+00] [-4.35313195e-02 -1.14627263e-03 9.99051405e-01 -3.13858597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.341052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:41.69, Y:5.70, Z:-3.14 [[ 9.59477407e-01 -2.78576764e-01 4.24039130e-02 4.16898459e+01] [ 2.78252710e-01 9.60413295e-01 1.34808098e-02 5.69751703e+00] [-4.44807221e-02 -1.13552873e-03 9.99009598e-01 -3.14044216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.371052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.72, Y:5.70, Z:-3.14 [[ 9.58907678e-01 -2.80364927e-01 4.34922238e-02 4.17168993e+01] [ 2.80025233e-01 9.59892866e-01 1.38403509e-02 5.70456111e+00] [-4.56282243e-02 -1.09269861e-03 9.98957893e-01 -3.14154463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.74, Y:5.71, Z:-3.14 [[ 9.58549728e-01 -2.81511589e-01 4.39732250e-02 4.17444374e+01] [ 2.81164918e-01 9.59557240e-01 1.40068943e-02 5.71229217e+00] [-4.61379295e-02 -1.06257652e-03 9.98934514e-01 -3.14282934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.431052754 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:41.77, Y:5.73, Z:-3.16 [[ 9.56692686e-01 -2.85217455e-01 5.82246290e-02 4.17673897e+01] [ 2.85859918e-01 9.58267197e-01 -2.84350458e-03 5.72688821e+00] [-5.49837350e-02 1.93644477e-02 9.98299458e-01 -3.16107787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.80, Y:5.72, Z:-3.13 [[ 9.56362051e-01 -2.89103010e-01 4.23211078e-02 4.18019870e+01] [ 2.87758392e-01 9.57058128e-01 3.51403889e-02 5.72066275e+00] [-5.06629524e-02 -2.14286805e-02 9.98485892e-01 -3.13441942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.83, Y:5.73, Z:-3.15 [[ 9.55100690e-01 -2.91802948e-01 5.13197043e-02 4.18262917e+01] [ 2.91343200e-01 9.56478200e-01 1.63887858e-02 5.73378412e+00] [-5.38684744e-02 -7.01293760e-04 9.98547793e-01 -3.14569067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.85, Y:5.74, Z:-3.15 [[ 9.54643980e-01 -2.93102004e-01 5.24031266e-02 4.18518282e+01] [ 2.92623599e-01 9.56080949e-01 1.67525295e-02 5.74151204e+00] [-5.50118310e-02 -6.58309938e-04 9.98485486e-01 -3.14644359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.551052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.88, Y:5.75, Z:-3.15 [[ 9.54429874e-01 -2.93818598e-01 5.22900392e-02 4.18775682e+01] [ 2.93342958e-01 9.55860996e-01 1.67231670e-02 5.74942790e+00] [-5.48955864e-02 -6.22175350e-04 9.98491907e-01 -3.14823024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.90, Y:5.76, Z:-3.15 [[ 9.54447725e-01 -2.93940453e-01 5.12693873e-02 4.19041250e+01] [ 2.93807530e-01 9.55809311e-01 1.02808570e-02 5.76150015e+00] [-5.20257176e-02 5.25079147e-03 9.98631941e-01 -3.15487462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.611052754 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:41.92, Y:5.78, Z:-3.18 [[ 9.54128004e-01 -2.92204701e-01 6.52392951e-02 4.19212374e+01] [ 2.93159446e-01 9.56048533e-01 -5.36121465e-03 5.78047988e+00] [-6.08053602e-02 2.42408006e-02 9.97855246e-01 -3.18362637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.96, Y:5.77, Z:-3.15 [[ 9.55462744e-01 -2.92707591e-01 3.75927045e-02 4.19616766e+01] [ 2.91016000e-01 9.55675643e-01 4.46514565e-02 5.77032428e+00] [-4.89962523e-02 -3.17227246e-02 9.98295065e-01 -3.14629187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.671052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.98, Y:5.79, Z:-3.17 [[ 9.56144029e-01 -2.89156655e-01 4.66585945e-02 4.19835726e+01] [ 2.88770841e-01 9.57281436e-01 1.49550600e-02 5.79036865e+00] [-4.89897614e-02 -8.25549760e-04 9.98798940e-01 -3.16565216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.01, Y:5.80, Z:-3.17 [[ 9.56436986e-01 -2.88275746e-01 4.61019218e-02 4.20090019e+01] [ 2.87897290e-01 9.57547037e-01 1.47926560e-02 5.80007742e+00] [-4.84091226e-02 -8.75624974e-04 9.98827207e-01 -3.16772979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.731052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.04, Y:5.81, Z:-3.17 [[ 9.56365696e-01 -2.88512329e-01 4.61008756e-02 4.20361602e+01] [ 2.88133991e-01 9.57475788e-01 1.47959165e-02 5.80888304e+00] [-4.84092765e-02 -8.67077707e-04 9.98827207e-01 -3.16958699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.761052754 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:42.06, Y:5.82, Z:-3.17 [[ 9.57071251e-01 -2.86208365e-01 4.58191218e-02 4.20612110e+01] [ 2.85831289e-01 9.58166889e-01 1.47202683e-02 5.81938719e+00] [-4.81154294e-02 -9.91806904e-04 9.98841290e-01 -3.17287294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.791052754 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:42.08, Y:5.84, Z:-3.20 [[ 9.56909053e-01 -2.84013311e-01 6.05103523e-02 4.20804225e+01] [ 2.84812779e-01 9.58570932e-01 -4.84251431e-03 5.83674577e+00] [-5.66281263e-02 2.18679674e-02 9.98155823e-01 -3.19704389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.821052754 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:42.11, Y:5.84, Z:-3.19 [[ 9.56612322e-01 -2.86201145e-01 5.46055927e-02 4.21093509e+01] [ 2.86293592e-01 9.58121299e-01 6.28937443e-03 5.84035856e+00] [-5.41188075e-02 9.61673822e-03 9.98488194e-01 -3.19486194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.851052754 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:42.14, Y:5.84, Z:-3.19 [[ 9.56294213e-01 -2.87990366e-01 5.06253626e-02 4.21386027e+01] [ 2.87497739e-01 9.57631934e-01 1.69153729e-02 5.84451588e+00] [-5.33519283e-02 -1.62139598e-03 9.98574455e-01 -3.19086115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.881052754 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:42.17, Y:5.86, Z:-3.20 [[ 9.54858292e-01 -2.92030596e-01 5.44405410e-02 4.21651646e+01] [ 2.92060755e-01 9.56369739e-01 7.57874546e-03 5.85712114e+00] [-5.42785115e-02 8.66331756e-03 9.98488252e-01 -3.19925193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.20, Y:5.85, Z:-3.16 [[ 9.55154691e-01 -2.94158004e-01 3.39202616e-02 4.22031181e+01] [ 2.92008063e-01 9.54726275e-01 5.68245648e-02 5.84730225e+00] [-4.90999656e-02 -4.43712598e-02 9.97807789e-01 -3.16331693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.941052754000005 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:42.22, Y:5.87, Z:-3.19 [[ 9.54932330e-01 -2.92676186e-01 4.94458739e-02 4.22233564e+01] [ 2.92631114e-01 9.56189294e-01 8.31058529e-03 5.87108040e+00] [-4.97119256e-02 6.53335459e-03 9.98742229e-01 -3.19111022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.25, Y:5.87, Z:-3.19 [[ 9.54672049e-01 -2.93757529e-01 4.80394909e-02 4.22518730e+01] [ 2.92956618e-01 9.55846671e-01 2.30989409e-02 5.87456348e+00] [-5.27038752e-02 -7.97842647e-03 9.98578313e-01 -3.18544817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.001052754 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:42.28, Y:5.88, Z:-3.19 [[ 9.54738602e-01 -2.92863798e-01 5.20095903e-02 4.22780809e+01] [ 2.92258763e-01 9.56149498e-01 1.90512999e-02 5.88307637e+00] [-5.53083798e-02 -2.98875294e-03 9.98464847e-01 -3.18858659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.031052754 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:42.30, Y:5.89, Z:-3.19 [[ 9.54806880e-01 -2.92634979e-01 5.20441264e-02 4.23047975e+01] [ 2.92269161e-01 9.56223475e-01 1.46766101e-02 5.89284393e+00] [-5.40607049e-02 1.19756482e-03 9.98536933e-01 -3.19197346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.061052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.33, Y:5.91, Z:-3.20 [[ 9.54600896e-01 -2.93345961e-01 5.18196532e-02 4.23308150e+01] [ 2.93496027e-01 9.55947934e-01 4.86100576e-03 5.90654551e+00] [-5.09628468e-02 1.05685419e-02 9.98644629e-01 -3.19839667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.36, Y:5.91, Z:-3.19 [[ 9.54213758e-01 -2.95203000e-01 4.82834633e-02 4.23608093e+01] [ 2.94115684e-01 9.55347244e-01 2.84184367e-02 5.90796237e+00] [-5.45166814e-02 -1.29163394e-02 9.98429316e-01 -3.18933177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.121052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.38, Y:5.92, Z:-3.20 [[ 9.53107352e-01 -2.97996839e-01 5.27660881e-02 4.23836869e+01] [ 2.97409194e-01 9.54564169e-01 1.88419506e-02 5.92083364e+00] [-5.59834587e-02 -2.26528192e-03 9.98429127e-01 -3.20045872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.151052754 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:42.41, Y:5.93, Z:-3.22 [[ 9.53029027e-01 -2.95291533e-01 6.73690125e-02 4.24102269e+01] [ 2.95923327e-01 9.55211489e-01 6.28554048e-04 5.93494863e+00] [-6.45372615e-02 1.93370321e-02 9.97727929e-01 -3.22014505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.44, Y:5.93, Z:-3.19 [[ 9.52607585e-01 -3.00695934e-01 4.60515368e-02 4.24430076e+01] [ 2.99307511e-01 9.53525106e-01 3.47114735e-02 5.92954190e+00] [-5.43488955e-02 -1.92828421e-02 9.98335800e-01 -3.19314644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.47, Y:5.95, Z:-3.22 [[ 9.52097497e-01 -2.99399696e-01 6.22107549e-02 4.24655380e+01] [ 2.99223249e-01 9.54103165e-01 1.23530209e-02 5.94659961e+00] [-6.30539688e-02 6.85362390e-03 9.97986586e-01 -3.21503947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.50, Y:5.95, Z:-3.21 [[ 9.52190763e-01 -3.00197089e-01 5.66961895e-02 4.24950194e+01] [ 2.99147977e-01 9.53842433e-01 2.63647594e-02 5.95152153e+00] [-6.19938554e-02 -8.14373001e-03 9.98043306e-01 -3.20998855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.271052754 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:42.52, Y:5.96, Z:-3.22 [[ 9.52258640e-01 -2.99688249e-01 5.82274526e-02 4.25189473e+01] [ 2.99088566e-01 9.54036972e-01 1.89600961e-02 5.96362502e+00] [-6.12332605e-02 -6.39750028e-04 9.98123278e-01 -3.21625463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.301052754000004 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:42.54, Y:5.97, Z:-3.22 [[ 9.52360806e-01 -2.99032958e-01 5.99014695e-02 4.25444593e+01] [ 2.98396439e-01 9.54242520e-01 1.95135508e-02 5.97447476e+00] [-6.29957240e-02 -7.09555778e-04 9.98013545e-01 -3.21918607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.57, Y:5.98, Z:-3.22 [[ 9.52506231e-01 -2.98403560e-01 6.07222765e-02 4.25711640e+01] [ 2.97746948e-01 9.54439473e-01 1.98002038e-02 5.98383970e+00] [-6.38641889e-02 -7.79945020e-04 9.97958294e-01 -3.22105134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.60, Y:5.99, Z:-3.23 [[ 9.52395918e-01 -2.98298247e-01 6.29298875e-02 4.25961033e+01] [ 2.97993849e-01 9.54459352e-01 1.43878669e-02 5.99330359e+00] [-6.43558951e-02 5.04977369e-03 9.97914234e-01 -3.22562226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.63, Y:6.00, Z:-3.22 [[ 9.52373278e-01 -2.99100653e-01 5.93627674e-02 4.26259595e+01] [ 2.98085823e-01 9.54198942e-01 2.54798309e-02 5.99706185e+00] [-6.42649239e-02 -6.57111071e-03 9.97911239e-01 -3.22015356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.421052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.65, Y:6.01, Z:-3.22 [[ 9.52433068e-01 -2.99770840e-01 5.48515616e-02 4.26512141e+01] [ 2.99235222e-01 9.54011012e-01 1.79240369e-02 6.00796775e+00] [-5.77020974e-02 -6.57926204e-04 9.98333629e-01 -3.22203200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.68, Y:6.02, Z:-3.23 [[ 9.52620735e-01 -2.97639456e-01 6.26457469e-02 4.26783603e+01] [ 2.97110225e-01 9.54676943e-01 1.78170838e-02 6.01821087e+00] [-6.51095173e-02 1.63976849e-03 9.97876777e-01 -3.23014124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.481052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.71, Y:6.02, Z:-3.23 [[ 9.52928526e-01 -2.97139613e-01 6.02932438e-02 4.27052141e+01] [ 2.96324856e-01 9.54828250e-01 2.22394387e-02 6.02397497e+00] [-6.41779107e-02 -3.32620874e-03 9.97932930e-01 -3.22942252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.511052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.74, Y:6.03, Z:-3.23 [[ 9.53855380e-01 -2.93988098e-01 6.10811959e-02 4.27351721e+01] [ 2.92894343e-01 9.55781621e-01 2.63514237e-02 6.03029741e+00] [-6.61272894e-02 -7.24511051e-03 9.97784892e-01 -3.22680959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.541052754 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:42.76, Y:6.04, Z:-3.23 [[ 9.53773432e-01 -2.93526906e-01 6.44840782e-02 4.27596284e+01] [ 2.92767083e-01 9.55949943e-01 2.11457362e-02 6.04266909e+00] [-6.78503934e-02 -1.28942588e-03 9.97694673e-01 -3.23255371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.571052754 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:42.78, Y:6.05, Z:-3.24 [[ 9.53929878e-01 -2.92572776e-01 6.64752508e-02 4.27840148e+01] [ 2.92102378e-01 9.56237602e-01 1.69071018e-02 6.05411667e+00] [-6.85126921e-02 3.28938923e-03 9.97644822e-01 -3.23792532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.601052754 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:42.81, Y:6.06, Z:-3.24 [[ 9.54031801e-01 -2.92611886e-01 6.48198023e-02 4.28112509e+01] [ 2.91697699e-01 9.56225333e-01 2.33573174e-02 6.06256724e+00] [-6.88169657e-02 -3.37583636e-03 9.97623591e-01 -3.23782967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.84, Y:6.07, Z:-3.24 [[ 9.54238751e-01 -2.92299961e-01 6.31596304e-02 4.28390267e+01] [ 2.91432893e-01 9.56321030e-01 2.27366677e-02 6.07161727e+00] [-6.70468098e-02 -3.28941556e-03 9.97744409e-01 -3.24084976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.86, Y:6.08, Z:-3.24 [[ 9.54145922e-01 -2.92700663e-01 6.27047201e-02 4.28645509e+01] [ 2.92180571e-01 9.56202768e-01 1.75151786e-02 6.08136647e+00] [-6.50851313e-02 1.60906465e-03 9.97878418e-01 -3.24493498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.691052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.89, Y:6.09, Z:-3.25 [[ 9.54030588e-01 -2.93700124e-01 5.97149438e-02 4.28926309e+01] [ 2.93086268e-01 9.55897411e-01 1.89889393e-02 6.08751225e+00] [-6.26584140e-02 -6.14398949e-04 9.98034842e-01 -3.24560458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.721052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:42.92, Y:6.10, Z:-3.25 [[ 9.53747755e-01 -2.95067912e-01 5.74469023e-02 4.29197269e+01] [ 2.94185997e-01 9.55460706e-01 2.34401022e-02 6.09576417e+00] [-6.18046799e-02 -5.45587058e-03 9.98073352e-01 -3.24586164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.95, Y:6.11, Z:-3.25 [[ 9.53864203e-01 -2.94997497e-01 5.58530133e-02 4.29455860e+01] [ 2.94365301e-01 9.55495768e-01 1.94141196e-02 6.10608767e+00] [-5.90944345e-02 -2.07724469e-03 9.98250236e-01 -3.25075385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.781052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:42.97, Y:6.12, Z:-3.26 [[ 9.53888504e-01 -2.94771593e-01 5.66253531e-02 4.29724197e+01] [ 2.94342824e-01 9.55566650e-01 1.59587021e-02 6.11677534e+00] [-5.88134710e-02 1.44444388e-03 9.98267945e-01 -3.25618213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.00, Y:6.13, Z:-3.26 [[ 9.54279091e-01 -2.93857802e-01 5.47632116e-02 4.29993788e+01] [ 2.93226127e-01 9.55845957e-01 1.94150585e-02 6.12521497e+00] [-5.80504608e-02 -2.46937997e-03 9.98310596e-01 -3.25743880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.841052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:43.03, Y:6.13, Z:-3.26 [[ 9.54091630e-01 -2.94818660e-01 5.28310501e-02 4.30258049e+01] [ 2.94201080e-01 9.55548949e-01 1.92854911e-02 6.13409255e+00] [-5.61683770e-02 -2.85717367e-03 9.98417222e-01 -3.25741199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.871052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.05, Y:6.14, Z:-3.26 [[ 9.54813923e-01 -2.92452443e-01 5.29333650e-02 4.30539442e+01] [ 2.92078007e-01 9.56279209e-01 1.48496728e-02 6.14192318e+00] [-5.49618995e-02 1.28199745e-03 9.98487629e-01 -3.26002579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.901052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:43.08, Y:6.15, Z:-3.26 [[ 9.54263123e-01 -2.94701512e-01 5.03280344e-02 4.30771215e+01] [ 2.94103798e-01 9.55583343e-01 1.90638678e-02 6.15216948e+00] [-5.37107820e-02 -3.39027995e-03 9.98550779e-01 -3.25963304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.10, Y:6.16, Z:-3.27 [[ 9.54464246e-01 -2.93431105e-01 5.38162657e-02 4.31025283e+01] [ 2.93155773e-01 9.55974681e-01 1.31187692e-02 6.16422086e+00] [-5.52964423e-02 3.25515282e-03 9.98464675e-01 -3.26752476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.961052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:43.13, Y:6.17, Z:-3.27 [[ 9.55636329e-01 -2.90410623e-01 4.92023960e-02 4.31322485e+01] [ 2.89711231e-01 9.56884734e-01 2.09525312e-02 6.17139958e+00] [-5.31658592e-02 -5.76851329e-03 9.98569034e-01 -3.26529187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.991052754 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:43.16, Y:6.18, Z:-3.27 [[ 9.56050062e-01 -2.89002845e-01 4.94533637e-02 4.31601907e+01] [ 2.88442774e-01 9.57322894e-01 1.82658630e-02 6.18097098e+00] [-5.26217237e-02 -3.19861406e-03 9.98609395e-01 -3.26977573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.18, Y:6.19, Z:-3.27 [[ 9.55219138e-01 -2.91292079e-01 5.20127232e-02 4.31848127e+01] [ 2.90842943e-01 9.56634111e-01 1.61728584e-02 6.19186533e+00] [-5.44681707e-02 -3.21090364e-04 9.98515456e-01 -3.27451507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.051052754000004 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:43.22, Y:6.20, Z:-3.28 [[ 9.54742043e-01 -2.92642991e-01 5.31762233e-02 4.32156364e+01] [ 2.92167767e-01 9.56221696e-01 1.66752340e-02 6.19828599e+00] [-5.57281488e-02 -3.84168518e-04 9.98445905e-01 -3.27670089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.24, Y:6.21, Z:-3.27 [[ 9.53806599e-01 -2.96025479e-01 5.12043798e-02 4.32414722e+01] [ 2.95396414e-01 9.55173307e-01 1.96191658e-02 6.20744059e+00] [-5.47168298e-02 -3.58729967e-03 9.98495468e-01 -3.27387105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.27, Y:6.22, Z:-3.28 [[ 9.53245925e-01 -2.97398939e-01 5.36290753e-02 4.32676198e+01] [ 2.96962934e-01 9.54753133e-01 1.61080763e-02 6.21667061e+00] [-5.59930525e-02 5.70889528e-04 9.98430995e-01 -3.27922372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.141052754 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:43.30, Y:6.22, Z:-3.28 [[ 9.53551717e-01 -2.97076688e-01 4.98454040e-02 4.33001060e+01] [ 2.96273835e-01 9.54827038e-01 2.29595814e-02 6.22222234e+00] [-5.44144959e-02 -7.12525924e-03 9.98493011e-01 -3.27571161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.171052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.32, Y:6.24, Z:-3.29 [[ 9.52532781e-01 -2.99116656e-01 5.66615190e-02 4.33213632e+01] [ 2.98993056e-01 9.54193652e-01 1.08455889e-02 6.23793460e+00] [-5.73101580e-02 6.61062176e-03 9.98334536e-01 -3.28600312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.201052754 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:43.35, Y:6.24, Z:-3.28 [[ 9.52465802e-01 -3.00260719e-01 5.15014352e-02 4.33533519e+01] [ 2.99283296e-01 9.53812034e-01 2.59251382e-02 6.23958450e+00] [-5.69069893e-02 -9.27928824e-03 9.98336361e-01 -3.27933575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.231052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.37, Y:6.26, Z:-3.29 [[ 9.51554441e-01 -3.02114422e-01 5.71928414e-02 4.33747031e+01] [ 3.02151100e-01 9.53224668e-01 8.21252857e-03 6.25621631e+00] [-5.69987506e-02 9.46621193e-03 9.98329371e-01 -3.29105156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.261052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.41, Y:6.26, Z:-3.28 [[ 9.51688451e-01 -3.02705016e-01 5.15632135e-02 4.34056127e+01] [ 3.01867143e-01 9.53059933e-01 2.35157624e-02 6.25874024e+00] [-5.62611721e-02 -6.81443951e-03 9.98392830e-01 -3.28328730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.291052754 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:43.44, Y:6.27, Z:-3.28 [[ 9.52133654e-01 -3.01604391e-01 4.97623938e-02 4.34354234e+01] [ 3.00687188e-01 9.53390677e-01 2.51680599e-02 6.26789627e+00] [-5.50337997e-02 -9.00044263e-03 9.98443926e-01 -3.28204542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.321052754 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:43.46, Y:6.28, Z:-3.29 [[ 9.51884238e-01 -3.01738786e-01 5.35733344e-02 4.34616822e+01] [ 3.01380696e-01 9.53388486e-01 1.48348164e-02 6.28082125e+00] [-5.55524396e-02 2.02494085e-03 9.98453718e-01 -3.28928659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.351052754 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:43.49, Y:6.29, Z:-3.29 [[ 9.51520246e-01 -3.03036840e-01 5.27057412e-02 4.34884186e+01] [ 3.02521189e-01 9.52978426e-01 1.76932213e-02 6.28895197e+00] [-5.55891321e-02 -8.90854754e-04 9.98453331e-01 -3.28882471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.381052754 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:43.51, Y:6.30, Z:-3.29 [[ 9.51572530e-01 -3.02957839e-01 5.22136835e-02 4.35134684e+01] [ 3.02524777e-01 9.53003883e-01 1.61974777e-02 6.29782753e+00] [-5.46669960e-02 3.82858085e-04 9.98504568e-01 -3.29007341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.411052754 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:43.54, Y:6.31, Z:-3.29 [[ 9.51705466e-01 -3.02595859e-01 5.18888445e-02 4.35412181e+01] [ 3.02084442e-01 9.53118329e-01 1.76193120e-02 6.30777984e+00] [-5.47877397e-02 -1.09358295e-03 9.98497425e-01 -3.29194400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.441052754000005 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:43.57, Y:6.32, Z:-3.29 [[ 9.51504267e-01 -3.03119172e-01 5.25204417e-02 4.35696394e+01] [ 3.02538853e-01 9.52950440e-01 1.88600654e-02 6.31795866e+00] [-5.57662255e-02 -2.05595847e-03 9.98441736e-01 -3.29429545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.471052754 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:43.59, Y:6.33, Z:-3.30 [[ 9.51922534e-01 -3.01865022e-01 5.21631909e-02 4.35935029e+01] [ 3.01446760e-01 9.53350490e-01 1.58963369e-02 6.32922585e+00] [-5.45283517e-02 5.92343531e-04 9.98512047e-01 -3.29793905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.501052754 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:43.62, Y:6.34, Z:-3.30 [[ 9.51986941e-01 -3.01829256e-01 5.11855869e-02 4.36196722e+01] [ 3.01362569e-01 9.53361837e-01 1.67872118e-02 6.33845826e+00] [-5.38652568e-02 -5.55786451e-04 9.98548059e-01 -3.30018330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.531052754 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:43.65, Y:6.35, Z:-3.30 [[ 9.51599254e-01 -3.02999673e-01 5.14787102e-02 4.36470132e+01] [ 3.02563172e-01 9.52990655e-01 1.62585084e-02 6.34891491e+00] [-5.39850524e-02 1.03977369e-04 9.98541738e-01 -3.30275963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.561052754 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:43.67, Y:6.35, Z:-3.30 [[ 9.51462263e-01 -3.03376722e-01 5.17892501e-02 4.36725606e+01] [ 3.02912107e-01 9.52870654e-01 1.67860531e-02 6.35481769e+00] [-5.44409544e-02 -2.83705159e-04 9.98516951e-01 -3.30146474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.591052754 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:43.70, Y:6.36, Z:-3.30 [[ 9.50836381e-01 -3.05382036e-01 5.14974529e-02 4.37005744e+01] [ 3.04877371e-01 9.52229376e-01 1.75785239e-02 6.36398236e+00] [-5.44055529e-02 -1.01389200e-03 9.98518406e-01 -3.30194742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.621052754000004 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:43.73, Y:6.37, Z:-3.30 [[ 9.50699135e-01 -3.05715201e-01 5.20516166e-02 4.37263749e+01] [ 3.05239415e-01 9.52122950e-01 1.70525035e-02 6.37340345e+00] [-5.47727483e-02 -3.23595324e-04 9.98498794e-01 -3.30448190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.651052754 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:43.75, Y:6.38, Z:-3.31 [[ 9.49947785e-01 -3.07826874e-01 5.33087402e-02 4.37532685e+01] [ 3.07362216e-01 9.51442333e-01 1.69102259e-02 6.38398413e+00] [-5.59256141e-02 3.21260859e-04 9.98434886e-01 -3.30797929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.681052754 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:43.78, Y:6.39, Z:-3.31 [[ 9.49456191e-01 -3.09486373e-01 5.24511793e-02 4.37804265e+01] [ 3.08974679e-01 9.50903622e-01 1.78030724e-02 6.39125368e+00] [-5.53858247e-02 -6.97151059e-04 9.98464784e-01 -3.31043140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.711052754 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:43.81, Y:6.40, Z:-3.31 [[ 9.49036118e-01 -3.10815394e-01 5.21942352e-02 4.38082153e+01] [ 3.10283369e-01 9.50469678e-01 1.82105144e-02 6.40072366e+00] [-5.52691461e-02 -1.08743273e-03 9.98470900e-01 -3.31207217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.741052754 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:43.83, Y:6.41, Z:-3.31 [[ 9.49292911e-01 -3.10161524e-01 5.14081517e-02 4.38336457e+01] [ 3.09600465e-01 9.50682025e-01 1.87413675e-02 6.40846265e+00] [-5.46856569e-02 -1.87505961e-03 9.98501859e-01 -3.31300745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.771052754 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:43.86, Y:6.42, Z:-3.32 [[ 9.49289965e-01 -3.10398842e-01 5.00112123e-02 4.38599207e+01] [ 3.10010132e-01 9.50606124e-01 1.55471724e-02 6.41953713e+00] [-5.23667890e-02 7.45207777e-04 9.98627640e-01 -3.31523473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.801052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.88, Y:6.44, Z:-3.32 [[ 9.49357732e-01 -3.09664333e-01 5.31779836e-02 4.38825203e+01] [ 3.09831592e-01 9.50776805e-01 5.27749926e-03 6.43630889e+00] [-5.21946467e-02 1.14659846e-02 9.98571104e-01 -3.32456396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.831052754 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:43.91, Y:6.44, Z:-3.31 [[ 9.50218818e-01 -3.08426015e-01 4.42446668e-02 4.39113495e+01] [ 3.07257513e-01 9.51111035e-01 3.13148601e-02 6.43581424e+00] [-5.17399084e-02 -1.61614631e-02 9.98529814e-01 -3.31087003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.861052754 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:43.93, Y:6.45, Z:-3.32 [[ 9.50510893e-01 -3.06876526e-01 4.85369871e-02 4.39347806e+01] [ 3.06480421e-01 9.51749334e-01 1.55871041e-02 6.45314095e+00] [-5.09783615e-02 5.99239985e-05 9.98699756e-01 -3.32192836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.96, Y:6.47, Z:-3.33 [[ 9.50139667e-01 -3.07339949e-01 5.26950533e-02 4.39582286e+01] [ 3.07473673e-01 9.51539206e-01 5.75153603e-03 6.46791258e+00] [-5.19090860e-02 1.07375791e-02 9.98594087e-01 -3.33092724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.921052754 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:43.99, Y:6.47, Z:-3.32 [[ 9.49801692e-01 -3.09501300e-01 4.56693678e-02 4.39888388e+01] [ 3.08611961e-01 9.50844468e-01 2.55627873e-02 6.46947619e+00] [-5.13361816e-02 -1.01854655e-02 9.98629487e-01 -3.32035098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.951052754 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:44.02, Y:6.48, Z:-3.32 [[ 9.49685868e-01 -3.09466828e-01 4.82393498e-02 4.40167906e+01] [ 3.08793851e-01 9.50896757e-01 2.10170005e-02 6.47975586e+00] [-5.23747058e-02 -5.06353374e-03 9.98614666e-01 -3.32406094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.981052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.04, Y:6.49, Z:-3.33 [[ 9.48993316e-01 -3.10183165e-01 5.65516571e-02 4.40389648e+01] [ 3.10399117e-01 9.50592393e-01 5.14697031e-03 6.49405179e+00] [-5.53540786e-02 1.26691440e-02 9.98386408e-01 -3.33484194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.011052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.07, Y:6.50, Z:-3.33 [[ 9.48373168e-01 -3.13110846e-01 5.04968491e-02 4.40689556e+01] [ 3.12557452e-01 9.49714563e-01 1.87106515e-02 6.49851659e+00] [-5.38161008e-02 -1.96151334e-03 9.98548937e-01 -3.32769137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.041052754 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:44.10, Y:6.51, Z:-3.32 [[ 9.47895922e-01 -3.15228566e-01 4.60898181e-02 4.40986482e+01] [ 3.14273156e-01 9.48952163e-01 2.68733189e-02 6.50502097e+00] [-5.22082704e-02 -1.09883168e-02 9.98575762e-01 -3.32439081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.12, Y:6.53, Z:-3.35 [[ 9.46666738e-01 -3.15713825e-01 6.43961733e-02 4.41150573e+01] [ 3.16819612e-01 9.48456299e-01 -7.48216199e-03 6.52940063e+00] [-5.87147342e-02 2.74850845e-02 9.97896362e-01 -3.35382606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.15, Y:6.52, Z:-3.32 [[ 9.47120443e-01 -3.17933337e-01 4.33734976e-02 4.41543045e+01] [ 3.16721734e-01 9.47958188e-01 3.25978053e-02 6.52068743e+00] [-5.14801912e-02 -1.71367184e-02 9.98526977e-01 -3.32437224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.131052754 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:44.18, Y:6.53, Z:-3.33 [[ 9.47133749e-01 -3.17675636e-01 4.49427604e-02 4.41809453e+01] [ 3.16695255e-01 9.48123958e-01 2.76600130e-02 6.53024398e+00] [-5.13982201e-02 -1.19645729e-02 9.98606565e-01 -3.32795383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.20, Y:6.55, Z:-3.34 [[ 9.46864903e-01 -3.17258285e-01 5.28586369e-02 4.42046164e+01] [ 3.17462278e-01 9.48259182e-01 4.71430643e-03 6.54842348e+00] [-5.16193406e-02 1.23168120e-02 9.98590877e-01 -3.34194601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.191052754000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.23, Y:6.55, Z:-3.34 [[ 9.46923537e-01 -3.17877292e-01 4.78522971e-02 4.42343386e+01] [ 3.17460593e-01 9.48131837e-01 1.62724356e-02 6.55384617e+00] [-5.05429242e-02 -2.17533680e-04 9.98721866e-01 -3.33694212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.26, Y:6.56, Z:-3.34 [[ 9.47133038e-01 -3.17270776e-01 4.77311484e-02 4.42593410e+01] [ 3.16880292e-01 9.48334965e-01 1.57376605e-02 6.56429308e+00] [-5.02582167e-02 2.19402090e-04 9.98736233e-01 -3.33967379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.28, Y:6.57, Z:-3.34 [[ 9.47232565e-01 -3.16894400e-01 4.82535755e-02 4.42849423e+01] [ 3.16478684e-01 9.48460821e-01 1.62269459e-02 6.57415047e+00] [-5.09088541e-02 -9.94635632e-05 9.98703299e-01 -3.34270764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.281052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.31, Y:6.59, Z:-3.35 [[ 9.46924005e-01 -3.17600085e-01 4.96499297e-02 4.43111889e+01] [ 3.17313882e-01 9.48220823e-01 1.37539348e-02 6.58593009e+00] [-5.14473480e-02 2.73068095e-03 9.98671975e-01 -3.34841048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.311052754 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:44.34, Y:6.59, Z:-3.35 [[ 9.46919964e-01 -3.18082626e-01 4.65405816e-02 4.43386738e+01] [ 3.17358094e-01 9.48041091e-01 2.24037720e-02 6.59078961e+00] [-5.12486344e-02 -6.44454868e-03 9.98665132e-01 -3.34607928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.341052754 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:44.37, Y:6.60, Z:-3.35 [[ 9.46816718e-01 -3.18218040e-01 4.77009496e-02 4.43657375e+01] [ 3.17667219e-01 9.48013539e-01 1.89173769e-02 6.60105333e+00] [-5.12409967e-02 -2.75826069e-03 9.98682508e-01 -3.34800715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.371052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.38, Y:6.62, Z:-3.36 [[ 9.46806160e-01 -3.16259392e-01 5.94818712e-02 4.43834641e+01] [ 3.16891395e-01 9.48460992e-01 -1.26136672e-03 6.61907882e+00] [-5.60173155e-02 2.00435629e-02 9.98228589e-01 -3.36415036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.42, Y:6.62, Z:-3.34 [[ 9.47326482e-01 -3.17244850e-01 4.39117507e-02 4.44204962e+01] [ 3.16197509e-01 9.48243329e-01 2.92185739e-02 6.61521628e+00] [-5.09084667e-02 -1.37947427e-02 9.98608048e-01 -3.34172451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.44, Y:6.64, Z:-3.36 [[ 9.46951261e-01 -3.16203757e-01 5.74325161e-02 4.44372598e+01] [ 3.16396188e-01 9.48608473e-01 5.95123878e-03 6.63522674e+00] [-5.63627754e-02 1.25358961e-02 9.98331653e-01 -3.36229312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.46, Y:6.64, Z:-3.36 [[ 9.46775749e-01 -3.17334832e-01 5.39841124e-02 4.44647266e+01] [ 3.16772683e-01 9.48313229e-01 1.88967719e-02 6.63932438e+00] [-5.71904519e-02 -7.90313259e-04 9.98362974e-01 -3.35727836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.49, Y:6.65, Z:-3.36 [[ 9.46592303e-01 -3.17923498e-01 5.37369723e-02 4.44914838e+01] [ 3.17367178e-01 9.48116068e-01 1.88147624e-02 6.64883395e+00] [-5.69305420e-02 -7.55557958e-04 9.98377856e-01 -3.35933056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.521052754 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:44.52, Y:6.65, Z:-3.35 [[ 9.45678833e-01 -3.21610728e-01 4.75193137e-02 4.45249627e+01] [ 3.20384875e-01 9.46757125e-01 3.16935033e-02 6.65264579e+00] [-5.51822195e-02 -1.47474059e-02 9.98367386e-01 -3.35060541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.551052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.54, Y:6.67, Z:-3.37 [[ 9.44907031e-01 -3.21721366e-01 6.03826603e-02 4.45419264e+01] [ 3.22015603e-01 9.46720841e-01 5.05964483e-03 6.66949371e+00] [-5.87933188e-02 1.46632648e-02 9.98162479e-01 -3.36888750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.581052754 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:44.58, Y:6.67, Z:-3.35 [[ 9.43916277e-01 -3.26480358e-01 4.93217850e-02 4.45777095e+01] [ 3.25396595e-01 9.45138071e-01 2.88285093e-02 6.67078539e+00] [-5.60278388e-02 -1.11625583e-02 9.98366806e-01 -3.35461396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.60, Y:6.69, Z:-3.37 [[ 9.43648365e-01 -3.25570306e-01 5.94284364e-02 4.45967844e+01] [ 3.25648762e-01 9.45451412e-01 8.63194976e-03 6.68887257e+00] [-5.89970056e-02 1.12072715e-02 9.98195247e-01 -3.37116311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.641052754 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:44.63, Y:6.69, Z:-3.36 [[ 9.42468885e-01 -3.30760704e-01 4.84742929e-02 4.46318527e+01] [ 3.29635407e-01 9.43636446e-01 2.98455298e-02 6.69206754e+00] [-5.56138379e-02 -1.21496399e-02 9.98378429e-01 -3.35960868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.671052754 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:44.66, Y:6.71, Z:-3.37 [[ 9.42066303e-01 -3.31482338e-01 5.12887887e-02 4.46559664e+01] [ 3.31026596e-01 9.43461235e-01 1.73865322e-02 6.70581031e+00] [-5.41523123e-02 5.98687016e-04 9.98532508e-01 -3.36743664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.701052754 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:44.68, Y:6.72, Z:-3.37 [[ 9.41401078e-01 -3.33648250e-01 4.94252466e-02 4.46814408e+01] [ 3.33460169e-01 9.42684636e-01 1.22471172e-02 6.71706433e+00] [-5.06786499e-02 4.95190173e-03 9.98702735e-01 -3.37102656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.731052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.71, Y:6.73, Z:-3.38 [[ 9.41435893e-01 -3.32987508e-01 5.30827494e-02 4.47051308e+01] [ 3.32935558e-01 9.42895716e-01 1.00787941e-02 6.72788384e+00] [-5.34076096e-02 8.18459631e-03 9.98539253e-01 -3.37755656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.761052754 meters Centerline goodness : 0.997972 Centerline is valid? [True, True] Translation: X:44.73, Y:6.74, Z:-3.38 [[ 9.40862313e-01 -3.35018629e-01 5.04046294e-02 4.47332524e+01] [ 3.34842136e-01 9.42195806e-01 1.21576210e-02 6.73744230e+00] [-5.15640599e-02 5.43894634e-03 9.98654878e-01 -3.37660505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.791052754 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:44.76, Y:6.74, Z:-3.36 [[ 9.40458955e-01 -3.36885409e-01 4.52236139e-02 4.47638616e+01] [ 3.35929148e-01 9.41484882e-01 2.75286283e-02 6.74256254e+00] [-5.18513420e-02 -1.06976149e-02 9.98597516e-01 -3.36436306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.821052754 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:44.78, Y:6.76, Z:-3.38 [[ 9.40378740e-01 -3.35640297e-01 5.50764627e-02 4.47843909e+01] [ 3.35265070e-01 9.41984666e-01 1.61932776e-02 6.75738905e+00] [-5.73162998e-02 3.23740011e-03 9.98350821e-01 -3.37598177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.851052754 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:44.81, Y:6.77, Z:-3.37 [[ 9.40728789e-01 -3.34901882e-01 5.35730855e-02 4.48128940e+01] [ 3.34299703e-01 9.42252478e-01 2.00991524e-02 6.76511792e+00] [-5.72106166e-02 -9.98384652e-04 9.98361632e-01 -3.37314230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.881052754 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:44.84, Y:6.77, Z:-3.38 [[ 9.41035717e-01 -3.33787825e-01 5.51132293e-02 4.48377960e+01] [ 3.33215961e-01 9.42648231e-01 1.95303668e-02 6.77436127e+00] [-5.84713868e-02 -1.41650446e-05 9.98289085e-01 -3.37510350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.911052754 meters Centerline goodness : 0.998305 Centerline is valid? [True, True] Translation: X:44.86, Y:6.78, Z:-3.38 [[ 9.41318097e-01 -3.32774305e-01 5.64048149e-02 4.48636863e+01] [ 3.32216603e-01 9.43006310e-01 1.92673023e-02 6.78432459e+00] [-5.96017595e-02 6.01955635e-04 9.98222053e-01 -3.37713041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.941052754000005 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:44.89, Y:6.80, Z:-3.38 [[ 9.42329818e-01 -3.29061910e-01 6.10964223e-02 4.48888325e+01] [ 3.28797931e-01 9.44287219e-01 1.46139650e-02 6.79705417e+00] [-6.25014699e-02 6.31720231e-03 9.98024879e-01 -3.38443559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.971052754 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:44.92, Y:6.81, Z:-3.38 [[ 9.43844767e-01 -3.25126359e-01 5.87358967e-02 4.49161726e+01] [ 3.24582994e-01 9.45669704e-01 1.88332493e-02 6.80534387e+00] [-6.16679438e-02 1.28900936e-03 9.98095889e-01 -3.38304439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.001052754 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:44.94, Y:6.81, Z:-3.38 [[ 9.44451224e-01 -3.23584229e-01 5.74902771e-02 4.49419050e+01] [ 3.22869232e-01 9.46197628e-01 2.15756272e-02 6.81376407e+00] [-6.13786965e-02 -1.81528592e-03 9.98112900e-01 -3.38228630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.031052754 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:44.97, Y:6.82, Z:-3.39 [[ 9.45858902e-01 -3.19083927e-01 5.94675082e-02 4.49688407e+01] [ 3.18727068e-01 9.47717362e-01 1.56479138e-02 6.82368787e+00] [-6.13513877e-02 4.15318600e-03 9.98107589e-01 -3.38728243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.061052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.00, Y:6.83, Z:-3.38 [[ 9.46075342e-01 -3.19221930e-01 5.51253772e-02 4.49956062e+01] [ 3.18299515e-01 9.47660267e-01 2.50087627e-02 6.82983323e+00] [-6.02234752e-02 -6.11379295e-03 9.98166196e-01 -3.38441610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.02, Y:6.84, Z:-3.39 [[ 9.47264189e-01 -3.15599095e-01 5.55676874e-02 4.50208146e+01] [ 3.15133502e-01 9.48891818e-01 1.71811680e-02 6.83938160e+00] [-5.81500850e-02 1.23613484e-03 9.98307087e-01 -3.39242103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.121052754000004 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:45.05, Y:6.85, Z:-3.39 [[ 9.47082700e-01 -3.16880600e-01 5.11961356e-02 4.50482393e+01] [ 3.16254358e-01 9.48461122e-01 2.01167176e-02 6.84700794e+00] [-5.49321418e-02 -2.86119427e-03 9.98485991e-01 -3.39171424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.151052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.08, Y:6.85, Z:-3.39 [[ 9.47200473e-01 -3.16446505e-01 5.16998341e-02 4.50759172e+01] [ 3.15735225e-01 9.48601316e-01 2.16058144e-02 6.85455834e+00] [-5.58796151e-02 -4.14157886e-03 9.98428924e-01 -3.39468779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.181052754 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:45.10, Y:6.87, Z:-3.41 [[ 9.46663500e-01 -3.18027374e-01 5.18344218e-02 4.51000392e+01] [ 3.18253527e-01 9.47996983e-01 4.05123598e-03 6.86802265e+00] [-5.04272794e-02 1.26613303e-02 9.98647475e-01 -3.40547899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.13, Y:6.87, Z:-3.40 [[ 9.45731538e-01 -3.21570690e-01 4.67348774e-02 4.51299927e+01] [ 3.20394491e-01 9.46776991e-01 3.09951699e-02 6.86934478e+00] [-5.42146447e-02 -1.43395125e-02 9.98426337e-01 -3.39664657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.15, Y:6.88, Z:-3.41 [[ 9.45751654e-01 -3.20908648e-01 5.07094567e-02 4.51543115e+01] [ 3.20399974e-01 9.47109767e-01 1.80816173e-02 6.88321154e+00] [-5.38299691e-02 -8.53410809e-04 9.98549751e-01 -3.40554727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.18, Y:6.89, Z:-3.41 [[ 9.45895352e-01 -3.20545919e-01 5.03219244e-02 4.51795114e+01] [ 3.20043493e-01 9.47232564e-01 1.79619556e-02 6.89260519e+00] [-5.34241971e-02 -8.84925843e-04 9.98571516e-01 -3.40789153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.301052754000004 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:45.21, Y:6.90, Z:-3.41 [[ 9.46098630e-01 -3.20111880e-01 4.92520712e-02 4.52058670e+01] [ 3.19629872e-01 9.47379326e-01 1.75828822e-02 6.90167148e+00] [-5.22888835e-02 -8.92707559e-04 9.98631602e-01 -3.40811078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.331052754 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:45.23, Y:6.91, Z:-3.41 [[ 9.46200356e-01 -3.19877901e-01 4.88161299e-02 4.52314339e+01] [ 3.19403127e-01 9.47458332e-01 1.74456671e-02 6.91075888e+00] [-5.18317324e-02 -9.15071860e-04 9.98655413e-01 -3.40885270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.26, Y:6.92, Z:-3.41 [[ 9.46891900e-01 -3.17908780e-01 4.82673595e-02 4.52568462e+01] [ 3.17441926e-01 9.48120762e-01 1.72523780e-02 6.92183945e+00] [-5.12479681e-02 -1.01405344e-03 9.98685445e-01 -3.40990575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.28, Y:6.93, Z:-3.41 [[ 9.47137609e-01 -3.17194581e-01 4.81450711e-02 4.52830729e+01] [ 3.16728419e-01 9.48359882e-01 1.72233148e-02 6.93280103e+00] [-5.11219960e-02 -1.06393693e-03 9.98691849e-01 -3.41223820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.421052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.31, Y:6.94, Z:-3.42 [[ 9.47507194e-01 -3.16213231e-01 4.73213434e-02 4.53081076e+01] [ 3.15760966e-01 9.48687492e-01 1.69426733e-02 6.94488009e+00] [-5.02506641e-02 -1.11107175e-03 9.98736019e-01 -3.41644721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.451052754 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:45.33, Y:6.96, Z:-3.42 [[ 9.47215847e-01 -3.17106253e-01 4.71779931e-02 4.53342230e+01] [ 3.17013911e-01 9.48372043e-01 9.62534310e-03 6.95851303e+00] [-4.77945462e-02 5.83880261e-03 9.98840122e-01 -3.42283864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.481052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.36, Y:6.96, Z:-3.42 [[ 9.47323324e-01 -3.17117645e-01 4.48878550e-02 4.53613153e+01] [ 3.16364522e-01 9.48354485e-01 2.31788802e-02 6.96302167e+00] [-4.99200305e-02 -7.75696902e-03 9.98723095e-01 -3.41837910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.511052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.39, Y:6.97, Z:-3.42 [[ 9.47312193e-01 -3.16824327e-01 4.71376076e-02 4.53870839e+01] [ 3.16374355e-01 9.48483584e-01 1.69161873e-02 6.97485807e+00] [-5.00687066e-02 -1.11178028e-03 9.98745157e-01 -3.42382012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.541052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.41, Y:6.98, Z:-3.42 [[ 9.47207741e-01 -3.17044146e-01 4.77546389e-02 4.54145019e+01] [ 3.16582249e-01 9.48410118e-01 1.71442977e-02 6.98246162e+00] [-5.07264819e-02 -1.12094052e-03 9.98711954e-01 -3.42274089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.44, Y:6.99, Z:-3.42 [[ 9.47259058e-01 -3.16947476e-01 4.73769494e-02 4.54400814e+01] [ 3.16491897e-01 9.48442414e-01 1.70254329e-02 6.99069027e+00] [-5.03304762e-02 -1.13307491e-03 9.98731976e-01 -3.42312896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.47, Y:7.00, Z:-3.42 [[ 9.47396523e-01 -3.16592714e-01 4.69987442e-02 4.54665946e+01] [ 3.16143564e-01 9.48560874e-01 1.68972186e-02 6.99980910e+00] [-4.99307062e-02 -1.15001563e-03 9.98752022e-01 -3.42452727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.49, Y:7.01, Z:-3.43 [[ 9.47651108e-01 -3.15928189e-01 4.63331132e-02 4.54914914e+01] [ 3.15489997e-01 9.48782364e-01 1.66759587e-02 7.00914258e+00] [-4.92284461e-02 -1.18535696e-03 9.98786842e-01 -3.42589865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.52, Y:7.02, Z:-3.43 [[ 9.47605743e-01 -3.16026885e-01 4.65871624e-02 4.55178187e+01] [ 3.15583879e-01 9.48749490e-01 1.67696428e-02 7.01908236e+00] [-4.94992045e-02 -1.18885239e-03 9.98773455e-01 -3.42799869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.54, Y:7.03, Z:-3.43 [[ 9.47177676e-01 -3.17225570e-01 4.71422166e-02 4.55427307e+01] [ 3.16772448e-01 9.48349407e-01 1.69887925e-02 7.02851590e+00] [-5.00965725e-02 -1.15804959e-03 9.98743707e-01 -3.42969545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.57, Y:7.04, Z:-3.43 [[ 9.46346348e-01 -3.19550899e-01 4.81228946e-02 4.55693536e+01] [ 3.19081553e-01 9.47568520e-01 1.73453916e-02 7.03709343e+00] [-5.11424755e-02 -1.05962004e-03 9.98690805e-01 -3.43115382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.59, Y:7.05, Z:-3.43 [[ 9.45846963e-01 -3.21044185e-01 4.80015921e-02 4.55947526e+01] [ 3.20578359e-01 9.47063699e-01 1.73166364e-02 7.04532469e+00] [-5.10199708e-02 -9.90616294e-04 9.98697142e-01 -3.43286650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.781052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.62, Y:7.05, Z:-3.43 [[ 9.45042687e-01 -3.23648086e-01 4.63274856e-02 4.56217498e+01] [ 3.23216670e-01 9.46177162e-01 1.67260868e-02 7.05219812e+00] [-4.92473748e-02 -8.33050396e-04 9.98786264e-01 -3.43378754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.65, Y:7.06, Z:-3.43 [[ 9.44556631e-01 -3.25037707e-01 4.65108480e-02 4.56485613e+01] [ 3.24603836e-01 9.45700737e-01 1.68066809e-02 7.06084951e+00] [-4.94481483e-02 -7.77262210e-04 9.98776390e-01 -3.43487488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.67, Y:7.07, Z:-3.44 [[ 9.43675306e-01 -3.27163668e-01 4.94049659e-02 4.56731946e+01] [ 3.26675897e-01 9.44967410e-01 1.78732293e-02 7.07165127e+00] [-5.25335539e-02 -7.27113614e-04 9.98618895e-01 -3.43788471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.871052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.70, Y:7.08, Z:-3.44 [[ 9.43250338e-01 -3.28129056e-01 5.10893513e-02 4.56979738e+01] [ 3.27608445e-01 9.44632642e-01 1.84899790e-02 7.08192493e+00] [-5.43277682e-02 -7.03376030e-04 9.98522909e-01 -3.43987700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.901052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:45.72, Y:7.09, Z:-3.44 [[ 9.42278216e-01 -3.30475310e-01 5.38315183e-02 4.57246796e+01] [ 3.29900783e-01 9.43814444e-01 1.94876606e-02 7.09203553e+00] [-5.72471552e-02 -6.03738018e-04 9.98359854e-01 -3.43916696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.75, Y:7.10, Z:-3.44 [[ 9.41679550e-01 -3.32083997e-01 5.44044432e-02 4.57501906e+01] [ 3.31498711e-01 9.43249669e-01 1.97146148e-02 7.10144693e+00] [-5.78638812e-02 -5.29846790e-04 9.98324341e-01 -3.43962458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.78, Y:7.11, Z:-3.44 [[ 9.40414565e-01 -3.35541339e-01 5.50677277e-02 4.57765359e+01] [ 3.34947299e-01 9.42025426e-01 1.99600502e-02 7.11084096e+00] [-5.85726216e-02 -3.25935239e-04 9.98283097e-01 -3.44128030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.80, Y:7.12, Z:-3.44 [[ 9.39782752e-01 -3.37349062e-01 5.48086671e-02 4.58028004e+01] [ 3.36762690e-01 9.41379604e-01 1.98829630e-02 7.12038587e+00] [-5.83032602e-02 -2.28151533e-04 9.98298892e-01 -3.44368915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.83, Y:7.13, Z:-3.45 [[ 9.38256537e-01 -3.41719369e-01 5.38752703e-02 4.58272348e+01] [ 3.41158924e-01 9.39802039e-01 1.95631366e-02 7.13033980e+00] [-5.73171916e-02 2.47884521e-05 9.98356018e-01 -3.44861008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.051052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.85, Y:7.14, Z:-3.45 [[ 9.37179261e-01 -3.44746715e-01 5.33360629e-02 4.58528934e+01] [ 3.44202001e-01 9.38695724e-01 1.93731974e-02 7.13979149e+00] [-5.67451803e-02 2.02220760e-04 9.98388674e-01 -3.45166634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.88, Y:7.15, Z:-3.45 [[ 9.34824871e-01 -3.51271877e-01 5.20627428e-02 4.58792589e+01] [ 3.50762475e-01 9.36273324e-01 1.89195448e-02 7.14858307e+00] [-5.53908613e-02 5.75195468e-04 9.98464582e-01 -3.45452741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.91, Y:7.16, Z:-3.46 [[ 9.33779909e-01 -3.54066912e-01 5.18816234e-02 4.59051800e+01] [ 3.53564502e-01 9.35219812e-01 1.88691594e-02 7.15883385e+00] [-5.52016671e-02 7.23858386e-04 9.98474963e-01 -3.45681629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.141052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.93, Y:7.17, Z:-3.46 [[ 9.33032911e-01 -3.55929011e-01 5.25749484e-02 4.59296459e+01] [ 3.55415052e-01 9.34512628e-01 1.91386748e-02 7.16963100e+00] [-5.59439628e-02 8.28914594e-04 9.98433566e-01 -3.45853437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.171052754 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:45.95, Y:7.18, Z:-3.46 [[ 9.33522831e-01 -3.54568312e-01 5.30700980e-02 4.59528503e+01] [ 3.54599146e-01 9.34973642e-01 9.15066999e-03 7.18169629e+00] [-5.28636804e-02 1.02762521e-02 9.98548862e-01 -3.46329172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.98, Y:7.19, Z:-3.46 [[ 9.33395734e-01 -3.55563901e-01 4.84429129e-02 4.59835008e+01] [ 3.54570590e-01 9.34608664e-01 2.80418012e-02 7.18938004e+00] [-5.52458183e-02 -8.99766536e-03 9.98432242e-01 -3.45646728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.231052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.01, Y:7.20, Z:-3.46 [[ 9.33654477e-01 -3.54373025e-01 5.20487970e-02 4.60075389e+01] [ 3.53865687e-01 9.35103875e-01 1.89688688e-02 7.20479043e+00] [-5.53930872e-02 7.07914078e-04 9.98464373e-01 -3.46490687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.261052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.03, Y:7.22, Z:-3.47 [[ 9.33975705e-01 -3.53551518e-01 5.18720152e-02 4.60333742e+01] [ 3.53045476e-01 9.35414834e-01 1.89203644e-02 7.21614659e+00] [-5.52111761e-02 6.42019591e-04 9.98474493e-01 -3.46914670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.06, Y:7.23, Z:-3.47 [[ 9.34072520e-01 -3.53248106e-01 5.21948579e-02 4.60586409e+01] [ 3.52734213e-01 9.35529478e-01 1.90570553e-02 7.22534080e+00] [-5.55616968e-02 6.10240437e-04 9.98455069e-01 -3.47042612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.08, Y:7.24, Z:-3.47 [[ 9.34356492e-01 -3.52144413e-01 5.45184164e-02 4.60847721e+01] [ 3.51581527e-01 9.35945508e-01 1.99106994e-02 7.23509653e+00] [-5.80377085e-02 5.63976803e-04 9.98314232e-01 -3.47126486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.11, Y:7.24, Z:-3.47 [[ 9.34691723e-01 -3.50961948e-01 5.63657249e-02 4.61107064e+01] [ 3.50356958e-01 9.36389594e-01 2.06041326e-02 7.24453628e+00] [-6.00115447e-02 4.89611734e-04 9.98197563e-01 -3.47168448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.14, Y:7.25, Z:-3.47 [[ 9.34947077e-01 -3.50184048e-01 5.69657497e-02 4.61362429e+01] [ 3.49563887e-01 9.36680813e-01 2.08361059e-02 7.25343036e+00] [-6.06551967e-02 4.32512568e-04 9.98158685e-01 -3.47335312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.16, Y:7.26, Z:-3.48 [[ 9.35290040e-01 -3.49207579e-01 5.73289431e-02 4.61626599e+01] [ 3.48577305e-01 9.37045320e-01 2.09745084e-02 7.26246734e+00] [-6.10442752e-02 3.66319643e-04 9.98134992e-01 -3.47516727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.19, Y:7.27, Z:-3.48 [[ 9.36581676e-01 -3.45674284e-01 5.76546100e-02 4.61889765e+01] [ 3.45029073e-01 9.38354557e-01 2.11107510e-02 7.27068626e+00] [-6.13979098e-02 1.20574090e-04 9.98113361e-01 -3.47784345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.22, Y:7.28, Z:-3.48 [[ 9.37428303e-01 -3.43495715e-01 5.69110701e-02 4.62154291e+01] [ 3.42862009e-01 9.39154243e-01 2.08554635e-02 7.28004802e+00] [-6.06120353e-02 -3.78579489e-05 9.98161400e-01 -3.48077765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.24, Y:7.29, Z:-3.49 [[ 9.39137134e-01 -3.39062974e-01 5.52968657e-02 4.62417833e+01] [ 3.38456088e-01 9.40763621e-01 2.02801819e-02 7.28869853e+00] [-5.88975384e-02 -3.30311004e-04 9.98263979e-01 -3.48513400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.531052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.27, Y:7.30, Z:-3.49 [[ 9.39877679e-01 -3.37078949e-01 5.48427759e-02 4.62681815e+01] [ 3.36477651e-01 9.41476269e-01 2.01302115e-02 7.29741488e+00] [-5.84186426e-02 -4.66568048e-04 9.98292064e-01 -3.48787646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.561052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.30, Y:7.30, Z:-3.49 [[ 9.41265449e-01 -3.33270809e-01 5.43131947e-02 4.62953441e+01] [ 3.32673804e-01 9.42830876e-01 1.99519030e-02 7.30391448e+00] [-5.78575438e-02 -7.11459826e-04 9.98324596e-01 -3.48960871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.32, Y:7.31, Z:-3.49 [[ 9.41579507e-01 -3.32713492e-01 5.22471400e-02 4.63205287e+01] [ 3.32159188e-01 9.43027673e-01 1.92115015e-02 7.31228148e+00] [-5.56624246e-02 -7.34788508e-04 9.98449375e-01 -3.49275276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.621052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.35, Y:7.32, Z:-3.50 [[ 9.41858013e-01 -3.32152190e-01 5.07780137e-02 4.63452020e+01] [ 3.31627522e-01 9.43225507e-01 1.86769613e-02 7.32206641e+00] [-5.40987113e-02 -7.51658807e-04 9.98535310e-01 -3.49607791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.651052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.37, Y:7.33, Z:-3.50 [[ 9.42198841e-01 -3.31575619e-01 4.81554980e-02 4.63718517e+01] [ 3.31102714e-01 9.43428347e-01 1.77185450e-02 7.33191603e+00] [-5.13062994e-02 -7.49976522e-04 9.98682683e-01 -3.49972071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.681052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.40, Y:7.34, Z:-3.50 [[ 9.42291463e-01 -3.31457988e-01 4.71423420e-02 4.63974480e+01] [ 3.31003745e-01 9.43469676e-01 1.73635246e-02 7.34069446e+00] [-5.02326490e-02 -7.57209257e-04 9.98737257e-01 -3.50169020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.42, Y:7.35, Z:-3.50 [[ 9.42293208e-01 -3.31455603e-01 4.71242317e-02 4.64240068e+01] [ 3.31001574e-01 9.43470512e-01 1.73594849e-02 7.35068852e+00] [-5.02142216e-02 -7.59529884e-04 9.98738181e-01 -3.50380909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.45, Y:7.36, Z:-3.51 [[ 9.42229840e-01 -3.31589594e-01 4.74475504e-02 4.64499539e+01] [ 3.31128722e-01 9.43423418e-01 1.74935293e-02 7.36130526e+00] [-5.05638025e-02 -7.71678572e-04 9.98720535e-01 -3.50641917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.47, Y:7.37, Z:-3.51 [[ 9.42180724e-01 -3.31746308e-01 4.73272629e-02 4.64747314e+01] [ 3.31287125e-01 9.43368318e-01 1.74658834e-02 7.37140861e+00] [-5.04412827e-02 -7.77105804e-04 9.98726726e-01 -3.50923285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.801052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.50, Y:7.38, Z:-3.51 [[ 9.42022686e-01 -3.32236705e-01 4.70322354e-02 4.65006231e+01] [ 3.31783720e-01 9.43195744e-01 1.73594777e-02 7.38145535e+00] [-5.01280599e-02 -7.48491731e-04 9.98742518e-01 -3.51121323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.53, Y:7.39, Z:-3.51 [[ 9.42027681e-01 -3.32156935e-01 4.74933465e-02 4.65256387e+01] [ 3.31693983e-01 9.43223815e-01 1.75481063e-02 7.39199967e+00] [-5.06255807e-02 -7.77544683e-04 9.98717400e-01 -3.51436934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.55, Y:7.40, Z:-3.52 [[ 9.42022848e-01 -3.32182565e-01 4.74098792e-02 4.65517976e+01] [ 3.31721149e-01 9.43214790e-01 1.75196924e-02 7.40214662e+00] [-5.05374356e-02 -7.77090894e-04 9.98721865e-01 -3.51688010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.58, Y:7.41, Z:-3.52 [[ 9.42548708e-01 -3.30972989e-01 4.53741587e-02 4.65778386e+01] [ 3.30548343e-01 9.43639874e-01 1.67803889e-02 7.41160865e+00] [-4.83707209e-02 -8.17980921e-04 9.98829117e-01 -3.51942639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.921052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.60, Y:7.42, Z:-3.52 [[ 9.42819857e-01 -3.30360923e-01 4.41857281e-02 4.66043886e+01] [ 3.29956934e-01 9.43854308e-01 1.63543961e-02 7.42117637e+00] [-4.71077432e-02 -8.39862030e-04 9.98889461e-01 -3.52162449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.63, Y:7.43, Z:-3.52 [[ 9.43426274e-01 -3.28721132e-01 4.34658824e-02 4.66299287e+01] [ 3.28327626e-01 9.44426580e-01 1.61060895e-02 7.42995197e+00] [-4.63447467e-02 -9.23858054e-04 9.98925078e-01 -3.52381509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.981052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.66, Y:7.44, Z:-3.53 [[ 9.43542396e-01 -3.28444045e-01 4.30378490e-02 4.66569380e+01] [ 3.28057896e-01 9.44522972e-01 1.59490400e-02 7.43913063e+00] [-4.58886042e-02 -9.29689252e-04 9.98946131e-01 -3.52516827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.011052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.68, Y:7.45, Z:-3.53 [[ 9.43789896e-01 -3.27758246e-01 4.28388242e-02 4.66834706e+01] [ 3.27374367e-01 9.44761129e-01 1.58881775e-02 7.44892284e+00] [-4.56799371e-02 -9.70768436e-04 9.98955655e-01 -3.52607718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.041052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.71, Y:7.46, Z:-3.53 [[ 9.43923329e-01 -3.27243758e-01 4.38208992e-02 4.67093327e+01] [ 3.26840847e-01 9.44939394e-01 1.62666231e-02 7.45973792e+00] [-4.67312448e-02 -1.03198524e-03 9.98906966e-01 -3.52899556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.74, Y:7.47, Z:-3.53 [[ 9.44034185e-01 -3.26701980e-01 4.54452814e-02 4.67351028e+01] [ 3.26267276e-01 9.45126753e-01 1.68844662e-02 7.47064092e+00] [-4.84677398e-02 -1.11220509e-03 9.98824129e-01 -3.53053837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.76, Y:7.48, Z:-3.53 [[ 9.43986975e-01 -3.26756809e-01 4.60280296e-02 4.67612823e+01] [ 3.26310238e-01 9.45107769e-01 1.71153094e-02 7.47969625e+00] [-4.90939922e-02 -1.13721188e-03 9.98793516e-01 -3.53109169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.79, Y:7.49, Z:-3.53 [[ 9.43842363e-01 -3.26994268e-01 4.72899786e-02 4.67868578e+01] [ 3.26522164e-01 9.45025592e-01 1.76041620e-02 7.48907945e+00] [-5.04467000e-02 -1.17432772e-03 9.98726064e-01 -3.53347270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.81, Y:7.50, Z:-3.54 [[ 9.43367329e-01 -3.28363739e-01 4.72793616e-02 4.68132983e+01] [ 3.27893417e-01 9.44550706e-01 1.76031250e-02 7.49861318e+00] [-5.04379824e-02 -1.10362154e-03 9.98726585e-01 -3.53731058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.82, Y:7.52, Z:-3.56 [[ 9.40952121e-01 -3.32246128e-01 6.49739665e-02 4.68245019e+01] [ 3.33352259e-01 9.42778694e-01 -6.67873737e-03 7.52146520e+00] [-5.90370867e-02 2.79435906e-02 9.97864609e-01 -3.56499459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.87, Y:7.51, Z:-3.53 [[ 9.42533601e-01 -3.32098088e-01 3.66233731e-02 4.68718931e+01] [ 3.30365142e-01 9.42718236e-01 4.62730998e-02 7.50741399e+00] [-4.98927297e-02 -3.15148655e-02 9.98257246e-01 -3.52667695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.89, Y:7.52, Z:-3.54 [[ 9.41926048e-01 -3.32283916e-01 4.86078046e-02 4.68931944e+01] [ 3.31791316e-01 9.43178950e-01 1.81105148e-02 7.52460462e+00] [-5.18636909e-02 -9.31118169e-04 9.98653739e-01 -3.54310383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.281052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.92, Y:7.53, Z:-3.54 [[ 9.41167213e-01 -3.34108931e-01 5.07493771e-02 4.69205853e+01] [ 3.33574058e-01 9.42534060e-01 1.89180668e-02 7.53308492e+00] [-5.41537115e-02 -8.76388481e-04 9.98532227e-01 -3.54312363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.311052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.95, Y:7.54, Z:-3.55 [[ 9.40803457e-01 -3.34856813e-01 5.25335211e-02 4.69457134e+01] [ 3.34283714e-01 9.42268613e-01 1.96025525e-02 7.54312163e+00] [-5.60647363e-02 -8.81048603e-04 9.98426747e-01 -3.54562817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.97, Y:7.55, Z:-3.55 [[ 9.39967214e-01 -3.36911939e-01 5.43321361e-02 4.69716778e+01] [ 3.36302018e-01 9.41535831e-01 2.02788288e-02 7.55386281e+00] [-5.79878325e-02 -7.89427241e-04 9.98316978e-01 -3.54933389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.371052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.00, Y:7.56, Z:-3.55 [[ 9.39549650e-01 -3.38032129e-01 5.45961080e-02 4.69971553e+01] [ 3.37417084e-01 9.41134279e-01 2.03956063e-02 7.56351156e+00] [-5.82766390e-02 -7.41025255e-04 9.98300197e-01 -3.55134186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.02, Y:7.57, Z:-3.55 [[ 9.39465687e-01 -3.38265956e-01 5.45927270e-02 4.70238573e+01] [ 3.37650780e-01 9.41050265e-01 2.04046519e-02 7.57357689e+00] [-5.82766993e-02 -7.36193486e-04 9.98300198e-01 -3.55341206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.05, Y:7.58, Z:-3.56 [[ 9.38441123e-01 -3.40801665e-01 5.64135135e-02 4.70488356e+01] [ 3.40148191e-01 9.40135015e-01 2.11035993e-02 7.58264878e+00] [-6.02284612e-02 -6.15530884e-04 9.98184429e-01 -3.55564879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.07, Y:7.59, Z:-3.56 [[ 9.37799479e-01 -3.42370119e-01 5.75746327e-02 4.70745134e+01] [ 3.41691915e-01 9.39565015e-01 2.15457067e-02 7.59213593e+00] [-6.14717168e-02 -5.32766035e-04 9.98108684e-01 -3.55820062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.10, Y:7.60, Z:-3.56 [[ 9.37307081e-01 -3.43640602e-01 5.80221706e-02 4.71007499e+01] [ 3.42953863e-01 9.39101127e-01 2.17191513e-02 7.60160859e+00] [-6.19522681e-02 -4.58586789e-04 9.98079008e-01 -3.56040449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.13, Y:7.61, Z:-3.56 [[ 9.36642010e-01 -3.45275694e-01 5.90460788e-02 4.71266015e+01] [ 3.44566499e-01 9.38501228e-01 2.21217877e-02 7.61045943e+00] [-6.30529331e-02 -3.74895120e-04 9.98010114e-01 -3.56258637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.551052754000004 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:47.15, Y:7.62, Z:-3.57 [[ 9.36291298e-01 -3.46064965e-01 5.99803801e-02 4.71526942e+01] [ 3.45334323e-01 9.38210493e-01 2.24783401e-02 7.62040704e+00] [-6.40531880e-02 -3.32990217e-04 9.97946431e-01 -3.56525444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.18, Y:7.63, Z:-3.57 [[ 9.35857151e-01 -3.47204563e-01 6.01696266e-02 4.71783402e+01] [ 3.46470530e-01 9.37789378e-01 2.25666718e-02 7.63029460e+00] [-6.42616881e-02 -2.72178741e-04 9.97933045e-01 -3.56899160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.20, Y:7.64, Z:-3.57 [[ 9.35507415e-01 -3.48272981e-01 5.94290111e-02 4.72033009e+01] [ 3.47557783e-01 9.37393132e-01 2.23092633e-02 7.64058380e+00] [-6.34780605e-02 -2.15465874e-04 9.97983211e-01 -3.57392400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.23, Y:7.65, Z:-3.58 [[ 9.35068034e-01 -3.49428811e-01 5.95590226e-02 4.72279309e+01] [ 3.48712283e-01 9.36962905e-01 2.23664650e-02 7.65059155e+00] [-6.36200821e-02 -1.45203687e-04 9.97974180e-01 -3.57713150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.671052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.25, Y:7.66, Z:-3.59 [[ 9.33214647e-01 -3.53153051e-01 6.62823112e-02 4.72460775e+01] [ 3.52580107e-01 9.35556137e-01 2.05422031e-02 7.66490316e+00] [-6.92653648e-02 4.19953956e-03 9.97589431e-01 -3.58665721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.27, Y:7.67, Z:-3.59 [[ 9.32592903e-01 -3.55437278e-01 6.27281279e-02 4.72727758e+01] [ 3.54635050e-01 9.34700134e-01 2.38671319e-02 7.67226499e+00] [-6.71152579e-02 -1.27250752e-05 9.97745229e-01 -3.58807539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.731052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.31, Y:7.68, Z:-3.58 [[ 9.33806025e-01 -3.53568711e-01 5.47309366e-02 4.73060423e+01] [ 3.52607413e-01 9.35391889e-01 2.66463153e-02 7.67835975e+00] [-6.06161776e-02 -5.58395583e-03 9.98145530e-01 -3.58388389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.761052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:47.33, Y:7.69, Z:-3.59 [[ 9.34078385e-01 -3.52520767e-01 5.68038731e-02 4.73307822e+01] [ 3.51872891e-01 9.35803990e-01 2.13626025e-02 7.69102114e+00] [-6.06880521e-02 3.33977996e-05 9.98156781e-01 -3.58937302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.791052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.35, Y:7.71, Z:-3.60 [[ 9.33851183e-01 -3.52500433e-01 6.05426470e-02 4.73499314e+01] [ 3.51900106e-01 9.35809492e-01 2.06618077e-02 7.70752012e+00] [-6.39396799e-02 2.00991028e-03 9.97951741e-01 -3.59829898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.38, Y:7.71, Z:-3.60 [[ 9.35057581e-01 -3.50576068e-01 5.25712925e-02 4.73815402e+01] [ 3.49847537e-01 9.36529757e-01 2.27753194e-02 7.71499690e+00] [-5.72190617e-02 -2.90429785e-03 9.98357423e-01 -3.59682419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.40, Y:7.73, Z:-3.61 [[ 9.33882789e-01 -3.52056147e-01 6.26051567e-02 4.73967202e+01] [ 3.51799463e-01 9.35948003e-01 1.54425598e-02 7.73258437e+00] [-6.40318195e-02 7.60291969e-03 9.97918895e-01 -3.61156385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.42, Y:7.74, Z:-3.61 [[ 9.33761458e-01 -3.52861505e-01 5.98188724e-02 4.74248201e+01] [ 3.52068251e-01 9.35674983e-01 2.36700949e-02 7.73786083e+00] [-6.43232877e-02 -1.04189657e-03 9.97928569e-01 -3.60877830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.46, Y:7.74, Z:-3.60 [[ 9.34949814e-01 -3.51119528e-01 5.08323000e-02 4.74622176e+01] [ 3.50054474e-01 9.36285939e-01 2.88185083e-02 7.74063662e+00] [-5.77123088e-02 -9.14978487e-03 9.98291326e-01 -3.59914627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.49, Y:7.75, Z:-3.61 [[ 9.34888958e-01 -3.50530412e-01 5.57769396e-02 4.74865713e+01] [ 3.49899317e-01 9.36551339e-01 2.10251686e-02 7.75364603e+00] [-5.96079285e-02 -1.39884872e-04 9.98221857e-01 -3.60517086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.51, Y:7.76, Z:-3.61 [[ 9.35240185e-01 -3.49483781e-01 5.64524836e-02 4.75126499e+01] [ 3.48834309e-01 9.36942387e-01 2.12976348e-02 7.76488517e+00] [-6.03359026e-02 -2.25840809e-04 9.98178104e-01 -3.60852240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.54, Y:7.77, Z:-3.61 [[ 9.35229580e-01 -3.49327175e-01 5.75860915e-02 4.75387776e+01] [ 3.48649917e-01 9.37000778e-01 2.17434365e-02 7.77478801e+00] [-6.15537858e-02 -2.57718946e-04 9.98103735e-01 -3.61085678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.031052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.56, Y:7.78, Z:-3.61 [[ 9.35356330e-01 -3.48799181e-01 5.87168399e-02 4.75644125e+01] [ 3.48092703e-01 9.37197434e-01 2.21909909e-02 7.78341825e+00] [-6.27694712e-02 -3.17580299e-04 9.98028002e-01 -3.61366112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.061052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:47.59, Y:7.79, Z:-3.61 [[ 9.35216024e-01 -3.49034197e-01 5.95492868e-02 4.75881619e+01] [ 3.47962637e-01 9.37094905e-01 2.78413783e-02 7.79163571e+00] [-6.55209264e-02 -5.31677624e-03 9.97837031e-01 -3.61294859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.61, Y:7.80, Z:-3.62 [[ 9.35922806e-01 -3.47052551e-01 6.00252326e-02 4.76146248e+01] [ 3.46300754e-01 9.37845499e-01 2.28387216e-02 7.80099013e+00] [-6.42206308e-02 -5.88497078e-04 9.97935551e-01 -3.61750542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.121052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.64, Y:7.81, Z:-3.62 [[ 9.36559213e-01 -3.45556516e-01 5.87157033e-02 4.76445684e+01] [ 3.45107250e-01 9.38391591e-01 1.79501291e-02 7.81194933e+00] [-6.13011064e-02 3.45185609e-03 9.98113350e-01 -3.62278312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.151052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.67, Y:7.82, Z:-3.62 [[ 9.38210252e-01 -3.41453896e-01 5.63095061e-02 4.76706085e+01] [ 3.40789155e-01 9.39898180e-01 2.13110773e-02 7.82116904e+00] [-6.02019527e-02 -8.04602206e-04 9.98185893e-01 -3.62391935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.70, Y:7.83, Z:-3.63 [[ 9.39020885e-01 -3.39457138e-01 5.48509781e-02 4.76965193e+01] [ 3.38822492e-01 9.40621077e-01 2.07679587e-02 7.83182961e+00] [-5.86438179e-02 -9.16801926e-04 9.98278549e-01 -3.62630039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.72, Y:7.84, Z:-3.63 [[ 9.40412345e-01 -3.35659596e-01 5.43806655e-02 4.77209845e+01] [ 3.35028286e-01 9.41982635e-01 2.06097991e-02 7.84332455e+00] [-5.81435194e-02 -1.16264839e-03 9.98307558e-01 -3.62940158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.75, Y:7.85, Z:-3.63 [[ 9.40685216e-01 -3.34799691e-01 5.49589996e-02 4.77470337e+01] [ 3.34153078e-01 9.42288514e-01 2.08344818e-02 7.85322269e+00] [-5.87626121e-02 -1.23397016e-03 9.98271222e-01 -3.63159109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.77, Y:7.86, Z:-3.63 [[ 9.40997297e-01 -3.33914457e-01 5.50020144e-02 4.77736239e+01] [ 3.33264295e-01 9.42602476e-01 2.08682116e-02 7.86186054e+00] [-5.88132325e-02 -1.30672321e-03 9.98268148e-01 -3.63199611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.301052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.80, Y:7.87, Z:-3.63 [[ 9.40811775e-01 -3.34294975e-01 5.58576263e-02 4.78000276e+01] [ 3.33624004e-01 9.42467574e-01 2.12107563e-02 7.87136016e+00] [-5.97346508e-02 -1.31988434e-03 9.98213419e-01 -3.63350099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.83, Y:7.88, Z:-3.64 [[ 9.40378048e-01 -3.35287335e-01 5.71972922e-02 4.78251732e+01] [ 3.34584317e-01 9.42115012e-01 2.17402877e-02 7.88135905e+00] [-6.11756707e-02 -1.30677243e-03 9.98126159e-01 -3.63577068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.85, Y:7.89, Z:-3.64 [[ 9.40115405e-01 -3.35935442e-01 5.77096634e-02 4.78505647e+01] [ 3.35220474e-01 9.41884139e-01 2.19431699e-02 7.89135236e+00] [-6.17273051e-02 -1.28365135e-03 9.98092226e-01 -3.63900518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.391052754 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:47.88, Y:7.90, Z:-3.64 [[ 9.39579208e-01 -3.37330425e-01 5.83017634e-02 4.78764272e+01] [ 3.36602976e-01 9.41385532e-01 2.21747028e-02 7.90129915e+00] [-6.23646385e-02 -1.21034268e-03 9.98052697e-01 -3.64133391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.421052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.90, Y:7.91, Z:-3.64 [[ 9.39071259e-01 -3.38530796e-01 5.95152883e-02 4.79024205e+01] [ 3.37773795e-01 9.40954580e-01 2.26570385e-02 7.91012292e+00] [-6.36712884e-02 -1.17386888e-03 9.97970235e-01 -3.64289184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.93, Y:7.92, Z:-3.64 [[ 9.38035208e-01 -3.41207010e-01 6.05617488e-02 4.79288841e+01] [ 3.40428137e-01 9.39987628e-01 2.30638875e-02 7.91821165e+00] [-6.47968547e-02 -1.01781519e-03 9.97897957e-01 -3.64279777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.481052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.95, Y:7.93, Z:-3.64 [[ 9.36952229e-01 -3.44116751e-01 6.08619938e-02 4.79548708e+01] [ 3.43335801e-01 9.38926503e-01 2.31851289e-02 7.92796612e+00] [-6.51233302e-02 -8.27256816e-04 9.97876880e-01 -3.64450789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.511052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.98, Y:7.94, Z:-3.65 [[ 9.36210447e-01 -3.46097231e-01 6.10467461e-02 4.79800671e+01] [ 3.45314371e-01 9.38198380e-01 2.32762577e-02 7.93856961e+00] [-6.53298067e-02 -7.11156907e-04 9.97863473e-01 -3.64744936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.541052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.01, Y:7.95, Z:-3.65 [[ 9.35387578e-01 -3.48239640e-01 6.14754533e-02 4.80062415e+01] [ 3.47449859e-01 9.37405369e-01 2.34471817e-02 7.94935994e+00] [-6.57926581e-02 -5.72564968e-04 9.97833152e-01 -3.65033295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.03, Y:7.96, Z:-3.65 [[ 9.33012197e-01 -3.54408772e-01 6.23110160e-02 4.80325505e+01] [ 3.53609749e-01 9.35090583e-01 2.37854569e-02 7.95870534e+00] [-6.66962188e-02 -1.58338629e-04 9.97773316e-01 -3.65356346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.06, Y:7.97, Z:-3.65 [[ 9.31348229e-01 -3.58705282e-01 6.26178599e-02 4.80594424e+01] [ 3.57906722e-01 9.33450858e-01 2.39222634e-02 7.96684013e+00] [-6.70317372e-02 1.31395289e-04 9.97750835e-01 -3.65440311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.09, Y:7.97, Z:-3.65 [[ 9.27932963e-01 -3.67345075e-01 6.32298324e-02 4.80857610e+01] [ 3.66549356e-01 9.30084429e-01 2.41769466e-02 7.97415783e+00] [-6.76903648e-02 7.42268596e-04 9.97706101e-01 -3.65444506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.11, Y:7.99, Z:-3.66 [[ 9.26661932e-01 -3.70542547e-01 6.32130122e-02 4.81109283e+01] [ 3.69754139e-01 9.28814989e-01 2.41783598e-02 7.98579643e+00] [-6.76723042e-02 9.68107335e-04 9.97707132e-01 -3.65670478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.14, Y:8.00, Z:-3.66 [[ 9.23956486e-01 -3.77391576e-01 6.22897254e-02 4.81360366e+01] [ 3.76640307e-01 9.26052673e-01 2.38437958e-02 7.99863971e+00] [-6.66820144e-02 1.43019144e-03 9.97773253e-01 -3.65995852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.16, Y:8.01, Z:-3.66 [[ 9.22438869e-01 -3.81203277e-01 6.15677970e-02 4.81617348e+01] [ 3.80476518e-01 9.24489740e-01 2.35868389e-02 8.00937529e+00] [-6.59101769e-02 1.66768401e-03 9.97824167e-01 -3.66177225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.19, Y:8.02, Z:-3.66 [[ 9.18822137e-01 -3.90072149e-01 6.00799446e-02 4.81865903e+01] [ 3.89397714e-01 9.20781598e-01 2.30362540e-02 8.02028507e+00] [-6.43063085e-02 2.22877299e-03 9.97927718e-01 -3.66396239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.781052754 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:48.21, Y:8.03, Z:-3.67 [[ 9.14953775e-01 -3.99099630e-01 5.98253764e-02 4.82124511e+01] [ 3.98449287e-01 9.16903173e-01 2.29507641e-02 8.03097096e+00] [-6.40137189e-02 2.83849024e-03 9.97944982e-01 -3.66517692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.24, Y:8.04, Z:-3.67 [[ 9.13725173e-01 -4.01884894e-01 5.99569774e-02 4.82380687e+01] [ 4.01236448e-01 9.15685204e-01 2.30199761e-02 8.04221355e+00] [-6.41530977e-02 3.02299302e-03 9.97935490e-01 -3.66705020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.26, Y:8.06, Z:-3.67 [[ 9.13441808e-01 -4.02654214e-01 5.91070799e-02 4.82612451e+01] [ 4.02024357e-01 9.15347200e-01 2.27138825e-02 8.05649487e+00] [-6.32493405e-02 3.01467587e-03 9.97993203e-01 -3.66952405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.871052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.29, Y:8.07, Z:-3.67 [[ 9.13990432e-01 -4.01428230e-01 5.89649682e-02 4.82853300e+01] [ 4.00798338e-01 9.15885843e-01 2.26674678e-02 8.06801434e+00] [-6.31045411e-02 2.91521259e-03 9.98002665e-01 -3.67133691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.31, Y:8.08, Z:-3.67 [[ 9.15911347e-01 -3.97033572e-01 5.89130499e-02 4.83101930e+01] [ 3.96395309e-01 9.17800394e-01 2.26538387e-02 8.08072838e+00] [-6.30647549e-02 2.60394870e-03 9.98006040e-01 -3.67268670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.33, Y:8.09, Z:-3.67 [[ 9.16942281e-01 -3.94629215e-01 5.90308084e-02 4.83345304e+01] [ 3.93982134e-01 9.18837256e-01 2.27194750e-02 8.09216676e+00] [-6.32054746e-02 2.42463664e-03 9.97997590e-01 -3.67423748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.36, Y:8.11, Z:-3.68 [[ 9.19574342e-01 -3.88400436e-01 5.93980724e-02 4.83596122e+01] [ 3.87731842e-01 9.21488520e-01 2.28675600e-02 8.10621324e+00] [-6.36164121e-02 2.00210261e-03 9.97972416e-01 -3.67547098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.38, Y:8.12, Z:-3.68 [[ 9.21101920e-01 -3.84683701e-01 5.99141349e-02 4.83841852e+01] [ 3.83994239e-01 9.23046812e-01 2.30869378e-02 8.11798485e+00] [-6.41847199e-02 1.74125986e-03 9.97936516e-01 -3.67775119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.41, Y:8.13, Z:-3.68 [[ 9.24406483e-01 -3.76384518e-01 6.17037169e-02 4.84095186e+01] [ 3.75634172e-01 9.26462776e-01 2.37843172e-02 8.13049744e+00] [-6.61182456e-02 1.19164764e-03 9.97811083e-01 -3.67813699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.051052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.44, Y:8.14, Z:-3.68 [[ 9.25982725e-01 -3.72377368e-01 6.23785995e-02 4.84351137e+01] [ 3.71600097e-01 9.28080972e-01 2.40640111e-02 8.14204226e+00] [-6.68532844e-02 8.97035039e-04 9.97762413e-01 -3.67943407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.46, Y:8.16, Z:-3.68 [[ 9.28955782e-01 -3.64737799e-01 6.33047541e-02 4.84589266e+01] [ 3.63918015e-01 9.31110213e-01 2.44428065e-02 8.15606961e+00] [-6.78589185e-02 3.31454003e-04 9.97694872e-01 -3.68282125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.49, Y:8.17, Z:-3.68 [[ 9.29377027e-01 -3.64092411e-01 6.07869945e-02 4.84865217e+01] [ 3.62597924e-01 9.31309649e-01 3.44250397e-02 8.16501344e+00] [-6.91454102e-02 -9.95260299e-03 9.97556945e-01 -3.67967383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.141052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.51, Y:8.18, Z:-3.69 [[ 9.31217022e-01 -3.58243773e-01 6.70541344e-02 4.85087233e+01] [ 3.58052540e-01 9.33576689e-01 1.52625203e-02 8.18339193e+00] [-6.80678796e-02 9.79618444e-03 9.97632597e-01 -3.69266729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.171052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.54, Y:8.19, Z:-3.69 [[ 9.31756873e-01 -3.57620201e-01 6.27448852e-02 4.85363513e+01] [ 3.56796275e-01 9.33867091e-01 2.42626139e-02 8.19092246e+00] [-6.72721843e-02 -2.19715976e-04 9.97734637e-01 -3.68907928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.56, Y:8.20, Z:-3.69 [[ 9.32330745e-01 -3.56169893e-01 6.24691072e-02 4.85610470e+01] [ 3.55348621e-01 9.34421153e-01 2.41757576e-02 8.20088514e+00] [-6.69831321e-02 -3.41491005e-04 9.97754050e-01 -3.69235754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.231052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.59, Y:8.21, Z:-3.70 [[ 9.31954662e-01 -3.56762839e-01 6.46589922e-02 4.85865516e+01] [ 3.56038693e-01 9.34193288e-01 2.27892450e-02 8.21283269e+00] [-6.85343523e-02 1.78255999e-03 9.97647165e-01 -3.69832762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.261052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.62, Y:8.22, Z:-3.69 [[ 9.33143872e-01 -3.54497151e-01 5.97853129e-02 4.86152795e+01] [ 3.53590484e-01 9.35053392e-01 2.54739764e-02 8.22059012e+00] [-6.49329116e-02 -2.63136722e-03 9.97886162e-01 -3.69421329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.64, Y:8.23, Z:-3.70 [[ 9.33538364e-01 -3.53152360e-01 6.15591862e-02 4.86404165e+01] [ 3.52346322e-01 9.35565645e-01 2.38535798e-02 8.23158463e+00] [-6.60166078e-02 -5.78079061e-04 9.97818357e-01 -3.69860507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.67, Y:8.24, Z:-3.70 [[ 9.33445910e-01 -3.53397829e-01 6.15524792e-02 4.86669971e+01] [ 3.52591183e-01 9.35472949e-01 2.38708736e-02 8.24195648e+00] [-6.60165941e-02 -5.79307862e-04 9.97818357e-01 -3.70068239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.69, Y:8.25, Z:-3.70 [[ 9.34830976e-01 -3.49882188e-01 6.06094133e-02 4.86934457e+01] [ 3.49091545e-01 9.36793340e-01 2.35229877e-02 8.25152712e+00] [-6.50087691e-02 -8.31783878e-04 9.97884346e-01 -3.70151980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.72, Y:8.26, Z:-3.71 [[ 9.35042253e-01 -3.49094678e-01 6.18780328e-02 4.87200453e+01] [ 3.48415959e-01 9.37086711e-01 2.17902844e-02 8.26239944e+00] [-6.55919545e-02 1.18445752e-03 9.97845826e-01 -3.70718933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.75, Y:8.27, Z:-3.71 [[ 9.36587585e-01 -3.45537711e-01 5.83728205e-02 4.87474654e+01] [ 3.44658297e-01 9.38399602e-01 2.48363551e-02 8.26848952e+00] [-6.33589288e-02 -3.14274489e-03 9.97985856e-01 -3.70616845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.77, Y:8.28, Z:-3.71 [[ 9.36804273e-01 -3.44661328e-01 6.00526738e-02 4.87740934e+01] [ 3.44047109e-01 9.38726127e-01 2.06117583e-02 8.27827706e+00] [-6.34770899e-02 1.35176557e-03 9.97982381e-01 -3.71190033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.80, Y:8.28, Z:-3.71 [[ 9.37528168e-01 -3.43149080e-01 5.73554063e-02 4.88030395e+01] [ 3.42263463e-01 9.39273542e-01 2.49185693e-02 8.28046010e+00] [-6.24231998e-02 -3.73120070e-03 9.98042796e-01 -3.70763981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.83, Y:8.29, Z:-3.72 [[ 9.37379804e-01 -3.42626569e-01 6.26588926e-02 4.88286295e+01] [ 3.42462326e-01 9.39431983e-01 1.36786356e-02 8.29256899e+00] [-6.35504317e-02 8.63623338e-03 9.97941260e-01 -3.71866882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.531052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.86, Y:8.29, Z:-3.71 [[ 9.37886264e-01 -3.42336095e-01 5.63502846e-02 4.88592442e+01] [ 3.41484768e-01 9.39570502e-01 2.44013547e-02 8.29406119e+00] [-6.12985296e-02 -3.64293154e-03 9.98112829e-01 -3.71336106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.561052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.89, Y:8.30, Z:-3.71 [[ 9.38075451e-01 -3.42055052e-01 5.48888803e-02 4.88865980e+01] [ 3.41181400e-01 9.39668688e-01 2.48598034e-02 8.30195265e+00] [-6.00807834e-02 -4.59330628e-03 9.98182950e-01 -3.71422289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.91, Y:8.31, Z:-3.72 [[ 9.38320818e-01 -3.41286076e-01 5.54784446e-02 4.89137887e+01] [ 3.40592161e-01 9.39958167e-01 2.18088205e-02 8.30655991e+00] [-5.95904639e-02 -1.56814695e-03 9.98221678e-01 -3.71707905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.621052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.94, Y:8.31, Z:-3.72 [[ 9.38381377e-01 -3.41182447e-01 5.50901947e-02 4.89413604e+01] [ 3.40768965e-01 9.39992929e-01 1.70236794e-02 8.31452913e+00] [-5.75925741e-02 2.79832488e-03 9.98336248e-01 -3.72091751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.651052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:48.97, Y:8.32, Z:-3.72 [[ 9.38230383e-01 -3.42336811e-01 5.02917068e-02 4.89709951e+01] [ 3.41591338e-01 9.39566975e-01 2.30055839e-02 8.31547193e+00] [-5.51280851e-02 -4.40532633e-03 9.98469573e-01 -3.71937726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.681052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.99, Y:8.33, Z:-3.73 [[ 9.37418579e-01 -3.44034956e-01 5.37248159e-02 4.89947576e+01] [ 3.43689768e-01 9.38949837e-01 1.58286693e-02 8.32697387e+00] [-5.58905227e-02 3.62658081e-03 9.98430317e-01 -3.72799043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.02, Y:8.34, Z:-3.73 [[ 9.36847424e-01 -3.45562608e-01 5.38830917e-02 4.90215543e+01] [ 3.45141245e-01 9.38392497e-01 1.72349458e-02 8.33706018e+00] [-5.65192418e-02 2.45076278e-03 9.98398502e-01 -3.72948125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.05, Y:8.34, Z:-3.72 [[ 9.36923370e-01 -3.46162662e-01 4.84356411e-02 4.90500112e+01] [ 3.44921458e-01 9.38077168e-01 3.22554741e-02 8.34175589e+00] [-5.66020097e-02 -1.35144155e-02 9.98305351e-01 -3.71877433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.07, Y:8.36, Z:-3.73 [[ 9.37159716e-01 -3.44607615e-01 5.45642528e-02 4.90729061e+01] [ 3.44574311e-01 9.38702374e-01 1.03148583e-02 8.36128990e+00] [-5.47741723e-02 9.13477015e-03 9.98456983e-01 -3.73402536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.801052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.10, Y:8.37, Z:-3.73 [[ 9.37088353e-01 -3.45617171e-01 4.91344015e-02 4.91012684e+01] [ 3.45159428e-01 9.38375556e-01 1.77843837e-02 8.37037617e+00] [-5.22531097e-02 2.93663091e-04 9.98633830e-01 -3.73066790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.13, Y:8.38, Z:-3.73 [[ 9.37215110e-01 -3.45602586e-01 4.67620648e-02 4.91269044e+01] [ 3.44931491e-01 9.38370291e-01 2.19877811e-02 8.37877807e+00] [-5.14791664e-02 -4.47757188e-03 9.98664031e-01 -3.73000532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.15, Y:8.39, Z:-3.73 [[ 9.37070716e-01 -3.45974834e-01 4.69029495e-02 4.91513823e+01] [ 3.45480539e-01 9.38243083e-01 1.85233393e-02 8.38918182e+00] [-5.04149772e-02 -1.15362258e-03 9.98727690e-01 -3.73373455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.18, Y:8.40, Z:-3.74 [[ 9.36561015e-01 -3.47447717e-01 4.61903524e-02 4.91770744e+01] [ 3.46983392e-01 9.37699009e-01 1.79748065e-02 8.39959462e+00] [-4.95579532e-02 -8.07217841e-04 9.98770924e-01 -3.73654181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.921052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.19, Y:8.42, Z:-3.76 [[ 9.33761745e-01 -3.52090080e-01 6.41995263e-02 4.91927433e+01] [ 3.53185626e-01 9.35532572e-01 -6.22260398e-03 8.42280226e+00] [-5.78698309e-02 2.84847794e-02 9.97917682e-01 -3.76263158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.24, Y:8.41, Z:-3.72 [[ 9.33910264e-01 -3.55608954e-01 3.67952491e-02 4.92363530e+01] [ 3.53822247e-01 9.34114671e-01 4.73243965e-02 8.40843556e+00] [-5.11999611e-02 -3.11777619e-02 9.98201639e-01 -3.72026791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.981052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.26, Y:8.43, Z:-3.74 [[ 9.33678925e-01 -3.54857078e-01 4.81676235e-02 4.92584329e+01] [ 3.54617554e-01 9.34910797e-01 1.37182838e-02 8.43004146e+00] [-4.99004614e-02 4.27261239e-03 9.98745057e-01 -3.73797558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.011052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.29, Y:8.44, Z:-3.73 [[ 9.33218679e-01 -3.55982379e-01 4.87795300e-02 4.92851268e+01] [ 3.55313266e-01 9.34487009e-01 2.20570358e-02 8.43782193e+00] [-5.34357532e-02 -3.25202375e-03 9.98565994e-01 -3.73391341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.041052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.31, Y:8.45, Z:-3.74 [[ 9.32485422e-01 -3.57477327e-01 5.17773945e-02 4.93108208e+01] [ 3.56700193e-01 9.33914167e-01 2.38600290e-02 8.44918539e+00] [-5.68850616e-02 -3.78012255e-03 9.98373578e-01 -3.73564188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.34, Y:8.46, Z:-3.74 [[ 9.32465275e-01 -3.57199669e-01 5.40084044e-02 4.93350246e+01] [ 3.56758432e-01 9.34024574e-01 1.79308867e-02 8.46101229e+00] [-5.68500837e-02 2.54802449e-03 9.98379475e-01 -3.74016584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.36, Y:8.47, Z:-3.74 [[ 9.31915855e-01 -3.58873334e-01 5.23714491e-02 4.93619638e+01] [ 3.58376826e-01 9.33385563e-01 1.89061422e-02 8.47003514e+00] [-5.56676648e-02 1.14978005e-03 9.98448691e-01 -3.74088108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.131052754 meters Centerline goodness : 0.997050 Centerline is valid? [True, True] Translation: X:49.39, Y:8.48, Z:-3.74 [[ 9.31636729e-01 -3.59767267e-01 5.11909952e-02 4.93896442e+01] [ 3.58729745e-01 9.33006099e-01 2.85059652e-02 8.47616538e+00] [-5.80170239e-02 -8.19347152e-03 9.98281970e-01 -3.73951730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.41, Y:8.50, Z:-3.76 [[ 9.31068398e-01 -3.59685963e-01 6.11362890e-02 4.94099555e+01] [ 3.60197623e-01 9.32871767e-01 2.81757224e-03 8.49692607e+00] [-5.80457591e-02 1.93977935e-02 9.98125451e-01 -3.75813951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.191052754 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:49.45, Y:8.49, Z:-3.73 [[ 9.32444292e-01 -3.59100690e-01 3.99291584e-02 4.94462392e+01] [ 3.57594424e-01 9.33009029e-01 4.02539527e-02 8.48917043e+00] [-5.17094874e-02 -2.32561240e-02 9.98391347e-01 -3.73301395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.221052754 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:49.47, Y:8.51, Z:-3.75 [[ 9.32634277e-01 -3.57557204e-01 4.84370777e-02 4.94677399e+01] [ 3.57045872e-01 9.33891082e-01 1.91230598e-02 8.50739530e+00] [-5.20725427e-02 -5.40562426e-04 9.98643159e-01 -3.74894195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.251052754 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:49.49, Y:8.52, Z:-3.75 [[ 9.32926090e-01 -3.56695307e-01 4.91667475e-02 4.94918098e+01] [ 3.56166044e-01 9.34220571e-01 1.94338397e-02 8.51965097e+00] [-5.28645463e-02 -6.18810136e-04 9.98601501e-01 -3.75274909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.281052754 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:49.52, Y:8.53, Z:-3.76 [[ 9.32726806e-01 -3.57135649e-01 4.97477092e-02 4.95171674e+01] [ 3.56594047e-01 9.34052332e-01 1.96704428e-02 8.53072365e+00] [-5.34919802e-02 -6.07412298e-04 9.98568094e-01 -3.75581104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.311052754 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:49.54, Y:8.54, Z:-3.76 [[ 9.32426203e-01 -3.57721386e-01 5.11545236e-02 4.95429127e+01] [ 3.57148923e-01 9.33828169e-01 2.02385347e-02 8.54067624e+00] [-5.50092918e-02 -6.01157025e-04 9.98485662e-01 -3.75577618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.341052754 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:49.57, Y:8.55, Z:-3.76 [[ 9.32535652e-01 -3.57310746e-01 5.20220057e-02 4.95696251e+01] [ 3.56717385e-01 9.33985338e-01 2.05935658e-02 8.55071671e+00] [-5.59460930e-02 -6.47080469e-04 9.98433581e-01 -3.75502644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.371052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.59, Y:8.57, Z:-3.77 [[ 9.32275023e-01 -3.57026011e-01 5.82727049e-02 4.95919238e+01] [ 3.57240902e-01 9.33985723e-01 7.04321790e-03 8.56738055e+00] [-5.69404864e-02 1.42511775e-02 9.98275856e-01 -3.76518261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.401052754 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:49.62, Y:8.57, Z:-3.76 [[ 9.33211082e-01 -3.56033983e-01 4.85477092e-02 4.96217541e+01] [ 3.55648884e-01 9.34471403e-01 1.66453978e-02 8.57266968e+00] [-5.12927732e-02 1.73226887e-03 9.98682157e-01 -3.76011902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.65, Y:8.59, Z:-3.76 [[ 9.32800142e-01 -3.57170932e-01 4.80917878e-02 4.96455314e+01] [ 3.56923059e-01 9.34029766e-01 1.39400697e-02 8.58502320e+00] [-4.98981490e-02 4.16176901e-03 9.98745640e-01 -3.76269390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.68, Y:8.59, Z:-3.76 [[ 9.32494430e-01 -3.58338508e-01 4.52509912e-02 4.96757947e+01] [ 3.57330901e-01 9.33528892e-01 2.89557366e-02 8.58997699e+00] [-5.26190631e-02 -1.08314856e-02 9.98555914e-01 -3.75618463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.70, Y:8.60, Z:-3.76 [[ 9.32501146e-01 -3.58021545e-01 4.75624393e-02 4.97017087e+01] [ 3.57382184e-01 9.33707970e-01 2.16194607e-02 8.60255719e+00] [-5.21496614e-02 -3.16220343e-03 9.98634274e-01 -3.76041675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.521052754 meters Centerline goodness : 0.997416 Centerline is valid? [True, True] Translation: X:49.73, Y:8.61, Z:-3.75 [[ 9.32239960e-01 -3.59510023e-01 4.10024410e-02 4.97304066e+01] [ 3.58374536e-01 9.33009726e-01 3.25659816e-02 8.60759629e+00] [-4.99634730e-02 -1.56650786e-02 9.98628187e-01 -3.75276464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.551052754000004 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:49.75, Y:8.62, Z:-3.77 [[ 9.31935744e-01 -3.59121823e-01 5.02721155e-02 4.97526705e+01] [ 3.58950994e-01 9.33270024e-01 1.26983109e-02 8.62458872e+00] [-5.14776990e-02 6.21121596e-03 9.98654829e-01 -3.76767839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.78, Y:8.63, Z:-3.76 [[ 9.31058289e-01 -3.61662148e-01 4.82799366e-02 4.97810698e+01] [ 3.61193040e-01 9.32309179e-01 1.84169024e-02 8.63301827e+00] [-5.16725245e-02 2.91167380e-04 9.98664040e-01 -3.76357670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.80, Y:8.65, Z:-3.78 [[ 9.29726494e-01 -3.63524619e-01 5.88089983e-02 4.98028695e+01] [ 3.63773479e-01 9.31462639e-01 6.79759826e-03 8.64932888e+00] [-5.72494791e-02 1.50732467e-02 9.98246109e-01 -3.77727364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.84, Y:8.65, Z:-3.76 [[ 9.30026284e-01 -3.64706541e-01 4.51691388e-02 4.98359479e+01] [ 3.63500752e-01 9.31015738e-01 3.28161283e-02 8.65034186e+00] [-5.40214357e-02 -1.41008460e-02 9.98440209e-01 -3.75863597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.671052754 meters Centerline goodness : 0.997019 Centerline is valid? [True, True] Translation: X:49.86, Y:8.66, Z:-3.76 [[ 9.29712039e-01 -3.65361082e-01 4.63336287e-02 4.98607082e+01] [ 3.64496931e-01 9.30835890e-01 2.62017792e-02 8.66424683e+00] [-5.27021149e-02 -7.47164414e-03 9.98582326e-01 -3.76383908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.88, Y:8.68, Z:-3.77 [[ 9.29335824e-01 -3.65564855e-01 5.19351886e-02 4.98837643e+01] [ 3.65081956e-01 9.30784738e-01 1.88397798e-02 8.67864587e+00] [-5.52276423e-02 1.45211793e-03 9.98472733e-01 -3.77272083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.731052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.91, Y:8.69, Z:-3.77 [[ 9.30376197e-01 -3.63544847e-01 4.72787066e-02 4.99098384e+01] [ 3.63137378e-01 9.31576019e-01 1.72443166e-02 8.68865883e+00] [-5.03127917e-02 1.12496383e-03 9.98732876e-01 -3.77440478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.761052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.93, Y:8.70, Z:-3.79 [[ 9.30289377e-01 -3.62902078e-01 5.35140868e-02 4.99324771e+01] [ 3.62947642e-01 9.31764035e-01 9.20820779e-03 8.70285552e+00] [-5.32041792e-02 1.08565138e-02 9.98524637e-01 -3.78581650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.791052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:49.97, Y:8.70, Z:-3.77 [[ 9.30974816e-01 -3.62762945e-01 4.10967018e-02 4.99656441e+01] [ 3.61757795e-01 9.31790316e-01 2.99683900e-02 8.70413059e+00] [-4.91649301e-02 -1.30327641e-02 9.98705641e-01 -3.76908914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.99, Y:8.72, Z:-3.78 [[ 9.30507627e-01 -3.62991097e-01 4.89184958e-02 4.99899146e+01] [ 3.62469213e-01 9.31792531e-01 1.94614617e-02 8.71859701e+00] [-5.26462263e-02 -3.77589849e-04 9.98613154e-01 -3.77708040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.02, Y:8.73, Z:-3.78 [[ 9.30585144e-01 -3.62742689e-01 4.92852018e-02 5.00154898e+01] [ 3.62211641e-01 9.31889249e-01 1.96253696e-02 8.72852571e+00] [-5.30473091e-02 -4.11403559e-04 9.98591916e-01 -3.77827593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.04, Y:8.74, Z:-3.78 [[ 9.30647116e-01 -3.62478182e-01 5.00551028e-02 5.00416467e+01] [ 3.61929781e-01 9.31992155e-01 1.99363352e-02 8.73903830e+00] [-5.38774497e-02 -4.37260494e-04 9.98547460e-01 -3.78065549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.07, Y:8.75, Z:-3.78 [[ 9.30749781e-01 -3.62150479e-01 5.05161005e-02 5.00677057e+01] [ 3.61590589e-01 9.32119523e-01 2.01355650e-02 8.74893117e+00] [-5.43791480e-02 -4.75026203e-04 9.98520246e-01 -3.78237783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.09, Y:8.76, Z:-3.78 [[ 9.31065512e-01 -3.61359280e-01 5.03635158e-02 5.00942137e+01] [ 3.60800791e-01 9.32426504e-01 2.00898864e-02 8.75870113e+00] [-5.42199439e-02 -5.33803984e-04 9.98528874e-01 -3.78300925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:8.77, Z:-3.78 [[ 9.31016578e-01 -3.61464428e-01 5.05133497e-02 5.01188713e+01] [ 3.60901794e-01 9.32385741e-01 2.01674367e-02 8.76880226e+00] [-5.43877380e-02 -5.45859324e-04 9.98519742e-01 -3.78452242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.15, Y:8.78, Z:-3.78 [[ 9.31127168e-01 -3.61178517e-01 5.05200521e-02 5.01451476e+01] [ 3.60614950e-01 9.32496518e-01 2.01767712e-02 8.77712253e+00] [-5.43971890e-02 -5.68853768e-04 9.98519215e-01 -3.78354155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.031052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.17, Y:8.79, Z:-3.78 [[ 9.31335278e-01 -3.60729104e-01 4.98910225e-02 5.01697967e+01] [ 3.60178504e-01 9.32670446e-01 1.99319792e-02 8.78708761e+00] [-5.37219272e-02 -5.93681517e-04 9.98555758e-01 -3.78404621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.061052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.19, Y:8.80, Z:-3.79 [[ 9.31829193e-01 -3.59469165e-01 4.97621738e-02 5.01947719e+01] [ 3.58919411e-01 9.33156725e-01 1.98842458e-02 8.80071811e+00] [-5.35836803e-02 -6.68110660e-04 9.98563139e-01 -3.78866459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.22, Y:8.81, Z:-3.79 [[ 9.32090522e-01 -3.58914062e-01 4.88667004e-02 5.02190266e+01] [ 3.58382235e-01 9.33370345e-01 1.95441385e-02 8.81217886e+00] [-5.26253951e-02 -7.03948946e-04 9.98614076e-01 -3.79202229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.121052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.24, Y:8.82, Z:-3.80 [[ 9.32502292e-01 -3.58224106e-01 4.59887476e-02 5.02447640e+01] [ 3.57752135e-01 9.33635367e-01 1.83959829e-02 8.82406473e+00] [-4.95266057e-02 -7.01723569e-04 9.98772558e-01 -3.79587802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.151052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.27, Y:8.83, Z:-3.80 [[ 9.32544857e-01 -3.58115273e-01 4.59732544e-02 5.02707092e+01] [ 3.57642826e-01 9.33677103e-01 1.84031385e-02 8.83438236e+00] [-4.95146200e-02 -7.19747564e-04 9.98773140e-01 -3.79774929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.30, Y:8.84, Z:-3.80 [[ 9.32393224e-01 -3.58524253e-01 4.58610446e-02 5.02975424e+01] [ 3.58053868e-01 9.33520142e-01 1.83731328e-02 8.84344993e+00] [-4.93994226e-02 -7.10260135e-04 9.98778851e-01 -3.79747651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.32, Y:8.85, Z:-3.80 [[ 9.32211564e-01 -3.58928176e-01 4.63914300e-02 5.03239736e+01] [ 3.58446898e-01 9.33364917e-01 1.85944602e-02 8.85081145e+00] [-4.99742089e-02 -7.05106676e-04 9.98750260e-01 -3.79607205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.35, Y:8.86, Z:-3.80 [[ 9.32121737e-01 -3.59161771e-01 4.63884748e-02 5.03504376e+01] [ 3.58680415e-01 9.33275057e-01 1.86018295e-02 8.86151342e+00] [-4.99742724e-02 -7.00532203e-04 9.98750260e-01 -3.79804627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.38, Y:8.87, Z:-3.80 [[ 9.32044519e-01 -3.59224978e-01 4.74386904e-02 5.03770570e+01] [ 3.58720938e-01 9.33250710e-01 1.90368064e-02 8.87172414e+00] [-5.11106878e-02 -7.25899547e-04 9.98692731e-01 -3.79932842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.301052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.40, Y:8.88, Z:-3.80 [[ 9.32621286e-01 -3.57725400e-01 4.74349515e-02 5.04026766e+01] [ 3.57209740e-01 9.33826304e-01 1.92259271e-02 8.88439411e+00] [-5.11736079e-02 -9.86282107e-04 9.98689286e-01 -3.80223446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.43, Y:8.90, Z:-3.81 [[ 9.32691122e-01 -3.57522601e-01 4.75905580e-02 5.04262928e+01] [ 3.57030159e-01 9.33904347e-01 1.87653066e-02 8.89560417e+00] [-5.11540503e-02 -5.10970408e-04 9.98690644e-01 -3.80629302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.45, Y:8.91, Z:-3.81 [[ 9.32705564e-01 -3.57662659e-01 4.62358423e-02 5.04530497e+01] [ 3.57247850e-01 9.33850748e-01 1.72265547e-02 8.90745478e+00] [-4.93386713e-02 4.50351848e-04 9.98782005e-01 -3.81023605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.391052754 meters Centerline goodness : 0.998345 Centerline is valid? [True, True] Translation: X:50.48, Y:8.92, Z:-3.81 [[ 9.32981206e-01 -3.57190988e-01 4.42794287e-02 5.04797105e+01] [ 3.56564070e-01 9.34021180e-01 2.15985816e-02 8.91535775e+00] [-4.90727430e-02 -4.36261743e-03 9.98785679e-01 -3.80893290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.421052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.51, Y:8.93, Z:-3.81 [[ 9.32775792e-01 -3.57333018e-01 4.73543646e-02 5.05053652e+01] [ 3.56967248e-01 9.33975421e-01 1.62571745e-02 8.92737268e+00] [-5.00370379e-02 1.73965845e-03 9.98745848e-01 -3.81332265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.53, Y:8.93, Z:-3.81 [[ 9.31804106e-01 -3.60376705e-01 4.32404718e-02 5.05300035e+01] [ 3.59687014e-01 9.32787966e-01 2.30621364e-02 8.93450998e+00] [-4.86452485e-02 -5.93635720e-03 9.98798478e-01 -3.80519547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.481052754000004 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:50.56, Y:8.95, Z:-3.81 [[ 9.32186199e-01 -3.59336404e-01 4.36604900e-02 5.05626290e+01] [ 3.58936311e-01 9.33208086e-01 1.69526808e-02 8.94745895e+00] [-4.68360377e-02 -1.31719918e-04 9.98902582e-01 -3.80932233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.511052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.58, Y:8.96, Z:-3.81 [[ 9.31993246e-01 -3.59630662e-01 4.53252265e-02 5.05844168e+01] [ 3.59237822e-01 9.33094537e-01 1.68158351e-02 8.95936573e+00] [-4.83402111e-02 6.10290880e-04 9.98830742e-01 -3.81389022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.541052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.61, Y:8.97, Z:-3.82 [[ 9.31243628e-01 -3.61397204e-01 4.66622605e-02 5.06081232e+01] [ 3.60971130e-01 9.32411825e-01 1.75508459e-02 8.97071442e+00] [-4.98512701e-02 4.99615473e-04 9.98756528e-01 -3.81775447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.571052754 meters Centerline goodness : 0.998072 Centerline is valid? [True, True] Translation: X:50.64, Y:8.98, Z:-3.82 [[ 9.31017702e-01 -3.62017168e-01 4.63638671e-02 5.06353036e+01] [ 3.61451278e-01 9.32168856e-01 2.03518488e-02 8.98014735e+00] [-5.05866716e-02 -2.18965249e-03 9.98717274e-01 -3.81811540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.601052754 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:50.66, Y:8.99, Z:-3.82 [[ 9.30832678e-01 -3.62317233e-01 4.77152832e-02 5.06622338e+01] [ 3.61769907e-01 9.32053920e-01 1.99505471e-02 8.99000882e+00] [-5.17016437e-02 -1.30866760e-03 9.98661718e-01 -3.81757268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.631052754 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:50.69, Y:9.00, Z:-3.82 [[ 9.30814243e-01 -3.62391335e-01 4.75117508e-02 5.06887203e+01] [ 3.61879165e-01 9.32025730e-01 1.92745473e-02 9.00019448e+00] [-5.12671031e-02 -7.47510449e-04 9.98684698e-01 -3.81830976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.661052754 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:50.72, Y:9.01, Z:-3.82 [[ 9.31360885e-01 -3.61284870e-01 4.51679662e-02 5.07162357e+01] [ 3.60626029e-01 9.32444921e-01 2.22561496e-02 9.01066123e+00] [-5.01574508e-02 -4.43976284e-03 9.98731455e-01 -3.81785504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.74, Y:9.03, Z:-3.83 [[ 9.31421186e-01 -3.60823591e-01 4.75490341e-02 5.07386047e+01] [ 3.60493563e-01 9.32630539e-01 1.56419255e-02 9.02581170e+00] [-4.99896570e-02 2.57189995e-03 9.98746424e-01 -3.82624026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.76, Y:9.04, Z:-3.83 [[ 9.32169263e-01 -3.59323934e-01 4.41222743e-02 5.07635474e+01] [ 3.58926541e-01 9.33212892e-01 1.68948435e-02 9.03783346e+00] [-4.72461969e-02 8.78014283e-05 9.98883271e-01 -3.83124730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.79, Y:9.05, Z:-3.83 [[ 9.31674712e-01 -3.60792244e-01 4.25580445e-02 5.07896306e+01] [ 3.60351130e-01 9.32645268e-01 1.78848373e-02 9.04792990e+00] [-4.61442694e-02 -1.32701125e-03 9.98933904e-01 -3.83167238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.781052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:50.82, Y:9.06, Z:-3.83 [[ 9.30654165e-01 -3.63571803e-01 4.12112695e-02 5.08150491e+01] [ 3.63161010e-01 9.31565469e-01 1.73163973e-02 9.05904732e+00] [-4.46867494e-02 -1.14925098e-03 9.99000387e-01 -3.83333421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.84, Y:9.07, Z:-3.84 [[ 9.30208326e-01 -3.64575561e-01 4.23925779e-02 5.08408892e+01] [ 3.64315471e-01 9.31170618e-01 1.39827695e-02 9.07145388e+00] [-4.45724990e-02 2.43738335e-03 9.99003179e-01 -3.83867035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.841052754 meters Centerline goodness : 0.998396 Centerline is valid? [True, True] Translation: X:50.87, Y:9.08, Z:-3.84 [[ 9.30124606e-01 -3.65019764e-01 4.03582655e-02 5.08667469e+01] [ 3.64503467e-01 9.30992581e-01 1.97493432e-02 9.07946349e+00] [-4.47821463e-02 -3.65862232e-03 9.98990077e-01 -3.83620739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.871052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.89, Y:9.09, Z:-3.84 [[ 9.30277602e-01 -3.64484277e-01 4.16508734e-02 5.08928944e+01] [ 3.64099337e-01 9.31209448e-01 1.67522089e-02 9.09169708e+00] [-4.48916035e-02 -4.19149287e-04 9.98991776e-01 -3.83902558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.92, Y:9.10, Z:-3.84 [[ 9.30673174e-01 -3.63587980e-01 4.06352490e-02 5.09208615e+01] [ 3.63190048e-01 9.31559212e-01 1.70418085e-02 9.10240859e+00] [-4.40503373e-02 -1.10203600e-03 9.99028705e-01 -3.83967853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.931052754 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:50.94, Y:9.12, Z:-3.84 [[ 9.30549631e-01 -3.63703591e-01 4.23920095e-02 5.09447296e+01] [ 3.63323512e-01 9.31514731e-01 1.66232245e-02 9.11549919e+00] [-4.55347078e-02 -6.67216712e-05 9.98962755e-01 -3.84312507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.961052754 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:50.97, Y:9.12, Z:-3.84 [[ 9.29689595e-01 -3.65683910e-01 4.41875053e-02 5.09703247e+01] [ 3.65245770e-01 9.30738966e-01 1.79026306e-02 9.12411216e+00] [-4.76737369e-02 -5.04590012e-04 9.98862834e-01 -3.84282468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.991052754 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:51.00, Y:9.13, Z:-3.84 [[ 9.29040353e-01 -3.67260058e-01 4.47668745e-02 5.09981882e+01] [ 3.66769013e-01 9.30117449e-01 1.90269104e-02 9.13323855e+00] [-4.86262753e-02 -1.25766524e-03 9.98816251e-01 -3.84215472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.021052754 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:51.02, Y:9.14, Z:-3.85 [[ 9.28477040e-01 -3.68213700e-01 4.84670708e-02 5.10226925e+01] [ 3.67958195e-01 9.29730549e-01 1.44178196e-02 9.14390812e+00] [-5.03701550e-02 4.44724138e-03 9.98720716e-01 -3.84610189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.051052754000004 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:51.05, Y:9.16, Z:-3.85 [[ 9.27268507e-01 -3.70832779e-01 5.15380019e-02 5.10492741e+01] [ 3.70924294e-01 9.28627504e-01 8.13187858e-03 9.15634950e+00] [-5.08751731e-02 1.15762621e-02 9.98637926e-01 -3.84976244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.081052754 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:51.08, Y:9.16, Z:-3.85 [[ 9.26737175e-01 -3.72571033e-01 4.84668220e-02 5.10766718e+01] [ 3.72157668e-01 9.28002118e-01 1.76277813e-02 9.16393438e+00] [-5.15449142e-02 1.70097919e-03 9.98669229e-01 -3.84630382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.11, Y:9.17, Z:-3.84 [[ 9.26373996e-01 -3.73739654e-01 4.63669179e-02 5.11055207e+01] [ 3.72394856e-01 9.27406866e-01 3.51934221e-02 9.16958660e+00] [-5.61541754e-02 -1.53354694e-02 9.98304328e-01 -3.84060574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.141052754 meters Centerline goodness : 0.998223 Centerline is valid? [True, True] Translation: X:51.13, Y:9.19, Z:-3.86 [[ 9.25655650e-01 -3.74577513e-01 5.34163244e-02 5.11281708e+01] [ 3.74843028e-01 9.27072929e-01 5.33741497e-03 9.18934769e+00] [-5.15201040e-02 1.50821285e-02 9.98558065e-01 -3.85632731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.171052754 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:51.16, Y:9.19, Z:-3.85 [[ 9.26126738e-01 -3.74250647e-01 4.71775154e-02 5.11561877e+01] [ 3.73762034e-01 9.27327584e-01 1.91179059e-02 9.19431599e+00] [-5.09039000e-02 -7.24397455e-05 9.98703553e-01 -3.85062989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.201052754 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:51.18, Y:9.21, Z:-3.85 [[ 9.25846109e-01 -3.75076067e-01 4.61186030e-02 5.11825531e+01] [ 3.74600519e-01 9.26994014e-01 1.88825295e-02 9.20512739e+00] [-4.98340538e-02 -2.06263844e-04 9.98757490e-01 -3.85304842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.231052754000004 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:51.21, Y:9.22, Z:-3.86 [[ 9.26442854e-01 -3.74008628e-01 4.26753439e-02 5.12084838e+01] [ 3.73646935e-01 9.27424962e-01 1.64592686e-02 9.21654502e+00] [-4.57340876e-02 6.96939654e-04 9.98953406e-01 -3.85683288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.261052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.24, Y:9.22, Z:-3.85 [[ 9.26710666e-01 -3.73776392e-01 3.87111109e-02 5.12363380e+01] [ 3.72640734e-01 9.27369189e-01 3.35450653e-02 9.22223945e+00] [-4.84378450e-02 -1.66612330e-02 9.98687228e-01 -3.85204842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.291052754 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:51.26, Y:9.24, Z:-3.86 [[ 9.28471088e-01 -3.68988807e-01 4.22930014e-02 5.12585519e+01] [ 3.68469373e-01 9.29429713e-01 1.97668977e-02 9.23843121e+00] [-4.66021362e-02 -2.76931729e-03 9.98909692e-01 -3.86200095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.28, Y:9.25, Z:-3.87 [[ 9.29625094e-01 -3.65855327e-01 4.41255561e-02 5.12848113e+01] [ 3.65508058e-01 9.30670874e-01 1.59869864e-02 9.25377024e+00] [-4.69152940e-02 1.26634257e-03 9.98898069e-01 -3.86672345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.351052754 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:51.31, Y:9.26, Z:-3.87 [[ 9.30285059e-01 -3.64403246e-01 4.21898482e-02 5.13100994e+01] [ 3.63844174e-01 9.31233743e-01 2.05215377e-02 9.26390990e+00] [-4.67667252e-02 -3.74034949e-03 9.98898835e-01 -3.86642476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.34, Y:9.28, Z:-3.87 [[ 9.30569423e-01 -3.63452287e-01 4.40792901e-02 5.13355719e+01] [ 3.63141954e-01 9.31610836e-01 1.51384228e-02 9.27802287e+00] [-4.65668387e-02 1.91968615e-03 9.98913332e-01 -3.87142422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.36, Y:9.29, Z:-3.87 [[ 9.30976750e-01 -3.62311306e-01 4.48643304e-02 5.13615634e+01] [ 3.61841729e-01 9.32056652e-01 1.84651336e-02 9.28788333e+00] [-4.85062243e-02 -9.56823188e-04 9.98822422e-01 -3.87025690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.39, Y:9.30, Z:-3.87 [[ 9.30847744e-01 -3.63013919e-01 4.17537103e-02 5.13883361e+01] [ 3.62268392e-01 9.31752191e-01 2.44840142e-02 9.29602749e+00] [-4.77921490e-02 -7.66483990e-03 9.98827893e-01 -3.86541493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.41, Y:9.31, Z:-3.88 [[ 9.29820713e-01 -3.64766887e-01 4.87704769e-02 5.14123895e+01] [ 3.64582057e-01 9.31081193e-01 1.29512891e-02 9.31006698e+00] [-5.01334752e-02 5.73846389e-03 9.98726041e-01 -3.87617783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.44, Y:9.32, Z:-3.88 [[ 9.28508982e-01 -3.68370639e-01 4.66277099e-02 5.14383997e+01] [ 3.67869089e-01 9.29678751e-01 1.92289482e-02 9.31737535e+00] [-5.04321711e-02 -7.01357894e-04 9.98727242e-01 -3.87542875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.531052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.46, Y:9.33, Z:-3.88 [[ 9.27985650e-01 -3.69616719e-01 4.71817229e-02 5.14644852e+01] [ 3.69104347e-01 9.29184083e-01 1.94658898e-02 9.32767818e+00] [-5.10354242e-02 -6.49087399e-04 9.98696633e-01 -3.87709411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.561052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.49, Y:9.34, Z:-3.88 [[ 9.27009242e-01 -3.72056563e-01 4.71993574e-02 5.14901656e+01] [ 3.71546228e-01 9.28209909e-01 1.94875733e-02 9.33776140e+00] [-5.10613908e-02 -5.28417335e-04 9.98695377e-01 -3.87854408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.591052754 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:51.51, Y:9.35, Z:-3.88 [[ 9.26893451e-01 -3.72418762e-01 4.66132756e-02 5.15140667e+01] [ 3.72184482e-01 9.28054200e-01 1.39324462e-02 9.34940307e+00] [-4.84483506e-02 4.43484471e-03 9.98815844e-01 -3.88357150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.621052754 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:51.54, Y:9.36, Z:-3.88 [[ 9.25935586e-01 -3.75044529e-01 4.45521133e-02 5.15416718e+01] [ 3.74747674e-01 9.27002971e-01 1.51549673e-02 9.36039229e+00] [-4.69837290e-02 2.66327730e-03 9.98892104e-01 -3.88418884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.651052754 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:51.57, Y:9.38, Z:-3.90 [[ 9.25417509e-01 -3.75625762e-01 5.00771492e-02 5.15662032e+01] [ 3.76179797e-01 9.26544973e-01 -1.78144334e-03 9.37848516e+00] [-4.57295749e-02 2.04865907e-02 9.98743764e-01 -3.89632102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.681052754 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:51.60, Y:9.38, Z:-3.88 [[ 9.26189434e-01 -3.74996502e-01 3.93796365e-02 5.15960602e+01] [ 3.73716865e-01 9.26834594e-01 3.62400410e-02 9.37592314e+00] [-5.00882980e-02 -1.88483088e-02 9.98566925e-01 -3.87932271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.711052754 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:51.62, Y:9.40, Z:-3.90 [[ 9.27146595e-01 -3.71542474e-01 4.85322703e-02 5.16165624e+01] [ 3.71266187e-01 9.28406539e-01 1.49236887e-02 9.39671879e+00] [-5.06024613e-02 4.18194380e-03 9.98710119e-01 -3.89506336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.741052754 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:51.64, Y:9.41, Z:-3.90 [[ 9.27473074e-01 -3.70510702e-01 5.01549200e-02 5.16433502e+01] [ 3.70289441e-01 9.28811265e-01 1.39772394e-02 9.40937627e+00] [-5.17631715e-02 5.60832414e-03 9.98643641e-01 -3.90026695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.67, Y:9.42, Z:-3.90 [[ 9.28086658e-01 -3.69156922e-01 4.87680445e-02 5.16694448e+01] [ 3.68829371e-01 9.29361409e-01 1.58829089e-02 9.42245037e+00] [-5.11864243e-02 3.24637131e-03 9.98683839e-01 -3.90195760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.801052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.70, Y:9.42, Z:-3.88 [[ 9.29486318e-01 -3.67914609e-01 2.63443558e-02 5.17033689e+01] [ 3.66664995e-01 9.29378186e-01 4.25789604e-02 9.42245278e+00] [-4.01492912e-02 -2.99170080e-02 9.98745717e-01 -3.87509159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.831052754 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:51.72, Y:9.44, Z:-3.90 [[ 9.29907040e-01 -3.65700121e-01 3.91958978e-02 5.17233975e+01] [ 3.65545314e-01 9.30724908e-01 1.13034940e-02 9.44481377e+00] [-4.06142875e-02 3.81667810e-03 9.99167610e-01 -3.89747252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.75, Y:9.45, Z:-3.89 [[ 9.29775198e-01 -3.66497740e-01 3.46047347e-02 5.17513172e+01] [ 3.66030929e-01 9.30404456e-01 1.92069389e-02 9.45166600e+00] [-3.92356991e-02 -5.19173221e-03 9.99216496e-01 -3.89343733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.77, Y:9.47, Z:-3.91 [[ 9.28922279e-01 -3.67295706e-01 4.68749807e-02 5.17741937e+01] [ 3.67592322e-01 9.29983834e-01 2.43992380e-03 9.46657122e+00] [-4.44891478e-02 1.49643835e-02 9.98897784e-01 -3.91175626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.921052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.81, Y:9.47, Z:-3.89 [[ 9.28304583e-01 -3.70448806e-01 3.19105355e-02 5.18067617e+01] [ 3.69581082e-01 9.28714151e-01 2.99974845e-02 9.46622659e+00] [-4.07482982e-02 -1.60532722e-02 9.99040474e-01 -3.88953076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.83, Y:9.48, Z:-3.90 [[ 9.27182100e-01 -3.72471797e-01 3.99764097e-02 5.18309320e+01] [ 3.72104314e-01 9.28043395e-01 1.65480443e-02 9.47985272e+00] [-4.32635228e-02 -4.67656022e-04 9.99063586e-01 -3.89828885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.981052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.86, Y:9.49, Z:-3.90 [[ 9.26803161e-01 -3.73312148e-01 4.09138289e-02 5.18567169e+01] [ 3.72927435e-01 9.27705684e-01 1.69496899e-02 9.48979836e+00] [-4.42835168e-02 -4.51136909e-04 9.99018902e-01 -3.90009733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.011052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.88, Y:9.50, Z:-3.90 [[ 9.26354791e-01 -3.74286489e-01 4.21476512e-02 5.18816850e+01] [ 3.73878454e-01 9.27313020e-01 1.74775425e-02 9.49946352e+00] [-4.56256737e-02 -4.32306583e-04 9.98958513e-01 -3.90265348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.041052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.91, Y:9.51, Z:-3.90 [[ 9.25903188e-01 -3.75356808e-01 4.25505939e-02 5.19067410e+01] [ 3.74941779e-01 9.26880313e-01 1.76507005e-02 9.50947919e+00] [-4.60646184e-02 -3.88844465e-04 9.98938386e-01 -3.90474152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.93, Y:9.52, Z:-3.91 [[ 9.25151977e-01 -3.77082806e-01 4.36162349e-02 5.19330767e+01] [ 3.76648451e-01 9.26179496e-01 1.80965634e-02 9.51843390e+00] [-4.72203654e-02 -3.14084078e-04 9.98884447e-01 -3.90683116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.96, Y:9.53, Z:-3.91 [[ 9.24778850e-01 -3.77937397e-01 4.41293762e-02 5.19580261e+01] [ 3.77493039e-01 9.25831108e-01 1.83238646e-02 9.52900486e+00] [-4.77816230e-02 -2.86990147e-04 9.98857765e-01 -3.90926778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.99, Y:9.54, Z:-3.92 [[ 9.25105103e-01 -3.76595626e-01 4.85415510e-02 5.19866912e+01] [ 3.76200504e-01 9.26375185e-01 1.73838114e-02 9.54062016e+00] [-5.15143556e-02 2.17950326e-03 9.98669876e-01 -3.91610763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.01, Y:9.55, Z:-3.92 [[ 9.25015566e-01 -3.76932022e-01 4.76282734e-02 5.20124728e+01] [ 3.76428221e-01 9.26240920e-01 1.94821012e-02 9.55062015e+00] [-5.14586836e-02 -9.26206256e-05 9.98675120e-01 -3.91659515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.04, Y:9.56, Z:-3.91 [[ 9.25065513e-01 -3.77319479e-01 4.34028485e-02 5.20352505e+01] [ 3.76771959e-01 9.26079515e-01 2.04847075e-02 9.56079757e+00] [-4.79237680e-02 -2.59672020e-03 9.98847621e-01 -3.91367959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.221052754 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:52.06, Y:9.57, Z:-3.93 [[ 9.26089471e-01 -3.73768872e-01 5.15278819e-02 5.20639876e+01] [ 3.73550370e-01 9.27501652e-01 1.41706266e-02 9.57405580e+00] [-5.30887348e-02 6.12499124e-03 9.98571014e-01 -3.92607324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.251052754 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:52.09, Y:9.58, Z:-3.93 [[ 9.26515402e-01 -3.73034386e-01 4.91381418e-02 5.20901787e+01] [ 3.72509605e-01 9.27817518e-01 1.97799986e-02 9.58327418e+00] [-5.29698484e-02 -2.20435986e-05 9.98596112e-01 -3.92567876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.281052754 meters Centerline goodness : 0.998321 Centerline is valid? [True, True] Translation: X:52.12, Y:9.60, Z:-3.93 [[ 9.27144422e-01 -3.71483975e-01 4.90191436e-02 5.21160664e+01] [ 3.70946505e-01 9.28439304e-01 1.99787333e-02 9.59607901e+00] [-5.29330788e-02 -3.39691114e-04 9.98598004e-01 -3.92853382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.311052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.14, Y:9.61, Z:-3.93 [[ 9.26876380e-01 -3.72665627e-01 4.49500537e-02 5.21418443e+01] [ 3.71779973e-01 9.27928568e-01 2.69856553e-02 9.60675143e+00] [-5.17670651e-02 -8.30083671e-03 9.98624688e-01 -3.92521064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.16, Y:9.62, Z:-3.93 [[ 9.26818992e-01 -3.72391631e-01 4.82807345e-02 5.21647275e+01] [ 3.71972454e-01 9.28074427e-01 1.77299633e-02 9.62043545e+00] [-5.14106050e-02 1.52663653e-03 9.98676434e-01 -3.93120912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.371052754 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:52.19, Y:9.64, Z:-3.95 [[ 9.26546589e-01 -3.72011305e-01 5.58480775e-02 5.21891074e+01] [ 3.72592119e-01 9.27995212e-01 1.34770169e-05 9.63663256e+00] [-5.18317621e-02 2.07960664e-02 9.98439278e-01 -3.94544463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.22, Y:9.63, Z:-3.92 [[ 9.26310904e-01 -3.74818560e-01 3.81989070e-02 5.22191335e+01] [ 3.73421367e-01 9.26839003e-01 3.90633360e-02 9.63412304e+00] [-5.00459003e-02 -2.19205060e-02 9.98506334e-01 -3.91916421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.431052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.24, Y:9.65, Z:-3.93 [[ 9.26174855e-01 -3.74152267e-01 4.70129762e-02 5.22408737e+01] [ 3.73635005e-01 9.27367050e-01 1.96783395e-02 9.65068745e+00] [-5.09609804e-02 -6.59889572e-04 9.98700427e-01 -3.93148414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.27, Y:9.66, Z:-3.94 [[ 9.26147830e-01 -3.74142941e-01 4.76157246e-02 5.22661725e+01] [ 3.73612051e-01 9.27370803e-01 1.99356224e-02 9.66360125e+00] [-5.16162051e-02 -6.73524899e-04 9.98666768e-01 -3.93611486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.29, Y:9.68, Z:-3.94 [[ 9.26210760e-01 -3.74015923e-01 4.73889961e-02 5.22914186e+01] [ 3.73489137e-01 9.27422024e-01 1.98558003e-02 9.67553296e+00] [-5.13759842e-02 -6.91380605e-04 9.98679143e-01 -3.93970177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.32, Y:9.69, Z:-3.94 [[ 9.26133370e-01 -3.74185341e-01 4.75637598e-02 5.23169132e+01] [ 3.73654073e-01 9.27353677e-01 1.99447359e-02 9.68600958e+00] [-5.15714553e-02 -6.99092924e-04 9.98669062e-01 -3.94234566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.551052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.34, Y:9.70, Z:-3.94 [[ 9.25910394e-01 -3.74689249e-01 4.79365140e-02 5.23433884e+01] [ 3.74149532e-01 9.27150199e-01 2.01155781e-02 9.69659844e+00] [-5.19814393e-02 -6.89798542e-04 9.98647813e-01 -3.94328622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.37, Y:9.71, Z:-3.94 [[ 9.25725431e-01 -3.75122847e-01 4.81173204e-02 5.23684537e+01] [ 3.74578712e-01 9.26974855e-01 2.02090944e-02 9.70730682e+00] [-5.21844392e-02 -6.84348726e-04 9.98637229e-01 -3.94440451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.39, Y:9.72, Z:-3.95 [[ 9.25558376e-01 -3.75579598e-01 4.77666950e-02 5.23935476e+01] [ 3.75043628e-01 9.26789906e-01 2.00685675e-02 9.71749831e+00] [-5.18070353e-02 -6.60036167e-04 9.98656896e-01 -3.94610158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.42, Y:9.73, Z:-3.95 [[ 9.25342963e-01 -3.76115741e-01 4.77215837e-02 5.24197034e+01] [ 3.75581228e-01 9.26572473e-01 2.00547658e-02 9.72832365e+00] [-5.17604189e-02 -6.34205358e-04 9.98659330e-01 -3.94785792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.671052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.45, Y:9.74, Z:-3.95 [[ 9.25186466e-01 -3.76542045e-01 4.73929546e-02 5.24452386e+01] [ 3.76014667e-01 9.26399322e-01 1.99315495e-02 9.74073913e+00] [-5.14098675e-02 -6.19953814e-04 9.98677446e-01 -3.95148850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.47, Y:9.75, Z:-3.96 [[ 9.25022725e-01 -3.76904122e-01 4.77099759e-02 5.24708388e+01] [ 3.76369353e-01 9.26252072e-01 2.00800782e-02 9.75304345e+00] [-5.17597283e-02 -6.17955859e-04 9.98659376e-01 -3.95561978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.731052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.50, Y:9.76, Z:-3.96 [[ 9.25252203e-01 -3.76467268e-01 4.66985644e-02 5.24953442e+01] [ 3.75953575e-01 9.26429696e-01 1.96704913e-02 9.76450268e+00] [-5.06682330e-02 -6.43673239e-04 9.98715333e-01 -3.95826704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.761052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.52, Y:9.78, Z:-3.96 [[ 9.25299027e-01 -3.76355022e-01 4.66755711e-02 5.25214474e+01] [ 3.75841462e-01 9.26475294e-01 1.96653277e-02 9.77570339e+00] [-5.06449083e-02 -6.53693680e-04 9.98716509e-01 -3.95948953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.791052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.55, Y:9.79, Z:-3.96 [[ 9.24590175e-01 -3.78186841e-01 4.59099405e-02 5.25473499e+01] [ 3.77691532e-01 9.25729119e-01 1.93572851e-02 9.78571572e+00] [-4.98208393e-02 -5.57759867e-04 9.98758015e-01 -3.95933300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.57, Y:9.80, Z:-3.96 [[ 9.23749989e-01 -3.80260977e-01 4.56896899e-02 5.25730738e+01] [ 3.79772216e-01 9.24879117e-01 1.92791025e-02 9.79651775e+00] [-4.95885303e-02 -4.57395923e-04 9.98769627e-01 -3.96078385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.60, Y:9.81, Z:-3.96 [[ 9.21929439e-01 -3.84648174e-01 4.57372034e-02 5.25984222e+01] [ 3.84163048e-01 9.23063230e-01 1.93138845e-02 9.80727252e+00] [-4.96473811e-02 -2.35495286e-04 9.98766781e-01 -3.96342770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.62, Y:9.82, Z:-3.96 [[ 9.20432602e-01 -3.88140789e-01 4.63740514e-02 5.26233799e+01] [ 3.87645601e-01 9.21600089e-01 1.96001080e-02 9.81712721e+00] [-5.03459313e-02 -6.38813851e-05 9.98731837e-01 -3.96481861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.65, Y:9.83, Z:-3.97 [[ 9.19842048e-01 -3.89462233e-01 4.70082465e-02 5.26499877e+01] [ 3.88954871e-01 9.21042436e-01 1.98730932e-02 9.82762224e+00] [-5.10364091e-02 3.97963071e-06 9.98696793e-01 -3.96509888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.68, Y:9.84, Z:-3.96 [[ 9.19231955e-01 -3.90721011e-01 4.84737434e-02 5.26753579e+01] [ 3.90182302e-01 9.20509146e-01 2.05105615e-02 9.83775176e+00] [-5.26344314e-02 5.96332385e-05 9.98613846e-01 -3.96417219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.70, Y:9.85, Z:-3.96 [[ 9.18735263e-01 -3.91776007e-01 4.93667678e-02 5.27016031e+01] [ 3.91218452e-01 9.20060621e-01 2.08943917e-02 9.84904617e+00] [-5.36063404e-02 1.16776053e-04 9.98562140e-01 -3.96470381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.73, Y:9.86, Z:-3.97 [[ 9.18420554e-01 -3.92365718e-01 5.05255311e-02 5.27270118e+01] [ 3.91781662e-01 9.19809287e-01 2.14010608e-02 9.86050584e+00] [-5.48708953e-02 1.39802354e-04 9.98493448e-01 -3.96567875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.031052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.75, Y:9.87, Z:-3.97 [[ 9.18936226e-01 -3.90934215e-01 5.22173635e-02 5.27519192e+01] [ 3.90307077e-01 9.20418621e-01 2.21347493e-02 9.87321188e+00] [-5.67150646e-02 4.03835432e-05 9.98390405e-01 -3.96752765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.061052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.78, Y:9.88, Z:-3.97 [[ 9.19752554e-01 -3.88956138e-01 5.26152243e-02 5.27772895e+01] [ 3.88315198e-01 9.21256269e-01 2.23202682e-02 9.88444969e+00] [-5.71537105e-02 -9.78325018e-05 9.98365386e-01 -3.96849535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.80, Y:9.89, Z:-3.97 [[ 9.20291753e-01 -3.87767668e-01 5.19550376e-02 5.28026245e+01] [ 3.87139868e-01 9.21757127e-01 2.20572227e-02 9.89420032e+00] [-5.64430040e-02 -1.85213735e-04 9.98405806e-01 -3.96934402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.121052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.83, Y:9.91, Z:-3.97 [[ 9.21060252e-01 -3.86182487e-01 5.01108682e-02 5.28289278e+01] [ 3.85595855e-01 9.22422360e-01 2.12797265e-02 9.90510761e+00] [-5.44412430e-02 -2.77367149e-04 9.98516937e-01 -3.97123503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.151052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.85, Y:9.92, Z:-3.97 [[ 9.21421723e-01 -3.85370241e-01 4.97170598e-02 5.28542452e+01] [ 3.84790780e-01 9.22761976e-01 2.11279960e-02 9.91711513e+00] [-5.40191132e-02 -3.37128234e-04 9.98539845e-01 -3.97417205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.88, Y:9.93, Z:-3.98 [[ 9.22552406e-01 -3.82837563e-01 4.82955218e-02 5.28781099e+01] [ 3.82286431e-01 9.23815546e-01 2.05407394e-02 9.92976795e+00] [-5.24799204e-02 -4.87185861e-04 9.98621861e-01 -3.97820337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.90, Y:9.94, Z:-3.98 [[ 9.23212974e-01 -3.81417420e-01 4.68887664e-02 5.29035831e+01] [ 3.80895876e-01 9.24402749e-01 1.99471576e-02 9.94131364e+00] [-5.09522980e-02 -5.55736955e-04 9.98700933e-01 -3.98032883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.93, Y:9.95, Z:-3.98 [[ 9.24418086e-01 -3.78903135e-01 4.34006512e-02 5.29285726e+01] [ 3.78452866e-01 9.25436104e-01 1.84782307e-02 9.95232522e+00] [-4.71659891e-02 -6.56509827e-04 9.98886850e-01 -3.98233201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.95, Y:9.96, Z:-3.98 [[ 9.24740988e-01 -3.78229000e-01 4.23901942e-02 5.29539819e+01] [ 3.77798491e-01 9.25711813e-01 1.80537771e-02 9.96257829e+00] [-4.60695656e-02 -6.80116239e-04 9.98938002e-01 -3.98357033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.301052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.99, Y:9.96, Z:-3.96 [[ 9.25441453e-01 -3.78034833e-01 2.54515576e-02 5.29890771e+01] [ 3.76967323e-01 9.25423821e-01 3.85537224e-02 9.96393031e+00] [-3.81281277e-02 -2.60848074e-02 9.98932344e-01 -3.96209869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.00, Y:9.99, Z:-4.00 [[ 9.24558979e-01 -3.77614252e-01 5.09722622e-02 5.30028900e+01] [ 3.78388205e-01 9.25626712e-01 -6.12832506e-03 9.99318853e+00] [-4.48671446e-02 2.49533008e-02 9.98681267e-01 -4.00041207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.03, Y:10.00, Z:-3.99 [[ 9.23622895e-01 -3.81126875e-01 4.07805360e-02 5.30329852e+01] [ 3.80730350e-01 9.24522590e-01 1.73891213e-02 9.99570496e+00] [-4.43299882e-02 -5.34602781e-04 9.99016800e-01 -3.98991702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.391052754 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:53.06, Y:10.00, Z:-3.97 [[ 9.23507813e-01 -3.82557396e-01 2.79849543e-02 5.30649673e+01] [ 3.81504399e-01 9.23642528e-01 3.65906363e-02 9.99949251e+00] [-3.98461125e-02 -2.31153553e-02 9.98938420e-01 -3.97330755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.421052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.09, Y:10.02, Z:-3.99 [[ 9.23683582e-01 -3.81360599e-01 3.70504314e-02 5.30868696e+01] [ 3.81071733e-01 9.24426270e-01 1.48460649e-02 1.00166322e+01] [-3.99120963e-02 4.05805701e-04 9.99203112e-01 -3.98684786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.451052754 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:53.11, Y:10.03, Z:-3.99 [[ 9.23272304e-01 -3.82237072e-01 3.82501467e-02 5.31121071e+01] [ 3.82038222e-01 9.24059691e-01 1.26682211e-02 1.00292327e+01] [-4.01876825e-02 2.91680035e-03 9.99187891e-01 -3.98818210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.481052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.13, Y:10.05, Z:-4.00 [[ 9.22387059e-01 -3.83169066e-01 4.88219190e-02 5.31344334e+01] [ 3.83637249e-01 9.23483841e-01 -2.37458184e-04 1.00468960e+01] [-4.49952667e-02 1.89489351e-02 9.98807471e-01 -4.00225359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.511052754 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:53.17, Y:10.05, Z:-3.98 [[ 9.22188217e-01 -3.85452008e-01 3.15537933e-02 5.31674453e+01] [ 3.84418986e-01 9.22522328e-01 3.42724081e-02 1.00469064e+01] [-4.23194474e-02 -1.94757337e-02 9.98914291e-01 -3.97913740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.541052754 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:53.19, Y:10.07, Z:-3.99 [[ 9.21801554e-01 -3.85527376e-01 4.06268085e-02 5.31885688e+01] [ 3.85310713e-01 9.22690324e-01 1.33499180e-02 1.00678523e+01] [-4.26327219e-02 3.34796938e-03 9.99085203e-01 -3.99457931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.21, Y:10.08, Z:-4.01 [[ 9.21265818e-01 -3.86154218e-01 4.64135043e-02 5.32126481e+01] [ 3.86493946e-01 9.22290227e-01 1.77965676e-03 1.00840832e+01] [-4.34939434e-02 1.62990015e-02 9.98920727e-01 -4.00755347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.24, Y:10.09, Z:-4.00 [[ 9.20956658e-01 -3.87724343e-01 3.88415719e-02 5.32416560e+01] [ 3.87367264e-01 9.21775329e-01 1.66386721e-02 1.00887502e+01] [-4.22544209e-02 -2.77542370e-04 9.99106845e-01 -4.00030660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.27, Y:10.10, Z:-4.00 [[ 9.20782171e-01 -3.88283561e-01 3.73640175e-02 5.32668116e+01] [ 3.87953014e-01 9.21539913e-01 1.60202481e-02 1.00981201e+01] [-4.06528325e-02 -2.55675633e-04 9.99173299e-01 -4.00076954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.29, Y:10.11, Z:-4.00 [[ 9.20776120e-01 -3.88433024e-01 3.59321988e-02 5.32926889e+01] [ 3.88127403e-01 9.21476927e-01 1.54075191e-02 1.01099930e+01] [-3.90954814e-02 -2.40604699e-04 9.99235450e-01 -4.00278681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.31, Y:10.13, Z:-4.03 [[ 9.19515635e-01 -3.89597692e-01 5.20061047e-02 5.33063522e+01] [ 3.90511265e-01 9.20560504e-01 -8.32530103e-03 1.01323293e+01] [-4.46312479e-02 2.79642142e-02 9.98612064e-01 -4.02875433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.34, Y:10.14, Z:-4.02 [[ 9.19285275e-01 -3.91060151e-01 4.45706356e-02 5.33351461e+01] [ 3.91035009e-01 9.20325282e-01 9.64353038e-03 1.01377571e+01] [-4.47906832e-02 8.56352343e-03 9.98959689e-01 -4.02476399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.751052754 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:53.38, Y:10.13, Z:-3.98 [[ 9.19365894e-01 -3.93124957e-01 1.48027320e-02 5.33771393e+01] [ 3.91463409e-01 9.17916358e-01 6.46989918e-02 1.01288438e+01] [-3.90224582e-02 -5.36873185e-02 9.97795029e-01 -3.98421524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.781052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.39, Y:10.16, Z:-4.03 [[ 9.19890380e-01 -3.89348851e-01 4.70017204e-02 5.33907960e+01] [ 3.89887323e-01 9.20859140e-01 -2.51372236e-03 1.01615838e+01] [-4.23032489e-02 2.06377239e-02 9.98891646e-01 -4.02528225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.811052754 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:53.42, Y:10.16, Z:-4.02 [[ 9.19548544e-01 -3.90957860e-01 3.97797216e-02 5.34232283e+01] [ 3.90430753e-01 9.20402339e-01 2.05757734e-02 1.01641699e+01] [-4.46576092e-02 -3.38919587e-03 9.98996602e-01 -4.01510363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.45, Y:10.18, Z:-4.02 [[ 9.20178076e-01 -3.89166838e-01 4.26788038e-02 5.34461200e+01] [ 3.88893364e-01 9.21162690e-01 1.48744602e-02 1.01766787e+01] [-4.51027684e-02 2.91035142e-03 9.98978113e-01 -4.01510284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.871052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.47, Y:10.19, Z:-4.01 [[ 9.20499775e-01 -3.88511178e-01 4.17040556e-02 5.34726203e+01] [ 3.88092357e-01 9.21443914e-01 1.80398116e-02 1.01871512e+01] [-4.54366167e-02 -4.20617265e-04 9.98967135e-01 -4.01434453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.49, Y:10.21, Z:-4.04 [[ 9.20390773e-01 -3.86690117e-01 5.78928173e-02 5.34911109e+01] [ 3.87593080e-01 9.21817957e-01 -4.82273267e-03 1.02088752e+01] [-5.15017355e-02 2.68776540e-02 9.98311155e-01 -4.03985994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.52, Y:10.21, Z:-4.03 [[ 9.20311735e-01 -3.88555896e-01 4.52838442e-02 5.35209840e+01] [ 3.88083518e-01 9.21425153e-01 1.91538646e-02 1.02124485e+01] [-4.91680201e-02 -5.36127920e-05 9.98790520e-01 -4.02901951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.961052754 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:53.56, Y:10.21, Z:-4.00 [[ 9.19770770e-01 -3.91623676e-01 2.55465744e-02 5.35551663e+01] [ 3.89784633e-01 9.19154689e-01 5.67679245e-02 1.02105961e+01] [-4.57129169e-02 -4.22558155e-02 9.98060507e-01 -4.00331908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.57, Y:10.25, Z:-4.05 [[ 9.18711705e-01 -3.90323999e-01 6.01330018e-02 5.35664719e+01] [ 3.92049002e-01 9.19732810e-01 -1.97265883e-02 1.02490316e+01] [-4.76065339e-02 4.16981309e-02 9.97995433e-01 -4.05388056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.61, Y:10.23, Z:-4.01 [[ 9.17504062e-01 -3.96843136e-01 2.64919220e-02 5.36079153e+01] [ 3.95587974e-01 9.17442197e-01 4.25437443e-02 1.02346971e+01] [-4.11880001e-02 -2.85541725e-02 9.98743314e-01 -4.00717957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.051052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.63, Y:10.25, Z:-4.02 [[ 9.17633177e-01 -3.95621947e-01 3.78500573e-02 5.36293863e+01] [ 3.95282023e-01 9.18413451e-01 1.63967782e-02 1.02546928e+01] [-4.12489270e-02 -8.47804213e-05 9.99148897e-01 -4.02362715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.65, Y:10.26, Z:-4.02 [[ 9.16018357e-01 -3.99226269e-01 3.90993044e-02 5.36549106e+01] [ 3.98866159e-01 9.16852432e-01 1.69530328e-02 1.02648213e+01] [-4.26163883e-02 6.61001046e-05 9.99091507e-01 -4.02355726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.68, Y:10.28, Z:-4.02 [[ 9.15489181e-01 -4.00477363e-01 3.86967981e-02 5.36801855e+01] [ 4.00125661e-01 9.16306645e-01 1.67805943e-02 1.02761372e+01] [-4.21783814e-02 1.21129395e-04 9.99110089e-01 -4.02493379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.141052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.71, Y:10.29, Z:-4.03 [[ 9.15255377e-01 -4.01194457e-01 3.67505510e-02 5.37058326e+01] [ 4.00723060e-01 9.15986866e-01 1.97253765e-02 1.02882661e+01] [-4.15767337e-02 -3.32696364e-03 9.99129775e-01 -4.02644484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.171052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.73, Y:10.30, Z:-4.03 [[ 9.15896221e-01 -3.99491313e-01 3.92530532e-02 5.37287471e+01] [ 3.99285840e-01 9.16730270e-01 1.32827230e-02 1.03019293e+01] [-4.12907945e-02 3.50759246e-03 9.99141015e-01 -4.03304838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.75, Y:10.31, Z:-4.03 [[ 9.16936044e-01 -3.97330178e-01 3.68377711e-02 5.37548791e+01] [ 3.97007798e-01 9.17675720e-01 1.60025301e-02 1.03114158e+01] [-4.01634162e-02 -4.84142868e-05 9.99193123e-01 -4.03250344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.231052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.78, Y:10.32, Z:-4.03 [[ 9.17845602e-01 -3.95228727e-01 3.67927170e-02 5.37816350e+01] [ 3.94904981e-01 9.18582730e-01 1.59945425e-02 1.03213731e+01] [-4.01186570e-02 -1.50893271e-04 9.99194911e-01 -4.03217886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.261052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.81, Y:10.33, Z:-4.03 [[ 9.18427991e-01 -3.93874243e-01 3.67845988e-02 5.38070852e+01] [ 3.93549084e-01 9.19164312e-01 1.60027060e-02 1.03322072e+01] [-4.01141441e-02 -2.20787987e-04 9.99195079e-01 -4.03301763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.83, Y:10.35, Z:-4.05 [[ 9.19041968e-01 -3.91458576e-01 4.60656426e-02 5.38319565e+01] [ 3.91724368e-01 9.20076017e-01 3.48444866e-03 1.03488593e+01] [-4.37479103e-02 1.48426802e-02 9.98932338e-01 -4.04907903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.86, Y:10.35, Z:-4.03 [[ 9.20346865e-01 -3.89801021e-01 3.18875014e-02 5.38598777e+01] [ 3.88932837e-01 9.20769994e-01 3.02302282e-02 1.03529700e+01] [-4.11448283e-02 -1.54201993e-02 9.99034194e-01 -4.03067822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.88, Y:10.37, Z:-4.04 [[ 9.20940017e-01 -3.87866972e-01 3.77981144e-02 5.38832610e+01] [ 3.87517301e-01 9.21715215e-01 1.64743605e-02 1.03690880e+01] [-4.12289574e-02 -5.24474553e-04 9.99149587e-01 -4.04052070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.91, Y:10.38, Z:-4.04 [[ 9.21624743e-01 -3.86362158e-01 3.64981693e-02 5.39088145e+01] [ 3.86034508e-01 9.22346976e-01 1.59189816e-02 1.03784354e+01] [-3.98144682e-02 -5.81774439e-04 9.99206920e-01 -4.04237930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.93, Y:10.39, Z:-4.04 [[ 9.21442874e-01 -3.86821941e-01 3.62190074e-02 5.39349117e+01] [ 3.86499188e-01 9.22154251e-01 1.58086792e-02 1.03883291e+01] [-3.95146557e-02 -5.68177872e-04 9.99218829e-01 -4.04405589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.96, Y:10.40, Z:-4.04 [[ 9.21062372e-01 -3.87731873e-01 3.61676793e-02 5.39616243e+01] [ 3.87410248e-01 9.21772045e-01 1.57986206e-02 1.03984033e+01] [-3.94639845e-02 -5.39785327e-04 9.99220848e-01 -4.04469046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.99, Y:10.41, Z:-4.05 [[ 9.20283221e-01 -3.89477295e-01 3.72321136e-02 5.39867290e+01] [ 3.89137204e-01 9.21035934e-01 1.62801631e-02 1.04088006e+01] [-4.06328684e-02 -4.93960340e-04 9.99174022e-01 -4.04611338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.01, Y:10.42, Z:-4.05 [[ 9.20487645e-01 -3.88950449e-01 3.76834641e-02 5.40106340e+01] [ 3.88601388e-01 9.21258524e-01 1.64831113e-02 1.04209144e+01] [-4.11273261e-02 -5.28653844e-04 9.99153774e-01 -4.04826924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.531052754 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:54.04, Y:10.44, Z:-4.06 [[ 9.21118172e-01 -3.87188001e-01 4.03331833e-02 5.40391463e+01] [ 3.87169246e-01 9.21968625e-01 8.59244478e-03 1.04358127e+01] [-4.05128211e-02 7.70111113e-03 9.99149340e-01 -4.05595076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.561052754 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:54.06, Y:10.44, Z:-4.05 [[ 9.20912646e-01 -3.88198029e-01 3.49598024e-02 5.40625289e+01] [ 3.87443891e-01 9.21511798e-01 2.65186145e-02 1.04420127e+01] [-4.25103443e-02 -1.08763655e-02 9.99036824e-01 -4.04637941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.09, Y:10.46, Z:-4.05 [[ 9.20965986e-01 -3.87608193e-01 3.97685933e-02 5.40871657e+01] [ 3.87334304e-01 9.21822309e-01 1.46889972e-02 1.04574441e+01] [-4.23531522e-02 1.87567366e-03 9.99100942e-01 -4.05339143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.621052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.11, Y:10.47, Z:-4.05 [[ 9.20680948e-01 -3.88389438e-01 3.87328808e-02 5.41136343e+01] [ 3.88018783e-01 9.21495136e-01 1.69746504e-02 1.04677504e+01] [-4.22849361e-02 -5.99151937e-04 9.99105412e-01 -4.05408514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.651052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.14, Y:10.48, Z:-4.06 [[ 9.20092483e-01 -3.89827259e-01 3.82691949e-02 5.41379801e+01] [ 3.89466010e-01 9.20887841e-01 1.67872420e-02 1.04789328e+01] [-4.17857608e-02 -5.41264566e-04 9.99126447e-01 -4.05754552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.681052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.16, Y:10.49, Z:-4.06 [[ 9.19441750e-01 -3.91415964e-01 3.76883495e-02 5.41632234e+01] [ 3.91168235e-01 9.20212037e-01 1.40434719e-02 1.04918038e+01] [-4.01781119e-02 1.83033082e-03 9.99190857e-01 -4.06313824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.19, Y:10.50, Z:-4.06 [[ 9.19383171e-01 -3.91730702e-01 3.58000348e-02 5.41894358e+01] [ 3.91320888e-01 9.20076137e-01 1.81070410e-02 1.05015980e+01] [-4.00318416e-02 -2.63800740e-03 9.99194922e-01 -4.06313371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.22, Y:10.51, Z:-4.07 [[ 9.19452164e-01 -3.91552577e-01 3.59763484e-02 5.42152748e+01] [ 3.91234071e-01 9.20155627e-01 1.57963237e-02 1.05131942e+01] [-3.92889307e-02 -4.48790825e-04 9.99227791e-01 -4.06527625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.24, Y:10.52, Z:-4.07 [[ 9.19372423e-01 -3.91697533e-01 3.64333708e-02 5.42412575e+01] [ 3.91370571e-01 9.20093926e-01 1.60075899e-02 1.05244861e+01] [-3.97922566e-02 -4.57987582e-04 9.99207870e-01 -4.06611745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.801052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.27, Y:10.54, Z:-4.07 [[ 9.19343999e-01 -3.91672641e-01 3.74052564e-02 5.42670607e+01] [ 3.91327459e-01 9.20104510e-01 1.64472166e-02 1.05351081e+01] [-4.08586699e-02 -4.82945956e-04 9.99164819e-01 -4.06518490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.29, Y:10.55, Z:-4.07 [[ 9.19215966e-01 -3.91875160e-01 3.84170257e-02 5.42924704e+01] [ 3.91510674e-01 9.20018266e-01 1.69050677e-02 1.05471818e+01] [-4.19690415e-02 -4.98732490e-04 9.99118787e-01 -4.06667640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.32, Y:10.56, Z:-4.07 [[ 9.18958676e-01 -3.92294763e-01 4.02463795e-02 5.43166654e+01] [ 3.91894389e-01 9.19839416e-01 1.77267303e-02 1.05583964e+01] [-4.39743097e-02 -5.17802328e-04 9.99032528e-01 -4.06848965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.34, Y:10.57, Z:-4.07 [[ 9.18555476e-01 -3.93193852e-01 4.06747043e-02 5.43429301e+01] [ 3.92785658e-01 9.19455470e-01 1.79183040e-02 1.05690558e+01] [-4.44439463e-02 -4.82515766e-04 9.99011763e-01 -4.06925199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.921052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.37, Y:10.58, Z:-4.07 [[ 9.17444777e-01 -3.95552403e-01 4.28179489e-02 5.43679938e+01] [ 3.95101800e-01 9.18443321e-01 1.88794527e-02 1.05786604e+01] [-4.67936721e-02 -4.03406601e-04 9.98904495e-01 -4.07005662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.39, Y:10.59, Z:-4.07 [[ 9.16954384e-01 -3.96544774e-01 4.41236913e-02 5.43928939e+01] [ 3.96067097e-01 9.18015308e-01 1.94614628e-02 1.05891516e+01] [-4.82235654e-02 -3.69331327e-04 9.98836499e-01 -4.07097148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.981052754000004 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:54.42, Y:10.61, Z:-4.08 [[ 9.15933369e-01 -3.98602590e-01 4.67122888e-02 5.44186429e+01] [ 3.98861533e-01 9.17002250e-01 4.04356505e-03 1.06060583e+01] [-4.44470495e-02 1.49280990e-02 9.98900201e-01 -4.08016776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.011052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.45, Y:10.61, Z:-4.07 [[ 9.16375817e-01 -3.98384732e-01 3.93060794e-02 5.44471941e+01] [ 3.97267572e-01 9.17096612e-01 3.33508712e-02 1.06079225e+01] [-4.93339501e-02 -1.49469011e-02 9.98670492e-01 -4.06705485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.041052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.47, Y:10.63, Z:-4.08 [[ 9.15628659e-01 -3.99364390e-01 4.61762273e-02 5.44706296e+01] [ 3.99419863e-01 9.16729442e-01 8.42035724e-03 1.06273116e+01] [-4.56938979e-02 1.07337820e-02 9.98897819e-01 -4.08205166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.50, Y:10.63, Z:-4.08 [[ 9.15705858e-01 -3.99617290e-01 4.22942410e-02 5.44960675e+01] [ 3.99325523e-01 9.16678117e-01 1.55033998e-02 1.06347883e+01] [-4.49656318e-02 2.69261595e-03 9.98984906e-01 -4.07905558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.52, Y:10.64, Z:-4.07 [[ 9.15844824e-01 -3.99671397e-01 3.86138999e-02 5.45242081e+01] [ 3.98661564e-01 9.16561480e-01 3.13689343e-02 1.06418742e+01] [-4.79292790e-02 -1.33351983e-02 9.98761712e-01 -4.07188624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.55, Y:10.66, Z:-4.09 [[ 9.15648775e-01 -3.99417884e-01 4.53064541e-02 5.45474104e+01] [ 3.99351192e-01 9.16733141e-01 1.09075198e-02 1.06606389e+01] [-4.58905865e-02 8.10572932e-03 9.98913585e-01 -4.08529418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.58, Y:10.67, Z:-4.08 [[ 9.15219095e-01 -4.00849559e-01 4.11538565e-02 5.45754043e+01] [ 4.00011317e-01 9.16104530e-01 2.72660237e-02 1.06679199e+01] [-4.86308080e-02 -8.49237718e-03 9.98780719e-01 -4.07846062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.60, Y:10.68, Z:-4.09 [[ 9.14906914e-01 -4.01150240e-01 4.49869282e-02 5.45992682e+01] [ 4.00654962e-01 9.16012250e-01 1.99288716e-02 1.06824626e+01] [-4.92030490e-02 -2.08826384e-04 9.98788775e-01 -4.08543341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.63, Y:10.69, Z:-4.09 [[ 9.14799418e-01 -4.01580095e-01 4.33064949e-02 5.46255332e+01] [ 4.01121014e-01 9.15823886e-01 1.91974323e-02 1.06934620e+01] [-4.73704292e-02 -1.90654712e-04 9.98877373e-01 -4.08758948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.65, Y:10.70, Z:-4.09 [[ 9.14853883e-01 -4.01588619e-01 4.20589375e-02 5.46510154e+01] [ 4.01155015e-01 9.15820148e-01 1.86577403e-02 1.07042886e+01] [-4.60111585e-02 -1.96952511e-04 9.98940906e-01 -4.08971645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.281052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.68, Y:10.72, Z:-4.09 [[ 9.15300441e-01 -4.00726801e-01 4.05355850e-02 5.46750189e+01] [ 4.00322512e-01 9.16197561e-01 1.79976646e-02 1.07160220e+01] [-4.43507507e-02 -2.45963141e-04 9.99015991e-01 -4.09330946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.311052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.70, Y:10.73, Z:-4.10 [[ 9.15554414e-01 -4.00156142e-01 4.04373198e-02 5.47000983e+01] [ 3.99753115e-01 9.16446936e-01 1.79571997e-02 1.07277785e+01] [-4.42443415e-02 -2.75848903e-04 9.99020702e-01 -4.09547857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.341052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.73, Y:10.74, Z:-4.10 [[ 9.15723895e-01 -3.99775011e-01 4.03694094e-02 5.47251901e+01] [ 3.99372393e-01 9.16613248e-01 1.79400307e-02 1.07396908e+01] [-4.41751114e-02 -3.05687156e-04 9.99023757e-01 -4.09692426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.371052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.75, Y:10.75, Z:-4.10 [[ 9.16498413e-01 -3.97904904e-01 4.12595039e-02 5.47504895e+01] [ 3.97481815e-01 9.17426571e-01 1.83492091e-02 1.07524344e+01] [-4.51538055e-02 -4.17118495e-04 9.98979960e-01 -4.09677860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.401052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.78, Y:10.76, Z:-4.10 [[ 9.16859749e-01 -3.97011130e-01 4.18373510e-02 5.47750461e+01] [ 3.96574403e-01 9.17813668e-01 1.86229450e-02 1.07647101e+01] [-4.57924090e-02 -4.83006157e-04 9.98950861e-01 -4.09867556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.431052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:54.80, Y:10.78, Z:-4.10 [[ 9.16836843e-01 -3.97051477e-01 4.19562602e-02 5.47992198e+01] [ 3.96612024e-01 9.17796212e-01 1.86819623e-02 1.07756893e+01] [-4.59249974e-02 -4.87954055e-04 9.98944772e-01 -4.10106319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.83, Y:10.79, Z:-4.10 [[ 9.16661764e-01 -3.97441349e-01 4.20901978e-02 5.48250635e+01] [ 3.96999333e-01 9.17627457e-01 1.87451166e-02 1.07865842e+01] [-4.60732056e-02 -4.73151137e-04 9.98937954e-01 -4.10307972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.85, Y:10.80, Z:-4.10 [[ 9.16052800e-01 -3.98693729e-01 4.34807781e-02 5.48501265e+01] [ 3.98222608e-01 9.17084030e-01 1.93813620e-02 1.07964140e+01] [-4.76027547e-02 -4.39322113e-04 9.98866250e-01 -4.10382751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.521052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:54.88, Y:10.81, Z:-4.10 [[ 9.15815061e-01 -3.99130348e-01 4.44717810e-02 5.48764574e+01] [ 3.98637793e-01 9.16894094e-01 1.98275117e-02 1.08074774e+01] [-4.86896750e-02 -4.30201244e-04 9.98813862e-01 -4.10457326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.551052754000004 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:54.90, Y:10.82, Z:-4.10 [[ 9.16089552e-01 -3.98448547e-01 4.49298160e-02 5.49028519e+01] [ 3.97944240e-01 9.17190558e-01 2.00464962e-02 1.08186743e+01] [-4.91967003e-02 -4.84824215e-04 9.98788992e-01 -4.10467937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.93, Y:10.83, Z:-4.11 [[ 9.16658487e-01 -3.97182895e-01 4.45305013e-02 5.49284773e+01] [ 3.96685331e-01 9.17739306e-01 1.98825189e-02 1.08293013e+01] [-4.87643878e-02 -5.60883027e-04 9.98810152e-01 -4.10573932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.95, Y:10.84, Z:-4.11 [[ 9.16345410e-01 -3.97893903e-01 4.46265728e-02 5.49546473e+01] [ 3.97394316e-01 9.17431280e-01 1.99400257e-02 1.08402350e+01] [-4.88758284e-02 -5.37604630e-04 9.98804718e-01 -4.10744658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.98, Y:10.85, Z:-4.11 [[ 9.15600989e-01 -3.99762966e-01 4.31787007e-02 5.49815320e+01] [ 3.99296726e-01 9.16618449e-01 1.93065687e-02 1.08495365e+01] [-4.72964448e-02 -4.35999569e-04 9.98880802e-01 -4.10930334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.671052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.01, Y:10.86, Z:-4.11 [[ 9.15305249e-01 -4.00556685e-01 4.20790138e-02 5.50063231e+01] [ 4.00114014e-01 9.16271894e-01 1.88306497e-02 1.08593093e+01] [-4.60985603e-02 -3.99389415e-04 9.98936816e-01 -4.11087230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.701052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.03, Y:10.87, Z:-4.11 [[ 9.14890610e-01 -4.01600356e-01 4.11378915e-02 5.50315352e+01] [ 4.01178125e-01 9.15814957e-01 1.84140095e-02 1.08690257e+01] [-4.50697691e-02 -3.43182178e-04 9.98983783e-01 -4.11239420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.731052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.06, Y:10.88, Z:-4.11 [[ 9.14961611e-01 -4.01519760e-01 4.03377275e-02 5.50575464e+01] [ 4.01113415e-01 9.15850294e-01 1.80628463e-02 1.08806142e+01] [-4.41959093e-02 -3.46807299e-04 9.99022823e-01 -4.11335510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.761052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.08, Y:10.89, Z:-4.11 [[ 9.15123071e-01 -4.01180109e-01 4.00535296e-02 5.50826879e+01] [ 4.00778579e-01 9.15999116e-01 1.79485246e-02 1.08925071e+01] [-4.38895888e-02 -3.72512286e-04 9.99036318e-01 -4.11498593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.791052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.11, Y:10.91, Z:-4.12 [[ 9.15762374e-01 -3.99685368e-01 4.03841657e-02 5.51066527e+01] [ 3.99275141e-01 9.16652276e-01 1.81098456e-02 1.09069129e+01] [-4.42564777e-02 -4.59921707e-04 9.99020096e-01 -4.11769845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.13, Y:10.92, Z:-4.12 [[ 9.15963377e-01 -3.99103504e-01 4.15630331e-02 5.51317866e+01] [ 3.98667730e-01 9.16905736e-01 1.86524171e-02 1.09193799e+01] [-4.55536285e-02 -5.15090875e-04 9.98961762e-01 -4.11877138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.16, Y:10.93, Z:-4.12 [[ 9.15656230e-01 -3.99761110e-01 4.20086182e-02 5.51569654e+01] [ 3.99315969e-01 9.16619226e-01 1.88667002e-02 1.09300825e+01] [-4.60480801e-02 -5.00699514e-04 9.98939099e-01 -4.11948352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.18, Y:10.94, Z:-4.12 [[ 9.15009021e-01 -4.01205484e-01 4.23397015e-02 5.51820997e+01] [ 4.00754063e-01 9.15987969e-01 1.90321086e-02 1.09410551e+01] [-4.64184435e-02 -4.46743677e-04 9.98921983e-01 -4.12034573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.21, Y:10.95, Z:-4.12 [[ 9.14682217e-01 -4.01957724e-01 4.22661864e-02 5.52074347e+01] [ 4.01508502e-01 9.15658134e-01 1.90027337e-02 1.09521978e+01] [-4.63396729e-02 -4.11229381e-04 9.98925656e-01 -4.12166964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.23, Y:10.96, Z:-4.12 [[ 9.14580737e-01 -4.02189117e-01 4.22609630e-02 5.52334494e+01] [ 4.01739606e-01 9.15556522e-01 1.90143416e-02 1.09639884e+01] [-4.63396616e-02 -4.12247971e-04 9.98925656e-01 -4.12340331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.26, Y:10.97, Z:-4.12 [[ 9.14421763e-01 -4.02492727e-01 4.28070601e-02 5.52585720e+01] [ 4.02031238e-01 9.15423090e-01 1.92730437e-02 1.09746744e+01] [-4.69438311e-02 -4.13915231e-04 9.98897445e-01 -4.12396681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.001052754 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:55.29, Y:10.99, Z:-4.12 [[ 9.14405995e-01 -4.02355094e-01 4.44078282e-02 5.52860130e+01] [ 4.01938920e-01 9.15483037e-01 1.83279783e-02 1.09874078e+01] [-4.80289688e-02 1.09002130e-03 9.98845348e-01 -4.12482742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.031052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.31, Y:11.00, Z:-4.13 [[ 9.14945419e-01 -4.01089655e-01 4.47433596e-02 5.53103595e+01] [ 4.00511617e-01 9.16036941e-01 2.16048040e-02 1.09985961e+01] [-4.96520337e-02 -1.84698117e-03 9.98764869e-01 -4.12605997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.061052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.33, Y:11.01, Z:-4.13 [[ 9.15285796e-01 -4.00286798e-01 4.49710145e-02 5.53348661e+01] [ 3.99772702e-01 9.16389725e-01 2.02893554e-02 1.10104828e+01] [-4.93325367e-02 -5.92374838e-04 9.98782233e-01 -4.12899670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.091052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.36, Y:11.02, Z:-4.13 [[ 9.15314786e-01 -4.00244212e-01 4.47595103e-02 5.53620696e+01] [ 3.99785223e-01 9.16408450e-01 1.91658138e-02 1.10228406e+01] [-4.86889995e-02 3.51438109e-04 9.98813926e-01 -4.13242698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.121052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.39, Y:11.03, Z:-4.13 [[ 9.16019269e-01 -3.98863677e-01 4.26200248e-02 5.53874323e+01] [ 3.98269442e-01 9.17004743e-01 2.19943715e-02 1.10310754e+01] [-4.78555208e-02 -3.17301459e-03 9.98849228e-01 -4.13246807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.151052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.41, Y:11.04, Z:-4.14 [[ 9.17022895e-01 -3.96510126e-01 4.29968677e-02 5.54136083e+01] [ 3.96130450e-01 9.18029698e-01 1.73821781e-02 1.10424138e+01] [-4.63646111e-02 1.09251326e-03 9.98923986e-01 -4.13721529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.181052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.44, Y:11.05, Z:-4.14 [[ 9.17554097e-01 -3.95488847e-01 4.10250059e-02 5.54395651e+01] [ 3.95055261e-01 9.18470434e-01 1.85311209e-02 1.10532023e+01] [-4.50091066e-02 -7.96161414e-04 9.98986259e-01 -4.13748068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.211052754 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:55.46, Y:11.06, Z:-4.14 [[ 9.18208832e-01 -3.94274896e-01 3.79453129e-02 5.54648411e+01] [ 3.93619101e-01 9.18966889e-01 2.37457446e-02 1.10626140e+01] [-4.42328371e-02 -6.86755251e-03 9.98997644e-01 -4.13671362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.49, Y:11.08, Z:-4.15 [[ 9.19077469e-01 -3.91972536e-01 4.06710794e-02 5.54877779e+01] [ 3.91814561e-01 9.19964406e-01 1.21178596e-02 1.10810756e+01] [-4.21658136e-02 4.79826933e-03 9.99099105e-01 -4.14599779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.271052754 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:55.51, Y:11.09, Z:-4.14 [[ 9.19709829e-01 -3.90933543e-01 3.61219633e-02 5.55133981e+01] [ 3.90446627e-01 9.20409057e-01 1.99649545e-02 1.10916196e+01] [-4.10519526e-02 -4.25826619e-03 9.99147939e-01 -4.14418540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.301052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.54, Y:11.11, Z:-4.15 [[ 9.19917514e-01 -3.90191366e-01 3.87616408e-02 5.55385677e+01] [ 3.89940824e-01 9.20731368e-01 1.41386464e-02 1.11087156e+01] [-4.12058363e-02 2.10835770e-03 9.99148454e-01 -4.15080928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.331052754 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:55.57, Y:11.12, Z:-4.15 [[ 9.19683370e-01 -3.90932586e-01 3.67996324e-02 5.55652618e+01] [ 3.90578034e-01 9.20418812e-01 1.66736341e-02 1.11191361e+01] [-4.03893408e-02 -9.61335893e-04 9.99183555e-01 -4.14954743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.59, Y:11.13, Z:-4.15 [[ 9.19450883e-01 -3.91539229e-01 3.61539297e-02 5.55917319e+01] [ 3.91197013e-01 9.20160947e-01 1.63929250e-02 1.11291789e+01] [-3.96859074e-02 -9.29180073e-04 9.99211772e-01 -4.14930651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.62, Y:11.14, Z:-4.15 [[ 9.19375591e-01 -3.91745974e-01 3.58275772e-02 5.56162153e+01] [ 3.91409449e-01 9.20072950e-01 1.62606733e-02 1.11393930e+01] [-3.93340380e-02 -9.26413860e-04 9.99225688e-01 -4.15079038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.421052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.64, Y:11.15, Z:-4.15 [[ 9.19311681e-01 -3.91928160e-01 3.54732253e-02 5.56416582e+01] [ 3.91598351e-01 9.19995374e-01 1.61010290e-02 1.11505744e+01] [-3.89456498e-02 -9.10607473e-04 9.99240915e-01 -4.15263794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.451052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.67, Y:11.16, Z:-4.15 [[ 9.18942060e-01 -3.92772296e-01 3.57129439e-02 5.56658008e+01] [ 3.92438082e-01 9.19635321e-01 1.62242951e-02 1.11616498e+01] [-3.92153383e-02 -8.94067985e-04 9.99230383e-01 -4.15494447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.481052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.69, Y:11.17, Z:-4.16 [[ 9.18097695e-01 -3.94715165e-01 3.60077868e-02 5.56916751e+01] [ 3.94376648e-01 9.18803167e-01 1.63645888e-02 1.11736727e+01] [-3.95434200e-02 -8.23661003e-04 9.99217514e-01 -4.15668620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.511052754 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:55.72, Y:11.18, Z:-4.16 [[ 9.17445431e-01 -3.96144325e-01 3.69263340e-02 5.57165108e+01] [ 3.95970023e-01 9.18181963e-01 1.22320710e-02 1.11847540e+01] [-3.87507594e-02 3.39946368e-03 9.99243125e-01 -4.15930044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.541052754 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:55.74, Y:11.19, Z:-4.16 [[ 9.17052348e-01 -3.97303622e-01 3.41295071e-02 5.57436843e+01] [ 3.96749054e-01 9.17663161e-01 2.20116161e-02 1.11930039e+01] [-4.00646862e-02 -6.64495461e-03 9.99174992e-01 -4.15561222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.571052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:55.77, Y:11.20, Z:-4.16 [[ 9.16696027e-01 -3.97851927e-01 3.71784601e-02 5.57675447e+01] [ 3.97443650e-01 9.17447823e-01 1.81118191e-02 1.12047491e+01] [-4.13151194e-02 -1.82668973e-03 9.99144496e-01 -4.15903053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.79, Y:11.22, Z:-4.16 [[ 9.16844454e-01 -3.97410461e-01 3.82252875e-02 5.57924809e+01] [ 3.97090926e-01 9.17640785e-01 1.59432110e-02 1.12165705e+01] [-4.14130817e-02 5.61470258e-04 9.99141953e-01 -4.16109751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.82, Y:11.23, Z:-4.16 [[ 9.16069008e-01 -3.98992042e-01 4.02855203e-02 5.58196873e+01] [ 3.98624287e-01 9.16954316e-01 1.71306996e-02 1.12291148e+01] [-4.37749945e-02 3.65883828e-04 9.99041348e-01 -4.16177698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.85, Y:11.24, Z:-4.16 [[ 9.15787594e-01 -3.99612929e-01 4.05288722e-02 5.58451418e+01] [ 3.99187826e-01 9.16683699e-01 1.84411599e-02 1.12412065e+01] [-4.45214824e-02 -7.09553064e-04 9.99008175e-01 -4.16294676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.691052754 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:55.87, Y:11.25, Z:-4.17 [[ 9.15357628e-01 -4.00527856e-01 4.12049753e-02 5.58691368e+01] [ 4.00088763e-01 9.16284324e-01 1.87621883e-02 1.12528203e+01] [-4.52702520e-02 -6.88464589e-04 9.98974539e-01 -4.16513554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.721052754 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:55.89, Y:11.26, Z:-4.17 [[ 9.15402431e-01 -4.00458218e-01 4.08852741e-02 5.58934637e+01] [ 4.00198046e-01 9.16310468e-01 1.47190510e-02 1.12644741e+01] [-4.33579696e-02 2.88835174e-03 9.99055426e-01 -4.16839475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.92, Y:11.27, Z:-4.17 [[ 9.15191163e-01 -4.01191741e-01 3.83447904e-02 5.59187782e+01] [ 4.00692248e-01 9.15988572e-01 2.02647142e-02 1.12732835e+01] [-4.32534258e-02 -3.18162706e-03 9.99059067e-01 -4.16821788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.781052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.95, Y:11.29, Z:-4.17 [[ 9.14483290e-01 -4.02713350e-01 3.92717467e-02 5.59457453e+01] [ 4.02238796e-01 9.15323533e-01 1.96667658e-02 1.12851135e+01] [-4.38664231e-02 -2.18830861e-03 9.99035009e-01 -4.17039921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.811052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.97, Y:11.30, Z:-4.17 [[ 9.14295198e-01 -4.03051545e-01 4.01714213e-02 5.59708439e+01] [ 4.02636478e-01 9.15177112e-01 1.82953605e-02 1.12963528e+01] [-4.41379387e-02 -5.52880664e-04 9.99025293e-01 -4.17214905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.841052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.00, Y:11.31, Z:-4.17 [[ 9.13923992e-01 -4.03781183e-01 4.12758156e-02 5.59962901e+01] [ 4.03343427e-01 9.14855435e-01 1.88045953e-02 1.13070806e+01] [-4.53543460e-02 -5.37641884e-04 9.98970818e-01 -4.17152665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.871052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.02, Y:11.32, Z:-4.17 [[ 9.13482920e-01 -4.04664118e-01 4.23781463e-02 5.60219432e+01] [ 4.04203424e-01 9.14465249e-01 1.93106336e-02 1.13192777e+01] [-4.65676626e-02 -5.10542104e-04 9.98915007e-01 -4.17275493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.901052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.05, Y:11.33, Z:-4.17 [[ 9.12811204e-01 -4.05957983e-01 4.44277113e-02 5.60460157e+01] [ 4.05452293e-01 9.13891615e-01 2.02621530e-02 1.13315340e+01] [-4.88276956e-02 -4.82202837e-04 9.98807100e-01 -4.17487777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.931052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.07, Y:11.34, Z:-4.18 [[ 9.12298111e-01 -4.06989584e-01 4.55152236e-02 5.60701513e+01] [ 4.06459766e-01 9.13432691e-01 2.07647967e-02 1.13430383e+01] [-5.00261491e-02 -4.43577699e-04 9.98747810e-01 -4.17730254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.10, Y:11.35, Z:-4.18 [[ 9.11583636e-01 -4.08640324e-01 4.50373296e-02 5.60954565e+01] [ 4.08123382e-01 9.12695437e-01 2.05510089e-02 1.13544007e+01] [-4.95033362e-02 -3.53176119e-04 9.98773896e-01 -4.17994547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.12, Y:11.37, Z:-4.18 [[ 9.11381179e-01 -4.09158097e-01 4.44297028e-02 5.61209628e+01] [ 4.08654919e-01 9.12463446e-01 2.02883556e-02 1.13658257e+01] [-4.88416247e-02 -3.34008868e-04 9.98806480e-01 -4.18244194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.15, Y:11.38, Z:-4.19 [[ 9.11443763e-01 -4.09105739e-01 4.36206489e-02 5.61466581e+01] [ 4.08619990e-01 9.12486918e-01 1.99330822e-02 1.13771936e+01] [-4.79580098e-02 -3.43614323e-04 9.98849294e-01 -4.18517240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.051052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.17, Y:11.39, Z:-4.19 [[ 9.11631896e-01 -4.08687866e-01 4.36063622e-02 5.61725470e+01] [ 4.08201265e-01 9.12674140e-01 1.99409743e-02 1.13882003e+01] [-4.79480334e-02 -3.78656042e-04 9.98849760e-01 -4.18626805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.20, Y:11.40, Z:-4.19 [[ 9.11882299e-01 -4.08075294e-01 4.41047307e-02 5.61970101e+01] [ 4.07575966e-01 9.12948174e-01 2.01857161e-02 1.13999102e+01] [-4.85026254e-02 -4.30968999e-04 9.98822962e-01 -4.18775290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.22, Y:11.41, Z:-4.19 [[ 9.12241903e-01 -4.07235986e-01 4.44247886e-02 5.62222276e+01] [ 4.06728176e-01 9.13322845e-01 2.03364701e-02 1.14126836e+01] [-4.88559168e-02 -4.82966996e-04 9.98805720e-01 -4.18950964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.141052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.25, Y:11.43, Z:-4.19 [[ 9.13534332e-01 -4.04300568e-01 4.46774545e-02 5.62459205e+01] [ 4.03782714e-01 9.14625945e-01 2.04670836e-02 1.14277718e+01] [-4.91380126e-02 -6.57399656e-04 9.98791782e-01 -4.19195591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.171052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.27, Y:11.44, Z:-4.20 [[ 9.14490629e-01 -4.02098094e-01 4.49890135e-02 5.62698043e+01] [ 4.01569576e-01 9.15596249e-01 2.06248749e-02 1.14419031e+01] [-4.94849949e-02 -7.95035754e-04 9.98774551e-01 -4.19533068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.201052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.29, Y:11.45, Z:-4.20 [[ 9.14537535e-01 -4.02000354e-01 4.49089392e-02 5.62939529e+01] [ 4.01472761e-01 9.15639149e-01 2.06051107e-02 1.14528932e+01] [-4.94036447e-02 -8.14431362e-04 9.98778562e-01 -4.19683384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.231052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.32, Y:11.46, Z:-4.20 [[ 9.13847087e-01 -4.03519350e-01 4.53391274e-02 5.63205804e+01] [ 4.02983223e-01 9.14970809e-01 2.08072381e-02 1.14630992e+01] [-4.98801013e-02 -7.43726230e-04 9.98754936e-01 -4.19856756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.261052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.35, Y:11.47, Z:-4.20 [[ 9.13426029e-01 -4.04487518e-01 4.51966518e-02 5.63457439e+01] [ 4.03955111e-01 9.14543248e-01 2.07585299e-02 1.14738587e+01] [-4.97308590e-02 -7.03963033e-04 9.98762407e-01 -4.20002974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.291052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.37, Y:11.48, Z:-4.21 [[ 9.13377029e-01 -4.04522988e-01 4.58645245e-02 5.63745899e+01] [ 4.04129999e-01 9.14525335e-01 1.79542715e-02 1.14847585e+01] [-4.92071852e-02 2.13621101e-03 9.98786308e-01 -4.20527959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.40, Y:11.49, Z:-4.20 [[ 9.12807553e-01 -4.06256071e-01 4.16938257e-02 5.63984260e+01] [ 4.05678079e-01 9.13754161e-01 2.18776080e-02 1.14938301e+01] [-4.69858178e-02 -3.05577474e-03 9.98890883e-01 -4.20320727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.42, Y:11.51, Z:-4.21 [[ 9.12808242e-01 -4.06161669e-01 4.25888746e-02 5.64239093e+01] [ 4.05689855e-01 9.13801042e-01 1.95805364e-02 1.15060496e+01] [-4.68706213e-02 -5.95400608e-04 9.98900791e-01 -4.20576305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.45, Y:11.52, Z:-4.21 [[ 9.12709563e-01 -4.06351855e-01 4.28884946e-02 5.64495041e+01] [ 4.05872930e-01 9.13716481e-01 1.97321374e-02 1.15176664e+01] [-4.72061150e-02 -6.02431515e-04 9.98884988e-01 -4.20705050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.47, Y:11.53, Z:-4.21 [[ 9.12797297e-01 -4.06168131e-01 4.27614833e-02 5.64740761e+01] [ 4.05691190e-01 9.13798151e-01 1.96874802e-02 1.15311786e+01] [-4.70717914e-02 -6.22721671e-04 9.98891315e-01 -4.21005195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.50, Y:11.54, Z:-4.21 [[ 9.13076523e-01 -4.05622428e-01 4.19727273e-02 5.64980349e+01] [ 4.05161592e-01 9.14040491e-01 1.93407839e-02 1.15441874e+01] [-4.62098280e-02 -6.53878742e-04 9.98931541e-01 -4.21393779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.52, Y:11.56, Z:-4.22 [[ 9.13308627e-01 -4.05259395e-01 4.04001727e-02 5.65229485e+01] [ 4.04831974e-01 9.14201510e-01 1.86191293e-02 1.15560900e+01] [-4.44794759e-02 -6.49729766e-04 9.99010087e-01 -4.21798793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.55, Y:11.57, Z:-4.22 [[ 9.13058231e-01 -4.05910727e-01 3.95113669e-02 5.65496741e+01] [ 4.05501977e-01 9.13912524e-01 1.82220888e-02 1.15666107e+01] [-4.35064744e-02 -6.15890802e-04 9.99052955e-01 -4.21788120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.531052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.58, Y:11.58, Z:-4.22 [[ 9.12488349e-01 -4.07095904e-01 4.04714427e-02 5.65763495e+01] [ 4.06667653e-01 9.13385233e-01 1.86771698e-02 1.15753932e+01] [-4.45694174e-02 -5.84273176e-04 9.99006119e-01 -4.21653392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.561052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.60, Y:11.59, Z:-4.22 [[ 9.12120479e-01 -4.07842312e-01 4.12417415e-02 5.66012935e+01] [ 4.07397699e-01 9.13052201e-01 1.90471172e-02 1.15876320e+01] [-4.54240831e-02 -5.71475065e-04 9.98967630e-01 -4.21826979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.591052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.63, Y:11.60, Z:-4.22 [[ 9.11962091e-01 -4.08067456e-01 4.24981936e-02 5.66260462e+01] [ 4.07594869e-01 9.12951588e-01 1.96423085e-02 1.16003913e+01] [-4.68141802e-02 -5.90995066e-04 9.98903440e-01 -4.22164494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.621052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.65, Y:11.61, Z:-4.22 [[ 9.12040220e-01 -4.07704813e-01 4.42653684e-02 5.66495819e+01] [ 4.07190789e-01 9.13113553e-01 2.04768213e-02 1.16135014e+01] [-4.87678064e-02 -6.51234312e-04 9.98809930e-01 -4.22484792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.651052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.67, Y:11.63, Z:-4.23 [[ 9.12009718e-01 -4.07752687e-01 4.44524604e-02 5.66742844e+01] [ 4.07234146e-01 9.13092173e-01 2.05677645e-02 1.16258432e+01] [-4.89757549e-02 -6.55441292e-04 9.98799753e-01 -4.22685132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.681052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.70, Y:11.64, Z:-4.23 [[ 9.11884213e-01 -4.08083421e-01 4.39898134e-02 5.66982889e+01] [ 4.07575311e-01 9.12944416e-01 2.03680968e-02 1.16371938e+01] [-4.84721371e-02 -6.44184004e-04 9.98824327e-01 -4.22891521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.72, Y:11.65, Z:-4.23 [[ 9.11042780e-01 -4.09969055e-01 4.38910759e-02 5.67245312e+01] [ 4.09464716e-01 9.12099263e-01 2.03367099e-02 1.16472458e+01] [-4.83704397e-02 -5.55765774e-04 9.98829311e-01 -4.22905452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.75, Y:11.66, Z:-4.23 [[ 9.10679071e-01 -4.10751791e-01 4.41202368e-02 5.67494144e+01] [ 4.10242231e-01 9.11747049e-01 2.04604459e-02 1.16585930e+01] [-4.86306605e-02 -5.32915462e-04 9.98816687e-01 -4.23056555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.77, Y:11.67, Z:-4.23 [[ 9.09914786e-01 -4.12258279e-01 4.58060407e-02 5.67731601e+01] [ 4.11710555e-01 9.11066894e-01 2.12493325e-02 1.16717614e+01] [-5.04925805e-02 -4.76251354e-04 9.98724323e-01 -4.23477555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.801052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.80, Y:11.68, Z:-4.24 [[ 9.09335391e-01 -4.13491100e-01 4.61980166e-02 5.67987292e+01] [ 4.12935288e-01 9.10508065e-01 2.14362069e-02 1.16839768e+01] [-5.09273475e-02 -4.15910288e-04 9.98702274e-01 -4.23693233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.82, Y:11.70, Z:-4.24 [[ 9.09230141e-01 -4.13723150e-01 4.61920534e-02 5.68246058e+01] [ 4.13166985e-01 9.10402648e-01 2.14490483e-02 1.16960690e+01] [-5.09273355e-02 -4.17089754e-04 9.98702274e-01 -4.23867613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.85, Y:11.71, Z:-4.24 [[ 9.07567779e-01 -4.17313378e-01 4.65861589e-02 5.68508838e+01] [ 4.16751652e-01 9.08762615e-01 2.16464632e-02 1.17069946e+01] [-5.13691183e-02 -2.30773875e-04 9.98679709e-01 -4.24016866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.88, Y:11.72, Z:-4.24 [[ 9.06653236e-01 -4.19230933e-01 4.71734439e-02 5.68767945e+01] [ 4.18656722e-01 9.07879621e-01 2.19349800e-02 1.17181789e+01] [-5.20236305e-02 -1.37941211e-04 9.98645845e-01 -4.24125499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.921052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.90, Y:11.73, Z:-4.24 [[ 9.05538302e-01 -4.21564058e-01 4.77925567e-02 5.69018165e+01] [ 4.20976960e-01 9.06798624e-01 2.22408244e-02 1.17289612e+01] [-5.27141569e-02 -2.03531438e-05 9.98609642e-01 -4.24289073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.951052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.93, Y:11.74, Z:-4.24 [[ 9.05086602e-01 -4.22423956e-01 4.87467344e-02 5.69264325e+01] [ 4.21814016e-01 9.06398367e-01 2.26921920e-02 1.17405284e+01] [-5.37696860e-02 2.36568523e-05 9.98553364e-01 -4.24437543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.981052754000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.95, Y:11.75, Z:-4.25 [[ 9.04548800e-01 -4.23516365e-01 4.92479208e-02 5.69514824e+01] [ 4.22895099e-01 9.05888449e-01 2.29315008e-02 1.17523684e+01] [-5.43249885e-02 8.40428193e-05 9.98523304e-01 -4.24638659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.98, Y:11.76, Z:-4.25 [[ 9.03654018e-01 -4.25356767e-01 4.98100045e-02 5.69762257e+01] [ 4.24723091e-01 9.05025739e-01 2.32100931e-02 1.17649835e+01] [-5.49519063e-02 1.81565182e-04 9.98488986e-01 -4.24909325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.00, Y:11.78, Z:-4.25 [[ 9.03443211e-01 -4.25741604e-01 5.03433349e-02 5.70010539e+01] [ 4.25093879e-01 9.04844766e-01 2.34764529e-02 1.17762537e+01] [-5.55478058e-02 1.91001489e-04 9.98456010e-01 -4.25064899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.03, Y:11.79, Z:-4.25 [[ 9.03220979e-01 -4.26148282e-01 5.08871686e-02 5.70269603e+01] [ 4.25486754e-01 9.04653302e-01 2.37366010e-02 1.17877035e+01] [-5.61505568e-02 2.12420204e-04 9.98422290e-01 -4.25157102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.05, Y:11.80, Z:-4.25 [[ 9.02895928e-01 -4.26631347e-01 5.25798122e-02 5.70516151e+01] [ 4.25924809e-01 9.04425585e-01 2.45442112e-02 1.17986032e+01] [-5.80258573e-02 2.34178185e-04 9.98315053e-01 -4.25250043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.08, Y:11.81, Z:-4.25 [[ 9.02966898e-01 -4.26329670e-01 5.37939933e-02 5.70768949e+01] [ 4.25588843e-01 9.04567836e-01 2.51230428e-02 1.18099311e+01] [-5.93710146e-02 2.08847367e-04 9.98235964e-01 -4.25353892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.10, Y:11.82, Z:-4.26 [[ 9.03170131e-01 -4.26017476e-01 5.28471877e-02 5.71021346e+01] [ 4.25300990e-01 9.04714917e-01 2.46979120e-02 1.18216793e+01] [-5.83333812e-02 1.69544829e-04 9.98297144e-01 -4.25507872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.13, Y:11.83, Z:-4.26 [[ 9.04465934e-01 -4.23465877e-01 5.11666469e-02 5.71255976e+01] [ 4.22789208e-01 9.05912055e-01 2.39297759e-02 1.18347786e+01] [-5.64859257e-02 -1.09609568e-05 9.98403395e-01 -4.25929530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.15, Y:11.85, Z:-4.26 [[ 9.05146177e-01 -4.22106952e-01 5.03598918e-02 5.71491826e+01] [ 4.21448968e-01 9.06546033e-01 2.35596398e-02 1.18473622e+01] [-5.55982480e-02 -1.00793484e-04 9.98453216e-01 -4.26245881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.17, Y:11.86, Z:-4.26 [[ 9.05933821e-01 -4.20532699e-01 4.93574809e-02 5.71747704e+01] [ 4.19898023e-01 9.07277361e-01 2.30963333e-02 1.18596915e+01] [-5.44936884e-02 -1.98640856e-04 9.98514095e-01 -4.26449185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28105275399999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:57.20, Y:11.87, Z:-4.27 [[ 9.07690001e-01 -4.17018903e-01 4.68411875e-02 5.71996668e+01] [ 4.16441802e-01 9.08897724e-01 2.19352119e-02 1.18709865e+01] [-5.17212467e-02 -4.03744000e-04 9.98661479e-01 -4.26583424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.23, Y:11.88, Z:-4.27 [[ 9.08443688e-01 -4.15494140e-01 4.57677349e-02 5.72254269e+01] [ 4.14941036e-01 9.09595727e-01 2.14371383e-02 1.18829534e+01] [-5.05371414e-02 -4.83521635e-04 9.98722065e-01 -4.26746832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.25, Y:11.89, Z:-4.27 [[ 9.09726883e-01 -4.13045822e-01 4.23101259e-02 5.72500724e+01] [ 4.12292347e-01 9.10691391e-01 2.56166260e-02 1.18933781e+01] [-4.91123077e-02 -5.85999221e-03 9.98776072e-01 -4.26685281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.27, Y:11.91, Z:-4.28 [[ 9.10375453e-01 -4.11213645e-01 4.60420843e-02 5.72731122e+01] [ 4.10933107e-01 9.11527886e-01 1.58396597e-02 1.19083195e+01] [-4.84821280e-02 4.50017939e-03 9.98813912e-01 -4.27646353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.30, Y:11.92, Z:-4.28 [[ 9.11371527e-01 -4.09244776e-01 4.38252597e-02 5.72988844e+01] [ 4.08728737e-01 9.12424259e-01 2.05618673e-02 1.19200813e+01] [-4.84020669e-02 -8.26857384e-04 9.98827591e-01 -4.27677516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.32, Y:11.93, Z:-4.28 [[ 9.11689022e-01 -4.08499802e-01 4.41705664e-02 5.73240669e+01] [ 4.07974000e-01 9.12757977e-01 2.07386047e-02 1.19327441e+01] [-4.87887528e-02 -8.86715562e-04 9.98808726e-01 -4.27919654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.35, Y:11.94, Z:-4.28 [[ 9.11590717e-01 -4.08625866e-01 4.50251782e-02 5.73488394e+01] [ 4.08078790e-01 9.12701522e-01 2.11573321e-02 1.19436141e+01] [-4.97399818e-02 -9.13007276e-04 9.98761784e-01 -4.28018067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.37, Y:11.95, Z:-4.28 [[ 9.10463812e-01 -4.11054004e-01 4.57192809e-02 5.73743284e+01] [ 4.10492629e-01 9.11610645e-01 2.14903231e-02 1.19532893e+01] [-5.05118665e-02 -7.98733644e-04 9.98723142e-01 -4.27878498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.40, Y:11.96, Z:-4.28 [[ 9.09777385e-01 -4.12513582e-01 4.62347736e-02 5.74004055e+01] [ 4.11941089e-01 9.10951157e-01 2.17377129e-02 1.19648619e+01] [-5.10847223e-02 -7.30476632e-04 9.98694056e-01 -4.28023520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.43, Y:11.98, Z:-4.28 [[ 9.08986683e-01 -4.14162515e-01 4.70385106e-02 5.74262460e+01] [ 4.13571298e-01 9.10202709e-01 2.21316754e-02 1.19769290e+01] [-5.19806901e-02 -6.63620316e-04 9.98647870e-01 -4.28205438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.45, Y:11.99, Z:-4.28 [[ 9.08367071e-01 -4.15563701e-01 4.66484094e-02 5.74506312e+01] [ 4.14983210e-01 9.09563883e-01 2.19653846e-02 1.19877760e+01] [-5.15577249e-02 -5.94325393e-04 9.98669839e-01 -4.28386156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.48, Y:12.00, Z:-4.29 [[ 9.08280327e-01 -4.15830467e-01 4.59550882e-02 5.74763981e+01] [ 4.15267208e-01 9.09441967e-01 2.16438021e-02 1.20000223e+01] [-5.07936382e-02 -5.74998495e-04 9.98709005e-01 -4.28598064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.50, Y:12.01, Z:-4.29 [[ 9.08327803e-01 -4.15713011e-01 4.60792288e-02 5.75007689e+01] [ 4.15145776e-01 9.09495649e-01 2.17174783e-02 1.20129661e+01] [-5.09370964e-02 -5.96992222e-04 9.98701685e-01 -4.28857383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.52, Y:12.03, Z:-4.29 [[ 9.08380127e-01 -4.15736381e-01 4.48197029e-02 5.75244710e+01] [ 4.15199003e-01 9.09484969e-01 2.11395041e-02 1.20252250e+01] [-4.95513071e-02 -5.93609449e-04 9.98771403e-01 -4.29060752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.55, Y:12.04, Z:-4.29 [[ 9.08219447e-01 -4.16174103e-01 4.40062697e-02 5.75496239e+01] [ 4.15656164e-01 9.09284771e-01 2.07643572e-02 1.20381365e+01] [-4.86558186e-02 -5.67115783e-04 9.98815443e-01 -4.29231298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.73105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.57, Y:12.05, Z:-4.29 [[ 9.07549903e-01 -4.17609107e-01 4.42245119e-02 5.75741869e+01] [ 4.17086987e-01 9.08626644e-01 2.08822359e-02 1.20516593e+01] [-4.89041817e-02 -5.06202783e-04 9.98803346e-01 -4.29412114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.60, Y:12.06, Z:-4.29 [[ 9.07147500e-01 -4.18540903e-01 4.36683617e-02 5.75985049e+01] [ 4.18032114e-01 9.08197828e-01 2.06362796e-02 1.20625852e+01] [-4.82966383e-02 -4.65371875e-04 9.98832928e-01 -4.29445523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.62, Y:12.07, Z:-4.30 [[ 9.06522249e-01 -4.19899437e-01 4.36104971e-02 5.76247729e+01] [ 4.19393368e-01 9.07570551e-01 2.06130389e-02 1.20738350e+01] [-4.82350063e-02 -3.96225129e-04 9.98835936e-01 -4.29539773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.65, Y:12.09, Z:-4.30 [[ 9.05022003e-01 -4.22972560e-01 4.50487187e-02 5.76506408e+01] [ 4.22435554e-01 9.06142455e-01 2.13085387e-02 1.20855311e+01] [-4.98334837e-02 -2.54515871e-04 9.98757508e-01 -4.29566330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.68, Y:12.10, Z:-4.30 [[ 9.04100973e-01 -4.24760431e-01 4.66905464e-02 5.76762555e+01] [ 4.24185070e-01 9.05305774e-01 2.21016194e-02 1.20976086e+01] [-5.16571146e-02 -1.76662908e-04 9.98664864e-01 -4.29651518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.70, Y:12.11, Z:-4.30 [[ 9.02498672e-01 -4.27896145e-01 4.90003636e-02 5.77012950e+01] [ 4.27266015e-01 9.03827909e-01 2.32134310e-02 1.21087519e+01] [-5.42208338e-02 -1.39005756e-05 9.98528969e-01 -4.29567547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.73, Y:12.12, Z:-4.30 [[ 9.00737083e-01 -4.31503683e-01 4.97722687e-02 5.77272119e+01] [ 4.30858673e-01 9.02111153e-01 2.35854243e-02 1.21199092e+01] [-5.50773161e-02 2.00547389e-04 9.98482072e-01 -4.29640719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.75, Y:12.13, Z:-4.30 [[ 8.99776074e-01 -4.33535084e-01 4.95009900e-02 5.77526202e+01] [ 4.32899269e-01 9.01136635e-01 2.34731152e-02 1.21316858e+01] [-5.47835746e-02 3.08395008e-04 9.98498205e-01 -4.29844072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.78, Y:12.14, Z:-4.30 [[ 8.98853486e-01 -4.35477606e-01 4.92104101e-02 5.77779955e+01] [ 4.34851281e-01 9.00199470e-01 2.33511704e-02 1.21437152e+01] [-5.44680969e-02 4.09928869e-04 9.98515427e-01 -4.30019348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.80, Y:12.15, Z:-4.30 [[ 8.97215229e-01 -4.38823744e-01 4.93817190e-02 5.78030619e+01] [ 4.38197103e-01 8.98572959e-01 2.34507127e-02 1.21545913e+01] [-5.46638069e-02 5.98589675e-04 9.98504637e-01 -4.30100768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.83, Y:12.17, Z:-4.30 [[ 8.96094000e-01 -4.41022168e-01 5.01496856e-02 5.78275029e+01] [ 4.40378881e-01 8.97495908e-01 2.38230383e-02 1.21653364e+01] [-5.55156256e-02 7.37180689e-04 9.98457546e-01 -4.30185707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06105275399999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:57.85, Y:12.17, Z:-4.30 [[ 8.94099632e-01 -4.45015135e-01 5.04715521e-02 5.78523202e+01] [ 4.43878087e-01 8.95498475e-01 3.24765202e-02 1.21734558e+01] [-5.96497410e-02 -6.63402875e-03 9.98197324e-01 -4.29688107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.88, Y:12.19, Z:-4.31 [[ 8.91721124e-01 -4.49098409e-01 5.60718897e-02 5.78758197e+01] [ 4.48790367e-01 8.93441801e-01 1.86803132e-02 1.21928160e+01] [-5.84862690e-02 8.50689406e-03 9.98251967e-01 -4.30741047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.90, Y:12.20, Z:-4.31 [[ 8.91379879e-01 -4.50257206e-01 5.20611156e-02 5.79017025e+01] [ 4.49577616e-01 8.92897910e-01 2.47646844e-02 1.22036880e+01] [-5.76357389e-02 1.33077085e-03 9.98336792e-01 -4.30630532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15105275399999 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:57.93, Y:12.22, Z:-4.31 [[ 8.91545923e-01 -4.50544272e-01 4.64297885e-02 5.79262531e+01] [ 4.49692540e-01 8.92744791e-01 2.79885268e-02 1.22157761e+01] [-5.40600222e-02 -4.07392740e-03 9.98529377e-01 -4.30730868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.95, Y:12.23, Z:-4.31 [[ 8.91395511e-01 -4.50538837e-01 4.92828562e-02 5.79499943e+01] [ 4.50231347e-01 8.92734460e-01 1.78022072e-02 1.22312752e+01] [-5.20170898e-02 6.31987915e-03 9.98626197e-01 -4.31465072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.211052754 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:57.98, Y:12.24, Z:-4.31 [[ 8.91219481e-01 -4.51732655e-01 4.08098721e-02 5.79756660e+01] [ 4.50617384e-01 8.92075789e-01 3.38343074e-02 1.22379940e+01] [-5.16895604e-02 -1.17641561e-02 9.98593908e-01 -4.30647316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.00, Y:12.26, Z:-4.32 [[ 8.90581107e-01 -4.52103255e-01 4.96783602e-02 5.79986103e+01] [ 4.52237999e-01 8.91850499e-01 9.13669709e-03 1.22603745e+01] [-4.84364008e-02 1.43294724e-02 9.98723476e-01 -4.32186895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.271052754 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:58.03, Y:12.27, Z:-4.31 [[ 8.90505567e-01 -4.53039653e-01 4.18916226e-02 5.80263570e+01] [ 4.52279455e-01 8.91477427e-01 2.66700354e-02 1.22676408e+01] [-4.94280196e-02 -4.80309478e-03 9.98766139e-01 -4.31346666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.301052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.05, Y:12.29, Z:-4.32 [[ 8.90818748e-01 -4.51924207e-01 4.69730698e-02 5.80489863e+01] [ 4.51695189e-01 8.92029066e-01 1.59875645e-02 1.22852822e+01] [-4.91265109e-02 6.97548746e-03 9.98768206e-01 -4.32056297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.07, Y:12.30, Z:-4.32 [[ 8.91694667e-01 -4.50370383e-01 4.52453102e-02 5.80741709e+01] [ 4.49852065e-01 8.92841182e-01 2.16273826e-02 1.22972035e+01] [-5.01372088e-02 1.06867453e-03 9.98741768e-01 -4.31882075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.10, Y:12.31, Z:-4.32 [[ 8.91767856e-01 -4.50216810e-01 4.53311777e-02 5.80987758e+01] [ 4.49695559e-01 8.92918655e-01 2.16836093e-02 1.23099012e+01] [-5.02393797e-02 1.04848352e-03 9.98736655e-01 -4.32007527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.12, Y:12.32, Z:-4.32 [[ 8.92379118e-01 -4.48934194e-01 4.60173818e-02 5.81227604e+01] [ 4.48394362e-01 8.93564290e-01 2.20307758e-02 1.23231385e+01] [-5.10098576e-02 9.74130319e-04 9.98697675e-01 -4.32102902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.15, Y:12.34, Z:-4.32 [[ 8.92532159e-01 -4.48536413e-01 4.69194109e-02 5.81480540e+01] [ 4.47974355e-01 8.93764037e-01 2.24682614e-02 1.23359239e+01] [-5.20127155e-02 9.65046944e-04 9.98645956e-01 -4.32194962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45105275399999 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:58.18, Y:12.35, Z:-4.32 [[ 8.92107314e-01 -4.49308633e-01 4.76055973e-02 5.81751911e+01] [ 4.48311514e-01 8.93357427e-01 3.04843199e-02 1.23472542e+01] [-5.62256820e-02 -5.85314735e-03 9.98400928e-01 -4.31855254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48105275399999 meters Centerline goodness : 0.997689 Centerline is valid? [True, True] Translation: X:58.20, Y:12.36, Z:-4.32 [[ 8.91646120e-01 -4.49907154e-01 5.05049570e-02 5.81990301e+01] [ 4.49205049e-01 8.93075290e-01 2.51266915e-02 1.23612162e+01] [-5.64094074e-02 2.82964712e-04 9.98407682e-01 -4.32245428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51105275399999 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:58.23, Y:12.37, Z:-4.32 [[ 8.91467934e-01 -4.50516645e-01 4.81630157e-02 5.82250433e+01] [ 4.49442826e-01 8.92742862e-01 3.18014074e-02 1.23709699e+01] [-5.73242518e-02 -6.70341305e-03 9.98333108e-01 -4.32132137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54105275399999 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:58.25, Y:12.39, Z:-4.33 [[ 8.91406667e-01 -4.50026228e-01 5.35774896e-02 5.82473932e+01] [ 4.49556736e-01 8.93000249e-01 2.11966283e-02 1.23871332e+01] [-5.73837502e-02 5.19130556e-03 9.98338698e-01 -4.32960374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.571052754 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:58.27, Y:12.41, Z:-4.34 [[ 8.90242613e-01 -4.52386625e-01 5.30512130e-02 5.82724609e+01] [ 4.52442918e-01 8.91717499e-01 1.16322400e-02 1.24057173e+01] [-5.25689648e-02 1.36471298e-02 9.98524041e-01 -4.33554825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.601052754 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:58.30, Y:12.41, Z:-4.33 [[ 8.90984487e-01 -4.51627458e-01 4.66827881e-02 5.82992089e+01] [ 4.50595052e-01 8.92180467e-01 3.12748084e-02 1.24109446e+01] [-5.57740339e-02 -6.83033580e-03 9.98420054e-01 -4.32810524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.32, Y:12.43, Z:-4.34 [[ 8.91550077e-01 -4.49971895e-01 5.16115699e-02 5.83214983e+01] [ 4.49781216e-01 8.92997062e-01 1.59092705e-02 1.24273264e+01] [-5.32477049e-02 9.03000336e-03 9.98540505e-01 -4.33577755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.661052754 meters Centerline goodness : 0.998273 Centerline is valid? [True, True] Translation: X:58.35, Y:12.44, Z:-4.33 [[ 8.92614167e-01 -4.48255720e-01 4.80287270e-02 5.83510798e+01] [ 4.47699572e-01 8.93904059e-01 2.23746841e-02 1.24364353e+01] [-5.29626542e-02 1.53048051e-03 9.98595321e-01 -4.33283087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.37, Y:12.45, Z:-4.33 [[ 8.92301209e-01 -4.48707720e-01 4.95977305e-02 5.83744269e+01] [ 4.48043853e-01 8.93678456e-01 2.44033472e-02 1.24490598e+01] [-5.52743935e-02 4.46822129e-04 9.98471102e-01 -4.33309128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.721052754 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:58.40, Y:12.46, Z:-4.33 [[ 8.92259386e-01 -4.48845578e-01 4.91002685e-02 5.84009417e+01] [ 4.48166858e-01 8.93609337e-01 2.46742746e-02 1.24611346e+01] [-5.49513975e-02 -1.07400497e-05 9.98489030e-01 -4.33386896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.751052754 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:58.43, Y:12.47, Z:-4.34 [[ 8.92189534e-01 -4.48938051e-01 4.95223420e-02 5.84254907e+01] [ 4.48306003e-01 8.93562391e-01 2.38323639e-02 1.24735132e+01] [-5.49505573e-02 9.38177552e-04 9.98488636e-01 -4.33603714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.45, Y:12.49, Z:-4.34 [[ 8.91643361e-01 -4.49955263e-01 5.01236257e-02 5.84517750e+01] [ 4.49393549e-01 8.93047944e-01 2.26010739e-02 1.24865769e+01] [-5.49322730e-02 2.37313656e-03 9.98487263e-01 -4.33921463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.48, Y:12.50, Z:-4.34 [[ 8.90804179e-01 -4.51735597e-01 4.90190347e-02 5.84771129e+01] [ 4.51128909e-01 8.92151009e-01 2.34368437e-02 1.24984265e+01] [-5.43196379e-02 1.23626531e-03 9.98522833e-01 -4.34014916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.50, Y:12.51, Z:-4.34 [[ 8.88600768e-01 -4.55939652e-01 5.00770182e-02 5.85023162e+01] [ 4.55520390e-01 8.89997191e-01 2.01537821e-02 1.25103476e+01] [-5.37573139e-02 4.90243660e-03 9.98541996e-01 -4.34216833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.53, Y:12.52, Z:-4.34 [[ 8.87065598e-01 -4.59125552e-01 4.81492709e-02 5.85278945e+01] [ 4.58417348e-01 8.88371223e-01 2.54971418e-02 1.25190518e+01] [-5.44808160e-02 -5.45176268e-04 9.98514669e-01 -4.33985276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.56, Y:12.53, Z:-4.34 [[ 8.82410103e-01 -4.67964873e-01 4.85930850e-02 5.85551041e+01] [ 4.67242621e-01 8.83747037e-01 2.59905382e-02 1.25305230e+01] [-5.51066538e-02 -2.29553042e-04 9.98480447e-01 -4.34000261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.58, Y:12.54, Z:-4.34 [[ 8.79936456e-01 -4.72538710e-01 4.91833489e-02 5.85803408e+01] [ 4.71944515e-01 8.81306991e-01 2.37983831e-02 1.25430496e+01] [-5.45912864e-02 2.27074686e-03 9.98506202e-01 -4.34287111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.60, Y:12.56, Z:-4.35 [[ 8.74083385e-01 -4.82677346e-01 5.47797063e-02 5.86043196e+01] [ 4.82577691e-01 8.75708641e-01 1.59106533e-02 1.25576935e+01] [-5.56507741e-02 1.25282265e-02 9.98371692e-01 -4.35308936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.63, Y:12.56, Z:-4.34 [[ 8.72315155e-01 -4.86991103e-01 4.36570405e-02 5.86331177e+01] [ 4.86100814e-01 8.73393787e-01 2.98209921e-02 1.25628242e+01] [-5.26523458e-02 -4.79158041e-03 9.98601408e-01 -4.34024094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:12.58, Z:-4.34 [[ 8.67182430e-01 -4.95753039e-01 4.71546096e-02 5.86567072e+01] [ 4.95110734e-01 8.68462358e-01 2.52684514e-02 1.25771094e+01] [-5.34789150e-02 1.43439626e-03 9.98567949e-01 -4.34432469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.051052754 meters Centerline goodness : 0.997826 Centerline is valid? [True, True] Translation: X:58.68, Y:12.59, Z:-4.35 [[ 8.65457789e-01 -4.98528231e-01 4.95219050e-02 5.86787968e+01] [ 4.98329474e-01 8.66817808e-01 1.71645950e-02 1.25927323e+01] [-5.14835043e-02 9.82299245e-03 9.98625534e-01 -4.34987185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.70, Y:12.61, Z:-4.35 [[ 8.62214981e-01 -5.04333808e-01 4.72518453e-02 5.87029629e+01] [ 5.03455455e-01 8.63506651e-01 2.98139031e-02 1.26069101e+01] [-5.58384419e-02 -1.91679461e-03 9.98437977e-01 -4.34552647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.72, Y:12.63, Z:-4.35 [[ 8.61441003e-01 -5.04910717e-01 5.46311884e-02 5.87238959e+01] [ 5.04710482e-01 8.63092181e-01 1.84178422e-02 1.26286600e+01] [-5.64511174e-02 1.17070490e-02 9.98336725e-01 -4.35192238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.141052754 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:58.75, Y:12.64, Z:-4.35 [[ 8.61607642e-01 -5.04818648e-01 5.28242712e-02 5.87495407e+01] [ 5.04022167e-01 8.63222791e-01 2.84265449e-02 1.26419588e+01] [-5.99493648e-02 2.13207531e-03 9.98199142e-01 -4.34845147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.77, Y:12.66, Z:-4.35 [[ 8.64352091e-01 -4.99831341e-01 5.53542627e-02 5.87702652e+01] [ 4.99148085e-01 8.66110073e-01 2.65430089e-02 1.26637126e+01] [-6.12099122e-02 4.68746898e-03 9.98113908e-01 -4.35224870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.79, Y:12.68, Z:-4.35 [[ 8.66233074e-01 -4.96705299e-01 5.40750249e-02 5.87935751e+01] [ 4.95720582e-01 8.67919219e-01 3.12623402e-02 1.26794775e+01] [-6.24609234e-02 -2.74370234e-04 9.98047373e-01 -4.35249996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.81, Y:12.70, Z:-4.36 [[ 8.70786218e-01 -4.88475978e-01 5.58800639e-02 5.88140805e+01] [ 4.88431247e-01 8.72466707e-01 1.53870543e-02 1.27038574e+01] [-5.62697018e-02 1.38947345e-02 9.98318915e-01 -4.36326928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26105275399999 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:58.84, Y:12.72, Z:-4.37 [[ 8.77000524e-01 -4.77249599e-01 5.57036911e-02 5.88377934e+01] [ 4.76726459e-01 8.78745782e-01 2.31890886e-02 1.27188644e+01] [-6.00163668e-02 6.21858048e-03 9.98178023e-01 -4.36592887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.86, Y:12.73, Z:-4.36 [[ 8.78841260e-01 -4.74798203e-01 4.69543031e-02 5.88622086e+01] [ 4.73934985e-01 8.80089447e-01 2.87783678e-02 1.27335889e+01] [-5.49879040e-02 -3.03833014e-03 9.98482398e-01 -4.35901301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.89, Y:12.75, Z:-4.36 [[ 8.80798525e-01 -4.71230212e-01 4.62173691e-02 5.88861393e+01] [ 4.70160880e-01 8.81983556e-01 3.24615701e-02 1.27487593e+01] [-5.60598322e-02 -6.86250416e-03 9.98403827e-01 -4.36016900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.91, Y:12.77, Z:-4.37 [[ 8.84980073e-01 -4.63124003e-01 4.82330575e-02 5.89077587e+01] [ 4.62881044e-01 8.86261851e-01 1.67651669e-02 1.27720897e+01] [-5.05114700e-02 7.48932939e-03 9.98695400e-01 -4.37160607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.93, Y:12.78, Z:-4.37 [[ 8.88349345e-01 -4.57090316e-01 4.36335306e-02 5.89307378e+01] [ 4.56267866e-01 8.89407270e-01 2.78269927e-02 1.27838986e+01] [-5.15274283e-02 -4.81151285e-03 9.98659989e-01 -4.37013118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.411052754 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.95, Y:12.80, Z:-4.38 [[ 8.89582261e-01 -4.54475028e-01 4.57804605e-02 5.89539937e+01] [ 4.54018806e-01 8.90755872e-01 2.05158426e-02 1.27994389e+01] [-5.01031521e-02 2.53466037e-03 9.98740832e-01 -4.37628193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.98, Y:12.81, Z:-4.38 [[ 8.90899725e-01 -4.51870277e-01 4.59448930e-02 5.89796736e+01] [ 4.51620669e-01 8.92061720e-01 1.62683247e-02 1.28128710e+01] [-4.83368527e-02 6.25621732e-03 9.98811498e-01 -4.37927233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.01, Y:12.82, Z:-4.38 [[ 8.91378879e-01 -4.51078219e-01 4.44087145e-02 5.90055997e+01] [ 4.50554355e-01 8.92484199e-01 2.17422958e-02 1.28230651e+01] [-4.94415521e-02 6.27916433e-04 9.98776821e-01 -4.37733426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.03, Y:12.84, Z:-4.38 [[ 8.92022791e-01 -4.49643189e-01 4.60037162e-02 5.90305260e+01] [ 4.49219522e-01 8.93203065e-01 1.97510813e-02 1.28360296e+01] [-4.99715995e-02 3.04735269e-03 9.98745990e-01 -4.37939167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.06, Y:12.85, Z:-4.38 [[ 8.93726717e-01 -4.46147778e-01 4.69544059e-02 5.90568393e+01] [ 4.45649675e-01 8.94957063e-01 2.11712550e-02 1.28481558e+01] [-5.14676856e-02 2.00389950e-03 9.98672650e-01 -4.38014973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.08, Y:12.86, Z:-4.38 [[ 8.95862428e-01 -4.42137421e-01 4.41022701e-02 5.90829802e+01] [ 4.40998401e-01 8.96886175e-01 3.34005860e-02 1.28562053e+01] [-5.43223653e-02 -1.04732995e-02 9.98468523e-01 -4.37625754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.11, Y:12.87, Z:-4.38 [[ 8.96609889e-01 -4.40237106e-01 4.77702521e-02 5.91069171e+01] [ 4.39615395e-01 8.97881557e-01 2.33883427e-02 1.28713622e+01] [-5.31884446e-02 3.03189262e-05 9.98584492e-01 -4.38333773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.13, Y:12.88, Z:-4.39 [[ 8.96870051e-01 -4.39779815e-01 4.70937952e-02 5.91333568e+01] [ 4.39414529e-01 8.98095861e-01 1.84037121e-02 1.28845179e+01] [-5.03883237e-02 4.18795961e-03 9.98720921e-01 -4.38748400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.16, Y:12.89, Z:-4.38 [[ 8.97149232e-01 -4.39470830e-01 4.45942284e-02 5.91597568e+01] [ 4.38699798e-01 8.98247667e-01 2.63365964e-02 1.28900787e+01] [-5.16308275e-02 -4.06437824e-03 9.98657969e-01 -4.38466471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.19, Y:12.90, Z:-4.39 [[ 8.95528895e-01 -4.42351336e-01 4.85107587e-02 5.91852060e+01] [ 4.42210490e-01 8.96799154e-01 1.41831050e-02 1.29000811e+01] [-4.97783228e-02 8.75058599e-03 9.98721956e-01 -4.39038223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.21, Y:12.92, Z:-4.40 [[ 8.93681773e-01 -4.45708739e-01 5.17359524e-02 5.92097290e+01] [ 4.46136056e-01 8.94957860e-01 3.61213692e-03 1.29150963e+01] [-4.79114582e-02 1.98531728e-02 9.98654266e-01 -4.39963228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.25, Y:12.91, Z:-4.38 [[ 8.90554541e-01 -4.53524902e-01 3.50395976e-02 5.92489833e+01] [ 4.52195270e-01 8.91026157e-01 3.98976893e-02 1.29104213e+01] [-4.93157936e-02 -1.96863281e-02 9.98589205e-01 -4.37767294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.27, Y:12.92, Z:-4.38 [[ 8.88512768e-01 -4.56914811e-01 4.21178938e-02 5.92718571e+01] [ 4.56084547e-01 8.89491625e-01 2.81342233e-02 1.29228199e+01] [-5.03184571e-02 -5.78829605e-03 9.98716451e-01 -4.38331630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.801052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.30, Y:12.93, Z:-4.39 [[ 8.86047291e-01 -4.61319582e-01 4.58741988e-02 5.92972330e+01] [ 4.60771439e-01 8.87233244e-01 2.25133957e-02 1.29331274e+01] [-5.10869845e-02 1.18958737e-03 9.98693499e-01 -4.38723611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.33, Y:12.94, Z:-4.39 [[ 8.81622176e-01 -4.69569337e-01 4.74022898e-02 5.93262428e+01] [ 4.68995320e-01 8.82893938e-01 2.32741244e-02 1.29381829e+01] [-5.27800094e-02 1.71246786e-03 9.98604696e-01 -4.38628257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.35, Y:12.94, Z:-4.39 [[ 8.78710565e-01 -4.74857300e-01 4.87676879e-02 5.93539532e+01] [ 4.74256879e-01 8.80060366e-01 2.39617328e-02 1.29445632e+01] [-5.42969130e-02 2.07298374e-03 9.98522683e-01 -4.38698551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.891052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.38, Y:12.95, Z:-4.39 [[ 8.77941513e-01 -4.76230951e-01 4.92217450e-02 5.93793498e+01] [ 4.75620498e-01 8.79317578e-01 2.42020409e-02 1.29538221e+01] [-5.48073066e-02 2.16289452e-03 9.98494607e-01 -4.38829942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.41, Y:12.96, Z:-4.39 [[ 8.77219509e-01 -4.77610941e-01 4.87208595e-02 5.94066619e+01] [ 4.77014592e-01 8.78568643e-01 2.39628386e-02 1.29622403e+01] [-5.42495334e-02 2.21989139e-03 9.98524942e-01 -4.39076301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.95105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.43, Y:12.97, Z:-4.39 [[ 8.76927481e-01 -4.78136110e-01 4.88267645e-02 5.94320606e+01] [ 4.77537047e-01 8.78282889e-01 2.40319830e-02 1.29727867e+01] [-5.43742706e-02 2.24228262e-03 9.98518107e-01 -4.39299591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.46, Y:12.98, Z:-4.39 [[ 8.75946704e-01 -4.79917044e-01 4.89591991e-02 5.94595196e+01] [ 4.79317098e-01 8.77310718e-01 2.41044425e-02 1.29806992e+01] [-5.45205629e-02 2.35277427e-03 9.98509876e-01 -4.39392993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.49, Y:12.99, Z:-4.39 [[ 8.75384109e-01 -4.81068391e-01 4.77060394e-02 5.94857250e+01] [ 4.80499632e-01 8.76679924e-01 2.35034921e-02 1.29906935e+01] [-5.31297141e-02 2.34815087e-03 9.98584859e-01 -4.39439577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.51, Y:13.00, Z:-4.40 [[ 8.74820522e-01 -4.82184354e-01 4.67686160e-02 5.95105001e+01] [ 4.81638471e-01 8.76066612e-01 2.30580860e-02 1.30007598e+01] [-5.20906712e-02 2.35387786e-03 9.98639585e-01 -4.39614999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.54, Y:13.01, Z:-4.40 [[ 8.73603137e-01 -4.84419381e-01 4.64265249e-02 5.95370257e+01] [ 4.83884269e-01 8.74832439e-01 2.28957989e-02 1.30113747e+01] [-5.17065987e-02 2.46322334e-03 9.98659281e-01 -4.39941204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.56, Y:13.02, Z:-4.40 [[ 8.72521991e-01 -4.86432056e-01 4.57081043e-02 5.95630741e+01] [ 4.85915306e-01 8.73714750e-01 2.25577321e-02 1.30190208e+01] [-5.09086489e-02 2.52815013e-03 9.98700114e-01 -4.39941698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.59, Y:13.03, Z:-4.40 [[ 8.71751195e-01 -4.87900807e-01 4.47510480e-02 5.95888561e+01] [ 4.87407126e-01 8.72895343e-01 2.20910392e-02 1.30295957e+01] [-4.98412172e-02 2.55408983e-03 9.98753888e-01 -4.40021713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.61, Y:13.04, Z:-4.40 [[ 8.70594546e-01 -4.90073023e-01 4.35151617e-02 5.96138702e+01] [ 4.89608186e-01 8.71677533e-01 2.14965822e-02 1.30398668e+01] [-4.84660838e-02 2.59057213e-03 9.98821469e-01 -4.40296232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.64, Y:13.05, Z:-4.41 [[ 8.70402722e-01 -4.90455661e-01 4.30388994e-02 5.96392252e+01] [ 4.90001168e-01 8.71462331e-01 2.12664325e-02 1.30518340e+01] [-4.79370218e-02 2.57875019e-03 9.98847031e-01 -4.40509986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.66, Y:13.06, Z:-4.41 [[ 8.70588608e-01 -4.90115697e-01 4.31518124e-02 5.96649303e+01] [ 4.89657697e-01 8.71653647e-01 2.13367980e-02 1.30638546e+01] [-4.80709342e-02 2.55404383e-03 9.98840659e-01 -4.40744541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.69, Y:13.08, Z:-4.41 [[ 8.70461902e-01 -4.90261285e-01 4.40448512e-02 5.96884007e+01] [ 4.89783487e-01 8.71571631e-01 2.17951124e-02 1.30761932e+01] [-4.90735427e-02 2.60062581e-03 9.98791782e-01 -4.40915931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.71, Y:13.09, Z:-4.41 [[ 8.70236432e-01 -4.90603513e-01 4.46849545e-02 5.97131032e+01] [ 4.90111870e-01 8.71378881e-01 2.21178626e-02 1.30885689e+01] [-4.97886268e-02 2.65285673e-03 9.98756254e-01 -4.41007246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.74, Y:13.10, Z:-4.41 [[ 8.69739270e-01 -4.91442021e-01 4.51480153e-02 5.97381955e+01] [ 4.90940493e-01 8.70906060e-01 2.23621884e-02 1.31013769e+01] [-5.03093992e-02 2.71571548e-03 9.98729988e-01 -4.41129052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.76, Y:13.12, Z:-4.42 [[ 8.67797898e-01 -4.93854231e-01 5.50890872e-02 5.97598605e+01] [ 4.94085360e-01 8.69352442e-01 1.02950521e-02 1.31187975e+01] [-5.29760875e-02 1.82846869e-02 9.98428367e-01 -4.42388763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.79, Y:13.12, Z:-4.40 [[ 8.66623077e-01 -4.97235548e-01 4.14879766e-02 5.97908099e+01] [ 4.95952589e-01 8.67531441e-01 3.76859194e-02 1.31218423e+01] [-5.47309029e-02 -1.20834181e-02 9.98428024e-01 -4.40339511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.81, Y:13.15, Z:-4.42 [[ 8.63699214e-01 -5.00583326e-01 5.86515290e-02 5.98088392e+01] [ 5.00747720e-01 8.65496826e-01 1.29215288e-02 1.31458218e+01] [-5.72310140e-02 1.82093051e-02 9.98194887e-01 -4.42454374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.84, Y:13.15, Z:-4.41 [[ 8.62832474e-01 -5.03516043e-01 4.46286588e-02 5.98386748e+01] [ 5.02159873e-01 8.63918557e-01 3.84732163e-02 1.31505936e+01] [-5.79274082e-02 -1.07852187e-02 9.98262538e-01 -4.40637999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.86, Y:13.17, Z:-4.41 [[ 8.61523602e-01 -5.05140527e-01 5.10894430e-02 5.98606639e+01] [ 5.04518110e-01 8.63028220e-01 2.53725632e-02 1.31687138e+01] [-5.69083410e-02 3.91648724e-03 9.98371725e-01 -4.41455031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.491052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:59.89, Y:13.18, Z:-4.42 [[ 8.61092024e-01 -5.05860596e-01 5.12404455e-02 5.98853056e+01] [ 5.05234754e-01 8.62606150e-01 2.54651244e-02 1.31822675e+01] [-5.70821264e-02 3.96063835e-03 9.98361630e-01 -4.41543278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.91, Y:13.20, Z:-4.42 [[ 8.61221757e-01 -5.05587814e-01 5.17498498e-02 5.99092066e+01] [ 5.04947940e-01 8.62766034e-01 2.57361430e-02 1.31983643e+01] [-5.76598930e-02 3.96645377e-03 9.98328405e-01 -4.41709447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.93, Y:13.21, Z:-4.42 [[ 8.61871434e-01 -5.04455264e-01 5.19857429e-02 5.99317278e+01] [ 5.03806468e-01 8.63429053e-01 2.58710982e-02 1.32139447e+01] [-5.79368124e-02 3.89319295e-03 9.98312661e-01 -4.41813286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.95, Y:13.23, Z:-4.43 [[ 8.61810257e-01 -5.03278813e-01 6.31942797e-02 5.99535809e+01] [ 5.03615020e-01 8.63849554e-01 1.16559310e-02 1.32331479e+01] [-6.04565335e-02 2.17803875e-02 9.97933175e-01 -4.43494575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.98, Y:13.24, Z:-4.41 [[ 8.61778571e-01 -5.05250900e-01 4.53786571e-02 5.99824137e+01] [ 5.03671049e-01 8.62867678e-01 4.21289053e-02 1.32371783e+01] [-6.04414437e-02 -1.34498720e-02 9.98081125e-01 -4.41232250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.641052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.00, Y:13.25, Z:-4.42 [[ 8.61710320e-01 -5.04606425e-01 5.31759374e-02 6.00049675e+01] [ 5.03925553e-01 8.63340418e-01 2.65020706e-02 1.32548055e+01] [-5.92820511e-02 3.95960590e-03 9.98233420e-01 -4.42269234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.03, Y:13.27, Z:-4.43 [[ 8.61454654e-01 -5.04983473e-01 5.37361294e-02 6.00281997e+01] [ 5.04288173e-01 8.63119664e-01 2.67933788e-02 1.32716980e+01] [-5.99109235e-02 4.01721366e-03 9.98195644e-01 -4.42630712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.05, Y:13.29, Z:-4.43 [[ 8.62421767e-01 -5.03345793e-01 5.35883274e-02 6.00512459e+01] [ 5.02650075e-01 8.64076376e-01 2.67379738e-02 1.32881055e+01] [-5.97628543e-02 3.87676619e-03 9.98205075e-01 -4.42950494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.08, Y:13.30, Z:-4.43 [[ 8.63878537e-01 -5.00817621e-01 5.38106279e-02 6.00763520e+01] [ 5.00206025e-01 8.65537850e-01 2.52618955e-02 1.33022074e+01] [-5.92267376e-02 5.09319090e-03 9.98231563e-01 -4.43314435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.10, Y:13.32, Z:-4.43 [[ 8.67088777e-01 -4.95534455e-01 5.10162458e-02 6.00988664e+01] [ 4.94889726e-01 8.68582515e-01 2.54671142e-02 1.33167984e+01] [-5.69316516e-02 3.16516700e-03 9.98373061e-01 -4.43356819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.12, Y:13.33, Z:-4.44 [[ 8.69032961e-01 -4.91936650e-01 5.27261395e-02 6.01231389e+01] [ 4.91424673e-01 8.70611837e-01 2.31693752e-02 1.33319574e+01] [-5.73018659e-02 5.77597515e-03 9.98340190e-01 -4.43765237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.821052754 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:60.15, Y:13.35, Z:-4.44 [[ 8.74838519e-01 -4.81395055e-01 5.40034039e-02 6.01501487e+01] [ 4.80976818e-01 8.76473355e-01 2.13485076e-02 1.33482018e+01] [-5.76096106e-02 7.29788857e-03 9.98312513e-01 -4.44457037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.17, Y:13.36, Z:-4.44 [[ 8.76220792e-01 -4.79711676e-01 4.59764267e-02 6.01719885e+01] [ 4.78788729e-01 8.77415538e-01 3.00553893e-02 1.33598181e+01] [-5.47583524e-02 -4.32216215e-03 9.98490281e-01 -4.43835092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.20, Y:13.37, Z:-4.44 [[ 8.80931133e-01 -4.70937418e-01 4.66721255e-02 6.01952114e+01] [ 4.70259298e-01 8.82166567e-01 2.52653975e-02 1.33743726e+01] [-5.30710098e-02 -3.09074308e-04 9.98590693e-01 -4.44340497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.22, Y:13.39, Z:-4.45 [[ 8.82846452e-01 -4.67241183e-01 4.76216234e-02 6.02203254e+01] [ 4.66683052e-01 8.84127655e-01 2.29176329e-02 1.33876731e+01] [-5.28116561e-02 1.99145369e-03 9.98602505e-01 -4.44708187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.24, Y:13.40, Z:-4.45 [[ 8.86098102e-01 -4.61146332e-01 4.66284720e-02 6.02432547e+01] [ 4.60571885e-01 8.87323463e-01 2.30350033e-02 1.33993749e+01] [-5.19970445e-02 1.06449053e-03 9.98646671e-01 -4.44696979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.27, Y:13.41, Z:-4.45 [[ 8.89315361e-01 -4.54721322e-01 4.84428438e-02 6.02687395e+01] [ 4.54195892e-01 8.90630414e-01 2.19899411e-02 1.34118213e+01] [-5.31439651e-02 2.44654827e-03 9.98583864e-01 -4.45188816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.29, Y:13.42, Z:-4.45 [[ 8.90570513e-01 -4.52622665e-01 4.49097400e-02 6.02934960e+01] [ 4.51954239e-01 8.91700621e-01 2.46448376e-02 1.34229529e+01] [-5.12008552e-02 -1.65081827e-03 9.98687012e-01 -4.45067932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.32, Y:13.43, Z:-4.45 [[ 8.91679314e-01 -4.50458192e-01 4.46700936e-02 6.03197272e+01] [ 4.49822551e-01 8.92796624e-01 2.39553814e-02 1.34345460e+01] [-5.06722066e-02 -1.26690264e-03 9.98714535e-01 -4.45308319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.35, Y:13.44, Z:-4.46 [[ 8.92817070e-01 -4.48320628e-01 4.34314954e-02 6.03471377e+01] [ 4.47809483e-01 8.93872754e-01 2.14048452e-02 1.34440439e+01] [-4.84184640e-02 3.38424346e-04 9.98827081e-01 -4.45633927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.09105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.37, Y:13.46, Z:-4.46 [[ 8.91851055e-01 -4.50050468e-01 4.53461335e-02 6.03699556e+01] [ 4.49638182e-01 8.92998066e-01 1.94925251e-02 1.34561380e+01] [-4.92666295e-02 3.00492393e-03 9.98781142e-01 -4.46057886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12105275399999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:60.40, Y:13.46, Z:-4.46 [[ 8.92929953e-01 -4.48284705e-01 4.14357702e-02 6.04011003e+01] [ 4.47618000e-01 8.93883990e-01 2.46888288e-02 1.34613354e+01] [-4.81063959e-02 -3.49799819e-03 9.98836092e-01 -4.45665583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15105275399999 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:60.43, Y:13.47, Z:-4.46 [[ 8.93085028e-01 -4.47917841e-01 4.20564065e-02 6.04281572e+01] [ 4.47381709e-01 8.94074396e-01 2.19221622e-02 1.34722125e+01] [-4.74208838e-02 -7.63087799e-04 9.98874706e-01 -4.46072558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.45, Y:13.49, Z:-4.47 [[ 8.92109941e-01 -4.49607240e-01 4.46450768e-02 6.04514374e+01] [ 4.49378976e-01 8.93205162e-01 1.55908569e-02 1.34857703e+01] [-4.68869752e-02 6.15380046e-03 9.98881245e-01 -4.46657095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.48, Y:13.49, Z:-4.46 [[ 8.91305967e-01 -4.51818485e-01 3.78646247e-02 6.04809453e+01] [ 4.51292999e-01 8.92106522e-01 2.19221677e-02 1.34900123e+01] [-4.36841193e-02 -2.45131877e-03 9.99042386e-01 -4.46263086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.241052754 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:60.51, Y:13.50, Z:-4.47 [[ 8.90475266e-01 -4.53490267e-01 3.74216220e-02 6.05099998e+01] [ 4.52981919e-01 8.91258337e-01 2.15860623e-02 1.34997132e+01] [-4.31414017e-02 -2.27053645e-03 9.99066396e-01 -4.46590416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.53, Y:13.51, Z:-4.47 [[ 8.88191017e-01 -4.58040134e-01 3.62760679e-02 6.05343728e+01] [ 4.57704283e-01 8.88930949e-01 1.75657977e-02 1.35088640e+01] [-4.02927598e-02 1.00192791e-03 9.99187415e-01 -4.46790359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.301052754 meters Centerline goodness : 0.998118 Centerline is valid? [True, True] Translation: X:60.56, Y:13.52, Z:-4.47 [[ 8.88047941e-01 -4.58522828e-01 3.35808246e-02 6.05631964e+01] [ 4.58036669e-01 8.88675169e-01 2.14208669e-02 1.35180835e+01] [-3.96644014e-02 -3.64150766e-03 9.99206422e-01 -4.46627412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.59, Y:13.53, Z:-4.47 [[ 8.86817897e-01 -4.60710445e-01 3.60541655e-02 6.05852415e+01] [ 4.60533420e-01 8.87538709e-01 1.35649820e-02 1.35331811e+01] [-3.82489964e-02 4.57447938e-03 9.99257769e-01 -4.47217875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.61, Y:13.54, Z:-4.46 [[ 8.86770845e-01 -4.61153620e-01 3.12219013e-02 6.06097509e+01] [ 4.60651303e-01 8.87304714e-01 2.21522465e-02 1.35436253e+01] [-3.79189288e-02 -5.26155681e-03 9.99266967e-01 -4.46417015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.391052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.63, Y:13.56, Z:-4.48 [[ 8.87557375e-01 -4.58789869e-01 4.18779492e-02 6.06284212e+01] [ 4.58907486e-01 8.88453834e-01 7.32829931e-03 1.35640981e+01] [-4.05687740e-02 1.27138183e-02 9.99095858e-01 -4.48117282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.66, Y:13.57, Z:-4.48 [[ 8.88211103e-01 -4.58077177e-01 3.53034767e-02 6.06561949e+01] [ 4.57759560e-01 8.88911878e-01 1.70838808e-02 1.35737000e+01] [-3.92074157e-02 9.86411302e-04 9.99230607e-01 -4.47700099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.68, Y:13.59, Z:-4.48 [[ 8.88906670e-01 -4.56892636e-01 3.30764538e-02 6.06789472e+01] [ 4.56642575e-01 8.89520420e-01 1.51980699e-02 1.35893439e+01] [-3.63660673e-02 1.59445128e-03 9.99337264e-01 -4.48165814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.70, Y:13.60, Z:-4.48 [[ 8.89220897e-01 -4.56344615e-01 3.21836646e-02 6.07034246e+01] [ 4.56039317e-01 8.89803105e-01 1.66905961e-02 1.36031021e+01] [-3.62537883e-02 -1.64610376e-04 9.99342602e-01 -4.48466570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.73, Y:13.61, Z:-4.48 [[ 8.90425122e-01 -4.54410713e-01 2.55735351e-02 6.07331129e+01] [ 4.53906206e-01 8.90745745e-01 2.32631476e-02 1.36122617e+01] [-3.33505411e-02 -9.10610478e-03 9.99402231e-01 -4.47974028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54105275399999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:60.76, Y:13.63, Z:-4.49 [[ 8.90190743e-01 -4.54486460e-01 3.16622708e-02 6.07557235e+01] [ 4.54332344e-01 8.90747084e-01 1.23188357e-02 1.36280664e+01] [-3.38018194e-02 3.41908026e-03 9.99422707e-01 -4.48718536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.571052754 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:60.79, Y:13.64, Z:-4.48 [[ 8.91274292e-01 -4.52733027e-01 2.57476936e-02 6.07854381e+01] [ 4.52198578e-01 8.91591993e-01 2.40866061e-02 1.36352261e+01] [-3.38612395e-02 -9.82470235e-03 9.99378253e-01 -4.47707427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.601052754 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:60.81, Y:13.65, Z:-4.49 [[ 8.92018142e-01 -4.50820038e-01 3.26332133e-02 6.08072434e+01] [ 4.50705716e-01 8.92602379e-01 1.11960360e-02 1.36529715e+01] [-3.41758812e-02 4.72090854e-03 9.99404684e-01 -4.48584725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.631052754 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:60.83, Y:13.67, Z:-4.49 [[ 8.94259940e-01 -4.46523283e-01 3.02674419e-02 6.08316669e+01] [ 4.46465447e-01 8.94755426e-01 9.01845412e-03 1.36661906e+01] [-3.11089076e-02 5.44852473e-03 9.99501150e-01 -4.48729358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.661052754 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:60.86, Y:13.68, Z:-4.49 [[ 8.95277516e-01 -4.44689084e-01 2.70145829e-02 6.08580516e+01] [ 4.44406271e-01 8.95681929e-01 1.60296243e-02 1.36773483e+01] [-3.13246726e-02 -2.34551223e-03 9.99506510e-01 -4.48532806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.691052754 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:60.88, Y:13.69, Z:-4.49 [[ 8.97381717e-01 -4.40340481e-01 2.83956712e-02 6.08819195e+01] [ 4.40200825e-01 8.97827838e-01 1.13316740e-02 1.36922404e+01] [-3.04842188e-02 2.33096081e-03 9.99532530e-01 -4.49008701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.91, Y:13.70, Z:-4.49 [[ 8.98665516e-01 -4.37838014e-01 2.64228065e-02 6.09074039e+01] [ 4.37496276e-01 8.99042612e-01 1.78715031e-02 1.37021952e+01] [-3.15800524e-02 -4.50062414e-03 9.99491093e-01 -4.48862177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.751052754 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:60.93, Y:13.72, Z:-4.49 [[ 8.98819952e-01 -4.37367412e-01 2.88520437e-02 6.09330693e+01] [ 4.37214012e-01 8.99280586e-01 1.17615568e-02 1.37166506e+01] [-3.10902044e-02 2.04299585e-03 9.99514495e-01 -4.49210864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.96, Y:13.73, Z:-4.49 [[ 8.99558343e-01 -4.35914070e-01 2.78156705e-02 6.09589916e+01] [ 4.35599358e-01 8.99983195e-01 1.68359044e-02 1.37272708e+01] [-3.23726436e-02 -3.02839002e-03 9.99471281e-01 -4.48885180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.98, Y:13.74, Z:-4.49 [[ 8.99825672e-01 -4.35282031e-01 2.90398766e-02 6.09826180e+01] [ 4.35032187e-01 9.00293915e-01 1.47601831e-02 1.37397367e+01] [-3.25692667e-02 -6.48310665e-04 9.99469270e-01 -4.49154178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.01, Y:13.75, Z:-4.49 [[ 8.99691111e-01 -4.35607816e-01 2.83149315e-02 6.10077387e+01] [ 4.35370135e-01 9.00136342e-01 1.44017933e-02 1.37532669e+01] [-3.17608326e-02 -6.29689910e-04 9.99495299e-01 -4.49362900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.03, Y:13.77, Z:-4.50 [[ 8.99319433e-01 -4.36389488e-01 2.80850981e-02 6.10329648e+01] [ 4.36155693e-01 8.99757660e-01 1.42956180e-02 1.37656255e+01] [-3.15082395e-02 -6.06851632e-04 9.99503308e-01 -4.49556627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90105275399999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:61.06, Y:13.78, Z:-4.50 [[ 8.98414149e-01 -4.38315314e-01 2.70499811e-02 6.10584202e+01] [ 4.38098972e-01 8.98821119e-01 1.37799015e-02 1.37756381e+01] [-3.03530362e-02 -5.29489525e-04 9.99539100e-01 -4.49680911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93105275399999 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:61.09, Y:13.79, Z:-4.50 [[ 8.97634600e-01 -4.39877891e-01 2.75602295e-02 6.10855614e+01] [ 4.39763148e-01 8.98053333e-01 1.04204166e-02 1.37889698e+01] [-2.93342668e-02 2.76624681e-03 9.99565830e-01 -4.50006510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.961052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:61.11, Y:13.80, Z:-4.50 [[ 8.97812653e-01 -4.39636442e-01 2.55389587e-02 6.11101408e+01] [ 4.39344118e-01 8.98168948e-01 1.64099363e-02 1.37974799e+01] [-3.01527057e-02 -3.51265717e-03 9.99539132e-01 -4.49795688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.991052754 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:61.14, Y:13.81, Z:-4.50 [[ 8.97597944e-01 -4.40084814e-01 2.53631191e-02 6.11376240e+01] [ 4.39593106e-01 8.97908051e-01 2.27822954e-02 1.38085014e+01] [-3.27998911e-02 -9.29988915e-03 9.99418671e-01 -4.49723460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.16, Y:13.82, Z:-4.51 [[ 8.97841971e-01 -4.39206134e-01 3.12692633e-02 6.11594863e+01] [ 4.39244789e-01 8.98347447e-01 5.98995329e-03 1.38247833e+01] [-3.07214871e-02 8.35682950e-03 9.99493048e-01 -4.50544832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.051052754 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:61.19, Y:13.83, Z:-4.50 [[ 8.97684594e-01 -4.39769336e-01 2.76640831e-02 6.11857539e+01] [ 4.39542551e-01 8.98110603e-01 1.41311901e-02 1.38342643e+01] [-3.10598705e-02 -5.25810005e-04 9.99517388e-01 -4.50169464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.081052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:61.21, Y:13.85, Z:-4.50 [[ 8.97413518e-01 -4.40303166e-01 2.79660554e-02 6.12126353e+01] [ 4.40099991e-01 8.97849114e-01 1.33778451e-02 1.38479264e+01] [-3.09996056e-02 3.02401685e-04 9.99519351e-01 -4.50374732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.24, Y:13.86, Z:-4.51 [[ 8.97682560e-01 -4.39780385e-01 2.75542312e-02 6.12358539e+01] [ 4.39540809e-01 8.98104849e-01 1.45450380e-02 1.38605952e+01] [-3.11432111e-02 -9.45617829e-04 9.99514485e-01 -4.50637381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.141052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:61.26, Y:13.88, Z:-4.52 [[ 8.96943443e-01 -4.40770442e-01 3.48407362e-02 6.12561993e+01] [ 4.40855609e-01 8.97560482e-01 5.61362601e-03 1.38787487e+01] [-3.37459884e-02 1.03246290e-02 9.99377111e-01 -4.52098044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.29, Y:13.89, Z:-4.51 [[ 8.97252095e-01 -4.40936149e-01 2.26713502e-02 6.12874198e+01] [ 4.40545942e-01 8.97500918e-01 2.02823992e-02 1.38860881e+01] [-2.92908006e-02 -8.21065383e-03 9.99537210e-01 -4.50874802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.31, Y:13.90, Z:-4.52 [[ 8.96691072e-01 -4.41260118e-01 3.51372959e-02 6.13075982e+01] [ 4.41133101e-01 8.97365308e-01 1.17085943e-02 1.39030066e+01] [-3.66975260e-02 5.00123237e-03 9.99313904e-01 -4.52245493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.23105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.34, Y:13.91, Z:-4.51 [[ 8.97780996e-01 -4.39749579e-01 2.46899119e-02 6.13364058e+01] [ 4.39274946e-01 8.98072220e-01 2.24456818e-02 1.39096286e+01] [-3.20438031e-02 -9.30564688e-03 9.99443145e-01 -4.50864783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:61.35, Y:13.93, Z:-4.53 [[ 8.95191013e-01 -4.42957778e-01 4.92083015e-02 6.13494154e+01] [ 4.43268143e-01 8.96375051e-01 5.01222555e-03 1.39333394e+01] [-4.63292980e-02 1.73255731e-02 9.98775961e-01 -4.53488061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.39, Y:13.94, Z:-4.51 [[ 8.97389587e-01 -4.40526439e-01 2.50676342e-02 6.13914979e+01] [ 4.39671516e-01 8.97541837e-01 3.32807506e-02 1.39353623e+01] [-3.71603010e-02 -1.88442743e-02 9.99131626e-01 -4.50801433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.41, Y:13.95, Z:-4.52 [[ 8.98155586e-01 -4.38331397e-01 3.43821184e-02 6.14110629e+01] [ 4.37952644e-01 8.98812419e-01 1.82679298e-02 1.39520954e+01] [-3.89104823e-02 -1.34970356e-03 9.99241789e-01 -4.52046780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.43, Y:13.97, Z:-4.53 [[ 8.97828218e-01 -4.38705472e-01 3.79736703e-02 6.14326916e+01] [ 4.38570796e-01 8.98613122e-01 1.22521050e-02 1.39663124e+01] [-3.94987039e-02 5.65385719e-03 9.99203626e-01 -4.52830866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.46, Y:13.98, Z:-4.53 [[ 8.97358254e-01 -4.39797155e-01 3.64228717e-02 6.14581846e+01] [ 4.39493563e-01 8.98096193e-01 1.63901133e-02 1.39773900e+01] [-3.99195676e-02 1.29981422e-03 9.99202051e-01 -4.53002778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.49, Y:13.98, Z:-4.52 [[ 8.97218959e-01 -4.40827799e-01 2.58648706e-02 6.14872910e+01] [ 4.40376229e-01 8.97557453e-01 2.14335193e-02 1.39846101e+01] [-3.26636985e-02 -7.84028573e-03 9.99435647e-01 -4.52037727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.51, Y:14.00, Z:-4.52 [[ 8.96248285e-01 -4.42541649e-01 2.99315894e-02 6.15124081e+01] [ 4.42229558e-01 8.96746268e-01 1.67077318e-02 1.39980287e+01] [-3.42349083e-02 -1.73764237e-03 9.99412303e-01 -4.52449976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.54, Y:14.01, Z:-4.53 [[ 8.94371281e-01 -4.45650642e-01 3.86719107e-02 6.15365758e+01] [ 4.45686622e-01 8.95151832e-01 8.16285493e-03 1.40116413e+01] [-3.82550133e-02 9.93493026e-03 9.99218620e-01 -4.53179160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.57, Y:14.02, Z:-4.53 [[ 8.93631120e-01 -4.47766853e-01 3.04674800e-02 6.15650116e+01] [ 4.47565246e-01 8.94149004e-01 1.35243816e-02 1.40220557e+01] [-3.32982367e-02 1.55037694e-03 9.99444257e-01 -4.52550555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.59, Y:14.03, Z:-4.52 [[ 8.94325944e-01 -4.46502582e-01 2.85753569e-02 6.15893296e+01] [ 4.46016879e-01 8.94756047e-01 2.19216641e-02 1.40325854e+01] [-3.53560530e-02 -6.86002144e-03 9.99351234e-01 -4.52311472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.61, Y:14.05, Z:-4.53 [[ 8.94256360e-01 -4.46444760e-01 3.15061820e-02 6.16135603e+01] [ 4.46154323e-01 8.94811129e-01 1.61047541e-02 1.40476133e+01] [-3.53819654e-02 -3.45159486e-04 9.99373803e-01 -4.52806472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:61.63, Y:14.07, Z:-4.54 [[ 8.94177234e-01 -4.45934871e-01 3.98643362e-02 6.16316358e+01] [ 4.45715496e-01 8.95053578e-01 1.47237465e-02 1.40657622e+01] [-4.22465487e-02 4.60251340e-03 9.99096615e-01 -4.54101340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.66, Y:14.08, Z:-4.54 [[ 8.94782956e-01 -4.45066128e-01 3.57715465e-02 6.16580627e+01] [ 4.44512394e-01 8.95487222e-01 2.26134188e-02 1.40774857e+01] [-4.20974296e-02 -4.33320594e-03 9.99104114e-01 -4.53922650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.68, Y:14.09, Z:-4.54 [[ 8.94754112e-01 -4.44870137e-01 3.88025733e-02 6.16813639e+01] [ 4.44578252e-01 8.95591192e-01 1.63277144e-02 1.40925369e+01] [-4.20149555e-02 2.64149062e-03 9.99113490e-01 -4.54481758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:61.71, Y:14.10, Z:-4.54 [[ 8.93930385e-01 -4.46557931e-01 3.83989838e-02 6.17076781e+01] [ 4.46083714e-01 8.94753779e-01 2.06154013e-02 1.41041417e+01] [-4.35636069e-02 -1.29957231e-03 9.99049810e-01 -4.54420582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.74, Y:14.11, Z:-4.54 [[ 8.94078183e-01 -4.46888029e-01 3.02537800e-02 6.17367350e+01] [ 4.46256367e-01 8.94541478e-01 2.55107460e-02 1.41140546e+01] [-3.84637081e-02 -9.30765949e-03 9.99216649e-01 -4.53580861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.75, Y:14.13, Z:-4.55 [[ 8.93164906e-01 -4.47420143e-01 4.55155670e-02 6.17547588e+01] [ 4.47463020e-01 8.94248612e-01 9.81149642e-03 1.41348360e+01] [-4.50920938e-02 1.16032488e-02 9.98915446e-01 -4.55470071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.78, Y:14.15, Z:-4.55 [[ 8.92399259e-01 -4.49441374e-01 4.03238704e-02 6.17823322e+01] [ 4.49150353e-01 8.93303472e-01 1.65187019e-02 1.41453634e+01] [-4.34456415e-02 3.37020326e-03 9.99050108e-01 -4.55239887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.801052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.81, Y:14.16, Z:-4.55 [[ 8.91433413e-01 -4.51519287e-01 3.84292008e-02 6.18091831e+01] [ 4.50934809e-01 8.92255024e-01 2.32114309e-02 1.41553149e+01] [-4.47690562e-02 -3.36238072e-03 9.98991705e-01 -4.55023611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.83, Y:14.17, Z:-4.55 [[ 8.91236439e-01 -4.51859628e-01 3.89934146e-02 6.18344655e+01] [ 4.51371629e-01 8.92088326e-01 2.10254781e-02 1.41687630e+01] [-4.42861346e-02 -1.13815122e-03 9.99018240e-01 -4.55226127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.86, Y:14.19, Z:-4.56 [[ 8.91232323e-01 -4.51670420e-01 4.12162409e-02 6.18575371e+01] [ 4.51360689e-01 8.92178407e-01 1.70651486e-02 1.41858348e+01] [-4.44800629e-02 3.39437882e-03 9.99004506e-01 -4.55810576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.88, Y:14.20, Z:-4.55 [[ 8.91687446e-01 -4.51000774e-01 3.86238226e-02 6.18816981e+01] [ 4.50277769e-01 8.92503466e-01 2.62200864e-02 1.41955892e+01] [-4.62971748e-02 -5.98867319e-03 9.98909759e-01 -4.55488447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.91, Y:14.21, Z:-4.56 [[ 8.92181500e-01 -4.49986363e-01 3.90441289e-02 6.19055505e+01] [ 4.49359142e-01 8.93026763e-01 2.40740915e-02 1.42107692e+01] [-4.57004649e-02 -3.93362283e-03 9.98947443e-01 -4.55819921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.95105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.93, Y:14.23, Z:-4.56 [[ 8.92371191e-01 -4.49435448e-01 4.10053108e-02 6.19283375e+01] [ 4.49112169e-01 8.93307852e-01 1.73014996e-02 1.42263156e+01] [-4.44062733e-02 2.97662426e-03 9.99009120e-01 -4.56383872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.95, Y:14.24, Z:-4.56 [[ 8.92853595e-01 -4.48747368e-01 3.79243682e-02 6.19540087e+01] [ 4.48258444e-01 8.93656918e-01 2.10162080e-02 1.42382277e+01] [-4.33223420e-02 -1.76447866e-03 9.99059588e-01 -4.56271896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.98, Y:14.25, Z:-4.56 [[ 8.93497690e-01 -4.47509742e-01 3.73752384e-02 6.19780699e+01] [ 4.47050428e-01 8.94277883e-01 2.03220078e-02 1.42526453e+01] [-4.25181455e-02 -1.44905072e-03 9.99094644e-01 -4.56411072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.00, Y:14.27, Z:-4.56 [[ 8.94247087e-01 -4.46044999e-01 3.69595338e-02 6.20013413e+01] [ 4.45614097e-01 8.95009877e-01 1.96315185e-02 1.42668038e+01] [-4.18356885e-02 -1.08573895e-03 9.99123914e-01 -4.56455468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.03, Y:14.28, Z:-4.56 [[ 8.94428759e-01 -4.46077719e-01 3.18098185e-02 6.20288588e+01] [ 4.45373729e-01 8.94939048e-01 2.69507314e-02 1.42777602e+01] [-4.04899695e-02 -9.93825180e-03 9.99130519e-01 -4.55890862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.05, Y:14.29, Z:-4.57 [[ 8.94587532e-01 -4.45375824e-01 3.67902436e-02 6.20516078e+01] [ 4.44968414e-01 8.95343462e-01 1.90577016e-02 1.42949425e+01] [-4.14277436e-02 -6.78285936e-04 9.99141272e-01 -4.56654803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.07, Y:14.31, Z:-4.57 [[ 8.94552033e-01 -4.45283867e-01 3.87161084e-02 6.20746976e+01] [ 4.45042315e-01 8.95381809e-01 1.51246375e-02 1.43093663e+01] [-4.14004563e-02 3.70053127e-03 9.99135781e-01 -4.57090515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.10, Y:14.32, Z:-4.57 [[ 8.94195030e-01 -4.46252150e-01 3.56968717e-02 6.21005391e+01] [ 4.45826593e-01 8.94905902e-01 1.95467798e-02 1.43210167e+01] [-4.06681337e-02 -1.56401868e-03 9.99171485e-01 -4.56959167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.191052754 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:62.12, Y:14.34, Z:-4.58 [[ 8.93434144e-01 -4.47594929e-01 3.78709658e-02 6.21241450e+01] [ 4.47345715e-01 8.94230405e-01 1.52902964e-02 1.43358210e+01] [-4.07092283e-02 3.28054144e-03 9.99165650e-01 -4.57549793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.15, Y:14.35, Z:-4.57 [[ 8.93165349e-01 -4.48452747e-01 3.38495763e-02 6.21502451e+01] [ 4.47977519e-01 8.93799530e-01 2.09414037e-02 1.43466410e+01] [-3.96459655e-02 -3.54028693e-03 9.99207518e-01 -4.57206019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.18, Y:14.36, Z:-4.57 [[ 8.92707541e-01 -4.49440442e-01 3.28105852e-02 6.21769228e+01] [ 4.48927828e-01 8.93296717e-01 2.20177196e-02 1.43590759e+01] [-3.92052417e-02 -4.92579959e-03 9.99219038e-01 -4.57156228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.20, Y:14.37, Z:-4.57 [[ 8.92280868e-01 -4.50136513e-01 3.48134066e-02 6.22003734e+01] [ 4.49772596e-01 8.92959615e-01 1.81035169e-02 1.43717472e+01] [-3.92360202e-02 -4.95305518e-04 9.99229848e-01 -4.57487267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.23, Y:14.38, Z:-4.58 [[ 8.92044782e-01 -4.50608422e-01 3.47585603e-02 6.22260363e+01] [ 4.50245644e-01 8.92721579e-01 1.80843057e-02 1.43840813e+01] [-3.91786572e-02 -4.82120142e-04 9.99232105e-01 -4.57619399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.25, Y:14.40, Z:-4.58 [[ 8.91796418e-01 -4.51029154e-01 3.56630238e-02 6.22504989e+01] [ 4.50647268e-01 8.92509086e-01 1.85626145e-02 1.43962319e+01] [-4.02018531e-02 -4.82628911e-04 9.99191462e-01 -4.57785767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37105275399999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:62.28, Y:14.41, Z:-4.58 [[ 8.91616400e-01 -4.51330408e-01 3.63463585e-02 6.22790319e+01] [ 4.50783680e-01 8.92349293e-01 2.25125290e-02 1.44061836e+01] [-4.25942362e-02 -3.68819487e-03 9.99085646e-01 -4.57605014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:62.30, Y:14.42, Z:-4.58 [[ 8.90887934e-01 -4.52406935e-01 4.05789873e-02 6.23016405e+01] [ 4.52080253e-01 8.91807144e-01 1.74202037e-02 1.44214878e+01] [-4.40696517e-02 2.82550958e-03 9.99024465e-01 -4.58193895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43105275399999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:62.33, Y:14.43, Z:-4.58 [[ 8.90729936e-01 -4.53038177e-01 3.68319229e-02 6.23305485e+01] [ 4.52464564e-01 8.91482429e-01 2.31278276e-02 1.44311611e+01] [-4.33128010e-02 -3.93550844e-03 9.99053809e-01 -4.57805175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.35, Y:14.45, Z:-4.58 [[ 8.90352069e-01 -4.53454471e-01 4.06476943e-02 6.23520184e+01] [ 4.53143759e-01 8.91273676e-01 1.70870672e-02 1.44468120e+01] [-4.39764269e-02 3.20574339e-03 9.99027426e-01 -4.58423169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.38, Y:14.46, Z:-4.58 [[ 8.90567219e-01 -4.53210202e-01 3.86075175e-02 6.23773529e+01] [ 4.52762363e-01 8.91403555e-01 2.01480596e-02 1.44593918e+01] [-4.35461845e-02 -4.63170564e-04 9.99051308e-01 -4.58412735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.40, Y:14.47, Z:-4.59 [[ 8.90645667e-01 -4.53054411e-01 3.86263707e-02 6.24015701e+01] [ 4.52605411e-01 8.91482735e-01 2.01711358e-02 1.44743492e+01] [-4.35733646e-02 -4.82830349e-04 9.99050113e-01 -4.58701296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.42, Y:14.49, Z:-4.59 [[ 8.91394141e-01 -4.51640905e-01 3.79074889e-02 6.24242312e+01] [ 4.51206651e-01 8.92199634e-01 1.98083756e-02 1.44904936e+01] [-4.27673204e-02 -5.52958896e-04 9.99084907e-01 -4.59090576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.45, Y:14.50, Z:-4.59 [[ 8.91934397e-01 -4.50618442e-01 3.73637775e-02 6.24484163e+01] [ 4.50195060e-01 8.92716446e-01 1.95385657e-02 1.45032249e+01] [-4.21596967e-02 -6.06130708e-04 9.99110701e-01 -4.59187419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.47, Y:14.52, Z:-4.59 [[ 8.92820249e-01 -4.48951631e-01 3.62551589e-02 6.24735452e+01] [ 4.48551499e-01 8.93555811e-01 1.89622067e-02 1.45163084e+01] [-4.09091215e-02 -6.67536184e-04 9.99162649e-01 -4.59210186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.50, Y:14.53, Z:-4.59 [[ 8.92695553e-01 -4.49250288e-01 3.56206161e-02 6.24979198e+01] [ 4.48863759e-01 8.93405703e-01 1.86433554e-02 1.45290038e+01] [-4.01991944e-02 -6.54036835e-04 9.99191472e-01 -4.59391627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.52, Y:14.54, Z:-4.59 [[ 8.92121160e-01 -4.50367606e-01 3.59006352e-02 6.25230336e+01] [ 4.49975577e-01 8.92843010e-01 1.87973160e-02 1.45410895e+01] [-4.05193334e-02 -6.15074331e-04 9.99178565e-01 -4.59470189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.55, Y:14.55, Z:-4.60 [[ 8.90922044e-01 -4.52581196e-01 3.77911649e-02 6.25484456e+01] [ 4.52148178e-01 8.91723026e-01 1.98007762e-02 1.45531113e+01] [-4.26607109e-02 -5.53741683e-04 9.99089464e-01 -4.59502657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.73105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.57, Y:14.57, Z:-4.60 [[ 8.90536106e-01 -4.53280484e-01 3.84999477e-02 6.25726987e+01] [ 4.52831043e-01 8.91367773e-01 2.01875996e-02 1.45657706e+01] [-4.34682575e-02 -5.43814826e-04 9.99054661e-01 -4.59657257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.60, Y:14.58, Z:-4.60 [[ 8.90110045e-01 -4.54074532e-01 3.89926400e-02 6.25974467e+01] [ 4.53614058e-01 8.90963553e-01 2.04507464e-02 1.45784264e+01] [-4.40271842e-02 -5.15805128e-04 9.99030200e-01 -4.59758258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.62, Y:14.59, Z:-4.60 [[ 8.89631066e-01 -4.54964584e-01 3.95448327e-02 6.26227389e+01] [ 4.54491222e-01 8.90509397e-01 2.07543507e-02 1.45902817e+01] [-4.46575396e-02 -4.90935784e-04 9.99002234e-01 -4.59740210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.65, Y:14.60, Z:-4.60 [[ 8.89557567e-01 -4.55062375e-01 4.00695566e-02 6.26462148e+01] [ 4.54575755e-01 8.90459420e-01 2.10452920e-02 1.46041216e+01] [-4.52572347e-02 -5.06349819e-04 9.98975238e-01 -4.59939051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.67, Y:14.62, Z:-4.59 [[ 8.89007205e-01 -4.56548561e-01 3.50656817e-02 6.26748264e+01] [ 4.55668865e-01 8.89629807e-01 3.04087648e-02 1.46154297e+01] [-4.50785535e-02 -1.10552716e-02 9.98922272e-01 -4.59474740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.69, Y:14.64, Z:-4.61 [[ 8.89695455e-01 -4.54466434e-01 4.36148872e-02 6.26926631e+01] [ 4.54430411e-01 8.90710428e-01 1.13108310e-02 1.46370159e+01] [-4.39886278e-02 9.75673617e-03 9.98984388e-01 -4.61024788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.72, Y:14.65, Z:-4.61 [[ 8.89891429e-01 -4.54540033e-01 3.85565019e-02 6.27181938e+01] [ 4.54087024e-01 8.90726138e-01 2.02958485e-02 1.46467900e+01] [-4.35685597e-02 -5.53094454e-04 9.99050286e-01 -4.60569194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.74, Y:14.66, Z:-4.61 [[ 8.89897689e-01 -4.54547024e-01 3.83289215e-02 6.27435369e+01] [ 4.54099173e-01 8.90722570e-01 2.01802915e-02 1.46599380e+01] [-4.33133269e-02 -5.53263216e-04 9.99061384e-01 -4.60662149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.77, Y:14.67, Z:-4.61 [[ 8.89471856e-01 -4.55445685e-01 3.75372517e-02 6.27681581e+01] [ 4.55016394e-01 8.90263426e-01 1.97765949e-02 1.46735907e+01] [-4.24252071e-02 -5.10659665e-04 9.99099515e-01 -4.60796639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.79, Y:14.69, Z:-4.61 [[ 8.89011028e-01 -4.56364801e-01 3.72902103e-02 6.27928439e+01] [ 4.55941402e-01 8.89792640e-01 1.96594877e-02 1.46866983e+01] [-4.21524528e-02 -4.75350642e-04 9.99111077e-01 -4.60933380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.82, Y:14.70, Z:-4.61 [[ 8.88393280e-01 -4.57747764e-01 3.49909370e-02 6.28218568e+01] [ 4.57260754e-01 8.89077261e-01 2.13125943e-02 1.46970719e+01] [-4.08654388e-02 -2.93398331e-03 9.99160351e-01 -4.60703912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06105275399999 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:62.85, Y:14.71, Z:-4.61 [[ 8.88035538e-01 -4.58653212e-01 3.20954017e-02 6.28465752e+01] [ 4.58115525e-01 8.88597454e-01 2.29069892e-02 1.47085288e+01] [-3.90262564e-02 -5.63881863e-03 9.99222275e-01 -4.60568956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.09105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.87, Y:14.73, Z:-4.62 [[ 8.88549770e-01 -4.57027413e-01 4.00655862e-02 6.28678432e+01] [ 4.56921217e-01 8.89422050e-01 1.23052266e-02 1.47253365e+01] [-4.12590417e-02 7.37301014e-03 9.99121279e-01 -4.61610058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.89, Y:14.74, Z:-4.61 [[ 8.88599209e-01 -4.57251525e-01 3.62282903e-02 6.28939463e+01] [ 4.56852339e-01 8.89337315e-01 1.91070762e-02 1.47365420e+01] [-4.09559101e-02 -4.27553677e-04 9.99160863e-01 -4.61422217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.92, Y:14.75, Z:-4.62 [[ 8.88736032e-01 -4.57112537e-01 3.45889213e-02 6.29208837e+01] [ 4.56677267e-01 8.89406572e-01 2.00455078e-02 1.47500009e+01] [-3.99266669e-02 -2.01919097e-03 9.99200573e-01 -4.61589651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18105275399999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:62.95, Y:14.76, Z:-4.61 [[ 8.88752650e-01 -4.57154381e-01 3.35946265e-02 6.29454242e+01] [ 4.56690111e-01 8.89381669e-01 2.08420239e-02 1.47623948e+01] [-3.94064675e-02 -3.18107029e-03 9.99218200e-01 -4.61485092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.97, Y:14.78, Z:-4.62 [[ 8.88646897e-01 -4.56833574e-01 4.01220513e-02 6.29681210e+01] [ 4.56571759e-01 8.89542728e-01 1.59988659e-02 1.47776097e+01] [-4.29990981e-02 4.10125300e-03 9.99066693e-01 -4.61861801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.99, Y:14.79, Z:-4.62 [[ 8.88631794e-01 -4.56977440e-01 3.87963205e-02 6.29926782e+01] [ 4.56517958e-01 8.89478144e-01 2.04935390e-02 1.47888891e+01] [-4.38735642e-02 -4.99993334e-04 9.99036966e-01 -4.61669156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.02, Y:14.80, Z:-4.62 [[ 8.88930324e-01 -4.56389145e-01 3.88822268e-02 6.30159387e+01] [ 4.55926800e-01 8.89780120e-01 2.05448590e-02 1.48025031e+01] [-4.39730830e-02 -5.35498987e-04 9.99032573e-01 -4.61760069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.301052754 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:63.04, Y:14.82, Z:-4.62 [[ 8.88801146e-01 -4.56925480e-01 3.53783732e-02 6.30428118e+01] [ 4.56434356e-01 8.89500426e-01 2.13698601e-02 1.48165088e+01] [-4.12335116e-02 -2.84565114e-03 9.99145485e-01 -4.61879146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.331052754 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:63.07, Y:14.83, Z:-4.62 [[ 8.89040334e-01 -4.56594195e-01 3.36009858e-02 6.30693136e+01] [ 4.56095747e-01 8.89666257e-01 2.16938095e-02 1.48304742e+01] [-3.97989307e-02 -3.96140490e-03 9.99199856e-01 -4.62118114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.09, Y:14.85, Z:-4.63 [[ 8.88510608e-01 -4.57069665e-01 4.04502319e-02 6.30902735e+01] [ 4.56886258e-01 8.89411621e-01 1.42096926e-02 1.48465742e+01] [-4.24717258e-02 5.85569249e-03 9.99080509e-01 -4.62976878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.12, Y:14.86, Z:-4.63 [[ 8.87986742e-01 -4.58370861e-01 3.70904422e-02 6.31168527e+01] [ 4.57949594e-01 8.88760900e-01 1.96527874e-02 1.48560369e+01] [-4.19727999e-02 -4.65861723e-04 9.99118645e-01 -4.62610756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.14, Y:14.87, Z:-4.63 [[ 8.87945507e-01 -4.58449417e-01 3.71067206e-02 6.31418076e+01] [ 4.58027301e-01 8.88720377e-01 1.96744523e-02 1.48696924e+01] [-4.19972398e-02 -4.73950418e-04 9.99117614e-01 -4.62670738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.45105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.17, Y:14.88, Z:-4.63 [[ 8.87826201e-01 -4.58680871e-01 3.71011575e-02 6.31670227e+01] [ 4.58258519e-01 8.88600941e-01 1.96849363e-02 1.48831441e+01] [-4.19972272e-02 -4.74880737e-04 9.99117614e-01 -4.62819639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.19, Y:14.90, Z:-4.63 [[ 8.88399221e-01 -4.57631103e-01 3.63400326e-02 6.31901728e+01] [ 4.57224473e-01 8.89142000e-01 1.92946839e-02 1.48978806e+01] [-4.11412968e-02 -5.25829946e-04 9.99153200e-01 -4.63006619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.22, Y:14.91, Z:-4.63 [[ 8.88884956e-01 -4.56750538e-01 3.55314118e-02 6.32152140e+01] [ 4.56360978e-01 8.89594647e-01 1.88685473e-02 1.49116255e+01] [-4.02267728e-02 -5.56817953e-04 9.99190421e-01 -4.63190307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54105275399999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:63.24, Y:14.92, Z:-4.63 [[ 8.89478208e-01 -4.56084708e-01 2.85527100e-02 6.32433806e+01] [ 4.55693277e-01 8.89926441e-01 1.93537223e-02 1.49241285e+01] [-3.42367484e-02 -4.20343624e-03 9.99404911e-01 -4.62980183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.26, Y:14.94, Z:-4.64 [[ 8.89398170e-01 -4.55722491e-01 3.58874159e-02 6.32645918e+01] [ 4.55497596e-01 8.90115850e-01 1.46871731e-02 1.49394112e+01] [-3.86372328e-02 3.28388675e-03 9.99247907e-01 -4.63722197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.29, Y:14.95, Z:-4.64 [[ 8.89224429e-01 -4.56196364e-01 3.41290459e-02 6.32895003e+01] [ 4.55835046e-01 8.89878938e-01 1.81627601e-02 1.49510773e+01] [-3.86565043e-02 -5.93554789e-04 9.99252382e-01 -4.63638677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.631052754 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:63.32, Y:14.96, Z:-4.63 [[ 8.89303436e-01 -4.56664378e-01 2.44344894e-02 6.33202174e+01] [ 4.56084264e-01 8.89559599e-01 2.59010273e-02 1.49606189e+01] [-3.35640111e-02 -1.18896864e-02 9.99365845e-01 -4.62623111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.34, Y:14.98, Z:-4.64 [[ 8.89152538e-01 -4.55836588e-01 4.02587790e-02 6.33374560e+01] [ 4.55895420e-01 8.89995191e-01 8.24171776e-03 1.49803494e+01] [-3.95869962e-02 1.10256487e-02 9.99155296e-01 -4.64371330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.36, Y:14.99, Z:-4.64 [[ 8.89164747e-01 -4.56297790e-01 3.43275258e-02 6.33637960e+01] [ 4.55931430e-01 8.89826922e-01 1.82915416e-02 1.49891264e+01] [-3.88919466e-02 -6.13196033e-04 9.99243234e-01 -4.63789043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.721052754 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:63.39, Y:15.00, Z:-4.64 [[ 8.88844160e-01 -4.56909322e-01 3.44953646e-02 6.33882304e+01] [ 4.56539710e-01 8.89513081e-01 1.83840192e-02 1.50024550e+01] [-3.90839078e-02 -5.92024287e-04 9.99235757e-01 -4.63898139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.41, Y:15.02, Z:-4.64 [[ 8.88624140e-01 -4.57313838e-01 3.48021654e-02 6.34116287e+01] [ 4.56937363e-01 8.89305180e-01 1.85618867e-02 1.50151844e+01] [-3.94383536e-02 -5.92130890e-04 9.99221830e-01 -4.64109280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.44, Y:15.03, Z:-4.64 [[ 8.88478378e-01 -4.57640337e-01 3.42270948e-02 6.34366869e+01] [ 4.57276347e-01 8.89137220e-01 1.82577571e-02 1.50286108e+01] [-3.87880701e-02 -5.70381561e-04 9.99247297e-01 -4.64266181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.46, Y:15.04, Z:-4.65 [[ 8.88551482e-01 -4.57547549e-01 3.35634545e-02 6.34602639e+01] [ 4.57196984e-01 8.89184970e-01 1.79166744e-02 1.50420562e+01] [-3.80418498e-02 -5.74777437e-04 9.99275982e-01 -4.64516163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.49, Y:15.06, Z:-4.65 [[ 8.88814176e-01 -4.57082797e-01 3.29344331e-02 6.34852797e+01] [ 4.56744701e-01 8.89423954e-01 1.75871686e-02 1.50557911e+01] [-3.73314659e-02 -5.89096993e-04 9.99302764e-01 -4.64676246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87105275399999 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:63.52, Y:15.07, Z:-4.64 [[ 8.89577663e-01 -4.56267038e-01 2.17249215e-02 6.35159226e+01] [ 4.55808121e-01 8.89779863e-01 2.30380623e-02 1.50655820e+01] [-2.98419061e-02 -1.05917500e-02 9.99498512e-01 -4.63643315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.53, Y:15.09, Z:-4.65 [[ 8.89254231e-01 -4.55915827e-01 3.69820262e-02 6.35333604e+01] [ 4.55930580e-01 8.89974512e-01 8.52490050e-03 1.50861345e+01] [-3.67996978e-02 9.28043282e-03 9.99279568e-01 -4.65394446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.56, Y:15.10, Z:-4.65 [[ 8.88989167e-01 -4.56744517e-01 3.29045055e-02 6.35594884e+01] [ 4.56405332e-01 8.89597684e-01 1.76106323e-02 1.50976400e+01] [-3.73153316e-02 -6.37869605e-04 9.99303337e-01 -4.64888902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.961052754 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:63.59, Y:15.11, Z:-4.64 [[ 8.89437232e-01 -4.56396460e-01 2.45699513e-02 6.35896289e+01] [ 4.55727385e-01 8.89664735e-01 2.84466011e-02 1.51082008e+01] [-3.48419473e-02 -1.41042664e-02 9.99293304e-01 -4.64026844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.61, Y:15.13, Z:-4.66 [[ 8.89602553e-01 -4.55312827e-01 3.60212117e-02 6.36100989e+01] [ 4.55387465e-01 8.90269030e-01 6.58105079e-03 1.51285004e+01] [-3.50650060e-02 1.05490887e-02 9.99329356e-01 -4.65561467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.64, Y:15.14, Z:-4.65 [[ 8.89041327e-01 -4.56654764e-01 3.27405711e-02 6.36351230e+01] [ 4.56275246e-01 8.89642408e-01 1.86891842e-02 1.51396485e+01] [-3.76619055e-02 -1.67674503e-03 9.99289132e-01 -4.65210888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.051052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.66, Y:15.15, Z:-4.66 [[ 8.89311634e-01 -4.56108568e-01 3.30119783e-02 6.36593630e+01] [ 4.55951041e-01 8.89915792e-01 1.25909525e-02 1.51544239e+01] [-3.51207221e-02 3.85456530e-03 9.99375644e-01 -4.65607281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.081052754 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:63.68, Y:15.17, Z:-4.66 [[ 8.89073561e-01 -4.56388659e-01 3.54625869e-02 6.36817600e+01] [ 4.56223659e-01 8.89768924e-01 1.30856890e-02 1.51689096e+01] [-3.75256678e-02 4.54473105e-03 9.99285329e-01 -4.65959167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.71, Y:15.18, Z:-4.66 [[ 8.89281270e-01 -4.56528595e-01 2.75765300e-02 6.37124938e+01] [ 4.56177858e-01 8.89701209e-01 1.82625617e-02 1.51805855e+01] [-3.28722537e-02 -3.66075165e-03 9.99452857e-01 -4.65534782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.74, Y:15.19, Z:-4.65 [[ 8.89367320e-01 -4.56415203e-01 2.66633107e-02 6.37375633e+01] [ 4.55939054e-01 8.89734777e-01 2.21721880e-02 1.51929095e+01] [-3.38429984e-02 -7.56237478e-03 9.99398550e-01 -4.65392862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.75, Y:15.21, Z:-4.67 [[ 8.87532168e-01 -4.59547221e-01 3.32114849e-02 6.37543103e+01] [ 4.59430019e-01 8.88139125e-01 1.15305221e-02 1.52098891e+01] [-3.47952386e-02 5.02464388e-03 9.99381831e-01 -4.66595343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.78, Y:15.22, Z:-4.66 [[ 8.87114281e-01 -4.60740735e-01 2.73171502e-02 6.37840270e+01] [ 4.60353377e-01 8.87522382e-01 1.94624898e-02 1.52188813e+01] [-3.32117441e-02 -4.68991028e-03 9.99437334e-01 -4.66135965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.81, Y:15.23, Z:-4.67 [[ 8.86569768e-01 -4.61435209e-01 3.27352246e-02 6.38096089e+01] [ 4.61307518e-01 8.87161796e-01 1.18034890e-02 1.52339971e+01] [-3.44879861e-02 4.63638868e-03 9.99394358e-01 -4.66823781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.83, Y:15.24, Z:-4.66 [[ 8.84037951e-01 -4.66393775e-01 3.08828102e-02 6.38321690e+01] [ 4.66061017e-01 8.84576378e-01 1.76567260e-02 1.52432948e+01] [-3.55531914e-02 -1.21594196e-03 9.99367046e-01 -4.66481507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.86, Y:15.25, Z:-4.66 [[ 8.83506831e-01 -4.67327353e-01 3.19503565e-02 6.38562213e+01] [ 4.67006757e-01 8.84084275e-01 1.73113535e-02 1.52549766e+01] [-3.63368768e-02 -3.73666647e-04 9.99339528e-01 -4.66393973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.88, Y:15.27, Z:-4.67 [[ 8.83321016e-01 -4.67607218e-01 3.29768350e-02 6.38799827e+01] [ 4.67265569e-01 8.83936278e-01 1.78757995e-02 1.52683665e+01] [-3.75082737e-02 -3.81129844e-04 9.99296244e-01 -4.66504995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.90, Y:15.28, Z:-4.67 [[ 8.83601619e-01 -4.66970643e-01 3.44470314e-02 6.39026817e+01] [ 4.66596974e-01 8.84272712e-01 1.86824614e-02 1.52841591e+01] [-3.91847309e-02 -4.34972500e-04 9.99231889e-01 -4.66627480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.381052754 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:63.93, Y:15.30, Z:-4.67 [[ 8.83710019e-01 -4.66895170e-01 3.26420372e-02 6.39272893e+01] [ 4.66553976e-01 8.84312501e-01 1.78546632e-02 1.52999706e+01] [-3.72020176e-02 -5.49072532e-04 9.99307615e-01 -4.66726379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.95, Y:15.32, Z:-4.67 [[ 8.84548099e-01 -4.65269749e-01 3.31469623e-02 6.39488260e+01] [ 4.64932620e-01 8.85168908e-01 1.77105228e-02 1.53153972e+01] [-3.75808310e-02 -2.54705235e-04 9.99293559e-01 -4.67343727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.97, Y:15.33, Z:-4.68 [[ 8.84727254e-01 -4.64987338e-01 3.23181151e-02 6.39728166e+01] [ 4.64656400e-01 8.85317185e-01 1.75474353e-02 1.53294575e+01] [-3.67711179e-02 -5.07875248e-04 9.99323585e-01 -4.67556259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.00, Y:15.34, Z:-4.67 [[ 8.85525080e-01 -4.63490360e-01 3.19690363e-02 6.39987656e+01] [ 4.63165146e-01 8.86101776e-01 1.73692364e-02 1.53416374e+01] [-3.63782934e-02 -5.73951078e-04 9.99337926e-01 -4.67461373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.02, Y:15.35, Z:-4.67 [[ 8.86325988e-01 -4.61976532e-01 3.16848030e-02 6.40237536e+01] [ 4.61655598e-01 8.86891916e-01 1.72289903e-02 1.53526170e+01] [-3.60603848e-02 -6.43035190e-04 9.99349406e-01 -4.67220356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53105275399999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:64.05, Y:15.37, Z:-4.67 [[ 8.86829870e-01 -4.61157361e-01 2.94392719e-02 6.40481370e+01] [ 4.60798824e-01 8.87314138e-01 1.83865075e-02 1.53659131e+01] [-3.46009555e-02 -2.74012212e-03 9.99397451e-01 -4.67113691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.07, Y:15.38, Z:-4.68 [[ 8.86410469e-01 -4.61687327e-01 3.34857145e-02 6.40700844e+01] [ 4.61417086e-01 8.87041635e-01 1.58559149e-02 1.53814789e+01] [-3.70236979e-02 1.39603179e-03 9.99313413e-01 -4.67700966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.09, Y:15.40, Z:-4.68 [[ 8.86069780e-01 -4.62387482e-01 3.28353674e-02 6.40942189e+01] [ 4.62041970e-01 8.86677709e-01 1.78845694e-02 1.53959951e+01] [-3.73839894e-02 -6.75658604e-04 9.99300746e-01 -4.68033092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.12, Y:15.41, Z:-4.68 [[ 8.85788712e-01 -4.62983286e-01 3.20130492e-02 6.41192545e+01] [ 4.62654847e-01 8.86366776e-01 1.74479498e-02 1.54087149e+01] [-3.64534123e-02 -6.44204669e-04 9.99335146e-01 -4.68200689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.15, Y:15.42, Z:-4.68 [[ 8.86033572e-01 -4.62876565e-01 2.62639377e-02 6.41533303e+01] [ 4.62463033e-01 8.86402594e-01 2.04544709e-02 1.54171458e+01] [-3.27483177e-02 -5.97724767e-03 9.99445757e-01 -4.67795591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68105275399999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:64.17, Y:15.43, Z:-4.69 [[ 8.83999361e-01 -4.66126294e-01 3.56568078e-02 6.41704302e+01] [ 4.66331261e-01 8.84605601e-01 2.84359532e-03 1.54347403e+01] [-3.28676864e-02 1.41141477e-02 9.99360048e-01 -4.69014235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.711052754 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:64.20, Y:15.44, Z:-4.68 [[ 8.84151153e-01 -4.66400659e-01 2.73342957e-02 6.41983424e+01] [ 4.65970352e-01 8.84555424e-01 2.08166579e-02 1.54417603e+01] [-3.38876025e-02 -5.66810076e-03 9.99409577e-01 -4.68142989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.22, Y:15.46, Z:-4.68 [[ 8.84362932e-01 -4.65914225e-01 2.87426267e-02 6.42224437e+01] [ 4.65471328e-01 8.84814894e-01 2.09534386e-02 1.54558842e+01] [-3.51944093e-02 -5.15157582e-03 9.99367207e-01 -4.68362316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.24, Y:15.47, Z:-4.69 [[ 8.85141252e-01 -4.64214648e-01 3.20893287e-02 6.42437613e+01] [ 4.63886818e-01 8.85722555e-01 1.74520728e-02 1.54721695e+01] [-3.65237501e-02 -5.61732983e-04 9.99332627e-01 -4.68719402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.801052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.27, Y:15.49, Z:-4.69 [[ 8.85390773e-01 -4.63682107e-01 3.28950439e-02 6.42675546e+01] [ 4.63337139e-01 8.86001435e-01 1.78927908e-02 1.54865911e+01] [-3.74416231e-02 -6.00616298e-04 9.99298636e-01 -4.68813610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.29, Y:15.50, Z:-4.69 [[ 8.85917123e-01 -4.62568160e-01 3.43736636e-02 6.42897991e+01] [ 4.62190032e-01 8.86583454e-01 1.87123900e-02 1.55013651e+01] [-3.91308772e-02 -6.90462038e-04 9.99233855e-01 -4.68971053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.31, Y:15.52, Z:-4.69 [[ 8.85948843e-01 -4.62472633e-01 3.48383635e-02 6.43140432e+01] [ 4.62083998e-01 8.86633275e-01 1.89687879e-02 1.55153481e+01] [-3.96613976e-02 -7.07125376e-04 9.99212927e-01 -4.69081835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.34, Y:15.53, Z:-4.69 [[ 8.86261599e-01 -4.61869538e-01 3.48842083e-02 6.43381672e+01] [ 4.61478838e-01 8.86947558e-01 1.90082068e-02 1.55283972e+01] [-3.97197750e-02 -7.47919845e-04 9.99210578e-01 -4.69151021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.36, Y:15.54, Z:-4.69 [[ 8.86047240e-01 -4.62304551e-01 3.45657336e-02 6.43626187e+01] [ 4.61921167e-01 8.86720913e-01 1.88376888e-02 1.55416415e+01] [-3.93589081e-02 -7.24438171e-04 9.99224875e-01 -4.69230105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.95105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.39, Y:15.56, Z:-4.70 [[ 8.85581948e-01 -4.63272607e-01 3.35127518e-02 6.43865990e+01] [ 4.62912491e-01 8.86215573e-01 1.82752212e-02 1.55562563e+01] [-3.81659319e-02 -6.70734528e-04 9.99271190e-01 -4.69531413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.41, Y:15.57, Z:-4.70 [[ 8.84982911e-01 -4.64473314e-01 3.27076161e-02 6.44111578e+01] [ 4.64130680e-01 8.85586903e-01 1.78479245e-02 1.55704405e+01] [-3.72553211e-02 -6.14500048e-04 9.99305591e-01 -4.69790619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.43, Y:15.58, Z:-4.70 [[ 8.83390073e-01 -4.67592172e-01 3.12975985e-02 6.44348982e+01] [ 4.67279924e-01 8.83944193e-01 1.70920246e-02 1.55822564e+01] [-3.56574273e-02 -4.74185428e-04 9.99363959e-01 -4.70144486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.46, Y:15.59, Z:-4.70 [[ 8.82452072e-01 -4.69407023e-01 3.05840842e-02 6.44607301e+01] [ 4.69109880e-01 8.82981818e-01 1.67041601e-02 1.55943618e+01] [-3.48462404e-02 -3.93324646e-04 9.99392608e-01 -4.70245586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.49, Y:15.61, Z:-4.70 [[ 8.80231294e-01 -4.73633994e-01 2.93889349e-02 6.44875585e+01] [ 4.73361652e-01 8.80721743e-01 1.60610495e-02 1.56050128e+01] [-3.34905329e-02 -2.25843583e-04 9.99439009e-01 -4.70240179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.51, Y:15.62, Z:-4.70 [[ 8.79357803e-01 -4.75261009e-01 2.92716220e-02 6.45127968e+01] [ 4.74991395e-01 8.79844841e-01 1.60072302e-02 1.56184157e+01] [-3.33620980e-02 -1.72314261e-04 9.99443315e-01 -4.70405776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.54, Y:15.63, Z:-4.71 [[ 8.79557121e-01 -4.74919540e-01 2.88218948e-02 6.45371145e+01] [ 4.74657636e-01 8.80029201e-01 1.57713407e-02 1.56327124e+01] [-3.28542269e-02 -1.91262598e-04 9.99460136e-01 -4.70583399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.56, Y:15.65, Z:-4.71 [[ 8.80071371e-01 -4.73975663e-01 2.86609946e-02 6.45615685e+01] [ 4.73715848e-01 8.80537913e-01 1.56933067e-02 1.56469848e+01] [-3.26753378e-02 -2.34062595e-04 9.99465991e-01 -4.70697747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.59, Y:15.66, Z:-4.71 [[ 8.81634364e-01 -4.71082894e-01 2.83152998e-02 6.45857810e+01] [ 4.70827502e-01 8.82088877e-01 1.55137339e-02 1.56614933e+01] [-3.22848657e-02 -3.45819005e-04 9.99478648e-01 -4.70736277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.61, Y:15.68, Z:-4.71 [[ 8.82846308e-01 -4.68845702e-01 2.76785855e-02 6.46097512e+01] [ 4.68600261e-01 8.83279981e-01 1.51746468e-02 1.56762285e+01] [-3.15625084e-02 -4.26688501e-04 9.99501689e-01 -4.70753339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.63, Y:15.69, Z:-4.71 [[ 8.83122952e-01 -4.68317617e-01 2.77931885e-02 6.46340879e+01] [ 4.68069599e-01 8.83560073e-01 1.52462551e-02 1.56899429e+01] [-3.16970415e-02 -4.55171245e-04 9.99497419e-01 -4.70877289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.66, Y:15.70, Z:-4.71 [[ 8.83069499e-01 -4.68393273e-01 2.82135176e-02 6.46593393e+01] [ 4.68137397e-01 8.83519962e-01 1.54872509e-02 1.57032607e+01] [-3.21813301e-02 -4.68516222e-04 9.99481937e-01 -4.70978641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.68, Y:15.72, Z:-4.71 [[ 8.82714265e-01 -4.68993294e-01 2.93396690e-02 6.46848392e+01] [ 4.68716540e-01 8.83201600e-01 1.61164532e-02 1.57160589e+01] [-3.34713510e-02 -4.74235065e-04 9.99439565e-01 -4.70966939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.71, Y:15.73, Z:-4.71 [[ 8.82001276e-01 -4.70205477e-01 3.13138631e-02 6.47095973e+01] [ 4.69890539e-01 8.82556848e-01 1.72131053e-02 1.57302221e+01] [-3.57299607e-02 -4.67892831e-04 9.99361372e-01 -4.71199719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.73, Y:15.74, Z:-4.71 [[ 8.81881967e-01 -4.70429526e-01 3.13090634e-02 6.47345988e+01] [ 4.70114419e-01 8.82437444e-01 1.72218298e-02 1.57440584e+01] [-3.57299471e-02 -4.68779011e-04 9.99361372e-01 -4.71347284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.76, Y:15.76, Z:-4.71 [[ 8.81632155e-01 -4.70808611e-01 3.26189296e-02 6.47591744e+01] [ 4.70466420e-01 8.82235240e-01 1.79534985e-02 1.57574405e+01] [-3.72302309e-02 -4.82270516e-04 9.99306598e-01 -4.71474803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43105275399999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:64.78, Y:15.77, Z:-4.72 [[ 8.81453382e-01 -4.70909215e-01 3.58391792e-02 6.47826490e+01] [ 4.70768904e-01 8.82163896e-01 1.27867129e-02 1.57722495e+01] [-3.76374109e-02 5.60107977e-03 9.99275764e-01 -4.71698303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.81, Y:15.78, Z:-4.71 [[ 8.81477601e-01 -4.71089454e-01 3.27408847e-02 6.48086968e+01] [ 4.70475179e-01 8.82060953e-01 2.49315313e-02 1.57812327e+01] [-4.06244374e-02 -6.57281278e-03 9.99152868e-01 -4.71219619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.83, Y:15.79, Z:-4.72 [[ 8.81690590e-01 -4.70395610e-01 3.67379045e-02 6.48328657e+01] [ 4.69959235e-01 8.82455441e-01 2.02660233e-02 1.57946418e+01] [-4.19526121e-02 -6.03044537e-04 9.99119420e-01 -4.71572563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.86, Y:15.81, Z:-4.72 [[ 8.81215385e-01 -4.71165372e-01 3.82444495e-02 6.48569346e+01] [ 4.71034659e-01 8.82020012e-01 1.29247097e-02 1.58106123e+01] [-3.98220455e-02 6.62500822e-03 9.99184825e-01 -4.72153525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.88, Y:15.82, Z:-4.72 [[ 8.80408810e-01 -4.72943970e-01 3.47034442e-02 6.48825562e+01] [ 4.72643374e-01 8.81091227e-01 1.69260572e-02 1.58231636e+01] [-3.85819769e-02 1.50050313e-03 9.99254312e-01 -4.72325705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.91, Y:15.84, Z:-4.72 [[ 8.80143257e-01 -4.73560907e-01 3.29835577e-02 6.49080666e+01] [ 4.73239394e-01 8.80761037e-01 1.74491277e-02 1.58368276e+01] [-3.73138573e-02 2.51386756e-04 9.99303564e-01 -4.72485696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.93, Y:15.85, Z:-4.73 [[ 8.81186052e-01 -4.71825809e-01 2.98587975e-02 6.49323622e+01] [ 4.71388929e-01 8.81681832e-01 2.07273897e-02 1.58478583e+01] [-3.61056767e-02 -4.18958011e-03 9.99339195e-01 -4.72511969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.96, Y:15.86, Z:-4.73 [[ 8.81970849e-01 -4.70405560e-01 2.90866005e-02 6.49575553e+01] [ 4.69930690e-01 8.82432477e-01 2.18648137e-02 1.58611513e+01] [-3.59522909e-02 -5.61544200e-03 9.99337731e-01 -4.72623289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.99, Y:15.88, Z:-4.73 [[ 8.84309828e-01 -4.65903734e-01 3.04932620e-02 6.49857108e+01] [ 4.65761296e-01 8.84828316e-01 1.20526421e-02 1.58781023e+01] [-3.25966726e-02 3.54431132e-03 9.99462303e-01 -4.73375247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.01, Y:15.89, Z:-4.73 [[ 8.84462313e-01 -4.65846874e-01 2.67040749e-02 6.50121850e+01] [ 4.65609090e-01 8.84865037e-01 1.49010690e-02 1.58924692e+01] [-3.05711186e-02 -7.45773929e-04 9.99532316e-01 -4.73301492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.73105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.03, Y:15.91, Z:-4.73 [[ 8.84574876e-01 -4.65719645e-01 2.51495529e-02 6.50302791e+01] [ 4.65409629e-01 8.84924706e-01 1.73822360e-02 1.59062593e+01] [-3.03507095e-02 -3.67104520e-03 9.99532570e-01 -4.73414343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.05, Y:15.92, Z:-4.74 [[ 8.84698939e-01 -4.65374019e-01 2.71073634e-02 6.50538773e+01] [ 4.65130742e-01 8.85113839e-01 1.50627204e-02 1.59217232e+01] [-3.10029012e-02 -7.17504736e-04 9.99519037e-01 -4.73837530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.08, Y:15.94, Z:-4.74 [[ 8.84256484e-01 -4.66100807e-01 2.89915169e-02 6.50773958e+01] [ 4.65822512e-01 8.84731300e-01 1.61218476e-02 1.59359871e+01] [-3.31641086e-02 -7.50947105e-04 9.99449638e-01 -4.74232903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.11, Y:15.94, Z:-4.74 [[ 8.84052617e-01 -4.66631543e-01 2.65701831e-02 6.51116044e+01] [ 4.66330944e-01 8.84448016e-01 1.69457097e-02 1.59444787e+01] [-3.14073484e-02 -2.59040046e-03 9.99503311e-01 -4.73613968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.14, Y:15.96, Z:-4.73 [[ 8.82994575e-01 -4.68608587e-01 2.69550048e-02 6.51370755e+01] [ 4.68292167e-01 8.83401540e-01 1.74403303e-02 1.59561363e+01] [-3.19847813e-02 -2.77689939e-03 9.99484498e-01 -4.73386619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.15, Y:15.97, Z:-4.74 [[ 8.80855434e-01 -4.72069714e-01 3.52688312e-02 6.51535215e+01] [ 4.71896701e-01 8.81548899e-01 1.36030327e-02 1.59716331e+01] [-3.75127791e-02 4.66093978e-03 9.99285278e-01 -4.74007557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.18, Y:15.99, Z:-4.74 [[ 8.79522204e-01 -4.74533093e-01 3.54828934e-02 6.51785713e+01] [ 4.74120725e-01 8.80237472e-01 1.97871325e-02 1.59851845e+01] [-4.06230216e-02 -5.80047206e-04 9.99174376e-01 -4.73969225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.20, Y:16.00, Z:-4.74 [[ 8.79006767e-01 -4.75444087e-01 3.60558353e-02 6.52012349e+01] [ 4.75018422e-01 8.79745762e-01 2.01219266e-02 1.59992841e+01] [-4.12868194e-02 -5.60123623e-04 9.99147179e-01 -4.74338155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.23, Y:16.01, Z:-4.75 [[ 8.78579639e-01 -4.76286852e-01 3.53362886e-02 6.52253809e+01] [ 4.75878551e-01 8.79289811e-01 1.97239254e-02 1.60127349e+01] [-4.04650849e-02 -5.13257453e-04 9.99180821e-01 -4.74500950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.25, Y:16.02, Z:-4.75 [[ 8.77746218e-01 -4.77945763e-01 3.36069029e-02 6.52510197e+01] [ 4.77577245e-01 8.78389246e-01 1.87698698e-02 1.60246716e+01] [-3.84909219e-02 -4.25290081e-04 9.99258859e-01 -4.74564863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.28, Y:16.04, Z:-4.75 [[ 8.76504241e-01 -4.80263264e-01 3.29774717e-02 6.52760317e+01] [ 4.79909625e-01 8.77124330e-01 1.84299048e-02 1.60382186e+01] [-3.77765490e-02 -3.27683609e-04 9.99286158e-01 -4.74705262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.30, Y:16.05, Z:-4.75 [[ 8.75944458e-01 -4.81286585e-01 3.29322086e-02 6.53002607e+01] [ 4.80934236e-01 8.76563254e-01 1.84152773e-02 1.60523695e+01] [-3.77301898e-02 -2.92533468e-04 9.99287920e-01 -4.74891378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.09105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.32, Y:16.07, Z:-4.75 [[ 8.75357897e-01 -4.82250872e-01 3.43896526e-02 6.53235769e+01] [ 4.81866817e-01 8.76033116e-01 1.92444770e-02 1.60666921e+01] [-3.94071403e-02 -2.74572528e-04 9.99223199e-01 -4.75047099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.35, Y:16.08, Z:-4.75 [[ 8.75254546e-01 -4.82391919e-01 3.50359380e-02 6.53478447e+01] [ 4.81993092e-01 8.75955454e-01 1.96138051e-02 1.60813496e+01] [-4.01514621e-02 -2.79991962e-04 9.99193566e-01 -4.75181927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15105275399999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:65.37, Y:16.10, Z:-4.75 [[ 8.75140341e-01 -4.82805383e-01 3.20678214e-02 6.53739669e+01] [ 4.82347705e-01 8.75722090e-01 2.12488524e-02 1.60955480e+01] [-3.83415599e-02 -3.12788784e-03 9.99259797e-01 -4.75056297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.40, Y:16.11, Z:-4.75 [[ 8.75049366e-01 -4.82635891e-01 3.67587225e-02 6.53957095e+01] [ 4.82339505e-01 8.75816816e-01 1.71320255e-02 1.61105314e+01] [-4.04624377e-02 2.73881594e-03 9.99177307e-01 -4.75485127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.42, Y:16.12, Z:-4.75 [[ 8.74654479e-01 -4.83435123e-01 3.56373994e-02 6.54213664e+01] [ 4.83022048e-01 8.75380153e-01 1.99822129e-02 1.61230612e+01] [-4.08563757e-02 -2.63882377e-04 9.99164995e-01 -4.75375900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.45, Y:16.14, Z:-4.75 [[ 8.73540307e-01 -4.85302379e-01 3.75357648e-02 6.54460504e+01] [ 4.84845214e-01 8.74346362e-01 2.10608043e-02 1.61358735e+01] [-4.30401179e-02 -1.98425487e-04 9.99073325e-01 -4.75370675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.47, Y:16.15, Z:-4.75 [[ 8.73118519e-01 -4.86015516e-01 3.81178520e-02 6.54708889e+01] [ 4.85544132e-01 8.73950163e-01 2.14011521e-02 1.61493986e+01] [-4.37143949e-02 -1.77842877e-04 9.99044053e-01 -4.75478892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.301052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.50, Y:16.16, Z:-4.76 [[ 8.72792565e-01 -4.86506389e-01 3.93023218e-02 6.54951998e+01] [ 4.86005088e-01 8.73677002e-01 2.20805301e-02 1.61640803e+01] [-4.50798537e-02 -1.70594131e-04 9.98983372e-01 -4.75849152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.52, Y:16.18, Z:-4.76 [[ 8.72873681e-01 -4.86321620e-01 3.97846632e-02 6.55193669e+01] [ 4.85807091e-01 8.73779860e-01 2.23657555e-02 1.61782712e+01] [-4.56399879e-02 -1.94807856e-04 9.98957934e-01 -4.76104425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.54, Y:16.19, Z:-4.76 [[ 8.73988932e-01 -4.84299529e-01 3.99663945e-02 6.55429571e+01] [ 4.83777522e-01 8.74902204e-01 2.24820421e-02 1.61907459e+01] [-4.58547290e-02 -3.14212719e-04 9.98948069e-01 -4.76243432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.57, Y:16.20, Z:-4.76 [[ 8.74597684e-01 -4.83222214e-01 3.96885698e-02 6.55678285e+01] [ 4.82705707e-01 8.75497657e-01 2.23394920e-02 1.62035779e+01] [-4.55421887e-02 -3.80168847e-04 9.98962344e-01 -4.76301188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.59, Y:16.22, Z:-4.76 [[ 8.75460719e-01 -4.81781148e-01 3.81504207e-02 6.55931837e+01] [ 4.81302001e-01 8.76291461e-01 2.14862756e-02 1.62163139e+01] [-4.37825704e-02 -4.48516438e-04 9.99040983e-01 -4.76359384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.45105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.62, Y:16.23, Z:-4.77 [[ 8.75773813e-01 -4.81336754e-01 3.65398048e-02 6.56175772e+01] [ 4.80896313e-01 8.76535633e-01 2.05917552e-02 1.62305552e+01] [-4.19400096e-02 -4.61862580e-04 9.99120024e-01 -4.76596562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.64, Y:16.25, Z:-4.77 [[ 8.76812759e-01 -4.79631723e-01 3.39528459e-02 6.56399525e+01] [ 4.79249658e-01 8.77469739e-01 1.91473668e-02 1.62456262e+01] [-3.89762794e-02 -5.16765723e-04 9.99240003e-01 -4.77064961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.66, Y:16.26, Z:-4.77 [[ 8.77360722e-01 -4.78732121e-01 3.24610636e-02 6.56642075e+01] [ 4.78382201e-01 8.77960860e-01 1.83084186e-02 1.62602922e+01] [-3.72643714e-02 -5.34292289e-04 9.99305299e-01 -4.77331205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54105275399999 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:65.69, Y:16.27, Z:-4.78 [[ 8.78168613e-01 -4.77371478e-01 3.06000022e-02 6.56877475e+01] [ 4.77059358e-01 8.78701400e-01 1.72689943e-02 1.62746810e+01] [-3.51319901e-02 -5.67071383e-04 9.99382520e-01 -4.77632474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.71, Y:16.29, Z:-4.78 [[ 8.77919117e-01 -4.77784735e-01 3.13012967e-02 6.57115096e+01] [ 4.77457983e-01 8.78476760e-01 1.76764451e-02 1.62889332e+01] [-3.59429974e-02 -5.73435097e-04 9.99353677e-01 -4.77795345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.601052754 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:65.74, Y:16.30, Z:-4.78 [[ 8.77580271e-01 -4.78563380e-01 2.88089950e-02 6.57373237e+01] [ 4.78209635e-01 8.78049399e-01 1.85687559e-02 1.63031295e+01] [-3.41820473e-02 -2.51883484e-03 9.99412449e-01 -4.77687819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.76, Y:16.32, Z:-4.78 [[ 8.76773268e-01 -4.79727789e-01 3.36137675e-02 6.57597860e+01] [ 4.79441301e-01 8.77416056e-01 1.66464030e-02 1.63176763e+01] [-3.74790015e-02 1.52070726e-03 9.99296258e-01 -4.78161193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.79, Y:16.33, Z:-4.79 [[ 8.77545228e-01 -4.78087929e-01 3.66920343e-02 6.57875134e+01] [ 4.78023655e-01 8.78277150e-01 1.10739861e-02 1.63325782e+01] [-3.75201144e-02 7.82173668e-03 9.99265261e-01 -4.78806100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.81, Y:16.34, Z:-4.78 [[ 8.76269910e-01 -4.80967227e-01 2.86630491e-02 6.58117246e+01] [ 4.80374700e-01 8.76698303e-01 2.53028234e-02 1.63414568e+01] [-3.72986753e-02 -8.40309921e-03 9.99268831e-01 -4.77970816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.83, Y:16.36, Z:-4.78 [[ 8.76342861e-01 -4.80566175e-01 3.28533186e-02 6.58337956e+01] [ 4.80206123e-01 8.76958306e-01 1.86066853e-02 1.63560866e+01] [-3.77527343e-02 -5.29471114e-04 9.99286971e-01 -4.78422607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.751052754 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:65.87, Y:16.37, Z:-4.78 [[ 8.77216698e-01 -4.79246767e-01 2.85201839e-02 6.58671714e+01] [ 4.78773978e-01 8.77661922e-01 2.20233484e-02 1.63663753e+01] [-3.55856979e-02 -5.66452709e-03 9.99350575e-01 -4.77699371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.88, Y:16.38, Z:-4.79 [[ 8.75414536e-01 -4.81790771e-01 3.90774058e-02 6.58819723e+01] [ 4.81568220e-01 8.76270782e-01 1.55423928e-02 1.63836046e+01] [-4.17305704e-02 5.21240014e-03 9.99115304e-01 -4.78608974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.91, Y:16.40, Z:-4.79 [[ 8.74712614e-01 -4.83236134e-01 3.68874220e-02 6.59066537e+01] [ 4.82783732e-01 8.75489923e-01 2.09108147e-02 1.63971906e+01] [-4.23994275e-02 -4.82306165e-04 9.99100624e-01 -4.78774051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.93, Y:16.41, Z:-4.79 [[ 8.74237194e-01 -4.84150160e-01 3.61656119e-02 6.59316377e+01] [ 4.83715553e-01 8.74984816e-01 2.05142692e-02 1.64107339e+01] [-4.15763480e-02 -4.40468183e-04 9.99135233e-01 -4.79002131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.96, Y:16.42, Z:-4.79 [[ 8.73979886e-01 -4.84728137e-01 3.46091235e-02 6.59568875e+01] [ 4.84330134e-01 8.74664775e-01 1.96431350e-02 1.64235006e+01] [-3.97929614e-02 -4.05463472e-04 9.99207864e-01 -4.79052509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.98, Y:16.44, Z:-4.79 [[ 8.73769998e-01 -4.85123393e-01 3.43698113e-02 6.59806219e+01] [ 4.84730611e-01 8.74445616e-01 1.95217707e-02 1.64360230e+01] [-3.95249985e-02 -3.97437914e-04 9.99218503e-01 -4.79178519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.00, Y:16.45, Z:-4.79 [[ 8.74053310e-01 -4.84561350e-01 3.50871646e-02 6.60048488e+01] [ 4.84151391e-01 8.74757172e-01 1.99329145e-02 1.64506179e+01] [-4.03514689e-02 -4.34930359e-04 9.99185453e-01 -4.79210031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.03, Y:16.47, Z:-4.79 [[ 8.75365637e-01 -4.82147608e-01 3.56186275e-02 6.60265606e+01] [ 4.81722508e-01 8.76089814e-01 2.02500345e-02 1.64661739e+01] [-4.09686224e-02 -5.67889823e-04 9.99160272e-01 -4.79267664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.05, Y:16.48, Z:-4.79 [[ 8.76085187e-01 -4.80866552e-01 3.52434960e-02 6.60504066e+01] [ 4.80449176e-01 8.76793573e-01 2.00404396e-02 1.64815111e+01] [-4.05380478e-02 -6.24423623e-04 9.99177800e-01 -4.79349776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.07, Y:16.50, Z:-4.80 [[ 8.77079957e-01 -4.79058692e-01 3.51214751e-02 6.60733460e+01] [ 4.78642239e-01 8.77782579e-01 1.99837739e-02 1.64974343e+01] [-4.04024196e-02 -7.16746032e-04 9.99183232e-01 -4.79507444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.051052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.11, Y:16.51, Z:-4.78 [[ 8.78814611e-01 -4.76645029e-01 2.22350299e-02 6.61115444e+01] [ 4.76098503e-01 8.79012285e-01 2.58383243e-02 1.65070218e+01] [-3.18605732e-02 -1.21210324e-02 9.99418823e-01 -4.78373406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.13, Y:16.52, Z:-4.79 [[ 8.78022421e-01 -4.77696766e-01 2.97056867e-02 6.61336608e+01] [ 4.77500026e-01 8.78522468e-01 1.38563750e-02 1.65248041e+01] [-3.27162587e-02 2.01825830e-03 9.99462642e-01 -4.79310313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.15, Y:16.54, Z:-4.80 [[ 8.75881609e-01 -4.80842333e-01 4.02747853e-02 6.61481064e+01] [ 4.80799474e-01 8.76756727e-01 1.13801572e-02 1.65403379e+01] [-4.07832502e-02 9.39642514e-03 9.99123833e-01 -4.80327152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.17, Y:16.55, Z:-4.80 [[ 8.75176870e-01 -4.82429179e-01 3.64353468e-02 6.61734561e+01] [ 4.81981293e-01 8.75934748e-01 2.07930386e-02 1.65507406e+01] [-4.19461549e-02 -6.36430814e-04 9.99119670e-01 -4.79935843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.20, Y:16.56, Z:-4.80 [[ 8.74936635e-01 -4.82753486e-01 3.78808298e-02 6.61982850e+01] [ 4.82269427e-01 8.75756044e-01 2.16229067e-02 1.65642533e+01] [-4.36128993e-02 -6.49907120e-04 9.99048293e-01 -4.80029061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.22, Y:16.58, Z:-4.80 [[ 8.75209626e-01 -4.82277699e-01 3.76341714e-02 6.62218718e+01] [ 4.81798835e-01 8.76018125e-01 2.14971446e-02 1.65769459e+01] [-4.33358097e-02 -6.82407968e-04 9.99060329e-01 -4.80047607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.23105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.25, Y:16.59, Z:-4.80 [[ 8.75389746e-01 -4.82044821e-01 3.64085708e-02 6.62469490e+01] [ 4.81596290e-01 8.76146298e-01 2.08009151e-02 1.65895453e+01] [-4.19262079e-02 -6.74675161e-04 9.99120482e-01 -4.80012005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.27, Y:16.60, Z:-4.80 [[ 8.75265519e-01 -4.82270783e-01 3.64027812e-02 6.62717233e+01] [ 4.81822026e-01 8.76021938e-01 2.08110415e-02 1.66037952e+01] [-4.19261923e-02 -6.75525262e-04 9.99120482e-01 -4.80157889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.29, Y:16.62, Z:-4.80 [[ 8.75280939e-01 -4.82344480e-01 3.50297027e-02 6.62949303e+01] [ 4.81928480e-01 8.75981375e-01 2.00392217e-02 1.66175274e+01] [-4.03511751e-02 -6.58137371e-04 9.99185343e-01 -4.80394804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.32, Y:16.63, Z:-4.81 [[ 8.75272496e-01 -4.82366208e-01 3.49413808e-02 6.63184889e+01] [ 4.81952177e-01 8.75969410e-01 1.99922747e-02 1.66323506e+01] [-4.02511785e-02 -6.58613553e-04 9.99189376e-01 -4.80695548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.34, Y:16.65, Z:-4.81 [[ 8.75363660e-01 -4.82230271e-01 3.45315499e-02 6.63407531e+01] [ 4.81825259e-01 8.76044245e-01 1.97712232e-02 1.66468261e+01] [-3.97854479e-02 -6.68837309e-04 9.99208022e-01 -4.80964392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.36, Y:16.66, Z:-4.81 [[ 8.76073133e-01 -4.80969528e-01 3.41200752e-02 6.63645145e+01] [ 4.80572884e-01 8.76737013e-01 1.95425999e-02 1.66619135e+01] [-3.93137279e-02 -7.23563755e-04 9.99226655e-01 -4.81218512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.39, Y:16.68, Z:-4.81 [[ 8.75744676e-01 -4.81565205e-01 3.41498985e-02 6.63882789e+01] [ 4.81167824e-01 8.76409979e-01 1.95722529e-02 1.66762286e+01] [-3.93546278e-02 -7.08463901e-04 9.99225055e-01 -4.81246922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.41, Y:16.69, Z:-4.81 [[ 8.75188921e-01 -4.82517291e-01 3.49487707e-02 6.64124985e+01] [ 4.82101319e-01 8.75886170e-01 2.00433237e-02 1.66906949e+01] [-4.02823952e-02 -6.92846363e-04 9.99188095e-01 -4.81407540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.44, Y:16.70, Z:-4.82 [[ 8.74504947e-01 -4.83658550e-01 3.62698927e-02 6.64360059e+01] [ 4.83210837e-01 8.75256503e-01 2.08168303e-02 1.67045029e+01] [-4.18136974e-02 -6.78415862e-04 9.99125195e-01 -4.81582992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.46, Y:16.72, Z:-4.82 [[ 8.74055347e-01 -4.84415995e-01 3.69918062e-02 6.64603677e+01] [ 4.83950756e-01 8.74837533e-01 2.12357400e-02 1.67190211e+01] [-4.26487526e-02 -6.58999468e-04 9.99089911e-01 -4.81805855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.49, Y:16.73, Z:-4.81 [[ 8.76393299e-01 -4.80770247e-01 2.81914052e-02 6.64948615e+01] [ 4.80163759e-01 8.76799776e-01 2.57860078e-02 1.67291108e+01] [-3.71153631e-02 -9.06219334e-03 9.99269897e-01 -4.81335833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.51, Y:16.75, Z:-4.83 [[ 8.73554613e-01 -4.84911037e-01 4.19955246e-02 6.65071326e+01] [ 4.84788546e-01 8.74523525e-01 1.37357177e-02 1.67493007e+01] [-4.33866753e-02 8.36004973e-03 9.99023376e-01 -4.82655093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.54, Y:16.76, Z:-4.82 [[ 8.75447526e-01 -4.82313006e-01 3.10772154e-02 6.65417474e+01] [ 4.81834258e-01 8.75988938e-01 2.18889797e-02 1.67561950e+01] [-3.77806365e-02 -4.18858611e-03 9.99277278e-01 -4.81709996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.56, Y:16.78, Z:-4.82 [[ 8.73368851e-01 -4.85466711e-01 3.93563689e-02 6.65575640e+01] [ 4.85135121e-01 8.74249367e-01 1.82197149e-02 1.67762507e+01] [-4.32523456e-02 3.18062535e-03 9.99059116e-01 -4.82442770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.59, Y:16.79, Z:-4.82 [[ 8.76466120e-01 -4.80675823e-01 2.75298887e-02 6.65945489e+01] [ 4.80094032e-01 8.76852845e-01 2.52746688e-02 1.67860031e+01] [-3.62885834e-02 -8.93545566e-03 9.99301404e-01 -4.81599742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.62, Y:16.80, Z:-4.82 [[ 8.76186252e-01 -4.80828774e-01 3.31864775e-02 6.66158545e+01] [ 4.80443136e-01 8.76814003e-01 1.92768651e-02 1.68027872e+01] [-3.83672396e-02 -9.45908853e-04 9.99263259e-01 -4.82472900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.64, Y:16.82, Z:-4.83 [[ 8.75403940e-01 -4.81921206e-01 3.76814611e-02 6.66378392e+01] [ 4.81813764e-01 8.76184739e-01 1.24819565e-02 1.68194788e+01] [-3.90312407e-02 7.22869269e-03 9.99211844e-01 -4.83414610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.65, Y:16.83, Z:-4.83 [[ 8.72043617e-01 -4.87873723e-01 3.89764081e-02 6.66535152e+01] [ 4.87503796e-01 8.72911150e-01 1.91356538e-02 1.68336355e+01] [-4.33587239e-02 2.31402222e-03 9.99056888e-01 -4.83387622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.70, Y:16.84, Z:-4.82 [[ 8.73157959e-01 -4.86265903e-01 3.37735037e-02 6.66955796e+01] [ 4.85725726e-01 8.73802236e-01 2.32415795e-02 1.68397006e+01] [-4.08129507e-02 -3.88891055e-03 9.99159236e-01 -4.82388449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.801052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.72, Y:16.85, Z:-4.82 [[ 8.72468725e-01 -4.87476349e-01 3.41340377e-02 6.67197399e+01] [ 4.86984064e-01 8.73132252e-01 2.20588186e-02 1.68523135e+01] [-4.05566816e-02 -2.62289695e-03 9.99173797e-01 -4.82243286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.74, Y:16.87, Z:-4.82 [[ 8.71506912e-01 -4.89081800e-01 3.57028671e-02 6.67439906e+01] [ 4.88540193e-01 8.72233572e-01 2.31748954e-02 1.68687548e+01] [-4.24756589e-02 -2.75479598e-03 9.99093704e-01 -4.82329022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.76, Y:16.89, Z:-4.83 [[ 8.71189498e-01 -4.89300280e-01 4.01758012e-02 6.67629321e+01] [ 4.89013754e-01 8.72103589e-01 1.73458702e-02 1.68855931e+01] [-4.35247996e-02 4.53497937e-03 9.99042054e-01 -4.83112605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.78, Y:16.90, Z:-4.84 [[ 8.68274948e-01 -4.94088856e-01 4.44389153e-02 6.67750967e+01] [ 4.93828285e-01 8.69384733e-01 1.74302111e-02 1.69043454e+01] [-4.72465876e-02 6.81097766e-03 9.98860036e-01 -4.83878068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.80, Y:16.92, Z:-4.84 [[ 8.67329464e-01 -4.96028292e-01 4.11768651e-02 6.67998546e+01] [ 4.95460615e-01 8.68306341e-01 2.37250234e-02 1.69165623e+01] [-4.75224159e-02 -1.75896897e-04 9.98870156e-01 -4.83680931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.95105275399999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:66.83, Y:16.93, Z:-4.83 [[ 8.65233198e-01 -5.00093090e-01 3.57549307e-02 6.68329139e+01] [ 4.99419435e-01 8.65957163e-01 2.64276261e-02 1.69281445e+01] [-4.41785115e-02 -5.00935219e-03 9.99011094e-01 -4.83268474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.85, Y:16.94, Z:-4.84 [[ 8.61909389e-01 -5.05278345e-01 4.24970538e-02 6.68494191e+01] [ 5.05001565e-01 8.62934762e-01 1.78049491e-02 1.69437035e+01] [-4.56686402e-02 6.11482588e-03 9.98937928e-01 -4.83912205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.89, Y:16.96, Z:-4.84 [[ 8.63238586e-01 -5.03461445e-01 3.66840151e-02 6.68859692e+01] [ 5.03077777e-01 8.64016484e-01 1.97044451e-02 1.69552693e+01] [-4.16160221e-02 1.44527546e-03 9.99132633e-01 -4.83616765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.91, Y:16.97, Z:-4.84 [[ 8.61530020e-01 -5.06169831e-01 3.94731197e-02 6.69075399e+01] [ 5.05890868e-01 8.62419950e-01 1.75002964e-02 1.69728789e+01] [-4.29005280e-02 4.89206008e-03 9.99067371e-01 -4.84215714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.92, Y:16.99, Z:-4.84 [[ 8.58604733e-01 -5.11279441e-01 3.72994146e-02 6.69217489e+01] [ 5.10609984e-01 8.59406877e-01 2.64057587e-02 1.69886542e+01] [-4.55560950e-02 -3.62665591e-03 9.98955199e-01 -4.84139826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.95, Y:17.00, Z:-4.85 [[ 8.60354245e-01 -5.08082623e-01 4.05292730e-02 6.69541224e+01] [ 5.07765876e-01 8.61295843e-01 1.85279533e-02 1.70046590e+01] [-4.43214254e-02 4.63877857e-03 9.99006553e-01 -4.84647375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.97, Y:17.02, Z:-4.85 [[ 8.61808569e-01 -5.05765188e-01 3.85689514e-02 6.69749150e+01] [ 5.05698255e-01 8.62624268e-01 1.21920722e-02 1.70198460e+01] [-3.94368392e-02 8.99701909e-03 9.99181560e-01 -4.84731165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.00, Y:17.03, Z:-4.84 [[ 8.62848681e-01 -5.04459500e-01 3.18239879e-02 6.70027179e+01] [ 5.03634972e-01 8.63372416e-01 3.06575577e-02 1.70321684e+01] [-4.29414496e-02 -1.04251600e-02 9.99023197e-01 -4.84052468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.02, Y:17.05, Z:-4.85 [[ 8.64220529e-01 -5.01669520e-01 3.80863423e-02 6.70248152e+01] [ 5.01183579e-01 8.65059358e-01 2.20754801e-02 1.70499705e+01] [-4.40215423e-02 1.01662226e-05 9.99030582e-01 -4.84729868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.05, Y:17.06, Z:-4.85 [[ 8.67817940e-01 -4.95292294e-01 3.97185911e-02 6.70464884e+01] [ 4.94830229e-01 8.68725734e-01 2.14159747e-02 1.70644312e+01] [-4.51117294e-02 1.06879246e-03 9.98981376e-01 -4.84749689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.07, Y:17.08, Z:-4.85 [[ 8.69270109e-01 -4.92822079e-01 3.86765521e-02 6.70716568e+01] [ 4.92147358e-01 8.70122694e-01 2.60283588e-02 1.70787012e+01] [-4.64806956e-02 -3.59111132e-03 9.98912733e-01 -4.84609302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.09, Y:17.10, Z:-4.85 [[ 8.71939378e-01 -4.87931795e-01 4.05497892e-02 6.70937190e+01] [ 4.87625106e-01 8.72871442e-01 1.78101597e-02 1.70966857e+01] [-4.40848962e-02 4.24371570e-03 9.99018775e-01 -4.85158285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.13, Y:17.11, Z:-4.84 [[ 8.74033231e-01 -4.85136187e-01 2.66231223e-02 6.71297590e+01] [ 4.84195607e-01 8.74259429e-01 3.50009321e-02 1.71060521e+01] [-4.02557344e-02 -1.77011789e-02 9.99032604e-01 -4.83724102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.15, Y:17.12, Z:-4.84 [[ 8.76185358e-01 -4.81007715e-01 3.05089499e-02 6.71508544e+01] [ 4.80292560e-01 8.76660410e-01 2.80282450e-02 1.71212153e+01] [-4.02277906e-02 -9.90471625e-03 9.99141442e-01 -4.84150256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.16, Y:17.15, Z:-4.88 [[ 8.72717790e-01 -4.85143772e-01 5.47647567e-02 6.71581397e+01] [ 4.86166746e-01 8.73843115e-01 -6.33295931e-03 1.71504883e+01] [-4.47834098e-02 3.21516898e-02 9.98479201e-01 -4.87508125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.19, Y:17.15, Z:-4.85 [[ 8.73256841e-01 -4.86148360e-01 3.28977432e-02 6.71917487e+01] [ 4.85332996e-01 8.73817171e-01 2.99238118e-02 1.71518156e+01] [-4.32940249e-02 -1.01648131e-02 9.99010663e-01 -4.85388426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.21, Y:17.17, Z:-4.86 [[ 8.72119842e-01 -4.87804758e-01 3.81247911e-02 6.72142741e+01] [ 4.87284457e-01 8.72952079e-01 2.25505057e-02 1.71672198e+01] [-4.42813596e-02 -1.08912532e-03 9.99018506e-01 -4.85935294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.24, Y:17.18, Z:-4.86 [[ 8.70139189e-01 -4.91228356e-01 3.94017007e-02 6.72423198e+01] [ 4.91059913e-01 8.71004902e-01 1.45128587e-02 1.71827815e+01] [-4.14482022e-02 6.72038865e-03 9.99118053e-01 -4.86129717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.27, Y:17.19, Z:-4.85 [[ 8.70667214e-01 -4.90886598e-01 3.11279779e-02 6.72679093e+01] [ 4.90054428e-01 8.71146375e-01 3.08326341e-02 1.71891935e+01] [-4.22523519e-02 -1.15905602e-02 9.99039738e-01 -4.85232447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.29, Y:17.21, Z:-4.86 [[ 8.70245053e-01 -4.91204191e-01 3.73093845e-02 6.72931698e+01] [ 4.90911646e-01 8.71038244e-01 1.72665448e-02 1.72078587e+01] [-4.09792999e-02 3.28948618e-03 9.99154581e-01 -4.86138433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.32, Y:17.22, Z:-4.86 [[ 8.68941554e-01 -4.93888475e-01 3.18551403e-02 6.73188873e+01] [ 4.93333731e-01 8.69510323e-01 2.39505475e-02 1.72177767e+01] [-3.95272727e-02 -5.09641072e-03 9.99205495e-01 -4.85687439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.34, Y:17.23, Z:-4.86 [[ 8.68871809e-01 -4.93881324e-01 3.38085511e-02 6.73410250e+01] [ 4.93563400e-01 8.69528416e-01 1.77624108e-02 1.72318643e+01] [-3.81700188e-02 1.25340546e-03 9.99270473e-01 -4.86267953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.611052754 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:67.37, Y:17.24, Z:-4.86 [[ 8.68372559e-01 -4.95087391e-01 2.85932681e-02 6.73650703e+01] [ 4.94466670e-01 8.68800034e-01 2.62528575e-02 1.72439886e+01] [-3.78392910e-02 -8.65884295e-03 9.99246322e-01 -4.85985532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.39, Y:17.26, Z:-4.88 [[ 8.69180044e-01 -4.93065441e-01 3.75835354e-02 6.73851664e+01] [ 4.93134497e-01 8.69915789e-01 8.05535456e-03 1.72648741e+01] [-3.66663278e-02 1.15321844e-02 9.99261022e-01 -4.87592004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.41, Y:17.28, Z:-4.87 [[ 8.69203823e-01 -4.93499266e-01 3.07113865e-02 6.74104771e+01] [ 4.93216190e-01 8.69745998e-01 1.67239035e-02 1.72757960e+01] [-3.49643396e-02 6.10872193e-04 9.99388374e-01 -4.87092430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:67.44, Y:17.29, Z:-4.86 [[ 8.69357532e-01 -4.93558786e-01 2.48436559e-02 6.74369110e+01] [ 4.93005104e-01 8.69657488e-01 2.53341749e-02 1.72864788e+01] [-3.41093760e-02 -9.77640657e-03 9.99370288e-01 -4.86413387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.46, Y:17.30, Z:-4.87 [[ 8.69530693e-01 -4.92875220e-01 3.14705042e-02 6.74576788e+01] [ 4.92602407e-01 8.70099168e-01 1.64409902e-02 1.73045281e+01] [-3.54858162e-02 1.20650054e-03 9.99369452e-01 -4.87068879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.49, Y:17.32, Z:-4.87 [[ 8.69099070e-01 -4.93775670e-01 2.91957736e-02 6.74881654e+01] [ 4.93358291e-01 8.69582290e-01 2.05970172e-02 1.73189322e+01] [-3.55584337e-02 -3.49687155e-03 9.99361481e-01 -4.86869345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.50, Y:17.34, Z:-4.88 [[ 8.68319995e-01 -4.94386009e-01 4.00357350e-02 6.75003180e+01] [ 4.94511803e-01 8.69139486e-01 7.39126224e-03 1.73382760e+01] [-3.84507748e-02 1.33801627e-02 9.99170911e-01 -4.88228428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.53, Y:17.35, Z:-4.87 [[ 8.68435641e-01 -4.95146280e-01 2.54891843e-02 6.75327755e+01] [ 4.94454586e-01 8.68717898e-01 2.90495488e-02 1.73458934e+01] [-3.65266866e-02 -1.26244195e-02 9.99252934e-01 -4.86766099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.56, Y:17.36, Z:-4.87 [[ 8.68738033e-01 -4.94401480e-01 2.93497242e-02 6.75573584e+01] [ 4.93991952e-01 8.69227785e-01 2.03717818e-02 1.73637369e+01] [-3.55834348e-02 -3.19921409e-03 9.99361588e-01 -4.87354876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.58, Y:17.38, Z:-4.88 [[ 8.69159841e-01 -4.93336965e-01 3.43483719e-02 6.75790872e+01] [ 4.93127468e-01 8.69829203e-01 1.49150336e-02 1.73790088e+01] [-3.72353544e-02 3.97457746e-03 9.99298620e-01 -4.88217728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.60, Y:17.39, Z:-4.88 [[ 8.67750674e-01 -4.95932979e-01 3.25460789e-02 6.76027436e+01] [ 4.95610118e-01 8.68360596e-01 1.79021172e-02 1.73932352e+01] [-3.71399828e-02 5.95591752e-04 9.99309895e-01 -4.88077329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.63, Y:17.40, Z:-4.87 [[ 8.66772646e-01 -4.97850389e-01 2.91576615e-02 6.76329811e+01] [ 4.97329460e-01 8.67242980e-01 2.35163905e-02 1.74037204e+01] [-3.69944214e-02 -5.88239999e-03 9.99298159e-01 -4.87498010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.66, Y:17.42, Z:-4.88 [[ 8.66091674e-01 -4.98817073e-01 3.26609761e-02 6.76559774e+01] [ 4.98414772e-01 8.66706599e-01 2.00595568e-02 1.74184811e+01] [-3.83135330e-02 -1.09470222e-03 9.99265167e-01 -4.87706124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.67, Y:17.44, Z:-4.89 [[ 8.65035649e-01 -4.99728626e-01 4.45491421e-02 6.76739218e+01] [ 4.99767712e-01 8.66088910e-01 1.10559579e-02 1.74366238e+01] [-4.41084965e-02 1.27004251e-02 9.98946014e-01 -4.88671715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.70, Y:17.45, Z:-4.89 [[ 8.65828175e-01 -4.98674451e-01 4.08088598e-02 6.77025236e+01] [ 4.98384272e-01 8.66774993e-01 1.77265149e-02 1.74494789e+01] [-4.42118592e-02 4.99037782e-03 9.99009713e-01 -4.88539210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.72, Y:17.47, Z:-4.89 [[ 8.65929684e-01 -4.98534393e-01 4.03638655e-02 6.77213132e+01] [ 4.98185645e-01 8.66862208e-01 1.89993368e-02 1.74656736e+01] [-4.44617324e-02 3.65660866e-03 9.99004396e-01 -4.89260096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.74, Y:17.48, Z:-4.90 [[ 8.64501784e-01 -5.01121901e-01 3.89038101e-02 6.77406597e+01] [ 5.00664776e-01 8.65376173e-01 2.14210551e-02 1.74818469e+01] [-4.44009901e-02 9.59227018e-04 9.99013329e-01 -4.89678194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.77, Y:17.49, Z:-4.89 [[ 8.64465261e-01 -5.01488334e-01 3.47744615e-02 6.77692922e+01] [ 5.00801805e-01 8.65144891e-01 2.68676125e-02 1.74923068e+01] [-4.35587419e-02 -5.81100456e-03 9.99033968e-01 -4.89377265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.80, Y:17.50, Z:-4.89 [[ 8.64622005e-01 -5.01277224e-01 3.39106716e-02 6.77971443e+01] [ 5.00563680e-01 8.65259228e-01 2.76128730e-02 1.75035632e+01] [-4.31832258e-02 -6.90024700e-03 9.99043340e-01 -4.89358686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.82, Y:17.52, Z:-4.90 [[ 8.64472046e-01 -5.01288230e-01 3.73924027e-02 6.78202857e+01] [ 5.00802645e-01 8.65280296e-01 2.20617279e-02 1.75201762e+01] [-4.34141938e-02 -3.45532937e-04 9.99057100e-01 -4.89868796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.84, Y:17.54, Z:-4.90 [[ 8.63850439e-01 -5.02129695e-01 4.03508250e-02 6.78419700e+01] [ 5.01968420e-01 8.64759836e-01 1.47692805e-02 1.75373786e+01] [-4.23098671e-02 7.49639037e-03 9.99076413e-01 -4.90296674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.86, Y:17.56, Z:-4.91 [[ 8.61234121e-01 -5.06563887e-01 4.08511653e-02 6.78625641e+01] [ 5.06226137e-01 8.62191596e-01 1.89934329e-02 1.75554003e+01] [-4.48429186e-02 4.32213513e-03 9.98984700e-01 -4.90557624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.89, Y:17.57, Z:-4.90 [[ 8.62302195e-01 -5.05201295e-01 3.47358185e-02 6.78876903e+01] [ 5.04012593e-01 8.62870108e-01 3.77688192e-02 1.75652937e+01] [-4.90533558e-02 -1.50608458e-02 9.98682602e-01 -4.89955660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.301052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.91, Y:17.59, Z:-4.92 [[ 8.62291577e-01 -5.04331026e-01 4.58634121e-02 6.79079667e+01] [ 5.04283532e-01 8.63433406e-01 1.34489277e-02 1.75883777e+01] [-4.63827136e-02 1.15312663e-02 9.98857184e-01 -4.91528566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.93, Y:17.60, Z:-4.91 [[ 8.62327018e-01 -5.04809810e-01 3.94863179e-02 6.79341359e+01] [ 5.04257810e-01 8.63230478e-01 2.36051388e-02 1.76004597e+01] [-4.60018987e-02 -4.44064798e-04 9.98941254e-01 -4.91094404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.96, Y:17.61, Z:-4.91 [[ 8.62529637e-01 -5.04516522e-01 3.88034094e-02 6.79569303e+01] [ 5.03982438e-01 8.63401912e-01 2.32129411e-02 1.76145878e+01] [-4.52142502e-02 -4.65612806e-04 9.98977204e-01 -4.91288104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39105275399999 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:67.98, Y:17.63, Z:-4.92 [[ 8.62839008e-01 -5.04094673e-01 3.73819028e-02 6.79796005e+01] [ 5.03598421e-01 8.63648271e-01 2.23672600e-02 1.76292921e+01] [-4.35600323e-02 -4.73877182e-04 9.99050699e-01 -4.91629781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.00, Y:17.65, Z:-4.93 [[ 8.63408754e-01 -5.02169797e-01 4.84852335e-02 6.80031666e+01] [ 5.02231084e-01 8.64652997e-01 1.17954506e-02 1.76482346e+01] [-4.78462215e-02 1.41664961e-02 9.98754249e-01 -4.93143971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.03, Y:17.65, Z:-4.91 [[ 8.62907659e-01 -5.04495754e-01 2.95703655e-02 6.80299087e+01] [ 5.03532831e-01 8.63285300e-01 3.45424218e-02 1.76546250e+01] [-4.29541670e-02 -1.49172704e-02 9.98965672e-01 -4.91342816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.05, Y:17.68, Z:-4.94 [[ 8.63305083e-01 -5.01900962e-01 5.29127444e-02 6.80496409e+01] [ 5.02272859e-01 8.64680986e-01 6.98332129e-03 1.76786238e+01] [-4.92575797e-02 2.05478987e-02 9.98574722e-01 -4.94024972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.08, Y:17.68, Z:-4.91 [[ 8.62404427e-01 -5.05584570e-01 2.53544158e-02 6.80804336e+01] [ 5.04467857e-01 8.62504445e-01 3.99782867e-02 1.76823908e+01] [-4.20807012e-02 -2.16869636e-02 9.98878817e-01 -4.91322285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:68.10, Y:17.71, Z:-4.95 [[ 8.62960992e-01 -5.02719799e-01 5.07063176e-02 6.80992724e+01] [ 5.03006954e-01 8.64246630e-01 7.85922490e-03 1.77087991e+01] [-4.77737520e-02 1.87234258e-02 9.98682683e-01 -4.94560576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.13, Y:17.71, Z:-4.91 [[ 8.63237244e-01 -5.04382951e-01 2.04768077e-02 6.81293713e+01] [ 5.02977319e-01 8.62857601e-01 4.99056780e-02 1.77087157e+01] [-4.28401423e-02 -3.27810701e-02 9.98544002e-01 -4.91379625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.15, Y:17.74, Z:-4.94 [[ 8.63645280e-01 -5.02483184e-01 4.03420327e-02 6.81460219e+01] [ 5.02579496e-01 8.64489652e-01 8.45527488e-03 1.77364017e+01] [-3.91239032e-02 1.29727202e-02 9.99150153e-01 -4.93837323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.17, Y:17.75, Z:-4.95 [[ 8.64682768e-01 -4.99969871e-01 4.85163787e-02 6.81727861e+01] [ 5.00294835e-01 8.65833835e-01 6.07027712e-03 1.77517809e+01] [-4.50420779e-02 1.90236297e-02 9.98803941e-01 -4.94970715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.20, Y:17.76, Z:-4.92 [[ 8.64372064e-01 -5.02319238e-01 2.31585577e-02 6.82009269e+01] [ 5.01388152e-01 8.64452437e-01 3.64952825e-02 1.77557362e+01] [-3.83517542e-02 -1.99340762e-02 9.99065451e-01 -4.92286642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.22, Y:17.78, Z:-4.95 [[ 8.65841235e-01 -4.98350157e-01 4.43404646e-02 6.82205952e+01] [ 4.98258785e-01 8.66917286e-01 1.38781443e-02 1.77794367e+01] [-4.53556906e-02 1.00767564e-02 9.98920077e-01 -4.94820077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.25, Y:17.79, Z:-4.93 [[ 8.64934262e-01 -5.01102672e-01 2.80149197e-02 6.82467706e+01] [ 5.00372055e-01 8.65313315e-01 2.93372200e-02 1.77884601e+01] [-3.89426423e-02 -1.13568838e-02 9.99176907e-01 -4.93344183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.27, Y:17.81, Z:-4.96 [[ 8.65053074e-01 -4.99133889e-01 5.04830694e-02 6.82660581e+01] [ 4.99640690e-01 8.66227796e-01 2.93034875e-03 1.78117494e+01] [-4.51924743e-02 2.26884885e-02 9.98720618e-01 -4.96059963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.30, Y:17.81, Z:-4.93 [[ 8.64709867e-01 -5.01828561e-01 2.10936330e-02 6.82982535e+01] [ 5.00820492e-01 8.64640938e-01 3.96847942e-02 1.78120084e+01] [-3.81533819e-02 -2.37517094e-02 9.98989577e-01 -4.92905362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.32, Y:17.84, Z:-4.96 [[ 8.64479961e-01 -5.00352151e-01 4.81883918e-02 6.83200482e+01] [ 5.00605298e-01 8.65642873e-01 7.53345155e-03 1.78364227e+01] [-4.54833166e-02 1.76108463e-02 9.98809855e-01 -4.95647914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.35, Y:17.84, Z:-4.93 [[ 8.63587817e-01 -5.03533390e-01 2.58883515e-02 6.83468565e+01] [ 5.02555050e-01 8.63779839e-01 3.63704897e-02 1.78403071e+01] [-4.06755920e-02 -1.83987901e-02 9.99002993e-01 -4.93274660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.37, Y:17.86, Z:-4.94 [[ 8.63436292e-01 -5.03189689e-01 3.57478149e-02 6.83673113e+01] [ 5.02729630e-01 8.64175772e-01 2.15210378e-02 1.78589749e+01] [-4.17215599e-02 -6.10559346e-04 9.99129090e-01 -4.94319693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.39, Y:17.87, Z:-4.94 [[ 8.63544022e-01 -5.03046444e-01 3.51567467e-02 6.83911832e+01] [ 5.02600712e-01 8.64259157e-01 2.11809910e-02 1.78720597e+01] [-4.10395624e-02 -6.20912196e-04 9.99157329e-01 -4.94438277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.42, Y:17.89, Z:-4.95 [[ 8.64000398e-01 -5.02367385e-01 3.36202729e-02 6.84152728e+01] [ 5.01959182e-01 8.64654046e-01 2.02573656e-02 1.78865616e+01] [-3.92465447e-02 -6.26367244e-04 9.99229361e-01 -4.94735565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.44, Y:17.90, Z:-4.95 [[ 8.63306080e-01 -5.03664058e-01 3.20176359e-02 6.84392853e+01] [ 5.03294337e-01 8.63899424e-01 1.93027432e-02 1.79013637e+01] [-3.73821151e-02 -5.49880692e-04 9.99300893e-01 -4.95049404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.46, Y:17.92, Z:-4.95 [[ 8.63058418e-01 -5.04210512e-01 3.00321018e-02 6.84636239e+01] [ 5.03885220e-01 8.63580632e-01 1.81156807e-02 1.79155295e+01] [-3.50692581e-02 -5.02158493e-04 9.99384758e-01 -4.95284714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.48, Y:17.93, Z:-4.96 [[ 8.62744319e-01 -5.04420171e-01 3.51074204e-02 6.84842979e+01] [ 5.03922224e-01 8.63456666e-01 2.24717014e-02 1.79270808e+01] [-4.16489157e-02 -1.69592331e-03 9.99130868e-01 -4.95854219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.051052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.51, Y:17.94, Z:-4.95 [[ 8.62917759e-01 -5.04385926e-01 3.11091402e-02 6.85127984e+01] [ 5.04065444e-01 8.63478321e-01 1.79782737e-02 1.79432138e+01] [-3.59300564e-02 1.67270899e-04 9.99354293e-01 -4.95302496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.53, Y:17.96, Z:-4.96 [[ 8.64243597e-01 -5.01942888e-01 3.37096829e-02 6.85338815e+01] [ 5.01790195e-01 8.64884635e-01 1.34598827e-02 1.79591089e+01] [-3.59110792e-02 5.28257091e-03 9.99341027e-01 -4.95738539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.56, Y:17.97, Z:-4.96 [[ 8.63327253e-01 -5.03388742e-01 3.55784964e-02 6.85577049e+01] [ 5.03133974e-01 8.64052089e-01 1.64375202e-02 1.79747998e+01] [-3.90161368e-02 3.70979110e-03 9.99231694e-01 -4.96342695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.59, Y:17.99, Z:-4.95 [[ 8.63535198e-01 -5.03554115e-01 2.72068923e-02 6.85866620e+01] [ 5.02907033e-01 8.63906045e-01 2.74018676e-02 1.79864954e+01] [-3.73025219e-02 -9.97993970e-03 9.99254183e-01 -4.95484546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.61, Y:17.99, Z:-4.95 [[ 8.64164084e-01 -5.02500289e-01 2.67188285e-02 6.86069513e+01] [ 5.01518040e-01 8.64393993e-01 3.60926587e-02 1.79925011e+01] [-4.12321663e-02 -1.77900048e-02 9.98991203e-01 -4.95205163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.63, Y:18.02, Z:-4.97 [[ 8.63222897e-01 -5.03094338e-01 4.17410748e-02 6.86305418e+01] [ 5.03305984e-01 8.64087153e-01 6.03972242e-03 1.80197311e+01] [-3.91064766e-02 1.57949061e-02 9.99110206e-01 -4.96911093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.23105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.66, Y:18.03, Z:-4.96 [[ 8.63296320e-01 -5.03600325e-01 3.32592472e-02 6.86582160e+01] [ 5.03198375e-01 8.63936516e-01 2.01268788e-02 1.80285944e+01] [-3.88697808e-02 -6.39461218e-04 9.99244080e-01 -4.96126851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.68, Y:18.04, Z:-4.96 [[ 8.63793003e-01 -5.02800931e-01 3.24479829e-02 6.86824434e+01] [ 5.02417335e-01 8.64401976e-01 1.96480522e-02 1.80435524e+01] [-3.79271594e-02 -6.69420919e-04 9.99280282e-01 -4.96359461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.71, Y:18.06, Z:-4.97 [[ 8.64622299e-01 -5.01515333e-01 3.01769998e-02 6.87058706e+01] [ 5.01182434e-01 8.65148487e-01 1.82828847e-02 1.80590962e+01] [-3.52767328e-02 -6.83607578e-04 9.99377349e-01 -4.96876585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.321052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:68.73, Y:18.07, Z:-4.97 [[ 8.64776967e-01 -5.01303172e-01 2.92562204e-02 6.87285346e+01] [ 5.00989671e-01 8.65271438e-01 1.77394187e-02 1.80736133e+01] [-3.42073988e-02 -6.83576447e-04 9.99414522e-01 -4.97203489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.75, Y:18.09, Z:-4.97 [[ 8.64892427e-01 -5.01109839e-01 2.91550834e-02 6.87525074e+01] [ 5.00798364e-01 8.65383414e-01 1.76789236e-02 1.80875106e+01] [-3.40894082e-02 -6.89549037e-04 9.99418549e-01 -4.97440884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.78, Y:18.10, Z:-4.97 [[ 8.64802709e-01 -5.01225425e-01 2.98219361e-02 6.87763686e+01] [ 5.00899066e-01 8.65316453e-01 1.80986928e-02 1.81011681e+01] [-3.48769369e-02 -7.14018645e-04 9.99391360e-01 -4.97454947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.80, Y:18.11, Z:-4.97 [[ 8.64435722e-01 -5.01723515e-01 3.20061933e-02 6.88010479e+01] [ 5.01347832e-01 8.65027720e-01 1.94266580e-02 1.81143001e+01] [-3.74330555e-02 -7.46861490e-04 9.99298858e-01 -4.97344325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.82, Y:18.13, Z:-4.97 [[ 8.64286390e-01 -5.01938770e-01 3.26574233e-02 6.88249083e+01] [ 5.01547228e-01 8.64902819e-01 1.98366390e-02 1.81279953e+01] [-3.82022756e-02 -7.65296968e-04 9.99269734e-01 -4.97463252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.85, Y:18.14, Z:-4.98 [[ 8.63877276e-01 -5.02616259e-01 3.30597549e-02 6.88485609e+01] [ 5.02215228e-01 8.64509302e-01 2.00881031e-02 1.81425631e+01] [-3.86770729e-02 -7.50543444e-04 9.99251480e-01 -4.97743406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.87, Y:18.16, Z:-4.98 [[ 8.63696339e-01 -5.02896500e-01 3.35222948e-02 6.88714043e+01] [ 5.02483751e-01 8.64346302e-01 2.03850577e-02 1.81571880e+01] [-3.92264457e-02 -7.62091245e-04 9.99230056e-01 -4.98187830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.89, Y:18.17, Z:-4.98 [[ 8.63610275e-01 -5.03022991e-01 3.38402632e-02 6.88949340e+01] [ 5.02602360e-01 8.64272691e-01 2.05811667e-02 1.81719455e+01] [-3.96000154e-02 -7.65910929e-04 9.99215318e-01 -4.98442717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.92, Y:18.19, Z:-4.99 [[ 8.63676976e-01 -5.02878626e-01 3.42807413e-02 6.89193515e+01] [ 5.02446348e-01 8.64356673e-01 2.08616821e-02 1.81865171e+01] [-4.01216815e-02 -7.93521308e-04 9.99194486e-01 -4.98669268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.94, Y:18.20, Z:-4.99 [[ 8.63740116e-01 -5.02766820e-01 3.43298209e-02 6.89434396e+01] [ 5.02332615e-01 8.64421693e-01 2.09064526e-02 1.81998003e+01] [-4.01865126e-02 -8.12753055e-04 9.99191865e-01 -4.98724867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.97, Y:18.21, Z:-4.99 [[ 8.63898956e-01 -5.02490279e-01 3.43818837e-02 6.89666633e+01] [ 5.02054167e-01 8.64582455e-01 2.09473288e-02 1.82139200e+01] [-4.02518025e-02 -8.34807455e-04 9.99189219e-01 -4.98848812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.99, Y:18.23, Z:-4.99 [[ 8.64455990e-01 -5.01526772e-01 3.44490516e-02 6.89898335e+01] [ 5.01087903e-01 8.65141670e-01 2.09953524e-02 1.82294922e+01] [-4.03330413e-02 -8.87555117e-04 9.99185898e-01 -4.99059836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68105275399999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:69.01, Y:18.24, Z:-4.99 [[ 8.64803336e-01 -5.00938056e-01 3.42965636e-02 6.90124370e+01] [ 5.00501967e-01 8.65482645e-01 2.09182220e-02 1.82437219e+01] [-4.01618141e-02 -9.24650564e-04 9.99192761e-01 -4.99256890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.04, Y:18.26, Z:-4.99 [[ 8.64806698e-01 -5.00922260e-01 3.44421928e-02 6.90367401e+01] [ 5.00482331e-01 8.65491780e-01 2.10098863e-02 1.82585859e+01] [-4.03337545e-02 -9.31781440e-04 9.99185829e-01 -4.99331326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.06, Y:18.27, Z:-4.99 [[ 8.64310537e-01 -5.01775435e-01 3.44776581e-02 6.90611617e+01] [ 5.01334748e-01 8.64997454e-01 2.10446056e-02 1.82728133e+01] [-4.03827527e-02 -9.04226311e-04 9.99183875e-01 -4.99484443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.09, Y:18.29, Z:-5.00 [[ 8.63824671e-01 -5.02575096e-01 3.50030012e-02 6.90854681e+01] [ 5.02120966e-01 8.64533098e-01 2.13789075e-02 1.82875944e+01] [-4.10057596e-02 -8.91886965e-04 9.99158512e-01 -4.99704344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.801052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.11, Y:18.30, Z:-5.00 [[ 8.63236654e-01 -5.03553586e-01 3.54438345e-02 6.91087928e+01] [ 5.03088074e-01 8.63963557e-01 2.16647526e-02 1.83012511e+01] [-4.15315452e-02 -8.70438088e-04 9.99136814e-01 -4.99838761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.13, Y:18.31, Z:-5.00 [[ 8.62509339e-01 -5.04790056e-01 3.55617645e-02 6.91320238e+01] [ 5.04322236e-01 8.63241756e-01 2.17428918e-02 1.83149744e+01] [-4.16739955e-02 -8.18858632e-04 9.99130926e-01 -5.00012487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.15, Y:18.33, Z:-5.01 [[ 8.60463711e-01 -5.08057138e-01 3.84726662e-02 6.91509024e+01] [ 5.07707349e-01 8.61317803e-01 1.91020801e-02 1.83334277e+01] [-4.28421405e-02 3.09620867e-03 9.99077056e-01 -5.00536515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.18, Y:18.34, Z:-5.00 [[ 8.61181113e-01 -5.07082423e-01 3.51355401e-02 6.91800502e+01] [ 5.06429349e-01 8.61884564e-01 2.61593685e-02 1.83448730e+01] [-4.35477356e-02 -4.73428542e-03 9.99040130e-01 -5.00253405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.20, Y:18.36, Z:-5.01 [[ 8.59220067e-01 -5.10053635e-01 3.98266976e-02 6.91962417e+01] [ 5.09712414e-01 8.60133657e-01 1.90616795e-02 1.83640138e+01] [-4.39787620e-02 3.92198460e-03 9.99024768e-01 -5.00973853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.95105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.22, Y:18.38, Z:-5.01 [[ 8.59163861e-01 -5.10220507e-01 3.88908098e-02 6.92190793e+01] [ 5.09747737e-01 8.60043109e-01 2.19794170e-02 1.83778016e+01] [-4.46621223e-02 9.40581515e-04 9.99001707e-01 -5.01032053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.25, Y:18.39, Z:-5.01 [[ 8.60003513e-01 -5.09150703e-01 3.40517268e-02 6.92504134e+01] [ 5.08382092e-01 8.60643696e-01 2.89840785e-02 1.83895088e+01] [-4.40636680e-02 -7.61512125e-03 9.98999701e-01 -5.00581187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.27, Y:18.41, Z:-5.01 [[ 8.59236606e-01 -5.10176059e-01 3.78529082e-02 6.92717390e+01] [ 5.09646762e-01 8.60069722e-01 2.32433188e-02 1.84075821e+01] [-4.44143250e-02 -6.79898272e-04 9.99012966e-01 -5.01215741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.30, Y:18.42, Z:-5.01 [[ 8.58183748e-01 -5.11956327e-01 3.77011172e-02 6.92953020e+01] [ 5.11432361e-01 8.59011270e-01 2.31641529e-02 1.84234406e+01] [-4.42447192e-02 -5.97528163e-04 9.99020544e-01 -5.01389651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.32, Y:18.44, Z:-5.02 [[ 8.58054005e-01 -5.12174222e-01 3.76947166e-02 6.93195998e+01] [ 5.11650009e-01 8.58881370e-01 2.31745629e-02 1.84384662e+01] [-4.42447036e-02 -5.98524426e-04 9.99020544e-01 -5.01549165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.33, Y:18.46, Z:-5.02 [[ 8.53899943e-01 -5.18654006e-01 4.30454283e-02 6.93310583e+01] [ 5.18495144e-01 8.54937329e-01 1.56508266e-02 1.84599145e+01] [-4.49185074e-02 8.95460564e-03 9.98950521e-01 -5.02487456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.37, Y:18.47, Z:-5.01 [[ 8.54257945e-01 -5.18784443e-01 3.32575435e-02 6.93680191e+01] [ 5.17878629e-01 8.54841476e-01 3.23693785e-02 1.84678133e+01] [-4.52226576e-02 -1.04284277e-02 9.98922499e-01 -5.01394276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.39, Y:18.49, Z:-5.02 [[ 8.52240627e-01 -5.21735906e-01 3.84390309e-02 6.93898962e+01] [ 5.21199370e-01 8.53107044e-01 2.36556183e-02 1.84854420e+01] [-4.51345935e-02 -1.25880327e-04 9.98980907e-01 -5.02031491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.41, Y:18.50, Z:-5.02 [[ 8.51086206e-01 -5.23677444e-01 3.76059085e-02 6.94132150e+01] [ 5.23165127e-01 8.51916623e-01 2.31585186e-02 1.84999087e+01] [-4.41646924e-02 -3.57958667e-05 9.99024263e-01 -5.02221111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.44, Y:18.51, Z:-5.02 [[ 8.50121748e-01 -5.25312284e-01 3.66062691e-02 6.94365734e+01] [ 5.24828218e-01 8.50909515e-01 2.25463674e-02 1.85149462e+01] [-4.29925065e-02 4.48457282e-05 9.99075394e-01 -5.02436666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.46, Y:18.53, Z:-5.03 [[ 8.48881620e-01 -5.27307860e-01 3.66935418e-02 6.94604213e+01] [ 5.26822764e-01 8.49674292e-01 2.26135498e-02 1.85303983e+01] [-4.31018617e-02 1.34766343e-04 9.99070674e-01 -5.02699591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.49, Y:18.54, Z:-5.03 [[ 8.48591670e-01 -5.27688391e-01 3.79096272e-02 6.94852716e+01] [ 5.27170321e-01 8.49438014e-01 2.33776115e-02 1.85431085e+01] [-4.45379727e-02 1.46783972e-04 9.99007681e-01 -5.02556100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.51, Y:18.56, Z:-5.03 [[ 8.48941184e-01 -5.27075649e-01 3.86021587e-02 6.95093045e+01] [ 5.26537161e-01 8.49818363e-01 2.38195050e-02 1.85568890e+01] [-4.53595044e-02 1.04112257e-04 9.98970723e-01 -5.02580070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34105275399999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:69.52, Y:18.57, Z:-5.03 [[ 8.51287284e-01 -5.23094804e-01 4.10095849e-02 6.95244033e+01] [ 5.22731119e-01 8.52263068e-01 1.99959933e-02 1.85721288e+01] [-4.54107548e-02 4.41465142e-03 9.98958645e-01 -5.02930805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.55, Y:18.59, Z:-5.05 [[ 8.50872959e-01 -5.22479453e-01 5.50493286e-02 6.95494234e+01] [ 5.22675919e-01 8.52448202e-01 1.19141232e-02 1.85938319e+01] [-5.31515858e-02 1.86355532e-02 9.98412553e-01 -5.04706497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.59, Y:18.60, Z:-5.01 [[ 8.53353269e-01 -5.20688695e-01 2.59129584e-02 6.95860595e+01] [ 5.19232108e-01 8.53321604e-01 4.73313602e-02 1.85957347e+01] [-4.67569914e-02 -2.69355310e-02 9.98543069e-01 -5.01430527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.60, Y:18.62, Z:-5.03 [[ 8.53860209e-01 -5.18871598e-01 4.11704838e-02 6.96043646e+01] [ 5.18250558e-01 8.54852123e-01 2.53812284e-02 1.86183269e+01] [-4.83642740e-02 -3.35394780e-04 9.98829707e-01 -5.02744122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.63, Y:18.63, Z:-5.03 [[ 8.55603313e-01 -5.16051114e-01 4.04254665e-02 6.96278737e+01] [ 5.15448487e-01 8.56557645e-01 2.49370942e-02 1.86340146e+01] [-4.74955576e-02 -4.99014903e-04 9.98871325e-01 -5.02883803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.65, Y:18.65, Z:-5.03 [[ 8.56312127e-01 -5.14937651e-01 3.96075220e-02 6.96506518e+01] [ 5.14357247e-01 8.57227448e-01 2.44483895e-02 1.86487772e+01] [-4.65420513e-02 -5.63036392e-04 9.98916173e-01 -5.03100431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.521052754 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:69.67, Y:18.67, Z:-5.05 [[ 8.57058350e-01 -5.12703501e-01 5.08537531e-02 6.96726309e+01] [ 5.12981937e-01 8.58358181e-01 8.41220962e-03 1.86704024e+01] [-4.79637043e-02 1.88773022e-02 9.98670682e-01 -5.05127717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.551052754 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:69.70, Y:18.67, Z:-5.02 [[ 8.57740058e-01 -5.13504153e-01 2.44024305e-02 6.97015388e+01] [ 5.12271028e-01 8.57734879e-01 4.32350712e-02 1.86711453e+01] [-4.31322044e-02 -2.45837943e-02 9.98766865e-01 -5.02463837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.72, Y:18.70, Z:-5.04 [[ 8.56662922e-01 -5.14298747e-01 4.03167139e-02 6.97187458e+01] [ 5.13947230e-01 8.57601463e-01 1.94416186e-02 1.86959566e+01] [-4.45744729e-02 4.06574962e-03 9.98997791e-01 -5.04229805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.74, Y:18.71, Z:-5.04 [[ 8.56705149e-01 -5.14357493e-01 3.86349258e-02 6.97439820e+01] [ 5.13803305e-01 8.57575654e-01 2.38780564e-02 1.87095080e+01] [-4.54142290e-02 -6.05701322e-04 9.98968058e-01 -5.04046728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.77, Y:18.72, Z:-5.04 [[ 8.57082092e-01 -5.13710154e-01 3.88865787e-02 6.97684194e+01] [ 5.13147363e-01 8.57963546e-01 2.40486515e-02 1.87238806e+01] [-4.57173034e-02 -6.57123218e-04 9.98954201e-01 -5.03836104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.79, Y:18.74, Z:-5.04 [[ 8.57442202e-01 -5.13109515e-01 3.88779698e-02 6.97915968e+01] [ 5.12545618e-01 8.58322860e-01 2.40594538e-02 1.87381325e+01] [-4.57149849e-02 -7.02857934e-04 9.98954276e-01 -5.03914640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.82, Y:18.75, Z:-5.04 [[ 8.57544988e-01 -5.12973794e-01 3.83989541e-02 6.98155360e+01] [ 5.12423357e-01 8.58403978e-01 2.37679290e-02 1.87532935e+01] [-4.51541396e-02 -7.05547417e-04 9.98979783e-01 -5.04170592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.73105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.84, Y:18.77, Z:-5.04 [[ 8.56883355e-01 -5.14051850e-01 3.87506431e-02 6.98391407e+01] [ 5.13491712e-01 8.57758853e-01 2.40002227e-02 1.87681143e+01] [-4.55760661e-02 -6.67257265e-04 9.98960648e-01 -5.04462598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.86, Y:18.78, Z:-5.05 [[ 8.55678384e-01 -5.16065593e-01 3.86109662e-02 6.98639917e+01] [ 5.15510872e-01 8.56548877e-01 2.39282730e-02 1.87821484e+01] [-4.54207381e-02 -5.70533082e-04 9.98967783e-01 -5.04662009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79105275399999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:69.89, Y:18.80, Z:-5.05 [[ 8.57350946e-01 -5.13062922e-01 4.14221419e-02 6.98902698e+01] [ 5.12970343e-01 8.58297874e-01 1.36450200e-02 1.87957744e+01] [-4.25532902e-02 9.54975952e-03 9.99048557e-01 -5.05474703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.821052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:69.92, Y:18.81, Z:-5.04 [[ 8.54608459e-01 -5.18374628e-01 3.05307480e-02 6.99165418e+01] [ 5.17591750e-01 8.55095290e-01 3.01798817e-02 1.88056628e+01] [-4.17511837e-02 -9.98951888e-03 9.99078099e-01 -5.04354828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.851052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:69.94, Y:18.82, Z:-5.05 [[ 8.54806827e-01 -5.17879343e-01 3.32607116e-02 6.99389671e+01] [ 5.17467399e-01 8.55453556e-01 2.06568061e-02 1.88216518e+01] [-3.91507272e-02 -4.46244964e-04 9.99233217e-01 -5.05013534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.96, Y:18.84, Z:-5.05 [[ 8.55328733e-01 -5.17068712e-01 3.24454200e-02 6.99617937e+01] [ 5.16675575e-01 8.55943756e-01 2.01652463e-02 1.88361082e+01] [-3.81982726e-02 -4.84158536e-04 9.99270062e-01 -5.05274325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.98, Y:18.85, Z:-5.06 [[ 8.55830920e-01 -5.16259949e-01 3.20796258e-02 6.99838705e+01] [ 5.15874861e-01 8.56431781e-01 1.99432100e-02 1.88509796e+01] [-3.77698916e-02 -5.18943285e-04 9.99286328e-01 -5.05508418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.01, Y:18.87, Z:-5.06 [[ 8.56962734e-01 -5.14365398e-01 3.22972094e-02 7.00075516e+01] [ 5.13973613e-01 8.57570910e-01 2.00813113e-02 1.88665947e+01] [-3.80262790e-02 -6.09022059e-04 9.99276554e-01 -5.05641647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.03, Y:18.88, Z:-5.06 [[ 8.57195009e-01 -5.13967035e-01 3.24746553e-02 7.00307799e+01] [ 5.13570114e-01 8.57809696e-01 2.02055222e-02 1.88799421e+01] [-3.82420465e-02 -6.42060351e-04 9.99268299e-01 -5.05569742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.06, Y:18.89, Z:-5.06 [[ 8.57403286e-01 -5.13622091e-01 3.24338275e-02 7.00554642e+01] [ 5.13225657e-01 8.58016263e-01 2.01870438e-02 1.88941672e+01] [-3.81972631e-02 -6.62565234e-04 9.99269999e-01 -5.05603917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:70.08, Y:18.91, Z:-5.06 [[ 8.57425786e-01 -5.13597901e-01 3.22213961e-02 7.00783419e+01] [ 5.13206104e-01 8.58030737e-01 2.00685900e-02 1.89078735e+01] [-3.79541340e-02 -6.71109357e-04 9.99279257e-01 -5.05717022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06105275399999 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:70.10, Y:18.92, Z:-5.06 [[ 8.58009669e-01 -5.12545793e-01 3.34098561e-02 7.01021037e+01] [ 5.12369826e-01 8.58646119e-01 1.42829618e-02 1.89246248e+01] [-3.60079152e-02 4.86328285e-03 9.99339671e-01 -5.06244789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.13, Y:18.94, Z:-5.06 [[ 8.58356144e-01 -5.12281158e-01 2.81557429e-02 7.01278464e+01] [ 5.11760524e-01 8.58796224e-01 2.38791200e-02 1.89368336e+01] [-3.64128689e-02 -6.08779156e-03 9.99318289e-01 -5.05874210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.15, Y:18.95, Z:-5.06 [[ 8.58521237e-01 -5.11866851e-01 3.05550625e-02 7.01502274e+01] [ 5.11512593e-01 8.59064488e-01 1.90544602e-02 1.89532453e+01] [-3.60021156e-02 -7.29359490e-04 9.99351448e-01 -5.06260975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.17, Y:18.97, Z:-5.06 [[ 8.58903265e-01 -5.11181367e-01 3.12856499e-02 7.01746587e+01] [ 5.10809051e-01 8.59472507e-01 1.95223474e-02 1.89676949e+01] [-3.68686162e-02 -7.86814800e-04 9.99319812e-01 -5.06272301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.20, Y:18.98, Z:-5.06 [[ 8.58954024e-01 -5.11100194e-01 3.12182205e-02 7.01971624e+01] [ 5.10728928e-01 8.59520769e-01 1.94938594e-02 1.89818420e+01] [-3.67960242e-02 -8.00280694e-04 9.99322477e-01 -5.06358312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.22, Y:19.00, Z:-5.07 [[ 8.59178977e-01 -5.10715770e-01 3.13191221e-02 7.02211865e+01] [ 5.10341595e-01 8.59749220e-01 1.95636245e-02 1.89970532e+01] [-3.69180423e-02 -8.25204193e-04 9.99317956e-01 -5.06541292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.25, Y:19.01, Z:-5.07 [[ 8.59444127e-01 -5.10356034e-01 2.98749126e-02 7.02452143e+01] [ 5.10015001e-01 8.59962825e-01 1.86718531e-02 1.90120456e+01] [-3.52206072e-02 -8.10760936e-04 9.99379233e-01 -5.06802014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.28, Y:19.02, Z:-5.06 [[ 8.59576465e-01 -5.10522776e-01 2.22440173e-02 7.02803198e+01] [ 5.09955247e-01 8.59785541e-01 2.67295520e-02 1.90238826e+01] [-3.27711295e-02 -1.16326405e-02 9.99395184e-01 -5.06187259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.301052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.29, Y:19.04, Z:-5.08 [[ 8.59311451e-01 -5.10213587e-01 3.55798661e-02 7.02910289e+01] [ 5.10251677e-01 8.59981274e-01 8.68529415e-03 1.90444450e+01] [-3.50293737e-02 1.06913136e-02 9.99329094e-01 -5.07820519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.32, Y:19.06, Z:-5.07 [[ 8.59180246e-01 -5.10762389e-01 3.05137345e-02 7.03172717e+01] [ 5.10405964e-01 8.59721518e-01 1.90961513e-02 1.90563205e+01] [-3.59869100e-02 -8.32643912e-04 9.99351915e-01 -5.07374497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.35, Y:19.07, Z:-5.07 [[ 8.59132919e-01 -5.11060466e-01 2.66050408e-02 7.03515730e+01] [ 5.10334317e-01 8.59461192e-01 2.97547529e-02 1.90690373e+01] [-3.80724779e-02 -1.19858224e-02 9.99203096e-01 -5.06621936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.36, Y:19.09, Z:-5.08 [[ 8.59486650e-01 -5.09610690e-01 3.97447258e-02 7.03641434e+01] [ 5.09609846e-01 8.60336386e-01 1.09136583e-02 1.90878779e+01] [-3.97555507e-02 1.08741600e-02 9.99150263e-01 -5.07833391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.39, Y:19.10, Z:-5.07 [[ 8.59413048e-01 -5.10240048e-01 3.26237035e-02 7.03897654e+01] [ 5.09831058e-01 8.60031517e-01 2.04470772e-02 1.90982667e+01] [-3.84903309e-02 -9.39907686e-04 9.99258531e-01 -5.07286076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.45105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.42, Y:19.11, Z:-5.07 [[ 8.58762040e-01 -5.11782988e-01 2.46156804e-02 7.04241122e+01] [ 5.11074731e-01 8.59014245e-01 2.99524128e-02 1.91112404e+01] [-3.64743554e-02 -1.31415428e-02 9.99248178e-01 -5.06609217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.43, Y:19.13, Z:-5.09 [[ 8.59382218e-01 -5.09980206e-01 3.71805483e-02 7.04331084e+01] [ 5.10062751e-01 8.60100504e-01 7.94431489e-03 1.91332974e+01] [-3.60304517e-02 1.21372098e-02 9.99276986e-01 -5.08833628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.46, Y:19.14, Z:-5.08 [[ 8.59212680e-01 -5.10770068e-01 2.94534880e-02 7.04600758e+01] [ 5.10436480e-01 8.59716948e-01 1.84761769e-02 1.91446967e+01] [-3.47587410e-02 -8.40830708e-04 9.99395379e-01 -5.08367875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.49, Y:19.16, Z:-5.07 [[ 8.57868228e-01 -5.13367472e-01 2.27143738e-02 7.04941526e+01] [ 5.12768236e-01 8.58085309e-01 2.75379557e-02 1.91561508e+01] [-3.36279612e-02 -1.19767279e-02 9.99362656e-01 -5.07483479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.51, Y:19.18, Z:-5.09 [[ 8.56473814e-01 -5.14912176e-01 3.63050589e-02 7.05095828e+01] [ 5.14975554e-01 8.57164652e-01 8.30296711e-03 1.91753323e+01] [-3.53947120e-02 1.15849439e-02 9.99306261e-01 -5.08861043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.53, Y:19.19, Z:-5.08 [[ 8.56164164e-01 -5.15785982e-01 3.07854600e-02 7.05333909e+01] [ 5.15399974e-01 8.56716560e-01 1.99900944e-02 1.91852781e+01] [-3.66850238e-02 -1.24797723e-03 9.99326099e-01 -5.08226490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.55, Y:19.20, Z:-5.08 [[ 8.54008630e-01 -5.19139880e-01 3.41034499e-02 7.05549728e+01] [ 5.18697577e-01 8.54689070e-01 2.14340269e-02 1.92007412e+01] [-4.02751040e-02 -6.15467039e-04 9.99188439e-01 -5.08493508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.58, Y:19.22, Z:-5.09 [[ 8.52668553e-01 -5.21293595e-01 3.47753671e-02 7.05786450e+01] [ 5.20835314e-01 8.53377238e-01 2.18601249e-02 1.92163809e+01] [-4.10720498e-02 -5.27201787e-04 9.99156048e-01 -5.08801247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.60, Y:19.23, Z:-5.09 [[ 8.50760427e-01 -5.24406048e-01 3.47130166e-02 7.06025537e+01] [ 5.23951377e-01 8.51468229e-01 2.18359593e-02 1.92288662e+01] [-4.10079399e-02 -3.89237182e-04 9.99158745e-01 -5.08803964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.63, Y:19.24, Z:-5.09 [[ 8.48569482e-01 -5.28123504e-01 3.18653251e-02 7.06272786e+01] [ 5.27586313e-01 8.49159814e-01 2.40892634e-02 1.92441792e+01] [-3.97808597e-02 -3.62970434e-03 9.99201836e-01 -5.08627318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.65, Y:19.26, Z:-5.09 [[ 8.47160915e-01 -5.30295467e-01 3.32430652e-02 7.06529932e+01] [ 5.29824128e-01 8.47811814e-01 2.23946852e-02 1.92595459e+01] [-4.00596635e-02 -1.35892399e-03 9.99196365e-01 -5.08635156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.67, Y:19.27, Z:-5.09 [[ 8.48008844e-01 -5.28901491e-01 3.38262127e-02 7.06744949e+01] [ 5.28531336e-01 8.48682541e-01 1.98134445e-02 1.92732382e+01] [-3.91870765e-02 1.07623720e-03 9.99231312e-01 -5.08903624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.70, Y:19.29, Z:-5.09 [[ 8.48637451e-01 -5.27930475e-01 3.32248547e-02 7.06990024e+01] [ 5.27502534e-01 8.49287436e-01 2.12586065e-02 1.92891961e+01] [-3.94405179e-02 -5.14654641e-04 9.99221788e-01 -5.09127000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.72, Y:19.30, Z:-5.09 [[ 8.50081591e-01 -5.25608405e-01 3.31224161e-02 7.07216492e+01] [ 5.25215260e-01 8.50726625e-01 2.03258373e-02 1.93045640e+01] [-3.88615522e-02 1.17778272e-04 9.99244598e-01 -5.09419757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.74, Y:19.32, Z:-5.10 [[ 8.51903295e-01 -5.22758751e-01 3.13698036e-02 7.07444850e+01] [ 5.22344071e-01 8.52479537e-01 2.08640971e-02 1.93192394e+01] [-3.76490050e-02 -1.38836220e-03 9.99290060e-01 -5.09526964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.77, Y:19.33, Z:-5.10 [[ 8.55548466e-01 -5.16897257e-01 2.92241106e-02 7.07689348e+01] [ 5.16521167e-01 8.56045455e-01 1.98006034e-02 1.93340635e+01] [-3.52520446e-02 -1.84550412e-03 9.99376750e-01 -5.09659366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93105275399999 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:70.79, Y:19.35, Z:-5.10 [[ 8.57328664e-01 -5.13886350e-01 3.01393474e-02 7.07908977e+01] [ 5.13559911e-01 8.57858245e-01 1.83152549e-02 1.93488922e+01] [-3.52672472e-02 -2.23832480e-04 9.99377892e-01 -5.09873618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.82, Y:19.36, Z:-5.10 [[ 8.58857514e-01 -5.11080883e-01 3.40602666e-02 7.08167922e+01] [ 5.10800675e-01 8.59528436e-01 1.71329696e-02 1.93646564e+01] [-3.80321009e-02 2.68322751e-03 9.99272915e-01 -5.10405129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.84, Y:19.38, Z:-5.10 [[ 8.58712476e-01 -5.11451855e-01 3.20918076e-02 7.08416703e+01] [ 5.11051687e-01 8.59311364e-01 2.02522390e-02 1.93789487e+01] [-3.79349001e-02 -9.90277838e-04 9.99279722e-01 -5.10366127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:19.40, Z:-5.11 [[ 8.57484390e-01 -5.13425718e-01 3.33849201e-02 7.08669547e+01] [ 5.13098563e-01 8.58132944e-01 1.83769980e-02 1.93971393e+01] [-3.80839232e-02 1.37176563e-03 9.99273603e-01 -5.10684702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.051052754 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:70.89, Y:19.41, Z:-5.10 [[ 8.58018274e-01 -5.12990446e-01 2.54055713e-02 7.08881140e+01] [ 5.12413174e-01 8.58343461e-01 2.60622775e-02 1.94080957e+01] [-3.51764053e-02 -9.34376091e-03 9.99337438e-01 -5.09842364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.91, Y:19.43, Z:-5.11 [[ 8.57342328e-01 -5.13380571e-01 3.74769596e-02 7.09113605e+01] [ 5.13158673e-01 8.58143625e-01 1.60528680e-02 1.94274882e+01] [-4.04018445e-02 5.46882364e-03 9.99168546e-01 -5.11176485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.111052754 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:70.94, Y:19.44, Z:-5.10 [[ 8.55582179e-01 -5.17092306e-01 2.43861041e-02 7.09360156e+01] [ 5.16472973e-01 8.55858769e-01 2.75941243e-02 1.94372639e+01] [-3.51397704e-02 -1.10142773e-02 9.99321711e-01 -5.10038649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.96, Y:19.46, Z:-5.11 [[ 8.53418423e-01 -5.20142819e-01 3.35923048e-02 7.09561142e+01] [ 5.19908429e-01 8.54071024e-01 1.60595931e-02 1.94577600e+01] [-3.70434961e-02 3.75936981e-03 9.99306583e-01 -5.11280865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.98, Y:19.47, Z:-5.12 [[ 8.50812699e-01 -5.24131898e-01 3.74633922e-02 7.09815073e+01] [ 5.23864226e-01 8.51623566e-01 1.74234090e-02 1.94737929e+01] [-4.10368720e-02 4.80167333e-03 9.99146095e-01 -5.11953438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.01, Y:19.49, Z:-5.12 [[ 8.50452544e-01 -5.24937295e-01 3.42243565e-02 7.10053347e+01] [ 5.24487645e-01 8.51140738e-01 2.17290964e-02 1.94874498e+01] [-4.05361571e-02 -5.29313176e-04 9.99177932e-01 -5.11771655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.23105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:71.03, Y:19.50, Z:-5.10 [[ 8.51290062e-01 -5.24223434e-01 2.22490796e-02 7.10313616e+01] [ 5.23482104e-01 8.51439679e-01 3.18898136e-02 1.94972054e+01] [-3.56611367e-02 -1.55004864e-02 9.99243723e-01 -5.10462093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:71.05, Y:19.52, Z:-5.12 [[ 8.51741898e-01 -5.23148917e-01 2.91710305e-02 7.10498582e+01] [ 5.22906217e-01 8.52239760e-01 1.60150025e-02 1.95179436e+01] [-3.32389432e-02 1.61306455e-03 9.99446132e-01 -5.11553941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:71.07, Y:19.54, Z:-5.12 [[ 8.51927673e-01 -5.23028585e-01 2.56970580e-02 7.10710005e+01] [ 5.22820281e-01 8.52314727e-01 1.47837982e-02 1.95374715e+01] [-2.96343300e-02 8.40216299e-04 9.99560454e-01 -5.12248736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.10, Y:19.55, Z:-5.12 [[ 8.52350728e-01 -5.22594858e-01 1.98204594e-02 7.10961567e+01] [ 5.22291497e-01 8.52563142e-01 1.86462406e-02 1.95499111e+01] [-2.66426226e-02 -5.54107938e-03 9.99629665e-01 -5.11950001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.12, Y:19.57, Z:-5.13 [[ 8.51689988e-01 -5.23324000e-01 2.74982921e-02 7.11158679e+01] [ 5.23272536e-01 8.52111201e-01 9.61011663e-03 1.95672657e+01] [-2.84608074e-02 6.20426095e-03 9.99575655e-01 -5.12833105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.14, Y:19.58, Z:-5.13 [[ 8.50903168e-01 -5.24412677e-01 3.09054012e-02 7.11419055e+01] [ 5.24405654e-01 8.51421174e-01 8.98304219e-03 1.95828105e+01] [-3.10243342e-02 8.56326809e-03 9.99481946e-01 -5.13350383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.17, Y:19.60, Z:-5.13 [[ 8.49863650e-01 -5.26386969e-01 2.54663588e-02 7.11676674e+01] [ 5.26138174e-01 8.50245042e-01 1.61861173e-02 1.95953495e+01] [-3.01728065e-02 -3.57169238e-04 9.99544633e-01 -5.13051159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:19.61, Z:-5.13 [[ 8.50543728e-01 -5.25645308e-01 1.65038452e-02 7.11921706e+01] [ 5.25292436e-01 8.50649074e-01 2.15409075e-02 1.96073067e+01] [-2.53618576e-02 -9.65213875e-03 9.99631738e-01 -5.12539153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.21, Y:19.63, Z:-5.14 [[ 8.50523369e-01 -5.25142197e-01 2.89079783e-02 7.12123619e+01] [ 5.25161756e-01 8.50969173e-01 7.52302670e-03 1.96288231e+01] [-2.85504572e-02 8.78285464e-03 9.99553767e-01 -5.14097466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.501052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.24, Y:19.64, Z:-5.14 [[ 8.50758574e-01 -5.25019728e-01 2.37515124e-02 7.12375366e+01] [ 5.24802212e-01 8.51089965e-01 1.51165331e-02 1.96418607e+01] [-2.81511520e-02 -3.95673944e-04 9.99603599e-01 -5.13913917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.26, Y:19.66, Z:-5.14 [[ 8.51861228e-01 -5.23272485e-01 2.27673932e-02 7.12598666e+01] [ 5.23071646e-01 8.52165306e-01 1.45032632e-02 1.96563843e+01] [-2.69907412e-02 -4.45789750e-04 9.99635584e-01 -5.13995534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.28, Y:19.67, Z:-5.13 [[ 8.52589642e-01 -5.22334612e-01 1.60454290e-02 7.12842921e+01] [ 5.22051060e-01 8.52705887e-01 1.88510174e-02 1.96681736e+01] [-2.35285706e-02 -7.69564900e-03 9.99693545e-01 -5.13086538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.59105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.31, Y:19.69, Z:-5.14 [[ 8.52132705e-01 -5.22606418e-01 2.74296194e-02 7.13058942e+01] [ 5.22570664e-01 8.52548191e-01 9.02683237e-03 1.96881562e+01] [-2.81025529e-02 6.64185534e-03 9.99582979e-01 -5.14139400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.33, Y:19.70, Z:-5.14 [[ 8.51714910e-01 -5.23393300e-01 2.53212606e-02 7.13313005e+01] [ 5.23144505e-01 8.52091075e-01 1.61439367e-02 1.97017445e+01] [-3.00256485e-02 -5.03353273e-04 9.99549002e-01 -5.13884319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65105275399999 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:71.35, Y:19.72, Z:-5.14 [[ 8.50922014e-01 -5.24537974e-01 2.81360928e-02 7.13545840e+01] [ 5.24230994e-01 8.51386891e-01 1.79506592e-02 1.97168572e+01] [-3.33705030e-02 -5.24799177e-04 9.99442912e-01 -5.13833959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.38, Y:19.73, Z:-5.14 [[ 8.50429981e-01 -5.25288161e-01 2.90033722e-02 7.13784144e+01] [ 5.24962000e-01 8.50924249e-01 1.85154600e-02 1.97316505e+01] [-3.44056246e-02 -5.20433994e-04 9.99407816e-01 -5.13912685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.40, Y:19.75, Z:-5.14 [[ 8.49484450e-01 -5.26716355e-01 3.07579526e-02 7.14009704e+01] [ 5.26349880e-01 8.50040956e-01 1.96513516e-02 1.97469526e+01] [-3.64962078e-02 -5.04072910e-04 9.99333664e-01 -5.14043510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.42, Y:19.76, Z:-5.14 [[ 8.49391350e-01 -5.26779204e-01 3.22180759e-02 7.14235970e+01] [ 5.26377034e-01 8.50001995e-01 2.05870483e-02 1.97635396e+01] [-3.82302578e-02 -5.27605529e-04 9.99268817e-01 -5.14142115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.771052754 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:71.45, Y:19.78, Z:-5.14 [[ 8.50234141e-01 -5.25295636e-01 3.41525975e-02 7.14471441e+01] [ 5.25045888e-01 8.50911357e-01 1.66336361e-02 1.97802559e+01] [-3.77984095e-02 3.78919553e-03 9.99278201e-01 -5.14412735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.801052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.47, Y:19.79, Z:-5.14 [[ 8.50683269e-01 -5.24795859e-01 3.04512906e-02 7.14716125e+01] [ 5.24243791e-01 8.51213817e-01 2.45659361e-02 1.97936588e+01] [-3.88126609e-02 -4.93393080e-03 9.99234324e-01 -5.13980913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.49, Y:19.81, Z:-5.14 [[ 8.52686419e-01 -5.21369988e-01 3.31542903e-02 7.14927356e+01] [ 5.20938776e-01 8.53330337e-01 2.12162086e-02 1.98129621e+01] [-3.93530562e-02 -8.19417514e-04 9.99225032e-01 -5.14357563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.51, Y:19.83, Z:-5.15 [[ 8.53832249e-01 -5.19495741e-01 3.30857291e-02 7.15139892e+01] [ 5.19064300e-01 8.54472547e-01 2.11877060e-02 1.98294117e+01] [-3.92777703e-02 -9.17125867e-04 9.99227910e-01 -5.14636195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89105275399999 meters Centerline goodness : 0.997955 Centerline is valid? [True, True] Translation: X:71.54, Y:19.85, Z:-5.15 [[ 8.56172250e-01 -5.15676022e-01 3.23623062e-02 7.15362070e+01] [ 5.15236408e-01 8.56782159e-01 2.13489198e-02 1.98466737e+01] [-3.87365726e-02 -1.60411425e-03 9.99248170e-01 -5.15062850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.56, Y:19.86, Z:-5.15 [[ 8.56134208e-01 -5.15722454e-01 3.26277350e-02 7.15596830e+01] [ 5.15319210e-01 8.56755464e-01 2.04006454e-02 1.98644199e+01] [-3.84750611e-02 -6.51991792e-04 9.99259348e-01 -5.15129633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.95105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.58, Y:19.88, Z:-5.15 [[ 8.56007001e-01 -5.15902140e-01 3.31209278e-02 7.15823824e+01] [ 5.15465845e-01 8.56646805e-01 2.12418048e-02 1.98797914e+01] [-3.93316295e-02 -1.11042659e-03 9.99225595e-01 -5.15222149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.61, Y:19.89, Z:-5.15 [[ 8.54944632e-01 -5.17604253e-01 3.39928552e-02 7.16059964e+01] [ 5.17145876e-01 8.55619488e-01 2.18044515e-02 1.98949560e+01] [-4.03710262e-02 -1.06233383e-03 9.99184193e-01 -5.15285715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.64, Y:19.90, Z:-5.13 [[ 8.55014691e-01 -5.18323732e-01 1.70407439e-02 7.16380598e+01] [ 5.17556465e-01 8.54914450e-01 3.54483930e-02 1.99044560e+01] [-3.29421215e-02 -2.14893496e-02 9.99226213e-01 -5.13465373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.65, Y:19.93, Z:-5.17 [[ 8.53159559e-01 -5.19647202e-01 4.56678541e-02 7.16500677e+01] [ 5.20003075e-01 8.54151775e-01 4.64190618e-03 1.99317827e+01] [-4.14194322e-02 1.97871379e-02 9.98945894e-01 -5.16602278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.68, Y:19.94, Z:-5.16 [[ 8.51585870e-01 -5.23114441e-01 3.39527289e-02 7.16781580e+01] [ 5.22660257e-01 8.52262048e-01 2.18095908e-02 1.99414112e+01] [-4.03455341e-02 -8.26997316e-04 9.99185445e-01 -5.15907733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.70, Y:19.95, Z:-5.16 [[ 8.50464832e-01 -5.25060655e-01 3.19511928e-02 7.17026654e+01] [ 5.24659403e-01 8.51064520e-01 2.05351843e-02 1.99546117e+01] [-3.79747439e-02 -7.00958348e-04 9.99278453e-01 -5.16004403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.73, Y:19.97, Z:-5.16 [[ 8.49580178e-01 -5.26633615e-01 2.95051959e-02 7.17257751e+01] [ 5.26132041e-01 8.50081265e-01 2.33862808e-02 1.99674625e+01] [-3.73978158e-02 -4.34489164e-03 9.99291011e-01 -5.15661636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.75, Y:19.98, Z:-5.16 [[ 8.49575739e-01 -5.26233002e-01 3.60539890e-02 7.17497286e+01] [ 5.25895196e-01 8.50335901e-01 1.90551400e-02 1.99844686e+01] [-4.06854448e-02 2.77183498e-03 9.99168160e-01 -5.16307840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.77, Y:20.00, Z:-5.16 [[ 8.49879265e-01 -5.25784011e-01 3.54458697e-02 7.17732178e+01] [ 5.25289379e-01 8.50617765e-01 2.28141912e-02 1.99975786e+01] [-4.21462233e-02 -7.69969143e-04 9.99111156e-01 -5.16187402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.80, Y:20.01, Z:-5.16 [[ 8.50549735e-01 -5.24756754e-01 3.45759714e-02 7.17960061e+01] [ 5.24285131e-01 8.51251845e-01 2.22575318e-02 2.00134262e+01] [-4.11126496e-02 -8.03470081e-04 9.99154195e-01 -5.16438040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.251052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.82, Y:20.03, Z:-5.17 [[ 8.52504876e-01 -5.21648808e-01 3.34358825e-02 7.18176276e+01] [ 5.21204845e-01 8.53159803e-01 2.15374073e-02 2.00299587e+01] [-3.97611137e-02 -9.33800762e-04 9.99208778e-01 -5.16950519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28105275399999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:71.84, Y:20.05, Z:-5.17 [[ 8.53373946e-01 -5.20192768e-01 3.39468909e-02 7.18380640e+01] [ 5.20064100e-01 8.54025047e-01 1.32118024e-02 2.00466298e+01] [-3.58641792e-02 6.37995131e-03 9.99336308e-01 -5.17456324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31105275399999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:71.87, Y:20.05, Z:-5.16 [[ 8.55280059e-01 -5.17918782e-01 1.60049019e-02 7.18699174e+01] [ 5.17387224e-01 8.55279945e-01 2.84020239e-02 2.00539117e+01] [-2.83986133e-02 -1.60109529e-02 9.99468443e-01 -5.15875120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.89, Y:20.07, Z:-5.17 [[ 8.55491688e-01 -5.17317317e-01 2.27324692e-02 7.18920752e+01] [ 5.16991847e-01 8.55782423e-01 1.88646102e-02 2.00724775e+01] [-2.92130371e-02 -4.38601603e-03 9.99563585e-01 -5.16528295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.91, Y:20.10, Z:-5.18 [[ 8.51949040e-01 -5.22167593e-01 3.90363638e-02 7.19078403e+01] [ 5.22234293e-01 8.52751569e-01 9.27928278e-03 2.00960280e+01] [-3.81336613e-02 1.24806518e-02 9.99194704e-01 -5.18480316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40105275399999 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:71.94, Y:20.10, Z:-5.17 [[ 8.53700236e-01 -5.20391199e-01 1.97207135e-02 7.19408926e+01] [ 5.19625946e-01 8.53725387e-01 3.37911378e-02 2.01002891e+01] [-3.44206845e-02 -1.86001079e-02 9.99234333e-01 -5.16563150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.96, Y:20.12, Z:-5.18 [[ 8.52645340e-01 -5.21334994e-01 3.47238984e-02 7.19600969e+01] [ 5.21191916e-01 8.53328426e-01 1.37689567e-02 2.01227713e+01] [-3.68091285e-02 6.35777836e-03 9.99302090e-01 -5.18114628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.98, Y:20.14, Z:-5.19 [[ 8.49821544e-01 -5.25842548e-01 3.59577292e-02 7.19773286e+01] [ 5.25613827e-01 8.50566983e-01 1.63067997e-02 2.01362953e+01] [-3.91592664e-02 5.04200994e-03 9.99220261e-01 -5.18501374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.01, Y:20.15, Z:-5.19 [[ 8.49573576e-01 -5.26241244e-01 3.59846084e-02 7.20082503e+01] [ 5.25896212e-01 8.50331378e-01 1.92281300e-02 2.01512129e+01] [-4.07174767e-02 2.58845810e-03 9.99167347e-01 -5.18591774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.03, Y:20.16, Z:-5.19 [[ 8.48282481e-01 -5.28363164e-01 3.53440188e-02 7.20330444e+01] [ 5.27922619e-01 8.49018398e-01 2.15747346e-02 2.01644995e+01] [-4.14070172e-02 3.57437625e-04 9.99142298e-01 -5.18603227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.06, Y:20.18, Z:-5.18 [[ 8.45490394e-01 -5.32901963e-01 3.40806594e-02 7.20614539e+01] [ 5.32254126e-01 8.46165671e-01 2.66308536e-02 2.01758607e+01] [-4.30295182e-02 -4.37655929e-03 9.99064215e-01 -5.18305148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.08, Y:20.19, Z:-5.19 [[ 8.43613015e-01 -5.35198501e-01 4.33548891e-02 7.20777764e+01] [ 5.34840395e-01 8.44705494e-01 2.04543583e-02 2.01943183e+01] [-4.75692549e-02 5.93238312e-03 9.98850326e-01 -5.19244015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.11, Y:20.20, Z:-5.19 [[ 8.43459508e-01 -5.35855728e-01 3.78773968e-02 7.21089352e+01] [ 5.35030556e-01 8.44293634e-01 3.01755308e-02 2.02040734e+01] [-4.81493761e-02 -5.18627369e-03 9.98826682e-01 -5.18562326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.13, Y:20.22, Z:-5.19 [[ 8.44217009e-01 -5.34495350e-01 4.01542325e-02 7.21313333e+01] [ 5.33781525e-01 8.45169197e-01 2.76823430e-02 2.02180587e+01] [-4.87332040e-02 -1.93631734e-03 9.98809955e-01 -5.18761105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.15, Y:20.23, Z:-5.19 [[ 8.44346706e-01 -5.34193574e-01 4.14230162e-02 7.21537508e+01] [ 5.33603900e-01 8.45361704e-01 2.51091092e-02 2.02320409e+01] [-4.84305563e-02 9.02689328e-04 9.98826144e-01 -5.19061251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.18, Y:20.25, Z:-5.20 [[ 8.42364596e-01 -5.37182284e-01 4.30938734e-02 7.21754406e+01] [ 5.36748882e-01 8.43453871e-01 2.20500502e-02 2.02491961e+01] [-4.81925906e-02 4.55640672e-03 9.98827670e-01 -5.19787746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.73105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:72.21, Y:20.26, Z:-5.19 [[ 8.43429156e-01 -5.36049095e-01 3.57578941e-02 7.22069342e+01] [ 5.35302707e-01 8.44171446e-01 2.87329251e-02 2.02597399e+01] [-4.55880516e-02 -5.09288924e-03 9.98947342e-01 -5.19161580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.23, Y:20.28, Z:-5.20 [[ 8.42661574e-01 -5.37112657e-01 3.78347071e-02 7.22304462e+01] [ 5.36585442e-01 8.43510480e-01 2.37935451e-02 2.02761507e+01] [-4.46937862e-02 2.51646869e-04 9.99000702e-01 -5.19647248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.25, Y:20.29, Z:-5.20 [[ 8.41951149e-01 -5.38446513e-01 3.45487460e-02 7.22546760e+01] [ 5.37972448e-01 8.42659577e-01 2.25938725e-02 2.02893984e+01] [-4.12784235e-02 -4.36663457e-04 9.99147587e-01 -5.19717524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.821052754 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:72.28, Y:20.30, Z:-5.20 [[ 8.43263375e-01 -5.36567336e-01 3.16602915e-02 7.22779233e+01] [ 5.35974065e-01 8.43844626e-01 2.56524367e-02 2.03006231e+01] [-4.04806265e-02 -4.66266520e-03 9.99169444e-01 -5.19512582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.29, Y:20.32, Z:-5.21 [[ 8.41629641e-01 -5.38632846e-01 3.91689129e-02 7.22941625e+01] [ 5.38503455e-01 8.42495332e-01 1.46848316e-02 2.03232425e+01] [-4.09093590e-02 8.73340537e-03 9.99124693e-01 -5.20834381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:20.34, Z:-5.21 [[ 8.41424667e-01 -5.39289443e-01 3.42261205e-02 7.23199999e+01] [ 5.38829080e-01 8.42120421e-01 2.22804579e-02 2.03363862e+01] [-4.08381308e-02 -3.05297833e-04 9.99165729e-01 -5.20535636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.911052754 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:72.35, Y:20.35, Z:-5.20 [[ 8.42870675e-01 -5.37486472e-01 2.60253305e-02 7.23471523e+01] [ 5.36813389e-01 8.43209463e-01 2.87956030e-02 2.03526868e+01] [-3.74220520e-02 -1.03002235e-02 9.99246464e-01 -5.20004766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.37, Y:20.38, Z:-5.21 [[ 8.42835438e-01 -5.37086982e-01 3.41467142e-02 7.23667045e+01] [ 5.36885836e-01 8.43510873e-01 1.55886461e-02 2.03761418e+01] [-3.71755836e-02 5.19422386e-03 9.99295250e-01 -5.21168195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.38, Y:20.39, Z:-5.22 [[ 8.42330817e-01 -5.37828035e-01 3.49256297e-02 7.23821243e+01] [ 5.37604316e-01 8.43039511e-01 1.63089619e-02 2.03943246e+01] [-3.82151027e-02 5.03862803e-03 9.99256833e-01 -5.21739807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.001052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.41, Y:20.41, Z:-5.21 [[ 8.43756996e-01 -5.36071835e-01 2.64786423e-02 7.24144748e+01] [ 5.35555299e-01 8.44148186e-01 2.43795294e-02 2.04056367e+01] [-3.54210769e-02 -6.38962134e-03 9.99352050e-01 -5.20952555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.44, Y:20.42, Z:-5.21 [[ 8.44183706e-01 -5.35263600e-01 2.90989665e-02 7.24368879e+01] [ 5.34792405e-01 8.44677227e-01 2.27478609e-02 2.04218663e+01] [-3.67553363e-02 -3.64146727e-03 9.99317660e-01 -5.21071045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.46, Y:20.44, Z:-5.22 [[ 8.44400060e-01 -5.34645144e-01 3.38098857e-02 7.24570287e+01] [ 5.34369144e-01 8.45070231e-01 1.74906608e-02 2.04382833e+01] [-3.79230247e-02 3.29784467e-03 9.99275222e-01 -5.21606314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.09105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.48, Y:20.45, Z:-5.21 [[ 8.44664384e-01 -5.34256512e-01 3.33475386e-02 7.24827980e+01] [ 5.33588617e-01 8.45306510e-01 2.72046154e-02 2.04534281e+01] [-4.27231344e-02 -5.18490266e-03 9.99073496e-01 -5.21112409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.51, Y:20.47, Z:-5.22 [[ 8.44850865e-01 -5.33407159e-01 4.12773394e-02 7.25051851e+01] [ 5.32990024e-01 8.45849709e-01 2.14453594e-02 2.04730641e+01] [-4.63535337e-02 3.88227969e-03 9.98917553e-01 -5.21695927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.53, Y:20.49, Z:-5.21 [[ 8.45443297e-01 -5.32610753e-01 3.93880396e-02 7.25312821e+01] [ 5.31778197e-01 8.46348306e-01 3.01080491e-02 2.04854221e+01] [-4.93718713e-02 -4.50894758e-03 9.98770288e-01 -5.21407745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:20.51, Z:-5.23 [[ 8.43544804e-01 -5.34830557e-01 4.88716490e-02 7.25469579e+01] [ 5.34586367e-01 8.44899371e-01 1.90386227e-02 2.05055138e+01] [-5.14740627e-02 1.00661860e-02 9.98623599e-01 -5.22651400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.58, Y:20.52, Z:-5.22 [[ 8.44045770e-01 -5.34808189e-01 3.95845858e-02 7.25813865e+01] [ 5.34033315e-01 8.44967003e-01 2.89686526e-02 2.05157997e+01] [-4.89403415e-02 -3.31138113e-03 9.98796214e-01 -5.21873962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.60, Y:20.53, Z:-5.23 [[ 8.41198268e-01 -5.38806130e-01 4.55349168e-02 7.25971426e+01] [ 5.38175799e-01 8.42426116e-01 2.61734454e-02 2.05309780e+01] [-5.24622159e-02 2.48873327e-03 9.98619809e-01 -5.22580899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.62, Y:20.54, Z:-5.22 [[ 8.40724513e-01 -5.39794782e-01 4.24721887e-02 7.26224570e+01] [ 5.39070983e-01 8.41796430e-01 2.79507604e-02 2.05434812e+01] [-5.08406114e-02 -6.03364925e-04 9.98706598e-01 -5.22460115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.301052754 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:72.64, Y:20.56, Z:-5.23 [[ 8.40950134e-01 -5.39372679e-01 4.33587994e-02 7.26449069e+01] [ 5.38899716e-01 8.42057335e-01 2.29464948e-02 2.05602219e+01] [-4.88873074e-02 4.06918678e-03 9.98796012e-01 -5.22807240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.331052754 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:72.68, Y:20.57, Z:-5.22 [[ 8.42500102e-01 -5.37921343e-01 2.88826432e-02 7.26786037e+01] [ 5.36857833e-01 8.42842980e-01 3.74082505e-02 2.05717792e+01] [-4.44662294e-02 -1.60105816e-02 9.98882584e-01 -5.21806744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.69, Y:20.60, Z:-5.24 [[ 8.42255465e-01 -5.37116849e-01 4.59480511e-02 7.26895023e+01] [ 5.36969135e-01 8.43439548e-01 1.65492094e-02 2.05957319e+01] [-4.76432627e-02 1.07340232e-02 9.98806738e-01 -5.23889826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.71, Y:20.61, Z:-5.24 [[ 8.42566310e-01 -5.37135696e-01 3.95885991e-02 7.27147540e+01] [ 5.36501609e-01 8.43495510e-01 2.61026340e-02 2.06093720e+01] [-4.74134621e-02 -7.53852952e-04 9.98875065e-01 -5.23692522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.74, Y:20.62, Z:-5.24 [[ 8.42497424e-01 -5.37232243e-01 3.97442782e-02 7.27378584e+01] [ 5.36592541e-01 8.43434012e-01 2.62204554e-02 2.06246675e+01] [-4.76081501e-02 -7.64182876e-04 9.98865797e-01 -5.23802243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.45105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.77, Y:20.64, Z:-5.23 [[ 8.43909283e-01 -5.35532716e-01 3.19661257e-02 7.27712752e+01] [ 5.34691455e-01 8.44461516e-01 3.14610206e-02 2.06374847e+01] [-4.38425688e-02 -9.45823306e-03 9.98993679e-01 -5.23040044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.79, Y:20.66, Z:-5.24 [[ 8.44352517e-01 -5.34436969e-01 3.80256857e-02 7.27905519e+01] [ 5.34057094e-01 8.45202659e-01 2.03834684e-02 2.06568506e+01] [-4.30330897e-02 3.09705440e-03 9.99068847e-01 -5.23905456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.81, Y:20.68, Z:-5.25 [[ 8.43690818e-01 -5.35436692e-01 3.86439080e-02 7.28067969e+01] [ 5.35167912e-01 8.44556751e-01 1.78661969e-02 2.06752508e+01] [-4.22031907e-02 5.60743322e-03 9.99093313e-01 -5.24664844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.83, Y:20.69, Z:-5.25 [[ 8.43803592e-01 -5.35478047e-01 3.54789965e-02 7.28284324e+01] [ 5.34957755e-01 8.44548613e-01 2.36186662e-02 2.06886753e+01] [-4.26110145e-02 -9.49751021e-04 9.99091287e-01 -5.24637696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.85, Y:20.70, Z:-5.25 [[ 8.43714700e-01 -5.35677269e-01 3.45741027e-02 7.28524798e+01] [ 5.35188854e-01 8.44422417e-01 2.28839057e-02 2.07020770e+01] [-4.14535355e-02 -8.03813227e-04 9.99140109e-01 -5.24689757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.88, Y:20.72, Z:-5.25 [[ 8.43111978e-01 -5.36602461e-01 3.49283817e-02 7.28768868e+01] [ 5.36104661e-01 8.43834823e-01 2.31210669e-02 2.07166355e+01] [-4.18806062e-02 -7.68380200e-04 9.99122327e-01 -5.24740011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.631052754 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:72.90, Y:20.73, Z:-5.25 [[ 8.42100629e-01 -5.38191812e-01 3.48726831e-02 7.29020150e+01] [ 5.37737246e-01 8.42822376e-01 2.21155518e-02 2.07325868e+01] [-4.12938865e-02 1.28820432e-04 9.99147035e-01 -5.24807080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.92, Y:20.75, Z:-5.25 [[ 8.41565530e-01 -5.38915236e-01 3.65763274e-02 7.29230091e+01] [ 5.38339443e-01 8.42359000e-01 2.49391049e-02 2.07469153e+01] [-4.42504622e-02 -1.29741130e-03 9.99019626e-01 -5.24946585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.95, Y:20.76, Z:-5.25 [[ 8.41124576e-01 -5.39549742e-01 3.73567116e-02 7.29469137e+01] [ 5.38981548e-01 8.41953438e-01 2.47648770e-02 2.07624146e+01] [-4.48144948e-02 -6.95768387e-04 9.98995084e-01 -5.25142807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.97, Y:20.78, Z:-5.25 [[ 8.41273554e-01 -5.39352055e-01 3.68533420e-02 7.29695834e+01] [ 5.38798198e-01 8.42080077e-01 2.44467843e-02 2.07770159e+01] [-4.42188884e-02 -7.09918804e-04 9.99021614e-01 -5.25199685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.751052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.99, Y:20.79, Z:-5.25 [[ 8.41917264e-01 -5.38362025e-01 3.66285435e-02 7.29932298e+01] [ 5.37813830e-01 8.42713327e-01 2.43008778e-02 2.07928626e+01] [-4.39500315e-02 -7.59991332e-04 9.99033441e-01 -5.25409848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.02, Y:20.81, Z:-5.26 [[ 8.41926111e-01 -5.38335920e-01 3.68084243e-02 7.30168282e+01] [ 5.37781738e-01 8.42729990e-01 2.44329109e-02 2.08085475e+01] [-4.41726766e-02 -7.75807289e-04 9.99023610e-01 -5.25526822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.04, Y:20.82, Z:-5.26 [[ 8.42329090e-01 -5.37730166e-01 3.64413749e-02 7.30393816e+01] [ 5.37185689e-01 8.43116603e-01 2.42059566e-02 2.08231400e+01] [-4.37406013e-02 -8.13596303e-04 9.99042591e-01 -5.25631916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.06, Y:20.84, Z:-5.26 [[ 8.42324653e-01 -5.37729927e-01 3.65472863e-02 7.30626183e+01] [ 5.37182098e-01 8.43116750e-01 2.42804555e-02 2.08390130e+01] [-4.38699568e-02 -8.19478288e-04 9.99036914e-01 -5.25829187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.09, Y:20.86, Z:-5.26 [[ 8.42285325e-01 -5.37768975e-01 3.68776291e-02 7.30858357e+01] [ 5.37210603e-01 8.43091827e-01 2.45140576e-02 2.08552948e+01] [-4.42741273e-02 -8.36777579e-04 9.99019070e-01 -5.26083906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.11, Y:20.87, Z:-5.26 [[ 8.42175354e-01 -5.37894141e-01 3.75574972e-02 7.31080647e+01] [ 5.37314294e-01 8.43011953e-01 2.49839425e-02 2.08710826e+01] [-4.51001353e-02 -8.60680524e-04 9.98982100e-01 -5.26339992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.13, Y:20.89, Z:-5.27 [[ 8.42125668e-01 -5.37942126e-01 3.79819480e-02 7.31317644e+01] [ 5.37348947e-01 8.42981322e-01 2.52705268e-02 2.08862757e+01] [-4.56121537e-02 -8.71399473e-04 9.98958844e-01 -5.26505398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.15, Y:20.90, Z:-5.27 [[ 8.41968340e-01 -5.38170500e-01 3.82338515e-02 7.31543581e+01] [ 5.37568847e-01 8.42835535e-01 2.54557493e-02 2.09003849e+01] [-4.59243821e-02 -8.79607540e-04 9.98944532e-01 -5.26622940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.991052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:73.18, Y:20.92, Z:-5.26 [[ 8.42060166e-01 -5.38281469e-01 3.44635705e-02 7.31828446e+01] [ 5.37685708e-01 8.42760029e-01 2.54875062e-02 2.09152099e+01] [-4.27639719e-02 -2.93144436e-03 9.99080902e-01 -5.26349359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.20, Y:20.93, Z:-5.27 [[ 8.41537833e-01 -5.38715343e-01 3.99981927e-02 7.32012739e+01] [ 5.38200455e-01 8.42486213e-01 2.36061819e-02 2.09307403e+01] [-4.64149382e-02 1.66155030e-03 9.98920864e-01 -5.26865026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.051052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.23, Y:20.94, Z:-5.26 [[ 8.43084592e-01 -5.36649495e-01 3.48667391e-02 7.32340932e+01] [ 5.35855646e-01 8.43780039e-01 2.98993644e-02 2.09445746e+01] [-4.54653373e-02 -6.52415439e-03 9.98944612e-01 -5.26267060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.25, Y:20.96, Z:-5.27 [[ 8.41652418e-01 -5.38190236e-01 4.44125687e-02 7.32465911e+01] [ 5.37766008e-01 8.42806429e-01 2.20237211e-02 2.09647126e+01] [-4.92841501e-02 5.34725171e-03 9.98770484e-01 -5.27255677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.27, Y:20.98, Z:-5.27 [[ 8.41681986e-01 -5.38391568e-01 4.13031891e-02 7.32703733e+01] [ 5.37685956e-01 8.42694203e-01 2.75734171e-02 2.09796561e+01] [-4.96512532e-02 -9.99903757e-04 9.98766115e-01 -5.27151967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.29, Y:21.00, Z:-5.28 [[ 8.42015606e-01 -5.37895090e-01 4.09706095e-02 7.32913277e+01] [ 5.37199319e-01 8.43011149e-01 2.73695804e-02 2.09961007e+01] [-4.92606435e-02 -1.03623037e-03 9.98785420e-01 -5.27526159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.31, Y:21.01, Z:-5.28 [[ 8.42007558e-01 -5.37917917e-01 4.08360874e-02 7.33147754e+01] [ 5.37226478e-01 8.42996584e-01 2.72849687e-02 2.10117647e+01] [-4.91017558e-02 -1.03592248e-03 9.98793244e-01 -5.27770111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.34, Y:21.03, Z:-5.28 [[ 8.41236959e-01 -5.39208899e-01 3.96754526e-02 7.33387155e+01] [ 5.38556914e-01 8.42171519e-01 2.65251519e-02 2.10264016e+01] [-4.77161342e-02 -9.46448778e-04 9.98860488e-01 -5.27980774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.23105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.36, Y:21.04, Z:-5.28 [[ 8.40406967e-01 -5.40622372e-01 3.79944884e-02 7.33644608e+01] [ 5.40079732e-01 8.41265370e-01 2.42169335e-02 2.10411534e+01] [-4.50556633e-02 1.67973490e-04 9.98984464e-01 -5.28173726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.39, Y:21.06, Z:-5.28 [[ 8.40521418e-01 -5.40481144e-01 3.74683747e-02 7.33873132e+01] [ 5.39856128e-01 8.41354494e-01 2.60379855e-02 2.10560331e+01] [-4.55972256e-02 -1.65795280e-03 9.98958530e-01 -5.28239862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.41, Y:21.07, Z:-5.29 [[ 8.40965461e-01 -5.39851015e-01 3.65783297e-02 7.34093752e+01] [ 5.39295926e-01 8.41760136e-01 2.44903579e-02 2.10719833e+01] [-4.40113244e-02 -8.69000950e-04 9.99030654e-01 -5.28526674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.43, Y:21.09, Z:-5.29 [[ 8.41199862e-01 -5.39567128e-01 3.53568602e-02 7.34324354e+01] [ 5.39048140e-01 8.41942148e-01 2.36753500e-02 2.10882201e+01] [-4.25428714e-02 -8.56651434e-04 9.99094275e-01 -5.28760987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.351052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:73.45, Y:21.10, Z:-5.29 [[ 8.41702479e-01 -5.38806050e-01 3.49996847e-02 7.34548427e+01] [ 5.38296126e-01 8.42429362e-01 2.34531612e-02 2.11037636e+01] [-4.21214672e-02 -9.00389177e-04 9.99112091e-01 -5.29046102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.48, Y:21.12, Z:-5.29 [[ 8.42087910e-01 -5.38196385e-01 3.51084288e-02 7.34766946e+01] [ 5.37682631e-01 8.42818945e-01 2.35290014e-02 2.11205746e+01] [-4.22532724e-02 -9.36295228e-04 9.99106493e-01 -5.29365239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.50, Y:21.14, Z:-5.29 [[ 8.41296439e-01 -5.39314207e-01 3.68847903e-02 7.35003840e+01] [ 5.38747501e-01 8.42104095e-01 2.47350835e-02 2.11355236e+01] [-4.44008149e-02 -9.37949109e-04 9.99013357e-01 -5.29381444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.53, Y:21.15, Z:-5.29 [[ 8.40850851e-01 -5.39941786e-01 3.78512071e-02 7.35250215e+01] [ 5.39344907e-01 8.41701836e-01 2.53986434e-02 2.11498065e+01] [-4.55732194e-02 -9.41615195e-04 9.98960557e-01 -5.29354050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.471052754 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:73.55, Y:21.16, Z:-5.29 [[ 8.40491905e-01 -5.40385014e-01 3.94638516e-02 7.35544808e+01] [ 5.39883898e-01 8.41416159e-01 2.33286039e-02 2.11645113e+01] [-4.58119503e-02 1.69839534e-03 9.98948638e-01 -5.29294642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.57, Y:21.18, Z:-5.29 [[ 8.39024097e-01 -5.42662623e-01 3.94441660e-02 7.35734295e+01] [ 5.41897738e-01 8.39945703e-01 2.89492288e-02 2.11796188e+01] [-4.88406222e-02 -2.91439621e-03 9.98802333e-01 -5.29265345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53105275399999 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:73.60, Y:21.20, Z:-5.30 [[ 8.38634176e-01 -5.43250123e-01 3.96487374e-02 7.36001512e+01] [ 5.42606945e-01 8.39570649e-01 2.64353895e-02 2.11965611e+01] [-4.76489448e-02 -6.55940883e-04 9.98863929e-01 -5.29657809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.62, Y:21.21, Z:-5.30 [[ 8.37364258e-01 -5.45069853e-01 4.14723391e-02 7.36191935e+01] [ 5.44380343e-01 8.38390550e-01 2.74103530e-02 2.12112099e+01] [-4.97105743e-02 -3.75723687e-04 9.98763594e-01 -5.29934485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.59105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.64, Y:21.22, Z:-5.30 [[ 8.35260878e-01 -5.48312625e-01 4.11403798e-02 7.36433093e+01] [ 5.47614409e-01 8.36273237e-01 2.76682458e-02 2.12246105e+01] [-4.95754471e-02 -5.81138528e-04 9.98770212e-01 -5.29999262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.67, Y:21.24, Z:-5.30 [[ 8.34774182e-01 -5.49010834e-01 4.17033573e-02 7.36657606e+01] [ 5.48293863e-01 8.35815050e-01 2.80542590e-02 2.12399991e+01] [-5.02583858e-02 -5.53276194e-04 9.98736096e-01 -5.30144975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.69, Y:21.26, Z:-5.30 [[ 8.33555189e-01 -5.50780901e-01 4.27334393e-02 7.36871068e+01] [ 5.50030005e-01 8.34649738e-01 2.87542847e-02 2.12560035e+01] [-5.15047647e-02 -4.63609348e-04 9.98672641e-01 -5.30311281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.71, Y:21.27, Z:-5.31 [[ 8.32399334e-01 -5.52496448e-01 4.31163966e-02 7.37096163e+01] [ 5.51734033e-01 8.33515172e-01 2.90175137e-02 2.12728225e+01] [-5.19702440e-02 -3.65375732e-04 9.98648567e-01 -5.30501991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.73, Y:21.29, Z:-5.31 [[ 8.30268735e-01 -5.55551484e-01 4.49040693e-02 7.37310278e+01] [ 5.54727940e-01 8.31482116e-01 3.02391036e-02 2.12910075e+01] [-5.41363094e-02 -1.97040465e-04 9.98533535e-01 -5.30741284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.75, Y:21.31, Z:-5.31 [[ 8.29167903e-01 -5.57114339e-01 4.58715806e-02 7.37528778e+01] [ 5.56256194e-01 8.30435790e-01 3.09102917e-02 2.13067655e+01] [-5.53139690e-02 -1.13470959e-04 9.98469004e-01 -5.30926417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.771052754 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:73.78, Y:21.33, Z:-5.31 [[ 8.28096567e-01 -5.58523708e-01 4.80348211e-02 7.37755338e+01] [ 5.58046017e-01 8.29460225e-01 2.40910621e-02 2.13251322e+01] [-5.32984028e-02 6.85591481e-03 9.98555094e-01 -5.31349454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.801052754 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:73.80, Y:21.34, Z:-5.31 [[ 8.27892300e-01 -5.59146505e-01 4.41534383e-02 7.38006769e+01] [ 5.58360139e-01 8.29068859e-01 2.96442520e-02 2.13394581e+01] [-5.31817207e-02 1.11271983e-04 9.98584845e-01 -5.31166165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.82, Y:21.35, Z:-5.31 [[ 8.26609506e-01 -5.61292352e-01 4.08365063e-02 7.38246698e+01] [ 5.60194771e-01 8.27590969e-01 3.57072265e-02 2.13528700e+01] [-5.38381169e-02 -6.63953555e-03 9.98527603e-01 -5.30867124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.85, Y:21.37, Z:-5.32 [[ 8.27216320e-01 -5.60158112e-01 4.40005515e-02 7.38450388e+01] [ 5.59370003e-01 8.28385712e-01 2.97037392e-02 2.13722134e+01] [-5.30882187e-02 4.11707666e-05 9.98589825e-01 -5.31554716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89105275399999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:73.87, Y:21.39, Z:-5.32 [[ 8.28048654e-01 -5.59099310e-01 4.17539021e-02 7.38679099e+01] [ 5.58387493e-01 8.29100693e-01 2.82036781e-02 2.13877687e+01] [-5.03868462e-02 -3.91609024e-05 9.98729775e-01 -5.31651217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.89, Y:21.40, Z:-5.32 [[ 8.30196759e-01 -5.55803471e-01 4.30794940e-02 7.38896483e+01] [ 5.55040575e-01 8.31313680e-01 2.91122791e-02 2.14034624e+01] [-5.19932785e-02 -2.58052652e-04 9.98647401e-01 -5.31801327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.95105275399999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:73.91, Y:21.42, Z:-5.32 [[ 8.32065138e-01 -5.53235859e-01 3.99711325e-02 7.39139322e+01] [ 5.52539987e-01 8.33024047e-01 2.77578807e-02 2.14198643e+01] [-4.86535695e-02 -1.01071586e-03 9.98815202e-01 -5.31750885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:21.44, Z:-5.32 [[ 8.35748030e-01 -5.47408796e-01 4.32300919e-02 7.39341573e+01] [ 5.46673918e-01 8.36865345e-01 2.83552766e-02 2.14376380e+01] [-5.16996936e-02 -6.51029060e-05 9.98662675e-01 -5.32355675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.96, Y:21.45, Z:-5.33 [[ 8.40188865e-01 -5.40639550e-01 4.23266876e-02 7.39560832e+01] [ 5.39881668e-01 8.41253472e-01 2.86422947e-02 2.14547380e+01] [-5.10926302e-02 -1.21353441e-03 9.98693181e-01 -5.32730531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.98, Y:21.47, Z:-5.33 [[ 8.41301246e-01 -5.38965124e-01 4.15789303e-02 7.39792772e+01] [ 5.38230930e-01 8.42327068e-01 2.81527342e-02 2.14712758e+01] [-5.01964003e-02 -1.30586408e-03 9.98738512e-01 -5.33028035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.00, Y:21.49, Z:-5.33 [[ 8.41276913e-01 -5.39053944e-01 4.09145584e-02 7.40012921e+01] [ 5.38342247e-01 8.42270247e-01 2.77210423e-02 2.14860622e+01] [-4.94042524e-02 -1.29503754e-03 9.98778025e-01 -5.33265377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.03, Y:21.50, Z:-5.33 [[ 8.40051222e-01 -5.40867729e-01 4.21431349e-02 7.40258888e+01] [ 5.40114533e-01 8.41106763e-01 2.85605521e-02 2.14984997e+01] [-5.08943567e-02 -1.23020707e-03 9.98703285e-01 -5.33062271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.05, Y:21.52, Z:-5.34 [[ 8.39605863e-01 -5.41010488e-01 4.86790214e-02 7.40504457e+01] [ 5.40664325e-01 8.40972329e-01 2.11572459e-02 2.15154780e+01] [-5.23840019e-02 8.55526257e-03 9.98590368e-01 -5.33695861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.08, Y:21.53, Z:-5.33 [[ 8.38437890e-01 -5.43172730e-01 4.45565887e-02 7.40778649e+01] [ 5.42259097e-01 8.39617790e-01 3.15759075e-02 2.15275847e+01] [-5.45616764e-02 -2.31322176e-03 9.98507723e-01 -5.33106303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.10, Y:21.54, Z:-5.33 [[ 8.37355023e-01 -5.45128964e-01 4.08776135e-02 7.40988967e+01] [ 5.43917458e-01 8.38302518e-01 3.74524640e-02 2.15412862e+01] [-5.46842292e-02 -9.12696124e-03 9.98461984e-01 -5.32784141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:21.56, Z:-5.34 [[ 8.37363172e-01 -5.44923856e-01 4.33694566e-02 7.41198376e+01] [ 5.44128526e-01 8.38484863e-01 2.94496563e-02 2.15584911e+01] [-5.24124532e-02 -1.06149910e-03 9.98624959e-01 -5.33505271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25105275399999 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:74.14, Y:21.57, Z:-5.34 [[ 8.37374361e-01 -5.45341974e-01 3.75008092e-02 7.41449241e+01] [ 5.44580822e-01 8.38204495e-01 2.90680605e-02 2.15726744e+01] [-4.72853803e-02 -3.91862713e-03 9.98873734e-01 -5.33599169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.17, Y:21.59, Z:-5.35 [[ 8.36587741e-01 -5.45740331e-01 4.78376779e-02 7.41657776e+01] [ 5.45641120e-01 8.37861150e-01 1.62622644e-02 2.15935771e+01] [-4.89563054e-02 1.24973931e-02 9.98722732e-01 -5.34938790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31105275399999 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:74.19, Y:21.60, Z:-5.34 [[ 8.36697953e-01 -5.46631605e-01 3.36217802e-02 7.41920181e+01] [ 5.45813576e-01 8.37340332e-01 3.08011218e-02 2.16019431e+01] [-4.49897392e-02 -7.42001143e-03 9.98959892e-01 -5.33835570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.22, Y:21.62, Z:-5.34 [[ 8.36037638e-01 -5.47491999e-01 3.59663596e-02 7.42166407e+01] [ 5.46805235e-01 8.36803882e-01 2.76278409e-02 2.16182259e+01] [-4.52228112e-02 -3.43132120e-03 9.98971032e-01 -5.34015191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.24, Y:21.63, Z:-5.34 [[ 8.36333132e-01 -5.46986778e-01 3.67744126e-02 7.42400511e+01] [ 5.46377885e-01 8.37139858e-01 2.58469570e-02 2.16335238e+01] [-4.49232703e-02 -1.52394075e-03 9.98989278e-01 -5.34119266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.26, Y:21.65, Z:-5.34 [[ 8.35763096e-01 -5.47817731e-01 3.73601594e-02 7.42589024e+01] [ 5.47222317e-01 8.36597219e-01 2.55505401e-02 2.16511652e+01] [-4.52524443e-02 -9.09885466e-04 9.98975169e-01 -5.34303977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43105275399999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:74.28, Y:21.67, Z:-5.35 [[ 8.36961821e-01 -5.46131067e-01 3.51534915e-02 7.42830351e+01] [ 5.45464187e-01 8.37691973e-01 2.72209399e-02 2.16691798e+01] [-4.43139986e-02 -3.60791680e-03 9.99011137e-01 -5.34688981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.31, Y:21.69, Z:-5.35 [[ 8.36709079e-01 -5.46396135e-01 3.70024492e-02 7.43061068e+01] [ 5.45835310e-01 8.37526715e-01 2.47551279e-02 2.16873803e+01] [-4.45166459e-02 -5.15596959e-04 9.99008510e-01 -5.35195281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.33, Y:21.70, Z:-5.36 [[ 8.36147343e-01 -5.46938859e-01 4.14186647e-02 7.43296493e+01] [ 5.46655822e-01 8.37144495e-01 1.88813924e-02 2.17038351e+01] [-4.50003743e-02 6.85412809e-03 9.98963456e-01 -5.35533734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.35, Y:21.72, Z:-5.35 [[ 8.34042559e-01 -5.50572067e-01 3.52619918e-02 7.43521372e+01] [ 5.49792723e-01 8.34769793e-01 2.97884958e-02 2.17151033e+01] [-4.58363594e-02 -5.45808681e-03 9.98934051e-01 -5.34826582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.551052754 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:74.38, Y:21.73, Z:-5.34 [[ 8.33447459e-01 -5.51543724e-01 3.41299537e-02 7.43793588e+01] [ 5.50755924e-01 8.34122025e-01 3.01389962e-02 2.17283839e+01] [-4.50915203e-02 -6.32199559e-03 9.98962856e-01 -5.34479763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.581052754 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:74.40, Y:21.75, Z:-5.35 [[ 8.32828119e-01 -5.52168351e-01 3.88257085e-02 7.44018893e+01] [ 5.51620779e-01 8.33732122e-01 2.46021438e-02 2.17461762e+01] [-4.59547655e-02 9.27710431e-04 9.98943091e-01 -5.35146027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.42, Y:21.77, Z:-5.36 [[ 8.32125045e-01 -5.52819408e-01 4.42561985e-02 7.44237481e+01] [ 5.52648361e-01 8.33238566e-01 1.71254698e-02 2.17673829e+01] [-4.63432635e-02 1.02075833e-02 9.98873419e-01 -5.35989517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.45, Y:21.78, Z:-5.35 [[ 8.31202318e-01 -5.55077857e-01 3.14845706e-02 7.44461130e+01] [ 5.54275500e-01 8.31757124e-01 3.09637981e-02 2.17791132e+01] [-4.33748347e-02 -8.28605468e-03 9.99024507e-01 -5.35042842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.47, Y:21.80, Z:-5.36 [[ 8.32978826e-01 -5.52266225e-01 3.38864661e-02 7.44715887e+01] [ 5.51681798e-01 8.33663844e-01 2.55301773e-02 2.17963865e+01] [-4.23493763e-02 -2.57155059e-03 9.99099553e-01 -5.35560927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.49, Y:21.82, Z:-5.37 [[ 8.32857072e-01 -5.51851208e-01 4.25363696e-02 7.44912693e+01] [ 5.51699467e-01 8.33883845e-01 1.62920485e-02 2.18154565e+01] [-4.44611781e-02 9.89834468e-03 9.98962075e-01 -5.36544485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.73105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.52, Y:21.83, Z:-5.35 [[ 8.32471000e-01 -5.53205952e-01 3.09064465e-02 7.45158324e+01] [ 5.52370751e-01 8.32991376e-01 3.18107018e-02 2.18264094e+01] [-4.33426730e-02 -9.40966963e-03 9.99015951e-01 -5.35071743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.53, Y:21.85, Z:-5.37 [[ 8.31975440e-01 -5.53021462e-01 4.45435762e-02 7.45345871e+01] [ 5.52934738e-01 8.33082824e-01 1.53682961e-02 2.18481358e+01] [-4.56074858e-02 1.18436457e-02 9.98889226e-01 -5.36700446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.56, Y:21.86, Z:-5.36 [[ 8.33745426e-01 -5.50923608e-01 3.67660579e-02 7.45620662e+01] [ 5.50246308e-01 8.34551484e-01 2.74375902e-02 2.18618286e+01] [-4.57991844e-02 -2.64557771e-03 9.98947164e-01 -5.36017801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.58, Y:21.88, Z:-5.37 [[ 8.34220493e-01 -5.49718578e-01 4.34241143e-02 7.45821984e+01] [ 5.49260019e-01 8.35336609e-01 2.29386139e-02 2.18812754e+01] [-4.88835346e-02 4.71526803e-03 9.98793355e-01 -5.36876431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.61, Y:21.89, Z:-5.36 [[ 8.34949204e-01 -5.49655181e-01 2.71847362e-02 7.46109890e+01] [ 5.48467008e-01 8.35169241e-01 4.09424035e-02 2.18915308e+01] [-4.52080597e-02 -1.92748963e-02 9.98791625e-01 -5.35553031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.63, Y:21.92, Z:-5.38 [[ 8.34172213e-01 -5.49471726e-01 4.73026496e-02 7.46274663e+01] [ 5.49501372e-01 8.35383053e-01 1.35424251e-02 2.19156839e+01] [-4.69570116e-02 1.46961561e-02 9.98788798e-01 -5.37710365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.66, Y:21.93, Z:-5.37 [[ 8.33406249e-01 -5.51438775e-01 3.67328250e-02 7.46562556e+01] [ 5.50814816e-01 8.34213700e-01 2.62781646e-02 2.19262003e+01] [-4.51338247e-02 -1.66740235e-03 9.98979558e-01 -5.36924340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.68, Y:21.94, Z:-5.37 [[ 8.31900780e-01 -5.53831424e-01 3.48115942e-02 7.46795751e+01] [ 5.53160496e-01 8.32620980e-01 2.74912573e-02 2.19393326e+01] [-4.42103858e-02 -3.61359965e-03 9.99015707e-01 -5.36775325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.971052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.70, Y:21.96, Z:-5.38 [[ 8.30886213e-01 -5.54906288e-01 4.13172192e-02 7.47009380e+01] [ 5.54446969e-01 8.31903825e-01 2.29038098e-02 2.19582888e+01] [-4.70814208e-02 3.87774713e-03 9.98883528e-01 -5.37619061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.72, Y:21.97, Z:-5.38 [[ 8.30297758e-01 -5.56016428e-01 3.80967796e-02 7.47249996e+01] [ 5.55364351e-01 8.31170410e-01 2.69478498e-02 2.19734946e+01] [-4.66483631e-02 -1.21714596e-03 9.98910631e-01 -5.37562567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03105275399999 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:74.75, Y:21.98, Z:-5.37 [[ 8.30301832e-01 -5.56431073e-01 3.13580691e-02 7.47485736e+01] [ 5.55515910e-01 8.30828027e-01 3.35687929e-02 2.19846893e+01] [-4.47318822e-02 -1.04523240e-02 9.98944347e-01 -5.37084085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.77, Y:22.01, Z:-5.39 [[ 8.29757072e-01 -5.56073190e-01 4.78101315e-02 7.47673918e+01] [ 5.55881935e-01 8.31056788e-01 1.84361084e-02 2.20087898e+01] [-4.99847599e-02 1.12792971e-02 9.98686288e-01 -5.38581971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.09105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.79, Y:22.02, Z:-5.38 [[ 8.29502880e-01 -5.56763694e-01 4.40359045e-02 7.47914762e+01] [ 5.56241899e-01 8.30660295e-01 2.44626972e-02 2.20227330e+01] [-5.01988191e-02 4.20273735e-03 9.98730402e-01 -5.38391426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.82, Y:22.04, Z:-5.38 [[ 8.29977539e-01 -5.56419034e-01 3.91808962e-02 7.48176091e+01] [ 5.55419945e-01 8.30877132e-01 3.39392923e-02 2.20354450e+01] [-5.14389789e-02 -6.40699905e-03 9.98655587e-01 -5.37926495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.84, Y:22.05, Z:-5.38 [[ 8.29884624e-01 -5.56610989e-01 3.84150738e-02 7.48409227e+01] [ 5.55841181e-01 8.30767601e-01 2.94240360e-02 2.20515149e+01] [-4.82917405e-02 -3.06587505e-03 9.98828568e-01 -5.38046648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.86, Y:22.07, Z:-5.38 [[ 8.28601591e-01 -5.58536805e-01 3.81580987e-02 7.48649487e+01] [ 5.57904195e-01 8.29479408e-01 2.65860989e-02 2.20685860e+01] [-4.65006718e-02 -7.40720488e-04 9.98917984e-01 -5.38381778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.89, Y:22.08, Z:-5.38 [[ 8.28055542e-01 -5.59639202e-01 3.35854547e-02 7.48871399e+01] [ 5.58935188e-01 8.28722448e-01 2.84703380e-02 2.20834809e+01] [-4.37661374e-02 -4.80292872e-03 9.99030258e-01 -5.38237137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.91, Y:22.10, Z:-5.39 [[ 8.27287100e-01 -5.60784215e-01 3.34233135e-02 7.49100608e+01] [ 5.60084151e-01 8.27948135e-01 2.84188331e-02 2.21006181e+01] [-4.36096031e-02 -4.79066590e-03 9.99037162e-01 -5.38576473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.271052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.93, Y:22.12, Z:-5.40 [[ 8.26900452e-01 -5.60936763e-01 3.98194711e-02 7.49314116e+01] [ 5.60668886e-01 8.27829906e-01 1.86560105e-02 2.21207294e+01] [-4.34285912e-02 6.89887504e-03 9.99032714e-01 -5.39507607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.301052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.96, Y:22.13, Z:-5.38 [[ 8.27084748e-01 -5.61496387e-01 2.55465497e-02 7.49561019e+01] [ 5.60790446e-01 8.27412193e-01 3.00522773e-02 2.21314288e+01] [-3.80117719e-02 -1.05295192e-02 9.99221814e-01 -5.38108116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.98, Y:22.15, Z:-5.39 [[ 8.28100422e-01 -5.59746527e-01 3.05534977e-02 7.49771498e+01] [ 5.59342937e-01 8.28663720e-01 2.12583523e-02 2.21505988e+01] [-3.72178640e-02 -5.14167401e-04 9.99307043e-01 -5.38500652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.00, Y:22.17, Z:-5.39 [[ 8.28640584e-01 -5.58582565e-01 3.66101105e-02 7.50023982e+01] [ 5.58229651e-01 8.29440661e-01 2.01952005e-02 2.21682582e+01] [-4.16466012e-02 3.70228640e-03 9.99125545e-01 -5.39160671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.02, Y:22.18, Z:-5.38 [[ 8.28279467e-01 -5.59531881e-01 2.96175575e-02 7.50247800e+01] [ 5.58967589e-01 8.28796067e-01 2.55404500e-02 2.21823386e+01] [-3.88376112e-02 -4.59937562e-03 9.99234950e-01 -5.38486688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.05, Y:22.20, Z:-5.39 [[ 8.28432090e-01 -5.59161314e-01 3.22319301e-02 7.50464469e+01] [ 5.58710059e-01 8.29058659e-01 2.24679907e-02 2.21987274e+01] [-3.92853919e-02 -6.04900902e-04 9.99227848e-01 -5.38888980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.45105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.07, Y:22.22, Z:-5.40 [[ 8.27974584e-01 -5.59191500e-01 4.19875678e-02 7.50681911e+01] [ 5.58916185e-01 8.29003433e-01 1.91313011e-02 2.22171648e+01] [-4.55058988e-02 7.62730014e-03 9.98934952e-01 -5.40271876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.09, Y:22.23, Z:-5.39 [[ 8.27765417e-01 -5.60381144e-01 2.78816746e-02 7.50938682e+01] [ 5.59674019e-01 8.28188055e-01 2.94879212e-02 2.22281880e+01] [-3.96157449e-02 -8.80443247e-03 9.99176198e-01 -5.39085972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.12, Y:22.24, Z:-5.40 [[ 8.26184129e-01 -5.62490908e-01 3.19963154e-02 7.51164826e+01] [ 5.62047944e-01 8.26803342e-01 2.23235709e-02 2.22439452e+01] [-3.90114662e-02 -4.59916720e-04 9.99238657e-01 -5.39669789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.14, Y:22.26, Z:-5.40 [[ 8.25186531e-01 -5.63926300e-01 3.24702423e-02 7.51391452e+01] [ 5.63470552e-01 8.25825017e-01 2.26710829e-02 2.22582056e+01] [-3.95995583e-02 -4.11846915e-04 9.99215545e-01 -5.39749066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.571052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.16, Y:22.28, Z:-5.40 [[ 8.24461659e-01 -5.64641885e-01 3.79804369e-02 7.51632770e+01] [ 5.64399461e-01 8.25308697e-01 1.78550399e-02 2.22764210e+01] [-4.14272883e-02 6.71534229e-03 9.99118954e-01 -5.40442785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.601052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.19, Y:22.29, Z:-5.40 [[ 8.23626552e-01 -5.66325572e-01 3.02431910e-02 7.51883571e+01] [ 5.65617294e-01 8.24152768e-01 2.91426144e-02 2.22887676e+01] [-4.14292174e-02 -6.89655915e-03 9.99117639e-01 -5.39523539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.21, Y:22.31, Z:-5.40 [[ 8.23576182e-01 -5.66163823e-01 3.43627336e-02 7.52093106e+01] [ 5.65653799e-01 8.24292667e-01 2.40287088e-02 2.23061400e+01] [-4.19291350e-02 -3.52061466e-04 9.99120525e-01 -5.39893652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.23, Y:22.32, Z:-5.40 [[ 8.24126231e-01 -5.65348050e-01 3.46054569e-02 7.52309552e+01] [ 5.64829696e-01 8.24852362e-01 2.42073434e-02 2.23241513e+01] [-4.22299673e-02 -4.03717038e-04 9.99107835e-01 -5.40067670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.25, Y:22.34, Z:-5.40 [[ 8.23979488e-01 -5.65562284e-01 3.45992306e-02 7.52543205e+01] [ 5.65043745e-01 8.24705487e-01 2.42162386e-02 2.23406028e+01] [-4.22299665e-02 -4.03605005e-04 9.99107836e-01 -5.40224129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.27, Y:22.36, Z:-5.41 [[ 8.24412270e-01 -5.64850264e-01 3.58969201e-02 7.52749102e+01] [ 5.64290776e-01 8.25193286e-01 2.51388154e-02 2.23605752e+01] [-4.38215639e-02 -4.68446952e-04 9.99039264e-01 -5.40724265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.30, Y:22.38, Z:-5.41 [[ 8.24706493e-01 -5.64237823e-01 3.86636787e-02 7.52965855e+01] [ 5.63841215e-01 8.25602418e-01 2.15344181e-02 2.23790194e+01] [-4.40713598e-02 4.04060120e-03 9.99020214e-01 -5.41205668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.32, Y:22.40, Z:-5.42 [[ 8.25450616e-01 -5.62538929e-01 4.67036767e-02 7.53202266e+01] [ 5.62558102e-01 8.26639525e-01 1.39813549e-02 2.23992302e+01] [-4.64721615e-02 1.47326137e-02 9.98810937e-01 -5.42320702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.35, Y:22.40, Z:-5.40 [[ 8.25997051e-01 -5.63054595e-01 2.64271724e-02 7.53500007e+01] [ 5.61862855e-01 8.26192812e-01 4.14194260e-02 2.24037060e+01] [-4.51553380e-02 -1.93638771e-02 9.98792289e-01 -5.40274667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.37, Y:22.43, Z:-5.41 [[ 8.26112710e-01 -5.62169851e-01 3.87665873e-02 7.53664949e+01] [ 5.61512068e-01 8.27021505e-01 2.71961024e-02 2.24265586e+01] [-4.73496302e-02 -6.99139292e-04 9.98878133e-01 -5.41346127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.39, Y:22.44, Z:-5.42 [[ 8.26304645e-01 -5.61931753e-01 3.81226801e-02 7.53882184e+01] [ 5.61295086e-01 8.27183297e-01 2.67510902e-02 2.24433223e+01] [-4.65667313e-02 -7.06477105e-04 9.98914932e-01 -5.41545511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.41, Y:22.46, Z:-5.42 [[ 8.29240900e-01 -5.57764501e-01 3.54723862e-02 7.54114999e+01] [ 5.57209143e-01 8.29998785e-01 2.48995534e-02 2.24594512e+01] [-4.33301244e-02 -8.82190194e-04 9.99060420e-01 -5.41825731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.43, Y:22.48, Z:-5.42 [[ 8.30258698e-01 -5.56282656e-01 3.49299292e-02 7.54343534e+01] [ 5.55742156e-01 8.30992592e-01 2.45350338e-02 2.24765937e+01] [-4.26749262e-02 -9.58391070e-04 9.99088551e-01 -5.42073909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:22.50, Z:-5.42 [[ 8.29611205e-01 -5.57116474e-01 3.69659816e-02 7.54537933e+01] [ 5.56510935e-01 8.30433778e-01 2.59869059e-02 2.24955548e+01] [-4.51755331e-02 -9.87055354e-04 9.98978577e-01 -5.42380473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.48, Y:22.51, Z:-5.43 [[ 8.31085699e-01 -5.55033602e-01 3.51320631e-02 7.54760546e+01] [ 5.54484604e-01 8.31827265e-01 2.47027283e-02 2.25127399e+01] [-4.29346522e-02 -1.04989610e-03 9.99077331e-01 -5.42753100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.50, Y:22.53, Z:-5.43 [[ 8.31047094e-01 -5.55113793e-01 3.47764916e-02 7.54987107e+01] [ 5.54575364e-01 8.31773757e-01 2.44659658e-02 2.25285524e+01] [-4.25075681e-02 -1.04618429e-03 9.99095597e-01 -5.42933685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.051052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.52, Y:22.54, Z:-5.43 [[ 8.29805329e-01 -5.56917990e-01 3.55734369e-02 7.55226433e+01] [ 5.56355459e-01 8.30566898e-01 2.50445937e-02 2.25425903e+01] [-4.34939039e-02 -9.90661510e-04 9.99053201e-01 -5.42818005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.55, Y:22.56, Z:-5.43 [[ 8.28384689e-01 -5.58963181e-01 3.65919215e-02 7.55469741e+01] [ 5.58369735e-01 8.29191973e-01 2.57664615e-02 2.25573002e+01] [-4.47442309e-02 -9.12720720e-04 9.98998058e-01 -5.42721246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.111052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.57, Y:22.57, Z:-5.43 [[ 8.28015726e-01 -5.59479954e-01 3.70423735e-02 7.55687927e+01] [ 5.58871551e-01 8.28843383e-01 2.61005064e-02 2.25726946e+01] [-4.53050363e-02 -9.09700989e-04 9.98972785e-01 -5.42888299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.59, Y:22.59, Z:-5.43 [[ 8.27845199e-01 -5.59692213e-01 3.76424368e-02 7.55911372e+01] [ 5.59063690e-01 8.28700053e-01 2.65332262e-02 2.25893611e+01] [-4.60447294e-02 -9.20884276e-04 9.98938955e-01 -5.43208700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.61, Y:22.60, Z:-5.43 [[ 8.28010120e-01 -5.59446893e-01 3.76618461e-02 7.56133219e+01] [ 5.58816657e-01 8.28865654e-01 2.65644929e-02 2.26049201e+01] [-4.60780337e-02 -9.49602072e-04 9.98937392e-01 -5.43407311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.64, Y:22.62, Z:-5.44 [[ 8.27733521e-01 -5.59862157e-01 3.75710466e-02 7.56368488e+01] [ 5.59235152e-01 8.28585242e-01 2.65054983e-02 2.26208005e+01] [-4.59702402e-02 -9.28439442e-04 9.98942378e-01 -5.43597592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.23105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.66, Y:22.64, Z:-5.44 [[ 8.25635243e-01 -5.62943654e-01 3.76946556e-02 7.56599291e+01] [ 5.62314915e-01 8.26494914e-01 2.66100262e-02 2.26351695e+01] [-4.61343865e-02 -7.73908369e-04 9.98934943e-01 -5.43677131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:22.65, Z:-5.44 [[ 8.23193366e-01 -5.66386470e-01 3.94847965e-02 7.56844985e+01] [ 5.65700205e-01 8.24139545e-01 2.78798771e-02 2.26499599e+01] [-4.83317674e-02 -6.13972454e-04 9.98831149e-01 -5.43609181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.71, Y:22.67, Z:-5.44 [[ 8.22017317e-01 -5.68028749e-01 4.03840531e-02 7.57070324e+01] [ 5.67311922e-01 8.23008532e-01 2.85331263e-02 2.26650426e+01] [-4.94440564e-02 -5.44369161e-04 9.98776746e-01 -5.43629550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.73, Y:22.68, Z:-5.44 [[ 8.20383912e-01 -5.70332419e-01 4.11238173e-02 7.57289988e+01] [ 5.69591576e-01 8.21413876e-01 2.90634013e-02 2.26806336e+01] [-5.03554741e-02 -4.19366989e-04 9.98731270e-01 -5.43791232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.75, Y:22.70, Z:-5.44 [[ 8.19829224e-01 -5.71173506e-01 4.05076520e-02 7.57519273e+01] [ 5.70455443e-01 8.20829271e-01 2.86338157e-02 2.26968592e+01] [-4.96047433e-02 -3.67028362e-04 9.98768860e-01 -5.43932588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.77, Y:22.71, Z:-5.44 [[ 8.18810783e-01 -5.72680344e-01 3.98261957e-02 7.57732063e+01] [ 5.71987190e-01 8.19778716e-01 2.81693335e-02 2.27129644e+01] [-4.87806912e-02 -2.85280196e-04 9.98809473e-01 -5.44078645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.80, Y:22.73, Z:-5.44 [[ 8.18181120e-01 -5.73608040e-01 3.94141141e-02 7.57957338e+01] [ 5.72929972e-01 8.19129882e-01 2.78834111e-02 2.27298939e+01] [-4.82794274e-02 -2.32153213e-04 9.98833842e-01 -5.44227915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.82, Y:22.75, Z:-5.44 [[ 8.16686951e-01 -5.75681769e-01 4.01612368e-02 7.58176587e+01] [ 5.74979353e-01 8.17673826e-01 2.84298805e-02 2.27464587e+01] [-4.92053560e-02 -1.26430497e-04 9.98788675e-01 -5.44376733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.84, Y:22.76, Z:-5.45 [[ 8.15643577e-01 -5.77124134e-01 4.06606461e-02 7.58405599e+01] [ 5.76405605e-01 8.16656434e-01 2.87897062e-02 2.27629024e+01] [-4.98210126e-02 -4.51146390e-05 9.98758161e-01 -5.44512583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.87, Y:22.78, Z:-5.44 [[ 8.15583520e-01 -5.77719293e-01 3.26181071e-02 7.58724679e+01] [ 5.77031243e-01 8.16223373e-01 2.85368131e-02 2.27776011e+01] [-4.31099289e-02 -4.45248758e-03 9.99060413e-01 -5.43897854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.88, Y:22.80, Z:-5.45 [[ 8.13248549e-01 -5.80196646e-01 4.47062563e-02 7.58849496e+01] [ 5.79671505e-01 8.14458700e-01 2.52581294e-02 2.27966889e+01] [-5.10660813e-02 5.37380576e-03 9.98680819e-01 -5.44936973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:75.91, Y:22.81, Z:-5.45 [[ 8.12107184e-01 -5.81973250e-01 4.22972479e-02 7.59094322e+01] [ 5.81200249e-01 8.13207896e-01 2.99864522e-02 2.28109391e+01] [-5.18477691e-02 2.30957727e-04 9.98654973e-01 -5.44702816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.59105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:22.83, Z:-5.45 [[ 8.11678032e-01 -5.82568521e-01 4.23401913e-02 7.59318043e+01] [ 5.81793886e-01 8.12781553e-01 3.00336603e-02 2.28275037e+01] [-5.19099915e-02 2.55602194e-04 9.98651735e-01 -5.44916618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.95, Y:22.84, Z:-5.45 [[ 8.11254228e-01 -5.83118015e-01 4.28947318e-02 7.59543041e+01] [ 5.82322782e-01 8.12387409e-01 3.04446373e-02 2.28443119e+01] [-5.25999565e-02 2.80238802e-04 9.98615625e-01 -5.45205966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65105275399999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:75.99, Y:22.86, Z:-5.44 [[ 8.12085764e-01 -5.82849635e-01 2.83375342e-02 7.59883850e+01] [ 5.81691521e-01 8.12421113e-01 4.00862646e-02 2.28560160e+01] [-4.63862758e-02 -1.60697814e-02 9.98794311e-01 -5.43811450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.01, Y:22.88, Z:-5.45 [[ 8.12646822e-01 -5.81402467e-01 3.97028175e-02 7.60114524e+01] [ 5.80762603e-01 8.13615626e-01 2.72839101e-02 2.28785194e+01] [-4.81657654e-02 8.85728817e-04 9.98838963e-01 -5.44956979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.02, Y:22.90, Z:-5.47 [[ 8.08888767e-01 -5.85215594e-01 5.67597760e-02 7.60150430e+01] [ 5.85330736e-01 8.10630436e-01 1.63163982e-02 2.29015156e+01] [-5.55598127e-02 2.00250902e-02 9.98254528e-01 -5.47027116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.06, Y:22.91, Z:-5.45 [[ 8.13777272e-01 -5.80525455e-01 2.75090504e-02 7.60569556e+01] [ 5.79237687e-01 8.14016351e-01 4.31402623e-02 2.29086650e+01] [-4.74368372e-02 -1.91722862e-02 9.98690227e-01 -5.44684963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.07, Y:22.93, Z:-5.46 [[ 8.15845950e-01 -5.76659245e-01 4.31219352e-02 7.60728304e+01] [ 5.76374110e-01 8.16940423e-01 2.00307411e-02 2.29327836e+01] [-4.67789640e-02 8.51236801e-03 9.98868994e-01 -5.46384284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.801052754 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:76.09, Y:22.95, Z:-5.46 [[ 8.15804558e-01 -5.77308696e-01 3.43160615e-02 7.60944692e+01] [ 5.76618622e-01 8.16518896e-01 2.84228137e-02 2.29455055e+01] [-4.44284502e-02 -3.40018092e-03 9.99006783e-01 -5.45652858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.11, Y:22.97, Z:-5.47 [[ 8.16840928e-01 -5.74920363e-01 4.73019454e-02 7.61074933e+01] [ 5.74850701e-01 8.18093425e-01 1.64261658e-02 2.29673498e+01] [-4.81411478e-02 1.37739919e-02 9.98745567e-01 -5.47283913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.13, Y:22.98, Z:-5.47 [[ 8.17286550e-01 -5.74910432e-01 3.89960310e-02 7.61311149e+01] [ 5.74233115e-01 8.18216247e-01 2.79016757e-02 2.29806517e+01] [-4.79481505e-02 -4.10851902e-04 9.98849741e-01 -5.46878753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.15, Y:23.00, Z:-5.47 [[ 8.17658711e-01 -5.74328717e-01 3.97587331e-02 7.61526162e+01] [ 5.73623660e-01 8.18624648e-01 2.84531612e-02 2.29982424e+01] [-4.88889465e-02 -4.58425084e-04 9.98804115e-01 -5.47091187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.17, Y:23.01, Z:-5.47 [[ 8.17292191e-01 -5.74829878e-01 4.00510320e-02 7.61745767e+01] [ 5.74114109e-01 8.18272822e-01 2.86806306e-02 2.30142007e+01] [-4.92591544e-02 -4.46592861e-04 9.98785931e-01 -5.47218149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.95105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.21, Y:23.03, Z:-5.47 [[ 8.18279217e-01 -5.73647835e-01 3.67053692e-02 7.62062422e+01] [ 5.72955869e-01 8.19099402e-01 2.82443269e-02 2.30299043e+01] [-4.62676430e-02 -2.08118905e-03 9.98926911e-01 -5.46926196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.23, Y:23.04, Z:-5.47 [[ 8.17729423e-01 -5.74368892e-01 3.76691701e-02 7.62274070e+01] [ 5.73675932e-01 8.18595240e-01 2.82446266e-02 2.30449622e+01] [-4.70586382e-02 -1.48656595e-03 9.98891022e-01 -5.47120861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.24, Y:23.06, Z:-5.48 [[ 8.15725287e-01 -5.76829243e-01 4.31309557e-02 7.62422480e+01] [ 5.76281435e-01 8.16854540e-01 2.54630868e-02 2.30637611e+01] [-4.99195701e-02 4.08468525e-03 9.98744888e-01 -5.47566681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.27, Y:23.08, Z:-5.47 [[ 8.17472865e-01 -5.74947016e-01 3.42643296e-02 7.62744568e+01] [ 5.74022976e-01 8.18154395e-01 3.34814815e-02 2.30772007e+01] [-4.72835897e-02 -7.70169017e-03 9.98851814e-01 -5.46910952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.071052754 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:76.29, Y:23.10, Z:-5.48 [[ 8.16939906e-01 -5.75600129e-01 3.59677930e-02 7.62921301e+01] [ 5.74988027e-01 8.17730678e-01 2.65576315e-02 2.30982319e+01] [-4.46985439e-02 -1.01493865e-03 9.99000005e-01 -5.47583694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.31, Y:23.12, Z:-5.49 [[ 8.17273418e-01 -5.74872728e-01 3.98184351e-02 7.63144462e+01] [ 5.74573023e-01 8.18215079e-01 1.97465385e-02 2.31173500e+01] [-4.39317905e-02 6.74027761e-03 9.99011795e-01 -5.48511377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.34, Y:23.13, Z:-5.48 [[ 8.16685246e-01 -5.76341006e-01 2.92618176e-02 7.63398620e+01] [ 5.75835360e-01 8.17203739e-01 2.43246117e-02 2.31298255e+01] [-3.79321379e-02 -3.01556222e-03 9.99275767e-01 -5.47946823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.36, Y:23.15, Z:-5.49 [[ 8.16546804e-01 -5.76198173e-01 3.53126431e-02 7.63604435e+01] [ 5.76202503e-01 8.17231881e-01 1.10782989e-02 2.31483377e+01] [-3.52419133e-02 1.13012838e-02 9.99314910e-01 -5.48654367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.39, Y:23.16, Z:-5.47 [[ 8.14574117e-01 -5.79598372e-01 2.31243311e-02 7.63889393e+01] [ 5.78763237e-01 8.14771357e-01 3.43620500e-02 2.31580038e+01] [-3.87572309e-02 -1.46069238e-02 9.99141889e-01 -5.47242364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.221052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.40, Y:23.18, Z:-5.49 [[ 8.11163588e-01 -5.83485863e-01 3.94699919e-02 7.64005999e+01] [ 5.83254157e-01 8.12082509e-01 1.83463099e-02 2.31827560e+01] [-4.27577025e-02 8.13917833e-03 9.99052317e-01 -5.48848126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.42, Y:23.20, Z:-5.49 [[ 8.09045685e-01 -5.86730812e-01 3.45258407e-02 7.64236129e+01] [ 5.86204135e-01 8.09782030e-01 2.48550967e-02 2.31969759e+01] [-4.25416565e-02 1.30281844e-04 9.99094685e-01 -5.48751201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.45, Y:23.21, Z:-5.48 [[ 8.08760902e-01 -5.87426362e-01 2.89149333e-02 7.64518576e+01] [ 5.86783350e-01 8.09257300e-01 2.80699382e-02 2.32108058e+01] [-3.98886425e-02 -5.73506710e-03 9.99187673e-01 -5.48230397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.47, Y:23.23, Z:-5.49 [[ 8.07309705e-01 -5.88802942e-01 3.95238760e-02 7.64685410e+01] [ 5.88467125e-01 8.08251311e-01 2.08868347e-02 2.32296672e+01] [-4.42434543e-02 6.39635735e-03 9.99000302e-01 -5.49179305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.49, Y:23.24, Z:-5.49 [[ 8.07070776e-01 -5.89261419e-01 3.75198925e-02 7.64930804e+01] [ 5.88640756e-01 8.07942393e-01 2.70397824e-02 2.32439294e+01] [-4.62474123e-02 2.62719719e-04 9.98929981e-01 -5.48620178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.51, Y:23.26, Z:-5.49 [[ 8.07481530e-01 -5.88642710e-01 3.83840849e-02 7.65141394e+01] [ 5.87991560e-01 8.08393291e-01 2.76805473e-02 2.32605156e+01] [-4.73233891e-02 2.17987233e-04 9.98879597e-01 -5.48691180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.54, Y:23.28, Z:-5.49 [[ 8.07976496e-01 -5.87934450e-01 3.88209189e-02 7.65365101e+01] [ 5.87267317e-01 8.08908556e-01 2.80008402e-02 2.32782831e+01] [-4.78652320e-02 1.74236165e-04 9.98853788e-01 -5.48878577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.57, Y:23.30, Z:-5.49 [[ 8.11496467e-01 -5.83234296e-01 3.62110420e-02 7.65655041e+01] [ 5.82622408e-01 8.12303771e-01 2.67154084e-02 2.32954725e+01] [-4.49957084e-02 -5.82094996e-04 9.98987011e-01 -5.49115719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.461052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:23.31, Z:-5.50 [[ 8.10509829e-01 -5.84530968e-01 3.73813375e-02 7.65805564e+01] [ 5.83970009e-01 8.11370706e-01 2.56243257e-02 2.33128830e+01] [-4.53083341e-02 1.06081215e-03 9.98972487e-01 -5.49599834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.491052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.61, Y:23.33, Z:-5.49 [[ 8.11735753e-01 -5.83058563e-01 3.35824291e-02 7.66101146e+01] [ 5.82411428e-01 8.12425115e-01 2.76108845e-02 2.33281777e+01] [-4.33819715e-02 -2.85395165e-03 9.99054483e-01 -5.49326214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.63, Y:23.35, Z:-5.50 [[ 8.10414494e-01 -5.84684714e-01 3.70423114e-02 7.66326398e+01] [ 5.84202883e-01 8.11257309e-01 2.38447204e-02 2.33473143e+01] [-4.39924894e-02 2.31611805e-03 9.99029177e-01 -5.49768286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.65, Y:23.36, Z:-5.50 [[ 8.07091178e-01 -5.89214742e-01 3.78129289e-02 7.66476946e+01] [ 5.88661786e-01 8.07974853e-01 2.55722061e-02 2.33644517e+01] [-4.56194165e-02 1.61992433e-03 9.98957579e-01 -5.49960296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.68, Y:23.38, Z:-5.50 [[ 8.07147216e-01 -5.89219415e-01 3.65219391e-02 7.66793949e+01] [ 5.88919279e-01 8.07953256e-01 1.96371984e-02 2.33818467e+01] [-4.10786381e-02 5.65836397e-03 9.99139894e-01 -5.49833863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.611052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.70, Y:23.40, Z:-5.50 [[ 8.06771361e-01 -5.89905260e-01 3.36415621e-02 7.67036055e+01] [ 5.89438605e-01 8.07471977e-01 2.34763290e-02 2.33976748e+01] [-4.10134287e-02 8.89605505e-04 9.99158199e-01 -5.49751014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.73, Y:23.41, Z:-5.49 [[ 8.05411684e-01 -5.91862108e-01 3.18003922e-02 7.67286342e+01] [ 5.91012485e-01 8.06004983e-01 3.25608582e-02 2.34133898e+01] [-4.49028128e-02 -7.43046678e-03 9.98963726e-01 -5.49408129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:76.74, Y:23.44, Z:-5.50 [[ 8.00745030e-01 -5.97515535e-01 4.22206461e-02 7.67371420e+01] [ 5.97016396e-01 8.01840388e-01 2.49682735e-02 2.34350884e+01] [-4.87731505e-02 5.21319708e-03 9.98796277e-01 -5.50487915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.77, Y:23.45, Z:-5.49 [[ 8.00769064e-01 -5.98245880e-01 2.95088650e-02 7.67745335e+01] [ 5.97256277e-01 8.01231643e-01 3.62324967e-02 2.34485397e+01] [-4.53193783e-02 -1.13895076e-02 9.98907620e-01 -5.49124734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.73105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.79, Y:23.48, Z:-5.51 [[ 7.96470609e-01 -6.03138677e-01 4.31080524e-02 7.67869318e+01] [ 6.02799118e-01 7.97591018e-01 2.19497365e-02 2.34757985e+01] [-4.76213304e-02 8.50317601e-03 9.98829267e-01 -5.50598434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.82, Y:23.48, Z:-5.47 [[ 7.95066192e-01 -6.06467441e-01 8.18497772e-03 7.68240104e+01] [ 6.05313612e-01 7.94260696e-01 5.23963532e-02 2.34845021e+01] [-3.82776883e-02 -3.67040906e-02 9.98592824e-01 -5.47080173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.82, Y:23.52, Z:-5.52 [[ 7.91770878e-01 -6.08114529e-01 5.74072960e-02 7.68240021e+01] [ 6.09327867e-01 7.92904277e-01 -4.72847567e-03 2.35239501e+01] [-4.26430358e-02 3.87237345e-02 9.98339644e-01 -5.51997796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.821052754 meters Centerline goodness : 0.996818 Centerline is valid? [True, True] Translation: X:76.84, Y:23.53, Z:-5.51 [[ 7.87043263e-01 -6.15660327e-01 3.90546297e-02 7.68383148e+01] [ 6.15382857e-01 7.87969613e-01 2.01947610e-02 2.35319846e+01] [-4.32069746e-02 8.13939904e-03 9.99032986e-01 -5.50607646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.851052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.88, Y:23.55, Z:-5.49 [[ 7.84537062e-01 -6.19930610e-01 1.36980350e-02 7.68793426e+01] [ 6.18226207e-01 7.83706075e-01 6.00095490e-02 2.35493739e+01] [-4.79369896e-02 -3.86112311e-02 9.98103811e-01 -5.48813515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.88, Y:23.58, Z:-5.52 [[ 7.84381413e-01 -6.18411363e-01 4.80955717e-02 7.68845693e+01] [ 6.18617815e-01 7.85596455e-01 1.22559897e-02 2.35827422e+01] [-4.53629539e-02 2.01394069e-02 9.98767544e-01 -5.52174439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.911052754 meters Centerline goodness : 0.990607 Centerline is valid? [True, True] Translation: X:76.89, Y:23.61, Z:-5.53 [[ 7.81477763e-01 -6.20853604e-01 6.19137106e-02 7.68851991e+01] [ 6.22183307e-01 7.82866374e-01 -2.85895832e-03 2.36079391e+01] [-4.66951675e-02 4.07558895e-02 9.98077411e-01 -5.53480500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.93, Y:23.61, Z:-5.51 [[ 7.84040465e-01 -6.19924990e-01 3.12018637e-02 7.69267216e+01] [ 6.18261334e-01 7.84420922e-01 4.93633543e-02 2.36134571e+01] [-5.50769716e-02 -1.94119614e-02 9.98293395e-01 -5.51280447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.971052754 meters Centerline goodness : 0.991205 Centerline is valid? [True, True] Translation: X:76.93, Y:23.64, Z:-5.52 [[ 7.84845578e-01 -6.17992392e-01 4.58565275e-02 7.69263016e+01] [ 6.17293335e-01 7.86168668e-01 2.97953606e-02 2.36413396e+01] [-5.44642713e-02 4.92217175e-03 9.98503588e-01 -5.52499120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.95, Y:23.66, Z:-5.53 [[ 7.86991882e-01 -6.15080042e-01 4.81696939e-02 7.69467546e+01] [ 6.14480723e-01 7.88429509e-01 2.81487154e-02 2.36637246e+01] [-5.52921212e-02 7.44653783e-03 9.98442452e-01 -5.53119354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03105275399999 meters Centerline goodness : 0.991426 Centerline is valid? [True, True] Translation: X:76.96, Y:23.69, Z:-5.53 [[ 7.87577189e-01 -6.15093207e-01 3.71822235e-02 7.69622139e+01] [ 6.13886942e-01 7.88412031e-01 3.93610492e-02 2.36868128e+01] [-5.35256263e-02 -8.17418296e-03 9.98533019e-01 -5.52653274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.00, Y:23.70, Z:-5.51 [[ 7.92603418e-01 -6.09533870e-01 1.57570140e-02 7.69996165e+01] [ 6.07503176e-01 7.91645554e-01 6.50938366e-02 2.37007642e+01] [-5.21508682e-02 -4.20211613e-02 9.97754734e-01 -5.51338667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.09105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:23.74, Z:-5.53 [[ 7.91327764e-01 -6.10273102e-01 3.69744696e-02 7.70150704e+01] [ 6.09371700e-01 7.92181568e-01 3.33840570e-02 2.37401893e+01] [-4.96638853e-02 -3.88653580e-03 9.98758426e-01 -5.53324909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12105275399999 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:77.01, Y:23.77, Z:-5.56 [[ 7.89989182e-01 -6.08701301e-01 7.34834597e-02 7.70087219e+01] [ 6.10826940e-01 7.91718192e-01 -8.52956237e-03 2.37683063e+01] [-5.29862362e-02 5.16239389e-02 9.97259960e-01 -5.55887851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.04, Y:23.79, Z:-5.55 [[ 7.91386912e-01 -6.09314960e-01 4.94169611e-02 7.70425629e+01] [ 6.08612555e-01 7.92902595e-01 2.99371427e-02 2.37878504e+01] [-5.74239856e-02 6.38392012e-03 9.98329470e-01 -5.54768295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.10, Y:23.79, Z:-5.47 [[ 7.96117222e-01 -6.04253409e-01 -3.27900565e-02 7.71009362e+01] [ 6.04207319e-01 7.90708028e-01 9.85612997e-02 2.37890404e+01] [-3.36286404e-02 -9.82783402e-02 9.94590610e-01 -5.47144795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.10, Y:23.85, Z:-5.52 [[ 7.99236429e-01 -6.00323287e-01 2.88631359e-02 7.70985157e+01] [ 6.00262669e-01 7.99717560e-01 1.16855549e-02 2.38464120e+01] [-3.00974674e-02 7.98594179e-03 9.99515066e-01 -5.52179918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.241052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.12, Y:23.87, Z:-5.52 [[ 8.00268511e-01 -5.98958569e-01 2.86171913e-02 7.71166105e+01] [ 5.98712929e-01 8.00773724e-01 1.74433534e-02 2.38651631e+01] [-3.33637408e-02 3.17411596e-03 9.99438235e-01 -5.52343607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.271052754 meters Centerline goodness : 0.997125 Centerline is valid? [True, True] Translation: X:77.11, Y:23.91, Z:-5.55 [[ 7.93937991e-01 -6.04417656e-01 6.58920647e-02 7.71078664e+01] [ 6.06448014e-01 7.94984120e-01 -1.48679372e-02 2.39076778e+01] [-4.33967013e-02 5.17643320e-02 9.97715982e-01 -5.54669317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.301052754 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.14, Y:23.92, Z:-5.54 [[ 7.98970848e-01 -5.99360185e-01 4.91218165e-02 7.71413658e+01] [ 5.99094654e-01 8.00386891e-01 2.15967551e-02 2.39153649e+01] [-5.22606932e-02 1.21734399e-02 9.98559276e-01 -5.54282820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.331052754 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:77.18, Y:23.93, Z:-5.50 [[ 8.02123570e-01 -5.97157649e-01 7.21653528e-04 7.71819958e+01] [ 5.96049951e-01 8.00708088e-01 5.99250604e-02 2.39312598e+01] [-3.63625420e-02 -4.76371618e-02 9.98202618e-01 -5.50032878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.361052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.16, Y:23.99, Z:-5.56 [[ 7.98504931e-01 -5.97595852e-01 7.25883804e-02 7.71618118e+01] [ 5.99822927e-01 8.00045528e-01 -1.18156171e-02 2.39883825e+01] [-5.10130454e-02 5.29750033e-02 9.97291992e-01 -5.55946786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39105275399999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:77.22, Y:23.99, Z:-5.51 [[ 8.01761395e-01 -5.97617734e-01 5.63114841e-03 7.72164743e+01] [ 5.96471581e-01 8.00742640e-01 5.50715644e-02 2.39851093e+01] [-3.74208442e-02 -4.07954343e-02 9.98466531e-01 -5.51014012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42105275399999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:77.21, Y:24.04, Z:-5.55 [[ 8.01684112e-01 -5.94521839e-01 6.20190831e-02 7.72137385e+01] [ 5.96086774e-01 8.02871257e-01 -8.84889093e-03 2.40354001e+01] [-4.45324803e-02 4.40627705e-02 9.98035736e-01 -5.55160251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.45105275399999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:77.25, Y:24.05, Z:-5.54 [[ 7.99460373e-01 -6.00010899e-01 2.91553257e-02 7.72464537e+01] [ 5.99075122e-01 7.99921203e-01 3.51435206e-02 2.40488934e+01] [-4.44084586e-02 -1.06296218e-02 9.98956906e-01 -5.53807604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48105275399999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:77.27, Y:24.08, Z:-5.54 [[ 8.01978198e-01 -5.96563528e-01 3.07071208e-02 7.72663740e+01] [ 5.95986329e-01 8.02560745e-01 2.63921721e-02 2.40756201e+01] [-4.03889370e-02 -2.86492247e-03 9.99179927e-01 -5.53999219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51105275399999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:77.26, Y:24.12, Z:-5.56 [[ 8.01523598e-01 -5.96037657e-01 4.79482357e-02 7.72601754e+01] [ 5.96299492e-01 8.02697112e-01 1.02108446e-02 2.41173037e+01] [-4.45739582e-02 2.04072757e-02 9.98797630e-01 -5.55715539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54105275399999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:77.28, Y:24.14, Z:-5.55 [[ 8.04440461e-01 -5.92917186e-01 3.63971866e-02 7.72763878e+01] [ 5.92365362e-01 8.05262855e-01 2.55932178e-02 2.41410275e+01] [-4.44839611e-02 9.72212678e-04 9.99009626e-01 -5.55396362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.571052754 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:77.30, Y:24.16, Z:-5.55 [[ 8.05109256e-01 -5.92045243e-01 3.57982663e-02 7.72965321e+01] [ 5.91479895e-01 8.05904653e-01 2.58693535e-02 2.41622204e+01] [-4.41658170e-02 3.46298818e-04 9.99024154e-01 -5.55394743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.601052754 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:77.29, Y:24.18, Z:-5.56 [[ 8.04330906e-01 -5.92704737e-01 4.18675080e-02 7.72922666e+01] [ 5.92602912e-01 8.05332984e-01 1.61422756e-02 2.41833662e+01] [-4.32848884e-02 1.18270761e-02 9.98992762e-01 -5.55846978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.631052754 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:77.33, Y:24.21, Z:-5.55 [[ 8.03817859e-01 -5.94140984e-01 2.95523412e-02 7.73345004e+01] [ 5.93101006e-01 8.04264822e-01 3.72732246e-02 2.42052082e+01] [-4.59134587e-02 -1.24333603e-02 9.98868042e-01 -5.55112968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:24.24, Z:-5.55 [[ 8.05695648e-01 -5.91338521e-01 3.42531256e-02 7.73569605e+01] [ 5.90537851e-01 8.06408758e-01 3.11441901e-02 2.42363510e+01] [-4.60387798e-02 -4.86497123e-03 9.98927807e-01 -5.54996415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.37, Y:24.26, Z:-5.56 [[ 8.02718078e-01 -5.95145000e-01 3.80278223e-02 7.73684402e+01] [ 5.94445335e-01 8.03618142e-01 2.88552554e-02 2.42637914e+01] [-4.77329089e-02 -5.57173612e-04 9.98859980e-01 -5.55739346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.40, Y:24.29, Z:-5.56 [[ 8.06265981e-01 -5.90394489e-01 3.70069663e-02 7.73979190e+01] [ 5.89755671e-01 8.07114768e-01 2.74590510e-02 2.42925363e+01] [-4.60805414e-02 -3.14230434e-04 9.98937678e-01 -5.56366076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75105275399999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:77.40, Y:24.32, Z:-5.56 [[ 8.04779300e-01 -5.92159245e-01 4.09598217e-02 7.74024966e+01] [ 5.92021762e-01 8.05748625e-01 1.67148715e-02 2.43183633e+01] [-4.29011856e-02 1.07973232e-02 9.99020974e-01 -5.56183599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78105275399999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:77.43, Y:24.34, Z:-5.57 [[ 8.08149204e-01 -5.87497936e-01 4.17257647e-02 7.74317065e+01] [ 5.87244153e-01 8.09177483e-01 1.93934314e-02 2.43388947e+01] [-4.51571502e-02 8.83042515e-03 9.98940867e-01 -5.56949630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81105275399999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:77.44, Y:24.37, Z:-5.58 [[ 8.09815610e-01 -5.84994173e-01 4.45027624e-02 7.74432973e+01] [ 5.84735402e-01 8.10977836e-01 1.99864537e-02 2.43672494e+01] [-4.77827129e-02 9.83699845e-03 9.98809314e-01 -5.57666032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84105275399999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:77.46, Y:24.39, Z:-5.57 [[ 8.06608307e-01 -5.90405908e-01 2.83531732e-02 7.74581133e+01] [ 5.89558663e-01 8.07043984e-01 3.31751584e-02 2.43893481e+01] [-4.24690673e-02 -1.00434995e-02 9.99047299e-01 -5.56687336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87105275399999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:77.47, Y:24.42, Z:-5.57 [[ 8.06805676e-01 -5.89564379e-01 3.84505390e-02 7.74712159e+01] [ 5.89043934e-01 8.07717331e-01 2.48989248e-02 2.44219638e+01] [-4.57366859e-02 2.56046291e-03 9.98950249e-01 -5.56948256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90105275399999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:77.49, Y:24.44, Z:-5.57 [[ 8.07223655e-01 -5.88953338e-01 3.90376232e-02 7.74907784e+01] [ 5.88165827e-01 8.08165350e-01 3.04914216e-02 2.44445846e+01] [-4.95068790e-02 -1.65280091e-03 9.98772415e-01 -5.56999706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93105275399999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:77.50, Y:24.47, Z:-5.57 [[ 8.05358223e-01 -5.91101518e-01 4.46892263e-02 7.75046750e+01] [ 5.90861931e-01 8.06529455e-01 1.98094809e-02 2.44696489e+01] [-4.77525916e-02 1.04514342e-02 9.98804514e-01 -5.57340098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.961052754 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:77.53, Y:24.49, Z:-5.57 [[ 8.04745037e-01 -5.92415432e-01 3.78071594e-02 7.75280559e+01] [ 5.91506813e-01 8.05621422e-01 3.30728697e-02 2.44863719e+01] [-5.00511360e-02 -4.25203538e-03 9.98737605e-01 -5.57329638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.991052754 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:77.51, Y:24.51, Z:-5.58 [[ 8.05736678e-01 -5.90445749e-01 4.64997157e-02 7.75096114e+01] [ 5.90706728e-01 8.06831778e-01 9.38321488e-03 2.45118306e+01] [-4.30577276e-02 1.99072945e-02 9.98874232e-01 -5.57602794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:24.53, Z:-5.58 [[ 8.06154781e-01 -5.90806696e-01 3.25870544e-02 7.75322482e+01] [ 5.90277410e-01 8.06812602e-01 2.50201072e-02 2.45270851e+01] [-4.10736930e-02 -9.34676985e-04 9.99155683e-01 -5.57622818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.051052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.58, Y:24.56, Z:-5.58 [[ 8.04948288e-01 -5.92643952e-01 2.88340087e-02 7.75815238e+01] [ 5.91839330e-01 8.05416831e-01 3.20926111e-02 2.45559697e+01] [-4.22428878e-02 -8.76779197e-03 9.99068899e-01 -5.58330881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.57, Y:24.57, Z:-5.58 [[ 8.06948653e-01 -5.89422274e-01 3.76198604e-02 7.75675453e+01] [ 5.89310556e-01 8.07764109e-01 1.51727827e-02 2.45737402e+01] [-3.93311491e-02 9.92612433e-03 9.99176928e-01 -5.58493245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.111052754 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:77.59, Y:24.59, Z:-5.59 [[ 8.06723413e-01 -5.90039952e-01 3.24066519e-02 7.75901950e+01] [ 5.89510815e-01 8.07373342e-01 2.50057042e-02 2.45888316e+01] [-4.09186313e-02 -1.06861527e-03 9.99161911e-01 -5.58531003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.61, Y:24.64, Z:-5.63 [[ 8.04232327e-01 -5.83524241e-01 1.12737859e-01 7.76097977e+01] [ 5.90351652e-01 8.06235165e-01 -3.83377824e-02 2.46435104e+01] [-6.85222014e-02 9.73874654e-02 9.92884882e-01 -5.63320972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.65, Y:24.65, Z:-5.64 [[ 8.01991646e-01 -5.93575227e-01 6.69167328e-02 7.76538921e+01] [ 5.93058392e-01 8.04618893e-01 2.94988331e-02 2.46501250e+01] [-7.13522440e-02 1.60277123e-02 9.97322400e-01 -5.63557729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.68, Y:24.63, Z:-5.58 [[ 8.05631622e-01 -5.91625349e-01 -3.06126801e-02 7.76762848e+01] [ 5.91205265e-01 7.99606766e-01 1.05381942e-01 2.46264833e+01] [-3.78685223e-02 -1.02997403e-01 9.93960517e-01 -5.58352643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.23105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.67, Y:24.71, Z:-5.64 [[ 8.03915741e-01 -5.83054092e-01 1.17334595e-01 7.76733408e+01] [ 5.90297228e-01 8.06301844e-01 -3.77692926e-02 2.47121451e+01] [-7.25855598e-02 9.96256152e-02 9.92373958e-01 -5.64022510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.72, Y:24.70, Z:-5.63 [[ 8.08761577e-01 -5.85967338e-01 5.04677155e-02 7.77229337e+01] [ 5.84291188e-01 8.10306603e-01 4.47997448e-02 2.47042236e+01] [-6.71455103e-02 -6.74447082e-03 9.97720398e-01 -5.63258572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.74, Y:24.73, Z:-5.63 [[ 8.09592041e-01 -5.84192169e-01 5.72733510e-02 7.77414956e+01] [ 5.83090518e-01 8.11604668e-01 3.61014024e-02 2.47270561e+01] [-6.75734756e-02 4.16813988e-03 9.97705594e-01 -5.63436059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:24.74, Z:-5.63 [[ 8.14788520e-01 -5.78074322e-01 4.41559286e-02 7.77608152e+01] [ 5.76413078e-01 8.15904133e-01 4.52593549e-02 2.47365254e+01] [-6.21902755e-02 -1.14247480e-02 9.97998920e-01 -5.63020364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.78, Y:24.76, Z:-5.63 [[ 8.15171877e-01 -5.77168729e-01 4.86936269e-02 7.77793757e+01] [ 5.76028101e-01 8.16623462e-01 3.63008044e-02 2.47576555e+01] [-6.07160473e-02 -1.54249743e-03 9.98153887e-01 -5.63120557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.80, Y:24.78, Z:-5.63 [[ 8.15729168e-01 -5.76752739e-01 4.40704153e-02 7.77998415e+01] [ 5.75577978e-01 8.16903994e-01 3.71194872e-02 2.47777315e+01] [-5.74100642e-02 -4.91348794e-03 9.98338591e-01 -5.63117340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:24.80, Z:-5.63 [[ 8.15380354e-01 -5.77352105e-01 4.26547201e-02 7.78207230e+01] [ 5.76299324e-01 8.16485371e-01 3.50817225e-02 2.47973135e+01] [-5.50814613e-02 -4.02306089e-03 9.98473759e-01 -5.63003953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.84, Y:24.82, Z:-5.63 [[ 8.15157209e-01 -5.77742205e-01 4.16253473e-02 7.78431069e+01] [ 5.76697784e-01 8.16206668e-01 3.50191396e-02 2.48162094e+01] [-5.42069209e-02 -4.54085856e-03 9.98519399e-01 -5.62808150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.86, Y:24.84, Z:-5.63 [[ 8.14689022e-01 -5.78234882e-01 4.38887073e-02 7.78644095e+01] [ 5.77351890e-01 8.15870053e-01 3.19507595e-02 2.48358261e+01] [-5.42825256e-02 -6.90704900e-04 9.98525378e-01 -5.62835799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.89, Y:24.85, Z:-5.63 [[ 8.14165950e-01 -5.78979051e-01 4.37843017e-02 7.78872077e+01] [ 5.78169523e-01 8.15342323e-01 3.06088148e-02 2.48548924e+01] [-5.34210568e-02 3.94094042e-04 9.98571998e-01 -5.62925907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.91, Y:24.87, Z:-5.63 [[ 8.13100293e-01 -5.80942843e-01 3.70584296e-02 7.79097226e+01] [ 5.80021488e-01 8.13925993e-01 3.31594764e-02 2.48745990e+01] [-4.94265796e-02 -5.46729446e-03 9.98762796e-01 -5.62620998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.93, Y:24.90, Z:-5.63 [[ 8.12916907e-01 -5.81242076e-01 3.63834018e-02 7.79303459e+01] [ 5.80571325e-01 8.13729110e-01 2.79619656e-02 2.48957030e+01] [-4.58589041e-02 -1.60759477e-03 9.98946633e-01 -5.62636631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.59105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.95, Y:24.92, Z:-5.63 [[ 8.12152847e-01 -5.82557426e-01 3.21651693e-02 7.79511028e+01] [ 5.81936634e-01 8.12782927e-01 2.70863089e-02 2.49157828e+01] [-4.19226308e-02 -3.28013254e-03 9.99115476e-01 -5.62736391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.97, Y:24.94, Z:-5.63 [[ 8.11462369e-01 -5.83559845e-01 3.14122746e-02 7.79715456e+01] [ 5.83033145e-01 8.12068015e-01 2.48574297e-02 2.49361954e+01] [-4.00147013e-02 -1.85647160e-03 9.99197366e-01 -5.62717043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.99, Y:24.95, Z:-5.63 [[ 8.11273087e-01 -5.83871493e-01 3.04968536e-02 7.79911816e+01] [ 5.83361225e-01 8.11843429e-01 2.44934388e-02 2.49545180e+01] [-3.90596909e-02 -2.08018583e-03 9.99234714e-01 -5.62759662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.01, Y:24.97, Z:-5.62 [[ 8.11512169e-01 -5.83706078e-01 2.71148368e-02 7.80111419e+01] [ 5.83164247e-01 8.11949695e-01 2.56350115e-02 2.49727879e+01] [-3.69791954e-02 -4.99072036e-03 9.99303573e-01 -5.62497124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.03, Y:24.99, Z:-5.62 [[ 8.10439692e-01 -5.85083331e-01 2.94109102e-02 7.80306759e+01] [ 5.84652767e-01 8.10972548e-01 2.24648561e-02 2.49938140e+01] [-3.69952536e-02 -1.01124098e-03 9.99314930e-01 -5.62426929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:25.01, Z:-5.62 [[ 8.09006391e-01 -5.87102671e-01 2.86201604e-02 7.80517359e+01] [ 5.86629572e-01 8.09509008e-01 2.36835660e-02 2.50137694e+01] [-3.70729625e-02 -2.37072380e-03 9.99309749e-01 -5.62298356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.771052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.07, Y:25.03, Z:-5.62 [[ 8.06609100e-01 -5.90357216e-01 2.93277688e-02 7.80689935e+01] [ 5.89812031e-01 8.07135188e-01 2.55843214e-02 2.50349654e+01] [-3.87753629e-02 -3.33867557e-03 9.99242375e-01 -5.62125758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.801052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:25.06, Z:-5.63 [[ 8.04445406e-01 -5.92685685e-01 3.98907027e-02 7.80843303e+01] [ 5.92474889e-01 8.05383540e-01 1.81895107e-02 2.50587535e+01] [-4.29079780e-02 9.00177133e-03 9.99038475e-01 -5.62876332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.11, Y:25.08, Z:-5.63 [[ 8.01561765e-01 -5.97203367e-01 2.91011357e-02 7.81072006e+01] [ 5.96620447e-01 8.02079743e-01 2.66857169e-02 2.50759551e+01] [-3.92782314e-02 -4.02791775e-03 9.99220194e-01 -5.62908194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.861052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.13, Y:25.09, Z:-5.62 [[ 8.00080442e-01 -5.99594616e-01 1.89098491e-02 7.81304686e+01] [ 5.99009065e-01 8.00215201e-01 2.90477565e-02 2.50935862e+01] [-3.25488271e-02 -1.19133709e-02 9.99399142e-01 -5.62272970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89105275399999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:78.14, Y:25.12, Z:-5.63 [[ 7.98778918e-01 -6.00920819e-01 2.90931167e-02 7.81432423e+01] [ 6.00817911e-01 7.99278006e-01 1.31341489e-02 2.51214798e+01] [-3.11460718e-02 6.98838440e-03 9.99490413e-01 -5.62642203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.17, Y:25.14, Z:-5.63 [[ 7.96940608e-01 -6.03670932e-01 2.16118594e-02 7.81650203e+01] [ 6.03359240e-01 7.97229513e-01 1.95634973e-02 2.51404107e+01] [-2.90395268e-02 -2.55123038e-03 9.99575008e-01 -5.62623041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.95105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.18, Y:25.16, Z:-5.62 [[ 7.96226725e-01 -6.04777234e-01 1.63554115e-02 7.81846356e+01] [ 6.04336586e-01 7.96329194e-01 2.52409566e-02 2.51617752e+01] [-2.82894476e-02 -1.02133507e-02 9.99547595e-01 -5.62031801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.20, Y:25.19, Z:-5.62 [[ 7.96384891e-01 -6.04380281e-01 2.22616508e-02 7.81998969e+01] [ 6.04072595e-01 7.96693488e-01 1.93852115e-02 2.51857398e+01] [-2.94517518e-02 -1.99043639e-03 9.99564221e-01 -5.61869645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.22, Y:25.22, Z:-5.62 [[ 7.93879422e-01 -6.07655041e-01 2.26011884e-02 7.82176781e+01] [ 6.07116498e-01 7.94166402e-01 2.66323711e-02 2.52163074e+01] [-3.41323991e-02 -7.42133703e-03 9.99389765e-01 -5.61698452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.23, Y:25.24, Z:-5.62 [[ 7.95464275e-01 -6.05203925e-01 3.10611547e-02 7.82268522e+01] [ 6.05065630e-01 7.96039107e-01 1.47418669e-02 2.52396181e+01] [-3.36477295e-02 7.06740867e-03 9.99408766e-01 -5.61709350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.071052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.24, Y:25.26, Z:-5.62 [[ 7.94050375e-01 -6.07269708e-01 2.65989405e-02 7.82434675e+01] [ 6.06814377e-01 7.94491344e-01 2.36604428e-02 2.52641099e+01] [-3.55008982e-02 -2.64696394e-03 9.99366139e-01 -5.61884291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.101052754 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:78.26, Y:25.29, Z:-5.62 [[ 7.93002728e-01 -6.08261808e-01 3.41210550e-02 7.82572159e+01] [ 6.08189520e-01 7.93674416e-01 1.36539217e-02 2.52912313e+01] [-3.53861675e-02 9.92447093e-03 9.99324434e-01 -5.62313903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.28, Y:25.31, Z:-5.62 [[ 7.91947013e-01 -6.10231648e-01 2.09108619e-02 7.82789003e+01] [ 6.09658764e-01 7.92166103e-01 2.80901528e-02 2.53074007e+01] [-3.37063762e-02 -9.49742231e-03 9.99386651e-01 -5.62430568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:25.33, Z:-5.62 [[ 7.91230998e-01 -6.10977183e-01 2.56980533e-02 7.82937361e+01] [ 6.10600163e-01 7.91647103e-01 2.15012814e-02 2.53336703e+01] [-3.34805818e-02 -1.32124479e-03 9.99438495e-01 -5.62388355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.191052754 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:78.30, Y:25.37, Z:-5.63 [[ 7.91840284e-01 -6.10039377e-01 2.89986577e-02 7.82993305e+01] [ 6.09661143e-01 7.92370821e-01 2.14889069e-02 2.53672840e+01] [-3.60867696e-02 6.63572670e-04 9.99348440e-01 -5.62548897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.221052754 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:78.32, Y:25.39, Z:-5.63 [[ 7.93442301e-01 -6.08129694e-01 2.50517461e-02 7.83166983e+01] [ 6.07573212e-01 7.93815392e-01 2.66817516e-02 2.53902310e+01] [-3.61124271e-02 -5.94966059e-03 9.99330023e-01 -5.62570200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25105275399999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:78.33, Y:25.42, Z:-5.63 [[ 7.95858286e-01 -6.04654970e-01 3.16536930e-02 7.83260675e+01] [ 6.04187763e-01 7.96487491e-01 2.37660252e-02 2.54201356e+01] [-3.95820158e-02 2.10385946e-04 9.99216303e-01 -5.62561627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28105275399999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:78.34, Y:25.45, Z:-5.63 [[ 7.96737516e-01 -6.03470551e-01 3.21344687e-02 7.83372183e+01] [ 6.02965499e-01 7.97385232e-01 2.46860073e-02 2.54484294e+01] [-4.05208292e-02 -2.92292177e-04 9.99178651e-01 -5.62788860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31105275399999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:78.35, Y:25.47, Z:-5.63 [[ 7.97262755e-01 -6.03034395e-01 2.68629430e-02 7.83537365e+01] [ 6.02305816e-01 7.97671262e-01 3.07938559e-02 2.54701984e+01] [-3.99975519e-02 -8.37108758e-03 9.99164712e-01 -5.63040871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34105275399999 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:78.37, Y:25.50, Z:-5.63 [[ 7.97592725e-01 -6.02387571e-01 3.12259284e-02 7.83672812e+01] [ 6.01852490e-01 7.98202356e-01 2.54279346e-02 2.54968294e+01] [-4.02420814e-02 -1.48773290e-03 9.99188852e-01 -5.63234458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37105275399999 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:78.38, Y:25.53, Z:-5.63 [[ 7.98257530e-01 -6.01610835e-01 2.91430899e-02 7.83794308e+01] [ 6.01143949e-01 7.98788053e-01 2.37402401e-02 2.55263215e+01] [-3.75615377e-02 -1.43163332e-03 9.99293291e-01 -5.63433248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40105275399999 meters Centerline goodness : 0.997922 Centerline is valid? [True, True] Translation: X:78.40, Y:25.55, Z:-5.64 [[ 7.98377728e-01 -6.01488765e-01 2.83596518e-02 7.83961110e+01] [ 6.00937572e-01 7.98872573e-01 2.60124380e-02 2.55485981e+01] [-3.83019372e-02 -3.72537089e-03 9.99259267e-01 -5.63589147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43105275399999 meters Centerline goodness : 0.997406 Centerline is valid? [True, True] Translation: X:78.41, Y:25.58, Z:-5.63 [[ 7.98389704e-01 -6.01387152e-01 3.01226383e-02 7.84057363e+01] [ 6.00876836e-01 7.98955895e-01 2.48295190e-02 2.55814467e+01] [-3.89988132e-02 -1.72363678e-03 9.99237770e-01 -5.63456289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.461052754 meters Centerline goodness : 0.997486 Centerline is valid? [True, True] Translation: X:78.41, Y:25.61, Z:-5.64 [[ 7.98211167e-01 -6.01628952e-01 3.00256074e-02 7.84148759e+01] [ 6.01098062e-01 7.98772667e-01 2.53642740e-02 2.56146550e+01] [-3.92435161e-02 -2.19771230e-03 9.99227260e-01 -5.63563080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.491052754 meters Centerline goodness : 0.997274 Centerline is valid? [True, True] Translation: X:78.43, Y:25.64, Z:-5.64 [[ 7.97956812e-01 -6.01969730e-01 2.99561493e-02 7.84300497e+01] [ 6.01519065e-01 7.98518704e-01 2.32958152e-02 2.56381742e+01] [-3.79439211e-02 -5.69859527e-04 9.99279708e-01 -5.63709168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.521052754 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:78.45, Y:25.66, Z:-5.64 [[ 7.97424259e-01 -6.02701938e-01 2.94096310e-02 7.84473295e+01] [ 6.02294511e-01 7.97966398e-01 2.21573801e-02 2.56611458e+01] [-3.68221932e-02 4.44269021e-05 9.99321832e-01 -5.63955447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.551052754 meters Centerline goodness : 0.996597 Centerline is valid? [True, True] Translation: X:78.49, Y:25.68, Z:-5.64 [[ 8.03337085e-01 -5.95255820e-01 1.78895621e-02 7.84887849e+01] [ 5.94625870e-01 8.03412485e-01 3.07969748e-02 2.56830110e+01] [-3.27047760e-02 -1.41027555e-02 9.99365554e-01 -5.64247035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.581052754 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:78.47, Y:25.73, Z:-5.64 [[ 7.91692594e-01 -6.09629826e-01 3.96776005e-02 7.84699851e+01] [ 6.09615843e-01 7.92575963e-01 1.38516058e-02 2.57273029e+01] [-3.98918644e-02 1.32218801e-02 9.99116520e-01 -5.63999157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.611052754 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:78.49, Y:25.75, Z:-5.64 [[ 7.90089915e-01 -6.12392486e-01 2.70807918e-02 7.84927157e+01] [ 6.11653261e-01 7.90513041e-01 3.11355109e-02 2.57502880e+01] [-4.04748720e-02 -8.03579858e-03 9.99148243e-01 -5.64314166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64105275399999 meters Centerline goodness : 0.994170 Centerline is valid? [True, True] Translation: X:78.50, Y:25.79, Z:-5.64 [[ 7.85273417e-01 -6.18340897e-01 3.16258736e-02 7.85029715e+01] [ 6.17820719e-01 7.85909914e-01 2.53607212e-02 2.57880880e+01] [-4.05366587e-02 -3.75980231e-04 9.99177981e-01 -5.64162001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67105275399999 meters Centerline goodness : 0.993802 Centerline is valid? [True, True] Translation: X:78.52, Y:25.82, Z:-5.64 [[ 7.82930246e-01 -6.21164687e-01 3.42733499e-02 7.85217243e+01] [ 6.20877300e-01 7.83658556e-01 1.97647617e-02 2.58169409e+01] [-3.91357759e-02 5.80511518e-03 9.99217039e-01 -5.64411771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70105275399999 meters Centerline goodness : 0.996071 Centerline is valid? [True, True] Translation: X:78.57, Y:25.84, Z:-5.65 [[ 7.90552013e-01 -6.11733463e-01 2.84549659e-02 7.85731152e+01] [ 6.11107709e-01 7.91049342e-01 2.80767859e-02 2.58387925e+01] [-3.96847915e-02 -4.80711052e-03 9.99200685e-01 -5.65180633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.73105275399999 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:78.55, Y:25.88, Z:-5.65 [[ 7.76712098e-01 -6.29022985e-01 3.23790172e-02 7.85517666e+01] [ 6.28778194e-01 7.77363821e-01 1.85330013e-02 2.58771702e+01] [-3.68279604e-02 5.96441364e-03 9.99303821e-01 -5.64927342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76105275399999 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:78.60, Y:25.90, Z:-5.65 [[ 7.83632981e-01 -6.20966004e-01 1.79045457e-02 7.85990880e+01] [ 6.20197416e-01 7.83669220e-01 3.48958136e-02 2.58987416e+01] [-3.57003553e-02 -1.62411575e-02 9.99230559e-01 -5.65412685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79105275399999 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:78.57, Y:25.95, Z:-5.64 [[ 7.73990690e-01 -6.32070640e-01 3.77507334e-02 7.85737805e+01] [ 6.32271068e-01 7.74707112e-01 7.88593279e-03 2.59487741e+01] [-3.42302282e-02 1.77650579e-02 9.99256070e-01 -5.64289428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.821052754 meters Centerline goodness : 0.996978 Centerline is valid? [True, True] Translation: X:78.60, Y:25.97, Z:-5.65 [[ 7.73574662e-01 -6.33181507e-01 2.57569867e-02 7.85954486e+01] [ 6.32829609e-01 7.74003346e-01 2.11070500e-02 2.59737405e+01] [-3.33005876e-02 -2.80952651e-05 9.99445381e-01 -5.64916638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.851052754 meters Centerline goodness : 0.997273 Centerline is valid? [True, True] Translation: X:78.61, Y:26.01, Z:-5.65 [[ 7.72886379e-01 -6.34055158e-01 2.49138870e-02 7.86066318e+01] [ 6.33726733e-01 7.73287823e-01 2.04051787e-02 2.60127764e+01] [-3.22036143e-02 1.77115157e-05 9.99481329e-01 -5.64746242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.881052754 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:78.62, Y:26.05, Z:-5.65 [[ 7.75663205e-01 -6.30655315e-01 2.49091697e-02 7.86166833e+01] [ 6.30325627e-01 7.76063052e-01 2.03897794e-02 2.60529893e+01] [-3.21900090e-02 -1.14713641e-04 9.99481761e-01 -5.64574053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.911052754 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:78.63, Y:26.08, Z:-5.65 [[ 7.78998339e-01 -6.26531055e-01 2.49083213e-02 7.86337440e+01] [ 6.26199641e-01 7.79396408e-01 2.03776448e-02 2.60842532e+01] [-3.21806834e-02 -2.76569612e-04 9.99482029e-01 -5.64509171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.941052754 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:78.64, Y:26.13, Z:-5.64 [[ 7.88694495e-01 -6.14322470e-01 2.38515415e-02 7.86406375e+01] [ 6.14013262e-01 7.89054726e-01 1.95026775e-02 2.61276352e+01] [-3.08011045e-02 -7.36491633e-04 9.99525262e-01 -5.64275035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.971052754 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:78.69, Y:26.15, Z:-5.65 [[ 8.02040478e-01 -5.96963193e-01 1.91316066e-02 7.86911567e+01] [ 5.96328615e-01 8.02163275e-01 3.04345825e-02 2.61545573e+01] [-3.35149977e-02 -1.30010426e-02 9.99353650e-01 -5.65266187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00105275399999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:78.66, Y:26.20, Z:-5.64 [[ 8.05487952e-01 -5.91915302e-01 2.87303838e-02 7.86550553e+01] [ 5.92042928e-01 8.05892404e-01 4.75453485e-03 2.62017485e+01] [-2.59678800e-02 1.31799000e-02 9.99575890e-01 -5.64078521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03105275399999 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:78.68, Y:26.23, Z:-5.65 [[ 8.07486725e-01 -5.89581745e-01 1.89355470e-02 7.86777415e+01] [ 5.89380816e-01 8.07707646e-01 1.54470994e-02 2.62251874e+01] [-2.44017139e-02 -1.31307951e-03 9.99701372e-01 -5.65477870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06105275399999 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:78.70, Y:26.25, Z:-5.65 [[ 7.95404333e-01 -6.05697257e-01 2.15123097e-02 7.87034261e+01] [ 6.05443995e-01 7.95694650e-01 1.75383257e-02 2.62460719e+01] [-2.77401455e-02 -9.25561528e-04 9.99614740e-01 -5.65220101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.09105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.77, Y:26.27, Z:-5.66 [[ 7.95960898e-01 -6.04933100e-01 2.24096639e-02 7.87667069e+01] [ 6.04491672e-01 7.96258478e-01 2.37119024e-02 2.62666574e+01] [-3.21879995e-02 -5.32729193e-03 9.99467635e-01 -5.66051306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12105275399999 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:78.78, Y:26.29, Z:-5.66 [[ 7.88575799e-01 -6.14500154e-01 2.31898703e-02 7.87848735e+01] [ 6.14381834e-01 7.88905613e-01 1.27630826e-02 2.62861986e+01] [-2.61375350e-02 4.18277693e-03 9.99649605e-01 -5.65937390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15105275399999 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:78.77, Y:26.30, Z:-5.66 [[ 7.80168476e-01 -6.25264696e-01 1.95245802e-02 7.87734516e+01] [ 6.25160665e-01 7.80406967e-01 1.17944657e-02 2.63028868e+01] [-2.26117814e-02 3.00432918e-03 9.99739807e-01 -5.65852950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18105275399999 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:78.80, Y:26.32, Z:-5.66 [[ 7.80931605e-01 -6.24376450e-01 1.73169521e-02 7.88007425e+01] [ 6.24216482e-01 7.81123547e-01 1.41346018e-02 2.63221223e+01] [-2.23519915e-02 -2.28630394e-04 9.99750137e-01 -5.66256526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.211052754 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:78.86, Y:26.34, Z:-5.67 [[ 7.88885806e-01 -6.14159576e-01 2.16148234e-02 7.88583330e+01] [ 6.14021601e-01 7.89176995e-01 1.33095657e-02 2.63442605e+01] [-2.52321186e-02 2.77224104e-03 9.99677776e-01 -5.66669197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.241052754 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:78.88, Y:26.36, Z:-5.67 [[ 7.95276210e-01 -6.06105799e-01 1.30961898e-02 7.88790163e+01] [ 6.05837663e-01 7.95347388e-01 1.95770008e-02 2.63637658e+01] [-2.22817540e-02 -7.63495800e-03 9.99722577e-01 -5.66521370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.271052754 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:78.86, Y:26.39, Z:-5.65 [[ 7.96515007e-01 -6.04125549e-01 2.44164770e-02 7.88633978e+01] [ 6.04135151e-01 7.96843545e-01 7.81562480e-03 2.63896563e+01] [-2.41777307e-02 8.52558961e-03 9.99671322e-01 -5.65436620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.301052754 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:78.92, Y:26.41, Z:-5.67 [[ 8.00377890e-01 -5.99383274e-01 1.16156587e-02 7.89234587e+01] [ 5.99098290e-01 8.00402496e-01 2.09065258e-02 2.64060685e+01] [-2.18282241e-02 -9.77419973e-03 9.99713956e-01 -5.66667929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.331052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:78.95, Y:26.43, Z:-5.67 [[ 7.97696540e-01 -6.02955839e-01 1.11573416e-02 7.89479182e+01] [ 6.02838611e-01 7.97768663e-01 1.22788335e-02 2.64262399e+01] [-1.63045719e-02 -3.06870663e-03 9.99862363e-01 -5.66724938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.361052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:78.97, Y:26.45, Z:-5.67 [[ 7.94879476e-01 -6.06675672e-01 1.05473548e-02 7.89748184e+01] [ 6.06526385e-01 7.94933598e-01 1.43637769e-02 2.64501172e+01] [-1.70986007e-02 -5.02022251e-03 9.99841205e-01 -5.66760915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39105275399999 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:78.99, Y:26.47, Z:-5.66 [[ 7.95599342e-01 -6.05501840e-01 1.97283843e-02 7.89895605e+01] [ 6.05528408e-01 7.95806193e-01 5.27725992e-03 2.64738724e+01] [-1.88953610e-02 7.74751265e-03 9.99791449e-01 -5.66067115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42105275399999 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:79.02, Y:26.49, Z:-5.67 [[ 7.94985081e-01 -6.06443836e-01 1.49865005e-02 7.90156386e+01] [ 6.06337649e-01 7.95126323e-01 1.13484097e-02 2.64925359e+01] [-1.87983342e-02 6.50630493e-05 9.99823294e-01 -5.66588352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.45105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:79.04, Y:26.52, Z:-5.66 [[ 7.91250436e-01 -6.11147678e-01 2.05246908e-02 7.90407444e+01] [ 6.10906331e-01 7.91515860e-01 1.72075067e-02 2.65189048e+01] [-2.67619461e-02 -1.07678363e-03 9.99641255e-01 -5.66459184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:79.06, Y:26.54, Z:-5.66 [[ 7.91733534e-01 -6.10518150e-01 2.06300950e-02 7.90606351e+01] [ 6.10265349e-01 7.92001097e-01 1.76200425e-02 2.65394529e+01] [-2.70964136e-02 -1.36054635e-03 9.99631899e-01 -5.66339524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.08, Y:26.56, Z:-5.66 [[ 7.91436689e-01 -6.10774039e-01 2.41462222e-02 7.90827236e+01] [ 6.10586662e-01 7.91800692e-01 1.53490070e-02 2.65622481e+01] [-2.84937704e-02 2.59559399e-03 9.99590600e-01 -5.66184322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.10, Y:26.59, Z:-5.66 [[ 7.90243912e-01 -6.11845436e-01 3.40546960e-02 7.91048891e+01] [ 6.11852418e-01 7.90889306e-01 1.14334750e-02 2.65891344e+01] [-3.39290144e-02 1.18012141e-02 9.99354568e-01 -5.66211675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.571052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.13, Y:26.60, Z:-5.67 [[ 7.89231162e-01 -6.13763436e-01 2.02143186e-02 7.91290192e+01] [ 6.13369803e-01 7.89470988e-01 2.26504687e-02 2.66040129e+01] [-2.98606476e-02 -5.47760313e-03 9.99539063e-01 -5.66710722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.601052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.15, Y:26.63, Z:-5.67 [[ 7.87744751e-01 -6.15432359e-01 2.64805559e-02 7.91531209e+01] [ 6.15233248e-01 7.88181333e-01 1.60697409e-02 2.66277189e+01] [-3.07613184e-02 3.63286440e-03 9.99520157e-01 -5.66585526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.631052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.17, Y:26.64, Z:-5.67 [[ 7.89820337e-01 -6.12882014e-01 2.36531497e-02 7.91731456e+01] [ 6.12667996e-01 7.90172743e-01 1.62777044e-02 2.66443843e+01] [-2.86663865e-02 1.63506588e-03 9.99587697e-01 -5.66965878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.661052754 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:79.20, Y:26.66, Z:-5.67 [[ 7.90923922e-01 -6.11569583e-01 2.05425086e-02 7.91971865e+01] [ 6.11388737e-01 7.91190265e-01 1.48921398e-02 2.66633428e+01] [-2.53606125e-02 7.80908755e-04 9.99678063e-01 -5.67319240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.691052754 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:79.19, Y:26.68, Z:-5.68 [[ 7.90485277e-01 -6.12011544e-01 2.39769957e-02 7.91938699e+01] [ 6.11889746e-01 7.90836534e-01 1.29813201e-02 2.66806813e+01] [-2.69066020e-02 4.40973544e-03 9.99628225e-01 -5.67540913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.721052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:79.22, Y:26.70, Z:-5.68 [[ 7.94405008e-01 -6.07043286e-01 2.04727367e-02 7.92202922e+01] [ 6.06802758e-01 7.94667886e-01 1.71278894e-02 2.67005450e+01] [-2.66663966e-02 -1.18356799e-03 9.99643688e-01 -5.67839894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.25, Y:26.72, Z:-5.68 [[ 7.96781084e-01 -6.03885748e-01 2.14920361e-02 7.92450025e+01] [ 6.03619854e-01 7.97069756e-01 1.79687357e-02 2.67210285e+01] [-2.79817154e-02 -1.34412904e-03 9.99607531e-01 -5.67956474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78105275399999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:79.27, Y:26.74, Z:-5.68 [[ 8.03523211e-01 -5.94787987e-01 2.40353999e-02 7.92706017e+01] [ 5.94451577e-01 8.03880475e-01 2.00874224e-02 2.67407133e+01] [-3.12693462e-02 -1.85282875e-03 9.99509277e-01 -5.68142342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:79.30, Y:26.76, Z:-5.68 [[ 8.07383496e-01 -5.89493305e-01 2.50905177e-02 7.92958651e+01] [ 5.89124359e-01 8.07770418e-01 2.09628767e-02 2.67626600e+01] [-3.26248535e-02 -2.14364545e-03 9.99465369e-01 -5.68248489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:79.35, Y:26.79, Z:-5.68 [[ 8.09685699e-01 -5.86397323e-01 2.33933432e-02 7.93460322e+01] [ 5.86086425e-01 8.10021527e-01 1.91788580e-02 2.67893290e+01] [-3.01955426e-02 -1.81832618e-03 9.99542357e-01 -5.67989105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:79.34, Y:26.80, Z:-5.68 [[ 8.15719858e-01 -5.77696086e-01 2.94677154e-02 7.93413744e+01] [ 5.77252469e-01 8.16250575e-01 2.26845038e-02 2.68044492e+01] [-3.71577887e-02 -1.49388874e-03 9.99308294e-01 -5.68063145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.37, Y:26.83, Z:-5.68 [[ 8.19823345e-01 -5.71837884e-01 2.98515857e-02 7.93666950e+01] [ 5.71303445e-01 8.20359600e-01 2.49499549e-02 2.68250062e+01] [-3.87563643e-02 -3.40024176e-03 9.99242905e-01 -5.68099948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:79.39, Y:26.85, Z:-5.68 [[ 8.22039719e-01 -5.68598158e-01 3.07706938e-02 7.93926501e+01] [ 5.68028553e-01 8.22607316e-01 2.57053733e-02 2.68457019e+01] [-3.99282258e-02 -3.65220519e-03 9.99195876e-01 -5.68204276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.961052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.42, Y:26.87, Z:-5.68 [[ 8.25380265e-01 -5.63723249e-01 3.10405733e-02 7.94180312e+01] [ 5.63140732e-01 8.25954477e-01 2.59175110e-02 2.68667339e+01] [-4.02484039e-02 -3.91159092e-03 9.99182048e-01 -5.68354976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.991052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:79.44, Y:26.89, Z:-5.69 [[ 8.26891369e-01 -5.61513959e-01 3.08664353e-02 7.94432089e+01] [ 5.60936985e-01 8.27457666e-01 2.57586801e-02 2.68880197e+01] [-4.00045269e-02 -3.98550512e-03 9.99191550e-01 -5.68500830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.021052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:79.47, Y:26.91, Z:-5.69 [[ 8.28173154e-01 -5.59643766e-01 3.04644426e-02 7.94676326e+01] [ 5.59081012e-01 8.28723574e-01 2.54098367e-02 2.69081480e+01] [-3.94670585e-02 -4.01165318e-03 9.99212819e-01 -5.68617240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.051052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:79.49, Y:26.93, Z:-5.69 [[ 8.29152142e-01 -5.58207797e-01 3.01791383e-02 7.94939014e+01] [ 5.57655087e-01 8.29691390e-01 2.51595333e-02 2.69288311e+01] [-3.90836188e-02 -4.03153100e-03 9.99227811e-01 -5.68906142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.081052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.52, Y:26.95, Z:-5.69 [[ 8.29274062e-01 -5.58062821e-01 2.95028297e-02 7.95190622e+01] [ 5.57535024e-01 8.29789364e-01 2.45827042e-02 2.69491780e+01] [-3.81998275e-02 -3.93693815e-03 9.99262365e-01 -5.69100124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.111052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.54, Y:26.97, Z:-5.69 [[ 8.29605463e-01 -5.57593932e-01 2.90479312e-02 7.95446222e+01] [ 5.57082457e-01 8.30104749e-01 2.41917740e-02 2.69705485e+01] [-3.76020120e-02 -3.88753495e-03 9.99285232e-01 -5.69236325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.57, Y:26.99, Z:-5.69 [[ 8.31022480e-01 -5.55558310e-01 2.75064060e-02 7.95684436e+01] [ 5.55099024e-01 8.31469085e-01 2.28961817e-02 2.69916445e+01] [-3.55908902e-02 -3.75846252e-03 9.99359376e-01 -5.69163983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.59, Y:27.01, Z:-5.69 [[ 8.31929594e-01 -5.54256951e-01 2.63131936e-02 7.95937372e+01] [ 5.53836375e-01 8.32337662e-01 2.18926018e-02 2.70126435e+01] [-3.40355887e-02 -3.63989957e-03 9.99413993e-01 -5.69235160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:79.62, Y:27.03, Z:-5.69 [[ 8.33235864e-01 -5.52371169e-01 2.45781741e-02 7.96183317e+01] [ 5.52003766e-01 8.33591086e-01 2.04387772e-02 2.70329178e+01] [-3.17779381e-02 -3.46307749e-03 9.99488954e-01 -5.69345345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.23105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:79.64, Y:27.05, Z:-5.70 [[ 8.33633984e-01 -5.51778309e-01 2.43942423e-02 7.96436649e+01] [ 5.51416449e-01 8.33983685e-01 2.02759404e-02 2.70538544e+01] [-3.15322242e-02 -3.45132653e-03 9.99496777e-01 -5.69524120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:79.67, Y:27.07, Z:-5.70 [[ 8.32980762e-01 -5.52795422e-01 2.36700617e-02 7.96692938e+01] [ 5.52455453e-01 8.33310454e-01 1.96636585e-02 2.70732762e+01] [-3.05944903e-02 -3.30279463e-03 9.99526422e-01 -5.69891460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.70, Y:27.09, Z:-5.70 [[ 8.31884062e-01 -5.54422063e-01 2.41884901e-02 7.96956120e+01] [ 5.54068026e-01 8.32229084e-01 2.00841727e-02 2.70936845e+01] [-3.12654734e-02 -3.30563425e-03 9.99505649e-01 -5.70109465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.321052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:79.72, Y:27.11, Z:-5.70 [[ 8.31449278e-01 -5.55053870e-01 2.46434378e-02 7.97209551e+01] [ 5.54687008e-01 8.31807719e-01 2.04509444e-02 2.71149723e+01] [-3.18499776e-02 -3.33452812e-03 9.99487098e-01 -5.70158559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.351052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.74, Y:27.14, Z:-5.70 [[ 8.30337879e-01 -5.56662113e-01 2.58127848e-02 7.97447652e+01] [ 5.56260782e-01 8.30731973e-01 2.14086753e-02 2.71363250e+01] [-3.33609040e-02 -3.41779417e-03 9.99437526e-01 -5.69991997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.77, Y:27.16, Z:-5.70 [[ 8.29448919e-01 -5.57935525e-01 2.68782695e-02 7.97689338e+01] [ 5.57501442e-01 8.29876937e-01 2.22803094e-02 2.71572706e+01] [-3.47366320e-02 -3.49570453e-03 9.99390387e-01 -5.69965502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.411052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.79, Y:27.18, Z:-5.70 [[ 8.26600490e-01 -5.62053469e-01 2.87667796e-02 7.97941002e+01] [ 5.61559146e-01 8.27093298e-01 2.38327901e-02 2.71796154e+01] [-3.71881130e-02 -3.54594782e-03 9.99301992e-01 -5.69948982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.441052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.82, Y:27.20, Z:-5.70 [[ 8.24372306e-01 -5.65290615e-01 2.92715074e-02 7.98197825e+01] [ 5.64781303e-01 8.24884615e-01 2.42374136e-02 2.72006823e+01] [-3.78467986e-02 -3.44865249e-03 9.99277602e-01 -5.70166754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.471052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:79.84, Y:27.22, Z:-5.70 [[ 8.19019783e-01 -5.72994489e-01 2.97306328e-02 7.98443012e+01] [ 5.72474584e-01 8.19553241e-01 2.46035741e-02 2.72214760e+01] [-3.84635488e-02 -3.13078228e-03 9.99255099e-01 -5.70458101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.87, Y:27.24, Z:-5.71 [[ 8.15362949e-01 -5.78190144e-01 2.96550073e-02 7.98690004e+01] [ 5.77676754e-01 8.15897009e-01 2.45283144e-02 2.72427338e+01] [-3.83774614e-02 -2.86847039e-03 9.99259197e-01 -5.70645219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.89, Y:27.26, Z:-5.71 [[ 8.07321417e-01 -5.89424422e-01 2.84777146e-02 7.98937530e+01] [ 5.88958292e-01 8.07820436e-01 2.35430212e-02 2.72642385e+01] [-3.68817115e-02 -2.23459909e-03 9.99317140e-01 -5.70780426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.92, Y:27.29, Z:-5.71 [[ 8.03752994e-01 -5.94315052e-01 2.77622632e-02 7.99183421e+01] [ 5.93875389e-01 8.04229952e-01 2.29391852e-02 2.72851417e+01] [-3.59603467e-02 -1.95011396e-03 9.99351315e-01 -5.70951005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.94, Y:27.31, Z:-5.71 [[ 7.95764500e-01 -6.04992584e-01 2.72549748e-02 7.99436736e+01] [ 6.04575420e-01 7.96229814e-01 2.25087826e-02 2.73067779e+01] [-3.53188701e-02 -1.43400230e-03 9.99375065e-01 -5.71064879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.97, Y:27.33, Z:-5.71 [[ 7.92187617e-01 -6.09662427e-01 2.73953162e-02 7.99683377e+01] [ 6.09244162e-01 7.92660223e-01 2.26124378e-02 2.73285158e+01] [-3.55011312e-02 -1.22285674e-03 9.99368888e-01 -5.71145502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.99, Y:27.35, Z:-5.71 [[ 7.86690389e-01 -6.16761541e-01 2.68967160e-02 7.99920155e+01] [ 6.16362883e-01 7.87149561e-01 2.21892968e-02 2.73514690e+01] [-3.48572431e-02 -8.77969105e-04 9.99391916e-01 -5.71133741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.02, Y:27.37, Z:-5.71 [[ 7.83734895e-01 -6.20510993e-01 2.69392320e-02 8.00165049e+01] [ 6.20113711e-01 7.84197433e-01 2.22119889e-02 2.73729310e+01] [-3.49084599e-02 -7.02923693e-04 9.99390267e-01 -5.71260524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.04, Y:27.39, Z:-5.71 [[ 7.85789799e-01 -6.17906880e-01 2.69347108e-02 8.00423608e+01] [ 6.17508595e-01 7.86250871e-01 2.21969361e-02 2.73933640e+01] [-3.48930793e-02 -8.09710568e-04 9.99390723e-01 -5.71352702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.741052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:80.07, Y:27.42, Z:-5.71 [[ 7.90039334e-01 -6.12334523e-01 2.97368988e-02 8.00666769e+01] [ 6.11845630e-01 7.90597937e-01 2.44913649e-02 2.74150939e+01] [-3.85068391e-02 -1.15475006e-03 9.99257669e-01 -5.71266833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.771052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:80.09, Y:27.44, Z:-5.71 [[ 7.92509574e-01 -6.09063557e-01 3.11473764e-02 8.00922237e+01] [ 6.08525186e-01 7.93120243e-01 2.56394114e-02 2.74360728e+01] [-4.03196458e-02 -1.36551597e-03 9.99185899e-01 -5.71370283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.801052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:80.12, Y:27.46, Z:-5.72 [[ 7.95763904e-01 -6.04738764e-01 3.24166026e-02 8.01179397e+01] [ 6.04152633e-01 7.96422215e-01 2.66692997e-02 2.74564732e+01] [-4.19452618e-02 -1.63789027e-03 9.99118568e-01 -5.71537291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.831052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:80.14, Y:27.48, Z:-5.72 [[ 7.96552152e-01 -6.03738935e-01 3.16854424e-02 8.01434880e+01] [ 6.03178741e-01 7.97180409e-01 2.60538324e-02 2.74761504e+01] [-4.09887270e-02 -1.64125096e-03 9.99158261e-01 -5.71810102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.861052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:80.17, Y:27.49, Z:-5.72 [[ 7.99096605e-01 -6.00508544e-01 2.88808778e-02 8.01718896e+01] [ 6.00041461e-01 7.99616661e-01 2.37368922e-02 2.74942171e+01] [-3.73478377e-02 -1.63834589e-03 9.99300983e-01 -5.72359984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.20, Y:27.51, Z:-5.73 [[ 8.00078352e-01 -5.99247007e-01 2.78864656e-02 8.01987164e+01] [ 5.98811198e-01 8.00562533e-01 2.29080746e-02 2.75142249e+01] [-3.60524547e-02 -1.62952671e-03 9.99348570e-01 -5.72592633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.23, Y:27.53, Z:-5.73 [[ 8.01580803e-01 -5.97213051e-01 2.83687948e-02 8.02260053e+01] [ 5.96761221e-01 8.02080757e-01 2.32917099e-02 2.75339040e+01] [-3.66641776e-02 -1.74079093e-03 9.99326127e-01 -5.72688376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.95105275399999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:80.25, Y:27.55, Z:-5.73 [[ 8.02023185e-01 -5.96626920e-01 2.81980342e-02 8.02524016e+01] [ 5.96180596e-01 8.02516832e-01 2.31393740e-02 2.75533708e+01] [-3.64349705e-02 -1.74719364e-03 9.99334499e-01 -5.72653845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:80.28, Y:27.57, Z:-5.73 [[ 8.01678685e-01 -5.97103216e-01 2.79112096e-02 8.02786585e+01] [ 5.96666654e-01 8.02162617e-01 2.28919046e-02 2.75735991e+01] [-3.60581588e-02 -1.69826391e-03 9.99348250e-01 -5.72768207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:80.31, Y:27.59, Z:-5.73 [[ 7.99719989e-01 -5.99776382e-01 2.67624940e-02 8.03061441e+01] [ 5.99376903e-01 8.00166251e-01 2.19385101e-02 2.75912737e+01] [-3.45726447e-02 -1.50384429e-03 9.99401056e-01 -5.73036875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:80.33, Y:27.61, Z:-5.73 [[ 7.98293419e-01 -6.01708097e-01 2.59804181e-02 8.03331884e+01] [ 6.01332987e-01 7.98714897e-01 2.12873762e-02 2.76103081e+01] [-3.35597336e-02 -1.37068992e-03 9.99435774e-01 -5.73335160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.071052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:80.36, Y:27.63, Z:-5.74 [[ 7.96742259e-01 -6.03799079e-01 2.50687949e-02 8.03606148e+01] [ 6.03451207e-01 7.97135597e-01 2.05299724e-02 2.76296570e+01] [-3.23792072e-02 -1.22930206e-03 9.99474900e-01 -5.73577594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.101052754 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:80.39, Y:27.65, Z:-5.74 [[ 7.93504607e-01 -6.08029649e-01 2.55026571e-02 8.03876389e+01] [ 6.07672196e-01 7.93913604e-01 2.08732324e-02 2.76471750e+01] [-3.29384506e-02 -1.06575041e-03 9.99456814e-01 -5.73710161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.131052754 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:80.41, Y:27.67, Z:-5.74 [[ 7.91806443e-01 -6.10218789e-01 2.59920377e-02 8.04140800e+01] [ 6.09849032e-01 7.92232327e-01 2.12625969e-02 2.76672929e+01] [-3.35665687e-02 -9.84642198e-04 9.99435999e-01 -5.73796943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.161052754 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:80.44, Y:27.69, Z:-5.74 [[ 7.87112046e-01 -6.16312410e-01 2.47717501e-02 8.04416987e+01] [ 6.15979894e-01 7.87501458e-01 2.02539825e-02 2.76857261e+01] [-3.19905701e-02 -6.83253670e-04 9.99487937e-01 -5.74042709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.191052754 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:80.47, Y:27.70, Z:-5.74 [[ 7.81606982e-01 -6.23326916e-01 2.35389248e-02 8.04692838e+01] [ 6.23030133e-01 7.81961264e-01 1.92362774e-02 2.77040440e+01] [-3.03970169e-02 -3.69749240e-04 9.99537836e-01 -5.74301515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.221052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:80.49, Y:27.72, Z:-5.74 [[ 7.78864290e-01 -6.26769842e-01 2.30213464e-02 8.04946907e+01] [ 6.26487769e-01 7.79204412e-01 1.88032065e-02 2.77237235e+01] [-2.97236175e-02 -2.22554157e-04 9.99558131e-01 -5.74372707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25105275399999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:80.52, Y:27.74, Z:-5.74 [[ 7.74344799e-01 -6.32335943e-01 2.32677301e-02 8.05206858e+01] [ 6.32050579e-01 7.74694298e-01 1.89950042e-02 2.77440631e+01] [-3.00366018e-02 -2.30046270e-06 9.99548799e-01 -5.74302652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28105275399999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:80.55, Y:27.76, Z:-5.74 [[ 7.73726518e-01 -6.33067685e-01 2.39286882e-02 8.05469074e+01] [ 6.32766565e-01 7.74096444e-01 1.95235634e-02 2.77648793e+01] [-3.08828496e-02 3.53751471e-05 9.99523010e-01 -5.74364102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31105275399999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:80.57, Y:27.79, Z:-5.74 [[ 7.73801150e-01 -6.32976228e-01 2.39347996e-02 8.05729558e+01] [ 6.32675296e-01 7.74171230e-01 1.95160678e-02 2.77860068e+01] [-3.08828403e-02 4.14007227e-05 9.99523010e-01 -5.74498171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34105275399999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:80.60, Y:27.81, Z:-5.75 [[ 7.74366085e-01 -6.32196663e-01 2.61638273e-02 8.05981817e+01] [ 6.31836764e-01 7.74807963e-01 2.13289619e-02 2.78055506e+01] [-3.37560403e-02 1.48432895e-05 9.99430102e-01 -5.74589858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37105275399999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:80.62, Y:27.83, Z:-5.75 [[ 7.75333785e-01 -6.30967180e-01 2.71650493e-02 8.06236685e+01] [ 6.30578854e-01 7.75809524e-01 2.21335044e-02 2.78267653e+01] [-3.50404188e-02 -3.11481126e-05 9.99385895e-01 -5.74599136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40105275399999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:80.65, Y:27.85, Z:-5.75 [[ 7.76036610e-01 -6.30043998e-01 2.84910691e-02 8.06491231e+01] [ 6.29616696e-01 7.76559435e-01 2.32004237e-02 2.78477738e+01] [-3.67422962e-02 -6.59253007e-05 9.99324772e-01 -5.74524667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43105275399999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:80.67, Y:27.87, Z:-5.75 [[ 7.76544575e-01 -6.29429520e-01 2.82312480e-02 8.06740143e+01] [ 6.29010031e-01 7.77057574e-01 2.29762520e-02 2.78676704e+01] [-3.63992364e-02 -8.43456418e-05 9.99337325e-01 -5.74635255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.461052754 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:80.70, Y:27.89, Z:-5.75 [[ 7.78960994e-01 -6.26475628e-01 2.73506393e-02 8.07007414e+01] [ 6.26080468e-01 7.79440982e-01 2.22486678e-02 2.78872511e+01] [-3.52564573e-02 -2.07143326e-04 9.99378276e-01 -5.74919666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.491052754 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:80.73, Y:27.91, Z:-5.75 [[ 7.80025728e-01 -6.25144215e-01 2.74695340e-02 8.07270294e+01] [ 6.24745214e-01 7.80509221e-01 2.23332392e-02 2.79072821e+01] [-3.54017199e-02 -2.59041324e-04 9.99373129e-01 -5.75084324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.521052754 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:80.75, Y:27.93, Z:-5.75 [[ 7.82760140e-01 -6.21648999e-01 2.89669724e-02 8.07529104e+01] [ 6.21203395e-01 7.83295817e-01 2.35372946e-02 2.79278190e+01] [-3.73216440e-02 -4.29674390e-04 9.99303212e-01 -5.75191764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.551052754 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:80.78, Y:27.95, Z:-5.75 [[ 7.85116125e-01 -6.18650545e-01 2.93968133e-02 8.07772045e+01] [ 6.18190037e-01 7.85666073e-01 2.38725801e-02 2.79492319e+01] [-3.78648635e-02 -5.69930480e-04 9.99282706e-01 -5.75286875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.581052754 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:80.80, Y:27.97, Z:-5.75 [[ 7.92084948e-01 -6.09678011e-01 2.99024769e-02 8.07993696e+01] [ 6.09195400e-01 7.92648535e-01 2.42747767e-02 2.79740858e+01] [-3.85019521e-02 -1.01123383e-03 9.99258013e-01 -5.75455792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.611052754 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:80.82, Y:28.00, Z:-5.76 [[ 7.96294156e-01 -6.04132915e-01 3.06437308e-02 8.08212708e+01] [ 6.03622514e-01 7.96882507e-01 2.48622347e-02 2.79977697e+01] [-3.94395473e-02 -1.30040638e-03 9.99221112e-01 -5.75578970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:80.84, Y:28.03, Z:-5.76 [[ 8.02922952e-01 -5.95167205e-01 3.30262091e-02 8.08383600e+01] [ 5.94567123e-01 8.03599715e-01 2.67849859e-02 2.80274314e+01] [-4.24813974e-02 -1.86998186e-03 9.99095508e-01 -5.75591020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.86, Y:28.05, Z:-5.76 [[ 8.04141791e-01 -5.93469706e-01 3.39070617e-02 8.08606723e+01] [ 5.92836298e-01 8.04853842e-01 2.74848397e-02 2.80518095e+01] [-4.36016486e-02 -2.00037125e-03 9.99046993e-01 -5.75826204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:80.89, Y:28.07, Z:-5.76 [[ 7.96384154e-01 -6.03657537e-01 3.70115820e-02 8.08863937e+01] [ 6.02914458e-01 7.97242204e-01 2.99837211e-02 2.80731467e+01] [-4.76070945e-02 -1.56374245e-03 9.98864915e-01 -5.76096619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.73105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.91, Y:28.09, Z:-5.76 [[ 7.91127899e-01 -6.10535195e-01 3.69245732e-02 8.09118596e+01] [ 6.09803808e-01 7.91988312e-01 2.98969827e-02 2.80938496e+01] [-4.74969906e-02 -1.13559178e-03 9.98870736e-01 -5.76348548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:80.94, Y:28.11, Z:-5.77 [[ 7.79854980e-01 -6.24905593e-01 3.63209307e-02 8.09380219e+01] [ 6.24214044e-01 7.80700287e-01 2.93920043e-02 2.81147140e+01] [-4.67229889e-02 -2.49465849e-04 9.98907854e-01 -5.76884504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79105275399999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:80.96, Y:28.13, Z:-5.77 [[ 7.69826215e-01 -6.37300089e-01 3.48739804e-02 8.09643518e+01] [ 6.36675802e-01 7.70615570e-01 2.82057907e-02 2.81333256e+01] [-4.48499852e-02 4.89862361e-04 9.98993613e-01 -5.77456087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.821052754 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:80.99, Y:28.15, Z:-5.78 [[ 7.66225791e-01 -6.41680732e-01 3.38212423e-02 8.09907412e+01] [ 6.41098439e-01 7.66971512e-01 2.73402834e-02 2.81537543e+01] [-4.34836624e-02 7.33915335e-04 9.99053869e-01 -5.77725978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.851052754 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:81.02, Y:28.17, Z:-5.78 [[ 7.66730403e-01 -6.41234099e-01 3.07134939e-02 8.10164636e+01] [ 6.40754078e-01 7.67345035e-01 2.48154733e-02 2.81743925e+01] [-3.94803748e-02 6.53018613e-04 9.99220133e-01 -5.77961649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.881052754 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:81.04, Y:28.19, Z:-5.78 [[ 7.67112867e-01 -6.40777053e-01 3.07020614e-02 8.10421669e+01] [ 6.40297570e-01 7.67726747e-01 2.47924056e-02 2.81945841e+01] [-3.94571983e-02 6.39881967e-04 9.99221057e-01 -5.78056726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.911052754 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:81.07, Y:28.22, Z:-5.78 [[ 7.67763112e-01 -6.39967607e-01 3.13251571e-02 8.10674102e+01] [ 6.39468359e-01 7.68401637e-01 2.52812679e-02 2.82154689e+01] [-4.02494945e-02 6.21421946e-04 9.99189468e-01 -5.78139189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.941052754 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:81.09, Y:28.24, Z:-5.78 [[ 7.68990666e-01 -6.38205951e-01 3.66949708e-02 8.10907423e+01] [ 6.37994800e-01 7.69812943e-01 1.87261489e-02 2.82403137e+01] [-4.01994031e-02 9.01096685e-03 9.99151045e-01 -5.77653349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.971052754 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:81.12, Y:28.26, Z:-5.79 [[ 7.70249575e-01 -6.37089021e-01 2.88646971e-02 8.11175439e+01] [ 6.36226278e-01 7.70749993e-01 3.40671504e-02 2.82550869e+01] [-4.39512726e-02 -7.87572931e-03 9.99002632e-01 -5.78608056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00105275399999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:81.14, Y:28.28, Z:-5.78 [[ 7.72766142e-01 -6.33706742e-01 3.53306445e-02 8.11418738e+01] [ 6.33066641e-01 7.73573290e-01 2.84779247e-02 2.82781317e+01] [-4.53774959e-02 3.59876429e-04 9.98969846e-01 -5.78394414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03105275399999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:81.17, Y:28.30, Z:-5.79 [[ 7.75513991e-01 -6.30240106e-01 3.70871881e-02 8.11676826e+01] [ 6.29531560e-01 7.76400269e-01 2.98770292e-02 2.82989549e+01] [-4.76242049e-02 1.77501194e-04 9.98865308e-01 -5.78563520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06105275399999 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:81.20, Y:28.34, Z:-5.78 [[ 7.80899323e-01 -6.19633764e-01 7.90584950e-02 8.11998064e+01] [ 6.21630677e-01 7.83310036e-01 -8.30130758e-04 2.83368277e+01] [-6.14129355e-02 4.97934343e-02 9.96869633e-01 -5.77891959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.09105275399999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:81.23, Y:28.32, Z:-5.81 [[ 7.78041581e-01 -6.28189811e-01 5.37214924e-03 8.12263870e+01] [ 6.26486192e-01 7.76508406e-01 6.74518118e-02 2.83228411e+01] [-4.65440599e-02 -4.91147369e-02 9.97708070e-01 -5.81341269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12105275399999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:81.24, Y:28.36, Z:-5.79 [[ 7.78088970e-01 -6.27127695e-01 3.58944123e-02 8.12420924e+01] [ 6.26459276e-01 7.78916461e-01 2.89468894e-02 2.83581805e+01] [-4.61121446e-02 -3.68678493e-05 9.98936269e-01 -5.78916219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15105275399999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:81.27, Y:28.38, Z:-5.79 [[ 7.77776799e-01 -6.27488180e-01 3.63570612e-02 8.12671600e+01] [ 6.26803496e-01 7.78626088e-01 2.93051765e-02 2.83786768e+01] [-4.66972081e-02 -4.15329825e-06 9.98909090e-01 -5.79008072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:81.29, Y:28.40, Z:-5.79 [[ 7.77437927e-01 -6.27897234e-01 3.65422110e-02 8.12934111e+01] [ 6.27206512e-01 7.78296256e-01 2.94436485e-02 2.83993308e+01] [-4.69282515e-02 2.89036823e-05 9.98898262e-01 -5.79184502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.211052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:81.32, Y:28.42, Z:-5.79 [[ 7.75401713e-01 -6.30276347e-01 3.87802794e-02 8.13210246e+01] [ 6.29642846e-01 7.76367065e-01 2.83560844e-02 2.84212721e+01] [-4.79799010e-02 2.43036911e-03 9.98845345e-01 -5.79344765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.241052754 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:81.34, Y:28.44, Z:-5.80 [[ 7.75560664e-01 -6.30168131e-01 3.73333925e-02 8.13438354e+01] [ 6.29337172e-01 7.76457005e-01 3.23920334e-02 2.84383354e+01] [-4.94002013e-02 -1.62669524e-03 9.98777740e-01 -5.79715825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.271052754 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:81.37, Y:28.46, Z:-5.80 [[ 7.74453535e-01 -6.31500008e-01 3.78082343e-02 8.13682764e+01] [ 6.30766338e-01 7.75375820e-01 3.04329602e-02 2.84592333e+01] [-4.85340053e-02 2.79247923e-04 9.98821492e-01 -5.79732565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.301052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:81.39, Y:28.48, Z:-5.80 [[ 7.72437132e-01 -6.34107879e-01 3.53281175e-02 8.13940625e+01] [ 6.33470512e-01 7.73244477e-01 2.84269124e-02 2.84793844e+01] [-4.53430008e-02 4.21318012e-04 9.98971388e-01 -5.79972704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.331052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:81.42, Y:28.50, Z:-5.80 [[ 7.72046857e-01 -6.34698940e-01 3.31799052e-02 8.14197599e+01] [ 6.34137891e-01 7.72759382e-01 2.66846954e-02 2.84989530e+01] [-4.25768309e-02 4.38799863e-04 9.99093099e-01 -5.80266990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.361052754 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:81.45, Y:28.52, Z:-5.81 [[ 7.71768586e-01 -6.35182841e-01 3.02656152e-02 8.14458441e+01] [ 6.34716725e-01 7.72361685e-01 2.43332327e-02 2.85183979e+01] [-3.88320534e-02 4.30467579e-04 9.99245659e-01 -5.80618960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39105275399999 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:81.47, Y:28.54, Z:-5.81 [[ 7.71972386e-01 -6.34969042e-01 2.95457428e-02 8.14716792e+01] [ 6.34525137e-01 7.72537469e-01 2.37425701e-02 2.85391223e+01] [-3.79009903e-02 4.18907983e-04 9.99281412e-01 -5.80684119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42105275399999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:81.50, Y:28.56, Z:-5.81 [[ 7.73722171e-01 -6.32993843e-01 2.59383396e-02 8.15023561e+01] [ 6.32483357e-01 7.74149190e-01 2.56483100e-02 2.85587445e+01] [-3.63153668e-02 -3.43909801e-03 9.99334462e-01 -5.80940327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.45105275399999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:81.53, Y:28.58, Z:-5.81 [[ 7.74078153e-01 -6.32309777e-01 3.14222860e-02 8.15283009e+01] [ 6.31987474e-01 7.74705646e-01 2.05668639e-02 2.85814713e+01] [-3.73476514e-02 3.93813113e-03 9.99294573e-01 -5.80793550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48105275399999 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:81.55, Y:28.60, Z:-5.81 [[ 7.71821758e-01 -6.35048758e-01 3.16898750e-02 8.15478504e+01] [ 6.34575879e-01 7.72471159e-01 2.45308373e-02 2.86015946e+01] [-4.00577923e-02 1.17619628e-03 9.99196672e-01 -5.80853987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51105275399999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:81.57, Y:28.62, Z:-5.81 [[ 7.71461104e-01 -6.35370816e-01 3.39365726e-02 8.15726081e+01] [ 6.34786972e-01 7.72206996e-01 2.72370190e-02 2.86220013e+01] [-4.35116658e-02 5.30193388e-04 9.99052778e-01 -5.80787946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54105275399999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:81.60, Y:28.64, Z:-5.81 [[ 7.71294013e-01 -6.35530792e-01 3.47297852e-02 8.15980294e+01] [ 6.34920149e-01 7.72075317e-01 2.78587349e-02 2.86425968e+01] [-4.45190938e-02 5.63364937e-04 9.99008375e-01 -5.80841161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.571052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:81.62, Y:28.66, Z:-5.81 [[ 7.71756082e-01 -6.34951365e-01 3.50615728e-02 8.16240766e+01] [ 6.34329103e-01 7.72551917e-01 2.81091493e-02 2.86630958e+01] [-4.49348280e-02 5.47169107e-04 9.98989771e-01 -5.80977315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.601052754 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:81.65, Y:28.68, Z:-5.81 [[ 7.72196903e-01 -6.34430895e-01 3.47761801e-02 8.16497900e+01] [ 6.33818868e-01 7.72979407e-01 2.78653560e-02 2.86820294e+01] [-4.45599139e-02 5.24257505e-04 9.99006576e-01 -5.81294956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.631052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:81.68, Y:28.70, Z:-5.82 [[ 7.72253404e-01 -6.34426970e-01 3.35723146e-02 8.16756245e+01] [ 6.33857010e-01 7.72982637e-01 2.68911498e-02 2.87008525e+01] [-4.30112870e-02 5.13264989e-04 9.99074455e-01 -5.81504236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.661052754 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:81.70, Y:28.72, Z:-5.82 [[ 7.72625422e-01 -6.33971026e-01 3.36258183e-02 8.17017714e+01] [ 6.33399427e-01 7.73356638e-01 2.69198204e-02 2.87212295e+01] [-4.30711360e-02 4.99636431e-04 9.99071883e-01 -5.81665054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.691052754 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:81.73, Y:28.74, Z:-5.82 [[ 7.73611932e-01 -6.32796363e-01 3.30657225e-02 8.17273783e+01] [ 6.32243176e-01 7.74318133e-01 2.64574202e-02 2.87406530e+01] [-4.23455478e-02 4.37801497e-04 9.99102929e-01 -5.81796284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.721052754 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:81.75, Y:28.76, Z:-5.82 [[ 7.74039626e-01 -6.32305561e-01 3.24397224e-02 8.17527351e+01] [ 6.31773074e-01 7.74718987e-01 2.59475311e-02 2.87604608e+01] [-4.15384371e-02 4.10125843e-04 9.99136822e-01 -5.81893690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75105275399999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:81.78, Y:28.78, Z:-5.82 [[ 7.74339804e-01 -6.31999650e-01 3.12139428e-02 8.17782366e+01] [ 6.31506899e-01 7.74968575e-01 2.49548397e-02 2.87799622e+01] [-3.99612747e-02 3.88294586e-04 9.99201154e-01 -5.82050398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78105275399999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:81.80, Y:28.80, Z:-5.82 [[ 7.74690640e-01 -6.31625889e-01 3.00524463e-02 8.18045352e+01] [ 6.31169309e-01 7.75273245e-01 2.40145758e-02 2.87996810e+01] [-3.84670853e-02 3.64314639e-04 9.99259801e-01 -5.82228035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81105275399999 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:81.83, Y:28.82, Z:-5.82 [[ 7.75305312e-01 -6.30960143e-01 2.81242178e-02 8.18308481e+01] [ 6.30560258e-01 7.75815182e-01 2.24625104e-02 2.88189037e+01] [-3.59921439e-02 3.18710424e-04 9.99352022e-01 -5.82421416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84105275399999 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:81.86, Y:28.84, Z:-5.83 [[ 7.75861852e-01 -6.30297515e-01 2.76302154e-02 8.18573301e+01] [ 6.29911517e-01 7.76353629e-01 2.20572710e-02 2.88395575e+01] [-3.53534611e-02 2.91195771e-04 9.99374829e-01 -5.82512900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87105275399999 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:81.88, Y:28.86, Z:-5.83 [[ 7.77548146e-01 -6.28245496e-01 2.69532506e-02 8.18832859e+01] [ 6.27877352e-01 7.78015138e-01 2.15052337e-02 2.88589615e+01] [-3.44806032e-02 2.01981087e-04 9.99405347e-01 -5.82587361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90105275399999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:81.91, Y:28.88, Z:-5.83 [[ 7.80044586e-01 -6.25167745e-01 2.63767832e-02 8.19103000e+01] [ 6.24813624e-01 7.80490414e-01 2.10392269e-02 2.88775236e+01] [-3.37398725e-02 6.90385194e-05 9.99430646e-01 -5.82859905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93105275399999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:81.94, Y:28.90, Z:-5.83 [[ 7.81414566e-01 -6.23461655e-01 2.62076327e-02 8.19370242e+01] [ 6.23111461e-01 7.81853928e-01 2.08936032e-02 2.88978271e+01] [-3.35169010e-02 3.71043496e-06 9.99438151e-01 -5.82990105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.961052754 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:81.96, Y:28.92, Z:-5.83 [[ 7.82481559e-01 -6.22117742e-01 2.63082531e-02 8.19634883e+01] [ 6.21764462e-01 7.82923695e-01 2.09628413e-02 2.89186274e+01] [-3.36387102e-02 -4.54999607e-05 9.99434057e-01 -5.83039527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.991052754 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:81.99, Y:28.94, Z:-5.83 [[ 7.82427669e-01 -6.22204627e-01 2.58523578e-02 8.19890949e+01] [ 6.21863895e-01 7.82854649e-01 2.05887264e-02 2.89396069e+01] [-3.30490393e-02 -3.25413374e-05 9.99453731e-01 -5.82931605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.021052754 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:82.02, Y:28.96, Z:-5.83 [[ 7.82394447e-01 -6.22261241e-01 2.54927035e-02 8.20152389e+01] [ 6.21930307e-01 7.82809650e-01 2.02914906e-02 2.89597754e+01] [-3.25825424e-02 -2.12646138e-05 9.99469048e-01 -5.83044344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.051052754 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:82.04, Y:28.98, Z:-5.83 [[ 7.82325695e-01 -6.22366690e-01 2.50242151e-02 8.20411321e+01] [ 6.22048207e-01 7.82725816e-01 1.99079024e-02 2.89784653e+01] [-3.19771145e-02 -8.19541358e-06 9.99488601e-01 -5.83356108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.081052754 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:82.07, Y:29.00, Z:-5.84 [[ 7.82131207e-01 -6.22603115e-01 2.52217470e-02 8.20678313e+01] [ 6.22280027e-01 7.82537770e-01 2.00550909e-02 2.89985868e+01] [-3.22233318e-02 9.27692615e-06 9.99480694e-01 -5.83555881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.111052754 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:82.09, Y:29.02, Z:-5.84 [[ 7.81975675e-01 -6.22790787e-01 2.54102295e-02 8.20933651e+01] [ 6.22463319e-01 7.82388417e-01 2.01935886e-02 2.90192834e+01] [-3.24570501e-02 2.60407429e-05 9.99473131e-01 -5.83594082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14105275399999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:82.12, Y:29.04, Z:-5.84 [[ 7.81139187e-01 -6.23865793e-01 2.47597060e-02 8.21175133e+01] [ 6.23555772e-01 7.81531488e-01 1.96655139e-02 2.90399582e+01] [-3.16191313e-02 7.75540405e-05 9.99499987e-01 -5.83580854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17105275399999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:82.14, Y:29.06, Z:-5.84 [[ 7.81340841e-01 -6.23650771e-01 2.37951072e-02 8.21432093e+01] [ 6.23364627e-01 7.81703084e-01 1.88899810e-02 2.90615526e+01] [-3.03814599e-02 7.35144761e-05 9.99538374e-01 -5.83685566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20105275399999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:82.17, Y:29.08, Z:-5.84 [[ 7.80917489e-01 -6.24256491e-01 2.17188580e-02 8.21679708e+01] [ 6.24018592e-01 7.81219447e-01 1.72329139e-02 2.90816953e+01] [-2.77249526e-02 9.54873680e-05 9.99615585e-01 -5.83853497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.23105275399999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:82.19, Y:29.10, Z:-5.84 [[ 7.81034369e-01 -6.24110081e-01 2.17237741e-02 8.21943324e+01] [ 6.23872297e-01 7.81336418e-01 1.72267139e-02 2.91024995e+01] [-2.77249416e-02 9.82052509e-05 9.99615585e-01 -5.83985028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26105275399999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:82.22, Y:29.12, Z:-5.84 [[ 7.80835434e-01 -6.24379622e-01 2.11213834e-02 8.22201451e+01] [ 6.24155075e-01 7.81121038e-01 1.67441443e-02 2.91224680e+01] [-2.69530594e-02 1.08597477e-04 9.99636694e-01 -5.84141986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29105275399999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:82.27, Y:29.14, Z:-5.85 [[ 7.80258878e-01 -6.25382730e-01 9.61894637e-03 8.22701233e+01] [ 6.24829535e-01 7.80072843e-01 3.27782261e-02 2.91386609e+01] [-2.80024154e-02 -1.95653001e-02 9.99416362e-01 -5.84946143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.321052754 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:82.29, Y:29.17, Z:-5.84 [[ 7.79861580e-01 -6.25515229e-01 2.33797756e-02 8.22920267e+01] [ 6.25352754e-01 7.80205303e-01 1.46156874e-02 2.91660200e+01] [-2.73833599e-02 3.22239394e-03 9.99619812e-01 -5.83736972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.351052754 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:82.32, Y:29.19, Z:-5.84 [[ 7.80501562e-01 -6.24672775e-01 2.45201119e-02 8.23150980e+01] [ 6.24426397e-01 7.80885060e-01 1.76124503e-02 2.91886678e+01] [-3.01494072e-02 1.56446018e-03 9.99544179e-01 -5.83575086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.381052754 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:82.31, Y:29.21, Z:-5.83 [[ 7.79604531e-01 -6.25158299e-01 3.73346598e-02 8.23105525e+01] [ 6.25438211e-01 7.80257143e-01 5.08281160e-03 2.92102556e+01] [-3.23081968e-02 1.93879399e-02 9.99289892e-01 -5.83000408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.411052754 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:82.36, Y:29.23, Z:-5.85 [[ 7.78174879e-01 -6.27802824e-01 1.75348945e-02 8.23644459e+01] [ 6.27017424e-01 7.78194045e-01 3.55412258e-02 2.92260033e+01] [-3.59584324e-02 -1.66626047e-02 9.99214366e-01 -5.84565888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.441052754 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:82.38, Y:29.25, Z:-5.84 [[ 7.77124219e-01 -6.28654808e-01 2.95140717e-02 8.23849519e+01] [ 6.28351100e-01 7.77678034e-01 1.97931826e-02 2.92528975e+01] [-3.53955246e-02 3.16343782e-03 9.99368375e-01 -5.83686967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.471052754 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:82.38, Y:29.27, Z:-5.83 [[ 7.72740808e-01 -6.33599028e-01 3.77348038e-02 8.23779242e+01] [ 6.33833460e-01 7.73438628e-01 6.91622002e-03 2.92726949e+01] [-3.35676652e-02 1.85731358e-02 9.99263854e-01 -5.83480199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50105275399999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:82.43, Y:29.29, Z:-5.85 [[ 7.64177003e-01 -6.44794825e-01 1.65269995e-02 8.24320158e+01] [ 6.44087182e-01 7.64204795e-01 3.38043295e-02 2.92884062e+01] [-3.44268690e-02 -1.51876627e-02 9.99291812e-01 -5.85344789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53105275399999 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:82.42, Y:29.31, Z:-5.84 [[ 7.62577041e-01 -6.45816147e-01 3.73866464e-02 8.24248479e+01] [ 6.46077202e-01 7.63246556e-01 6.24043720e-03 2.93115458e+01] [-3.25654042e-02 1.93958458e-02 9.99281390e-01 -5.84019370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56105275399999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:82.45, Y:29.33, Z:-5.85 [[ 7.55920826e-01 -6.54181406e-01 2.51076258e-02 8.24542330e+01] [ 6.53876280e-01 7.56336591e-01 2.00192736e-02 2.93277514e+01] [-3.20860527e-02 1.28429512e-03 9.99484285e-01 -5.85120715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.59105275399999 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:82.48, Y:29.35, Z:-5.85 [[ 7.53181559e-01 -6.57342526e-01 2.48665126e-02 8.24784401e+01] [ 6.57045329e-01 7.53590608e-01 1.98149510e-02 2.93492162e+01] [-3.17643803e-02 1.41417030e-03 9.99494384e-01 -5.85295988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62105275399999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:82.50, Y:29.37, Z:-5.86 [[ 7.51713600e-01 -6.59056307e-01 2.39049595e-02 8.25041441e+01] [ 6.58782671e-01 7.52092236e-01 1.90436917e-02 2.93700085e+01] [-3.05295996e-02 1.43277103e-03 9.99532836e-01 -5.85517602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65105275399999 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:82.53, Y:29.39, Z:-5.86 [[ 7.48835197e-01 -6.62322104e-01 2.39849355e-02 8.25313123e+01] [ 6.62048620e-01 7.49217550e-01 1.90968083e-02 2.93895280e+01] [-3.06181729e-02 1.57883128e-03 9.99529907e-01 -5.85943231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68105275399999 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:82.56, Y:29.41, Z:-5.86 [[ 7.48427323e-01 -6.62787400e-01 2.38621905e-02 8.25573771e+01] [ 6.62517266e-01 7.48805923e-01 1.89884999e-02 2.94099996e+01] [-3.04534880e-02 1.59760109e-03 9.99534908e-01 -5.86062398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.711052754 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:82.58, Y:29.43, Z:-5.86 [[ 7.47069386e-01 -6.64343566e-01 2.31291675e-02 8.25821182e+01] [ 6.64090819e-01 7.47425588e-01 1.83949738e-02 2.94302556e+01] [-2.95079141e-02 1.61754598e-03 9.99563238e-01 -5.86063377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.741052754 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:82.61, Y:29.45, Z:-5.86 [[ 7.47986670e-01 -6.63373918e-01 2.12364274e-02 8.26076583e+01] [ 6.63160665e-01 7.48286660e-01 1.68821271e-02 2.94507275e+01] [-2.70900981e-02 1.45555725e-03 9.99631936e-01 -5.86149989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.771052754 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:82.63, Y:29.47, Z:-5.86 [[ 7.49879284e-01 -6.61245529e-01 2.08664899e-02 8.26322234e+01] [ 6.61039068e-01 7.50168313e-01 1.65787168e-02 2.94715741e+01] [-2.66159818e-02 1.36152874e-03 9.99644805e-01 -5.86300173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.801052754 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:82.66, Y:29.49, Z:-5.87 [[ 7.55961135e-01 -6.54306181e-01 2.01539856e-02 8.26570842e+01] [ 6.54111297e-01 7.56228965e-01 1.60051373e-02 2.94930658e+01] [-2.57132879e-02 1.08368790e-03 9.99668771e-01 -5.86526900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.831052754 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:82.68, Y:29.51, Z:-5.87 [[ 7.58504451e-01 -6.51345208e-01 2.05041064e-02 8.26825178e+01] [ 6.51142656e-01 7.58780868e-01 1.62737658e-02 2.95136096e+01] [-2.61579630e-02 1.00737451e-03 9.99657314e-01 -5.86551843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.861052754 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:82.71, Y:29.53, Z:-5.86 [[ 7.65378282e-01 -6.43230471e-01 2.12284306e-02 8.27067671e+01] [ 6.43010487e-01 7.65672241e-01 1.68384492e-02 2.95343637e+01] [-2.70850236e-02 7.62320201e-04 9.99632843e-01 -5.86330398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89105275399999 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:82.73, Y:29.56, Z:-5.86 [[ 7.69546332e-01 -6.38231484e-01 2.14246677e-02 8.27324618e+01] [ 6.38005705e-01 7.69844280e-01 1.69854219e-02 2.95556592e+01] [-2.73342889e-02 5.97991126e-04 9.99626170e-01 -5.86362284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92105275399999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:82.76, Y:29.58, Z:-5.86 [[ 7.77116637e-01 -6.28970044e-01 2.20548434e-02 8.27587392e+01] [ 6.28727300e-01 7.77429484e-01 1.74751070e-02 2.95754818e+01] [-2.81374043e-02 2.86285825e-04 9.99604024e-01 -5.86475859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.95105275399999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:82.78, Y:29.59, Z:-5.87 [[ 7.80813354e-01 -6.24365849e-01 2.23112569e-02 8.27844123e+01] [ 6.24115830e-01 7.81132044e-01 1.76680819e-02 2.95945647e+01] [-2.84593846e-02 1.29334305e-04 9.99594941e-01 -5.86665151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:82.81, Y:29.61, Z:-5.87 [[ 7.86181076e-01 -6.17586568e-01 2.24977161e-02 8.28103853e+01] [ 6.17329823e-01 7.86502905e-01 1.78064856e-02 2.96131345e+01] [-2.86915653e-02 -1.10610902e-04 9.99588306e-01 -5.86763230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:82.84, Y:29.63, Z:-5.87 [[ 7.88899695e-01 -6.14103405e-01 2.26777139e-02 8.28363597e+01] [ 6.13841350e-01 7.89225541e-01 1.79399710e-02 2.96333213e+01] [-2.89148282e-02 -2.32319120e-04 9.99581852e-01 -5.86856617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04105275399999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:82.86, Y:29.65, Z:-5.87 [[ 7.94663300e-01 -6.06609674e-01 2.31288280e-02 8.28619840e+01] [ 6.06334191e-01 7.94999651e-01 1.82866966e-02 2.96537936e+01] [-2.94802972e-02 -5.07967448e-04 9.99565233e-01 -5.86862973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.071052754 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:82.89, Y:29.67, Z:-5.87 [[ 7.98117544e-01 -6.02000876e-01 2.45628015e-02 8.28889655e+01] [ 6.01688327e-01 7.98495109e-01 1.94092519e-02 2.96733024e+01] [-3.12976635e-02 -7.11713539e-04 9.99509855e-01 -5.86983363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.101052754 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:82.91, Y:29.69, Z:-5.87 [[ 7.99971191e-01 -5.99500515e-01 2.54013011e-02 8.29148722e+01] [ 5.99165366e-01 8.00373942e-01 2.00603254e-02 2.96929231e+01] [-3.23567149e-02 -8.28102543e-04 9.99476041e-01 -5.87143091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.131052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:82.94, Y:29.71, Z:-5.87 [[ 8.02759003e-01 -5.95740162e-01 2.59160753e-02 8.29410783e+01] [ 5.95389668e-01 8.03176616e-01 2.04564746e-02 2.97132369e+01] [-3.30019292e-02 -9.91455644e-04 9.99454796e-01 -5.87175218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.161052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:82.97, Y:29.73, Z:-5.87 [[ 8.03603727e-01 -5.94582221e-01 2.63255078e-02 8.29662147e+01] [ 5.94220329e-01 8.04034134e-01 2.07680571e-02 2.97339059e+01] [-3.35149244e-02 -1.04613622e-03 9.99437670e-01 -5.87212236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.191052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:82.99, Y:29.75, Z:-5.87 [[ 8.04605475e-01 -5.93166107e-01 2.76405473e-02 8.29914906e+01] [ 5.92766712e-01 8.05079278e-01 2.17940389e-02 2.97548310e+01] [-3.51803171e-02 -1.15120663e-03 9.99380318e-01 -5.87346068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.221052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:83.02, Y:29.77, Z:-5.88 [[ 8.04931675e-01 -5.92693987e-01 2.82636876e-02 8.30176595e+01] [ 5.92276534e-01 8.05426859e-01 2.22729109e-02 2.97744884e+01] [-3.59653536e-02 -1.18825257e-03 9.99352331e-01 -5.87610151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25105275399999 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:83.04, Y:29.79, Z:-5.88 [[ 8.04614605e-01 -5.93040760e-01 2.99665571e-02 8.30437551e+01] [ 5.92572231e-01 8.05171496e-01 2.36011301e-02 2.97936688e+01] [-3.81246498e-02 -1.23246437e-03 9.99272231e-01 -5.87913453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:83.07, Y:29.81, Z:-5.88 [[ 8.03241736e-01 -5.94843606e-01 3.10451078e-02 8.30695194e+01] [ 5.94342574e-01 8.03840592e-01 2.44378300e-02 2.98148310e+01] [-3.94920047e-02 -1.17805571e-03 9.99219192e-01 -5.88081664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.31105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:83.10, Y:29.84, Z:-5.88 [[ 8.01772891e-01 -5.96798681e-01 3.14891357e-02 8.30952858e+01] [ 5.96285263e-01 8.02390276e-01 2.47735813e-02 2.98355743e+01] [-4.00514169e-02 -1.08627838e-03 9.99197030e-01 -5.88119249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:83.12, Y:29.86, Z:-5.88 [[ 7.96518439e-01 -6.03756654e-01 3.21913040e-02 8.31203981e+01] [ 6.03226297e-01 7.97168333e-01 2.53117209e-02 2.98579006e+01] [-4.09440081e-02 -7.42611345e-04 9.99161167e-01 -5.88113396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.37105275399999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:83.14, Y:29.88, Z:-5.88 [[ 7.90868713e-01 -6.11051078e-01 3.38121180e-02 8.31444248e+01] [ 6.10473198e-01 7.91591082e-01 2.65712726e-02 2.98785014e+01] [-4.30017759e-02 -3.72996299e-04 9.99074926e-01 -5.88248133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:83.17, Y:29.90, Z:-5.88 [[ 7.88904846e-01 -6.13577783e-01 3.39329904e-02 8.31704993e+01] [ 6.12998501e-01 7.89634252e-01 2.66568223e-02 2.98996039e+01] [-4.31506854e-02 -2.28824013e-04 9.99068549e-01 -5.88444729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43105275399999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:83.20, Y:29.92, Z:-5.89 [[ 7.82476488e-01 -6.21770655e-01 3.36422100e-02 8.31962028e+01] [ 6.21209372e-01 7.83199336e-01 2.64143224e-02 2.99181091e+01] [-4.27722071e-02 2.30269932e-04 9.99084824e-01 -5.89016534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.461052754 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:83.22, Y:29.94, Z:-5.89 [[ 7.78994086e-01 -6.26156607e-01 3.31076740e-02 8.32226826e+01] [ 6.25617509e-01 7.79697172e-01 2.59817579e-02 2.99379350e+01] [-4.20826092e-02 4.73104764e-04 9.99114023e-01 -5.89170843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.491052754 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:83.25, Y:29.96, Z:-5.89 [[ 7.72733084e-01 -6.33968286e-01 3.11093682e-02 8.32470346e+01] [ 6.33499082e-01 7.73358576e-01 2.44013675e-02 2.99583143e+01] [-3.95283898e-02 8.52012250e-04 9.99218085e-01 -5.89179966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.521052754 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:83.27, Y:29.98, Z:-5.89 [[ 7.71451739e-01 -6.35613965e-01 2.92762952e-02 8.32729659e+01] [ 6.35200020e-01 7.72006539e-01 2.29529479e-02 2.99786589e+01] [-3.71907056e-02 8.89211713e-04 9.99307791e-01 -5.89251384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.551052754 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:83.30, Y:30.00, Z:-5.89 [[ 7.73142640e-01 -6.33576439e-01 2.88332167e-02 8.32986150e+01] [ 6.33173943e-01 7.73679698e-01 2.25938731e-02 2.99987149e+01] [-3.66226201e-02 7.88154807e-04 9.99328856e-01 -5.89358048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.581052754 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:83.33, Y:30.02, Z:-5.90 [[ 7.74244317e-01 -6.32201491e-01 2.94450606e-02 8.33250137e+01] [ 6.31781157e-01 7.74803663e-01 2.30619340e-02 3.00185269e+01] [-3.73939299e-02 7.47263088e-04 9.99300323e-01 -5.89581703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.611052754 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:83.35, Y:30.04, Z:-5.90 [[ 7.76091819e-01 -6.29877667e-01 3.05877882e-02 8.33508038e+01] [ 6.29422788e-01 7.76694068e-01 2.39432406e-02 3.00369182e+01] [-3.88386661e-02 6.70497784e-04 9.99245269e-01 -5.89886127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64105275399999 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:83.38, Y:30.06, Z:-5.90 [[ 7.76885681e-01 -6.28872964e-01 3.11035977e-02 8.33768797e+01] [ 6.28402129e-01 7.77507807e-01 2.43387343e-02 3.00573282e+01] [-3.94892620e-02 6.37152848e-04 9.99219792e-01 -5.89945158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67105275399999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:83.40, Y:30.08, Z:-5.90 [[ 7.78333408e-01 -6.27055290e-01 3.16033045e-02 8.34027195e+01] [ 6.26568220e-01 7.78974547e-01 2.47167992e-02 3.00789190e+01] [-4.01169695e-02 5.63715728e-04 9.99194831e-01 -5.89758686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70105275399999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:83.43, Y:30.10, Z:-5.90 [[ 7.79325878e-01 -6.25828883e-01 3.14544951e-02 8.34286776e+01] [ 6.25345913e-01 7.79960224e-01 2.45873613e-02 3.00995771e+01] [-3.99207359e-02 5.08373022e-04 9.99202720e-01 -5.89767625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.73105275399999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:83.45, Y:30.12, Z:-5.90 [[ 7.81775855e-01 -6.22722069e-01 3.23069267e-02 8.34543015e+01] [ 6.22210470e-01 7.82443025e-01 2.52397256e-02 3.01206159e+01] [-4.09956636e-02 3.69899968e-04 9.99159256e-01 -5.89768980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76105275399999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:83.48, Y:30.14, Z:-5.90 [[ 7.83308948e-01 -6.20702620e-01 3.39904432e-02 8.34804696e+01] [ 6.20135030e-01 7.84046028e-01 2.65399860e-02 3.01406274e+01] [-4.31235108e-02 2.89656028e-04 9.99069707e-01 -5.89891189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:83.51, Y:30.16, Z:-5.90 [[ 7.83942396e-01 -6.19889136e-01 3.42312520e-02 8.35067570e+01] [ 6.19313325e-01 7.84689360e-01 2.67135311e-02 3.01607933e+01] [-4.34203270e-02 2.58000967e-04 9.99056860e-01 -5.90032603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.821052754 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:83.53, Y:30.18, Z:-5.90 [[ 7.84449099e-01 -6.19300128e-01 3.32710559e-02 8.35331841e+01] [ 6.18756225e-01 7.85154316e-01 2.59506135e-02 3.01806025e+01] [-4.21941314e-02 2.29737605e-04 9.99109405e-01 -5.90145084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.851052754 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:83.56, Y:30.20, Z:-5.90 [[ 7.85231167e-01 -6.18433109e-01 3.08626652e-02 8.35603474e+01] [ 6.17964930e-01 7.85837424e-01 2.40600958e-02 3.02000327e+01] [-3.91325971e-02 1.79307642e-04 9.99234010e-01 -5.90496936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.881052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:83.59, Y:30.22, Z:-5.91 [[ 7.85051497e-01 -6.18716109e-01 2.97409466e-02 8.35869074e+01] [ 6.18282011e-01 7.85614625e-01 2.31735996e-02 3.02198723e+01] [-3.77028020e-02 1.95823268e-04 9.99288977e-01 -5.90680271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.911052754 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:83.61, Y:30.24, Z:-5.91 [[ 7.85241874e-01 -6.18583490e-01 2.73800252e-02 8.36128342e+01] [ 6.18215872e-01 7.85719055e-01 2.13237563e-02 3.02407202e+01] [-3.47035311e-02 1.82459776e-04 9.99397634e-01 -5.90719751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.941052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:83.64, Y:30.26, Z:-5.91 [[ 7.85589878e-01 -6.18215487e-01 2.56545387e-02 8.36376879e+01] [ 6.17892926e-01 7.86008641e-01 1.99686870e-02 3.02611642e+01] [-3.25096407e-02 1.64559642e-04 9.99471408e-01 -5.90843726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.971052754 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:83.66, Y:30.28, Z:-5.91 [[ 7.85282728e-01 -6.18613681e-01 2.54588083e-02 8.36637588e+01] [ 6.18296418e-01 7.85695285e-01 1.98105908e-02 3.02810541e+01] [-3.22579682e-02 1.84175197e-04 9.99479559e-01 -5.90952462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00105275399999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:83.69, Y:30.30, Z:-5.91 [[ 7.82893530e-01 -6.21622494e-01 2.57525886e-02 8.36896820e+01] [ 6.21299856e-01 7.83316904e-01 2.00279039e-02 3.03005393e+01] [-3.26222335e-02 3.20363202e-04 9.99467702e-01 -5.91057895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03105275399999 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:83.72, Y:30.32, Z:-5.91 [[ 7.81707041e-01 -6.23117109e-01 2.56743224e-02 8.37159515e+01] [ 6.22797559e-01 7.82128453e-01 1.99570450e-02 3.03202815e+01] [-3.25161942e-02 3.89342730e-04 9.99471133e-01 -5.91169373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06105275399999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:83.74, Y:30.34, Z:-5.91 [[ 7.80341000e-01 -6.24814406e-01 2.59784688e-02 8.37418740e+01] [ 6.24488550e-01 7.80773163e-01 2.01821444e-02 3.03400440e+01] [-3.28933859e-02 4.74301564e-04 9.99458754e-01 -5.91247598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.09105275399999 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:83.77, Y:30.36, Z:-5.91 [[ 7.78877961e-01 -6.26600820e-01 2.68427631e-02 8.37674186e+01] [ 6.26254341e-01 7.79340157e-01 2.08427399e-02 3.03609930e+01] [-3.39797211e-02 5.76446123e-04 9.99422356e-01 -5.91203028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12105275399999 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:83.79, Y:30.38, Z:-5.91 [[ 7.78949607e-01 -6.26511496e-01 2.68487576e-02 8.37939729e+01] [ 6.26165230e-01 7.79411962e-01 2.08350150e-02 3.03814835e+01] [-3.39796192e-02 5.82331743e-04 9.99422356e-01 -5.91337759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15105275399999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:83.82, Y:30.40, Z:-5.91 [[ 7.80011920e-01 -6.25134990e-01 2.80650733e-02 8.38194659e+01] [ 6.24755904e-01 7.80516459e-01 2.17742631e-02 3.04017250e+01] [-3.55171054e-02 5.49635501e-04 9.99368917e-01 -5.91236711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18105275399999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:83.85, Y:30.42, Z:-5.91 [[ 7.80983609e-01 -6.23913894e-01 2.82144579e-02 8.38455449e+01] [ 6.23530353e-01 7.81492929e-01 2.18792501e-02 3.04227200e+01] [-3.57001675e-02 5.05235226e-04 9.99362418e-01 -5.91201309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.211052754 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:83.87, Y:30.44, Z:-5.91 [[ 7.83158901e-01 -6.21173550e-01 2.83823118e-02 8.38706143e+01] [ 6.20784058e-01 7.83672934e-01 2.19974244e-02 3.04439145e+01] [-3.59066678e-02 3.91807995e-04 9.99355071e-01 -5.91178123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.241052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:83.90, Y:30.46, Z:-5.91 [[ 7.84486433e-01 -6.19521220e-01 2.78297470e-02 8.38966446e+01] [ 6.19146109e-01 7.84979845e-01 2.15577931e-02 3.04644742e+01] [-3.52013007e-02 3.18883392e-04 9.99380191e-01 -5.91263625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.271052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:83.92, Y:30.48, Z:-5.92 [[ 7.86213300e-01 -6.17363459e-01 2.70371230e-02 8.39221157e+01] [ 6.17008516e-01 7.86678021e-01 2.09327848e-02 3.04835265e+01] [-3.41926469e-02 2.24501332e-04 9.99415235e-01 -5.91506018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.301052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:83.95, Y:30.50, Z:-5.92 [[ 7.87181985e-01 -6.16136631e-01 2.68360613e-02 8.39479545e+01] [ 6.15786586e-01 7.87639270e-01 2.07668123e-02 3.05029487e+01] [-3.39323295e-02 1.78026068e-04 9.99424117e-01 -5.91672339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.331052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:83.97, Y:30.52, Z:-5.92 [[ 7.88985674e-01 -6.13750330e-01 2.84980614e-02 8.39743281e+01] [ 6.13354427e-01 7.89500174e-01 2.20413561e-02 3.05230668e+01] [-3.60271141e-02 8.90979253e-05 9.99350809e-01 -5.91630896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.361052754 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:84.00, Y:30.54, Z:-5.92 [[ 7.90049514e-01 -6.12342290e-01 2.93033307e-02 8.40003854e+01] [ 6.11923172e-01 7.90592764e-01 2.26520158e-02 3.05437119e+01] [-3.70377884e-02 3.51730174e-05 9.99313865e-01 -5.91624407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39105275399999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:84.03, Y:30.56, Z:-5.92 [[ 7.92520620e-01 -6.09086965e-01 3.03995965e-02 8.40264356e+01] [ 6.08633982e-01 7.93103433e-01 2.34865909e-02 3.05631130e+01] [-3.84154007e-02 -1.11380114e-04 9.99261850e-01 -5.91632292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42105275399999 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:84.05, Y:30.58, Z:-5.92 [[ 7.93398178e-01 -6.07940034e-01 3.04671388e-02 8.40531458e+01] [ 6.07484629e-01 7.93982928e-01 2.35273198e-02 3.05826340e+01] [-3.84935877e-02 -1.58214214e-04 9.99258835e-01 -5.91797469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.45105275399999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:84.08, Y:30.60, Z:-5.92 [[ 7.93515674e-01 -6.07839048e-01 2.94035011e-02 8.40792765e+01] [ 6.07415288e-01 7.94060243e-01 2.26935766e-02 3.06006031e+01] [-3.71421933e-02 -1.47572630e-04 9.99309980e-01 -5.92023173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48105275399999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:84.11, Y:30.62, Z:-5.92 [[ 7.93218196e-01 -6.08290858e-01 2.80557685e-02 8.41060725e+01] [ 6.07905726e-01 7.93714193e-01 2.16427463e-02 3.06199580e+01] [-3.54333464e-02 -1.12157862e-04 9.99372036e-01 -5.92220040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51105275399999 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:84.13, Y:30.64, Z:-5.92 [[ 7.92169440e-01 -6.09756565e-01 2.57780814e-02 8.41326014e+01] [ 6.09432552e-01 7.92588752e-01 1.98754649e-02 3.06374741e+01] [-3.25506126e-02 -3.47339356e-05 9.99470088e-01 -5.92495930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54105275399999 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:84.16, Y:30.65, Z:-5.93 [[ 7.90711312e-01 -6.11696845e-01 2.45477406e-02 8.41597065e+01] [ 6.11404284e-01 7.91092262e-01 1.89164883e-02 3.06547828e+01] [-3.09906839e-02 5.11124670e-05 9.99519672e-01 -5.92829078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.571052754 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:84.19, Y:30.67, Z:-5.93 [[ 7.90372608e-01 -6.12144692e-01 2.42902828e-02 8.41864963e+01] [ 6.11858601e-01 7.90745769e-01 1.87131227e-02 3.06743430e+01] [-3.06625770e-02 7.18788803e-05 9.99529790e-01 -5.93031492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.601052754 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:84.21, Y:30.69, Z:-5.93 [[ 7.88192501e-01 -6.14943329e-01 2.44393940e-02 8.42125395e+01] [ 6.14655393e-01 7.88571282e-01 1.88170694e-02 3.06926640e+01] [-3.08436355e-02 1.90332384e-04 9.99524204e-01 -5.93131293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.631052754 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:84.24, Y:30.71, Z:-5.93 [[ 7.87066739e-01 -6.16376456e-01 2.46173207e-02 8.42390292e+01] [ 6.16085317e-01 7.87451585e-01 1.89442023e-02 3.07123960e+01] [-3.10617085e-02 2.56018328e-04 9.99517436e-01 -5.93262331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.661052754 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:84.27, Y:30.73, Z:-5.93 [[ 7.85827080e-01 -6.17963309e-01 2.44366528e-02 8.42651982e+01] [ 6.17677521e-01 7.86206871e-01 1.87945723e-02 3.07318160e+01] [-3.08266204e-02 3.24687228e-04 9.99524694e-01 -5.93396686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.691052754 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:84.29, Y:30.75, Z:-5.93 [[ 7.83485981e-01 -6.20919176e-01 2.46798156e-02 8.42910143e+01] [ 6.20629445e-01 7.83874461e-01 1.89715895e-02 3.07512965e+01] [-3.11257009e-02 4.53045827e-04 9.99515375e-01 -5.93496181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.721052754 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:84.32, Y:30.77, Z:-5.94 [[ 7.82429589e-01 -6.22227180e-01 2.52442983e-02 8.43174386e+01] [ 6.21925035e-01 7.82836549e-01 1.93955708e-02 3.07709310e+01] [-3.18306106e-02 5.24392645e-04 9.99493140e-01 -5.93568087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75105275399999 meters Centerline goodness : 0.997913 Centerline is valid? [True, True] Translation: X:84.34, Y:30.79, Z:-5.94 [[ 7.81797579e-01 -6.23018112e-01 2.53175492e-02 8.43430947e+01] [ 6.22714982e-01 7.82207205e-01 1.94406765e-02 3.07909522e+01] [-3.19154630e-02 5.66943382e-04 9.99490411e-01 -5.93685962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78105275399999 meters Centerline goodness : 0.998055 Centerline is valid? [True, True] Translation: X:84.37, Y:30.81, Z:-5.94 [[ 7.82009125e-01 -6.22764569e-01 2.50203904e-02 8.43686942e+01] [ 6.22468694e-01 7.82409088e-01 1.92027241e-02 3.08114524e+01] [-3.15349570e-02 5.57704265e-04 9.99502494e-01 -5.93766341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81105275399999 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:84.39, Y:30.83, Z:-5.94 [[ 7.83510169e-01 -6.20845638e-01 2.57392399e-02 8.43932619e+01] [ 6.20531873e-01 7.83932676e-01 1.97421926e-02 3.08325521e+01] [-3.24346853e-02 5.03810095e-04 9.99473730e-01 -5.93854614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84105275399999 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:84.42, Y:30.85, Z:-5.94 [[ 7.86278097e-01 -6.17356386e-01 2.52556277e-02 8.44179574e+01] [ 6.17052668e-01 7.86683523e-01 1.93659428e-02 3.08549378e+01] [-3.18238746e-02 3.57035849e-04 9.99493428e-01 -5.94028784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87105275399999 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:84.44, Y:30.87, Z:-5.94 [[ 7.87897465e-01 -6.15291946e-01 2.51675457e-02 8.44433087e+01] [ 6.14989639e-01 7.88299272e-01 1.92873661e-02 3.08747054e+01] [-3.17069190e-02 2.81313003e-04 9.99497170e-01 -5.94388709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90105275399999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:84.47, Y:30.89, Z:-5.95 [[ 7.87675220e-01 -6.15566733e-01 2.54036364e-02 8.44708093e+01] [ 6.15259195e-01 7.88084707e-01 1.94581068e-02 3.08936123e+01] [-3.19979806e-02 3.03152312e-04 9.99487888e-01 -5.94610942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93105275399999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:84.50, Y:30.91, Z:-5.95 [[ 7.87378409e-01 -6.15969490e-01 2.48360214e-02 8.44969443e+01] [ 6.15676063e-01 7.87769944e-01 1.90131868e-02 3.09148499e+01] [-3.12766141e-02 3.20371095e-04 9.99510716e-01 -5.94646787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.961052754 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:84.52, Y:30.94, Z:-5.95 [[ 7.85713664e-01 -6.18095612e-01 2.47356591e-02 8.45215970e+01] [ 6.17805935e-01 7.86102821e-01 1.89256848e-02 3.09372805e+01] [-3.11426541e-02 4.11667909e-04 9.99514865e-01 -5.94577286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.991052754 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:84.55, Y:30.96, Z:-5.95 [[ 7.85493531e-01 -6.18404253e-01 2.40019501e-02 8.45457715e+01] [ 6.18131960e-01 7.85860041e-01 1.83541517e-02 3.09589332e+01] [-3.02124590e-02 4.19305010e-04 9.99543412e-01 -5.94648960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.021052754 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:84.57, Y:30.98, Z:-5.95 [[ 7.85178645e-01 -6.18825931e-01 2.34299218e-02 8.45703051e+01] [ 6.18566917e-01 7.85528026e-01 1.79078127e-02 3.09816025e+01] [-2.94866791e-02 4.32142323e-04 9.99565080e-01 -5.94998250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.051052754 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:84.60, Y:31.00, Z:-5.95 [[ 7.84561807e-01 -6.19619547e-01 2.31168567e-02 8.45963742e+01] [ 6.19368027e-01 7.84902161e-01 1.76591230e-02 3.10017249e+01] [-2.90864086e-02 4.63168481e-04 9.99576794e-01 -5.95375502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.081052754 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:84.62, Y:31.02, Z:-5.96 [[ 7.79579465e-01 -6.25863639e-01 2.34640933e-02 8.46211155e+01] [ 6.25607631e-01 7.79932173e-01 1.79135839e-02 3.10220369e+01] [-2.95118621e-02 7.14253657e-04 9.99564175e-01 -5.95552577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.111052754 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:84.65, Y:31.04, Z:-5.96 [[ 7.76969117e-01 -6.29081208e-01 2.39963708e-02 8.46462375e+01] [ 6.28815279e-01 7.77339108e-01 1.83099965e-02 3.10445793e+01] [-3.01717922e-02 8.62982847e-04 9.99544355e-01 -5.95567996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:84.67, Y:31.07, Z:-5.95 [[ 7.70707499e-01 -6.36720094e-01 2.44432602e-02 8.46697964e+01] [ 6.36448306e-01 7.71094096e-01 1.86399955e-02 3.10671112e+01] [-3.07165133e-02 1.19088718e-03 9.99527427e-01 -5.95473113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17105275399999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:84.70, Y:31.09, Z:-5.96 [[ 7.68571381e-01 -6.39311004e-01 2.40722429e-02 8.46951351e+01] [ 6.39048948e-01 7.68947201e-01 1.83478823e-02 3.10881631e+01] [-3.02402869e-02 1.28168430e-03 9.99541836e-01 -5.95601863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20105275399999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:84.72, Y:31.11, Z:-5.96 [[ 7.64938805e-01 -6.43651033e-01 2.41241095e-02 8.47202221e+01] [ 6.43390314e-01 7.65317715e-01 1.83766191e-02 3.11087337e+01] [-3.02907382e-02 1.46422932e-03 9.99540058e-01 -5.95906346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.23105275399999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:84.75, Y:31.13, Z:-5.96 [[ 7.63864247e-01 -6.44889174e-01 2.50871687e-02 8.47466405e+01] [ 6.44608219e-01 7.64274461e-01 1.90995491e-02 3.11281871e+01] [-3.14905747e-02 1.58193246e-03 9.99502797e-01 -5.96093510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26105275399999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:84.77, Y:31.15, Z:-5.96 [[ 7.63545402e-01 -6.45209335e-01 2.65204437e-02 8.47719426e+01] [ 6.44895928e-01 7.64003954e-01 2.01792150e-02 3.11502657e+01] [-3.32815417e-02 1.69517933e-03 9.99444578e-01 -5.96125797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29105275399999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:84.80, Y:31.17, Z:-5.96 [[ 7.64021948e-01 -6.44609324e-01 2.73730209e-02 8.47979490e+01] [ 6.44275468e-01 7.64510183e-01 2.08159101e-02 3.11715497e+01] [-3.43450829e-02 1.73195368e-03 9.99408533e-01 -5.96091641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.321052754 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:84.82, Y:31.19, Z:-5.96 [[ 7.66443958e-01 -6.41711917e-01 2.77394141e-02 8.48242829e+01] [ 6.41367578e-01 7.66944033e-01 2.10826944e-02 3.11920458e+01] [-3.48035944e-02 1.63245711e-03 9.99392838e-01 -5.96282445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.351052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:84.85, Y:31.21, Z:-5.97 [[ 7.68672263e-01 -6.39046055e-01 2.76241103e-02 8.48510328e+01] [ 6.38703256e-01 7.69166982e-01 2.09834237e-02 3.12114018e+01] [-3.46569277e-02 1.51423344e-03 9.99398121e-01 -5.96568618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.381052754 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:84.88, Y:31.23, Z:-5.97 [[ 7.75138946e-01 -6.31180539e-01 2.77622203e-02 8.48778717e+01] [ 6.30829642e-01 7.75635058e-01 2.10765011e-02 3.12308840e+01] [-3.48364287e-02 1.17601467e-03 9.99392335e-01 -5.96753413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.90, Y:31.25, Z:-5.97 [[ 7.81257154e-01 -6.23548974e-01 2.87042764e-02 8.49038893e+01] [ 6.23169128e-01 7.81783803e-01 2.17789397e-02 3.12499872e+01] [-3.60207738e-02 8.72666438e-04 9.99350660e-01 -5.96814808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.441052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:84.93, Y:31.27, Z:-5.97 [[ 7.84019920e-01 -6.20076114e-01 2.86072947e-02 8.49305469e+01] [ 6.19696915e-01 7.84541328e-01 2.16942061e-02 3.12690677e+01] [-3.58956640e-02 7.19162580e-04 9.99355284e-01 -5.96889169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.96, Y:31.29, Z:-5.97 [[ 7.89611876e-01 -6.12996949e-01 2.73463861e-02 8.49567006e+01] [ 6.12646559e-01 7.90085179e-01 2.07268870e-02 3.12883798e+01] [-3.43114929e-02 3.87473196e-04 9.99411112e-01 -5.96883751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:84.98, Y:31.31, Z:-5.97 [[ 7.92330432e-01 -6.09506914e-01 2.67171724e-02 8.49833939e+01] [ 6.09170815e-01 7.92780717e-01 2.02399067e-02 3.13074387e+01] [-3.35172222e-02 2.38627680e-04 9.99438112e-01 -5.97071370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53105275399999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:85.01, Y:31.32, Z:-5.97 [[ 7.95397615e-01 -6.05548827e-01 2.55587932e-02 8.50122116e+01] [ 6.05239521e-01 7.95808151e-01 1.93522518e-02 3.13249043e+01] [-3.20586294e-02 7.64568071e-05 9.99485987e-01 -5.97252480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:85.04, Y:31.34, Z:-5.97 [[ 7.97321723e-01 -6.03024741e-01 2.52830275e-02 8.50389844e+01] [ 6.02721139e-01 7.97722484e-01 1.91328972e-02 3.13438562e+01] [-3.17064499e-02 -1.64594673e-05 9.99497224e-01 -5.97396366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.59105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:85.06, Y:31.37, Z:-5.97 [[ 8.01386141e-01 -5.97679032e-01 2.36649217e-02 8.50642446e+01] [ 5.97410984e-01 8.01735450e-01 1.78992841e-02 3.13654069e+01] [-2.96710334e-02 -2.06554091e-04 9.99559697e-01 -5.97298305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:85.09, Y:31.39, Z:-5.97 [[ 8.04474420e-01 -5.93475187e-01 2.46598892e-02 8.50886789e+01] [ 5.93182511e-01 8.04852202e-01 1.86397719e-02 3.13859713e+01] [-3.09098082e-02 -3.67404667e-04 9.99522110e-01 -5.97123071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:85.12, Y:31.41, Z:-5.97 [[ 8.04606611e-01 -5.93263784e-01 2.54221361e-02 8.51156112e+01] [ 5.92952810e-01 8.05008035e-01 1.92101326e-02 3.14059288e+01] [-3.18616998e-02 -3.82472625e-04 9.99492214e-01 -5.97181881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:85.14, Y:31.43, Z:-5.97 [[ 8.06089927e-01 -5.91255088e-01 2.52279869e-02 8.51419048e+01] [ 5.90948193e-01 8.06484482e-01 1.90529209e-02 3.14268832e+01] [-3.16111163e-02 -4.49934366e-04 9.99500143e-01 -5.97306237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.711052754 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:85.17, Y:31.45, Z:-5.97 [[ 8.05736634e-01 -5.91663624e-01 2.68818222e-02 8.51675380e+01] [ 5.91315800e-01 8.06184812e-01 2.02897369e-02 3.14461091e+01] [-3.36764160e-02 -4.52538150e-04 9.99432686e-01 -5.97490323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.741052754 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:85.19, Y:31.47, Z:-5.98 [[ 8.05135041e-01 -5.92423840e-01 2.81346490e-02 8.51933993e+01] [ 5.92043693e-01 8.05626345e-01 2.12239871e-02 3.14663390e+01] [-3.52396104e-02 -4.31234268e-04 9.99378799e-01 -5.97556332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.771052754 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:85.22, Y:31.49, Z:-5.97 [[ 8.02554909e-01 -5.95826741e-01 2.99351349e-02 8.52178483e+01] [ 5.95399214e-01 8.03112950e-01 2.25691061e-02 3.14879672e+01] [-3.74885714e-02 -2.89591091e-04 9.99297014e-01 -5.97405402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.801052754 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:85.24, Y:31.51, Z:-5.98 [[ 8.01646703e-01 -5.97000471e-01 3.08707103e-02 8.52444484e+01] [ 5.96547129e-01 8.02240851e-01 2.32623950e-02 3.15074827e+01] [-3.86534057e-02 -2.32388588e-04 9.99252651e-01 -5.97560368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.831052754 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:85.27, Y:31.53, Z:-5.98 [[ 7.97786635e-01 -6.02093830e-01 3.19296999e-02 8.52707054e+01] [ 6.01613448e-01 7.98425337e-01 2.40466111e-02 3.15253083e+01] [-3.99717976e-02 2.52719218e-05 9.99200808e-01 -5.97872404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.861052754 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:85.30, Y:31.54, Z:-5.98 [[ 7.94750639e-01 -6.06064391e-01 3.25173179e-02 8.52981601e+01] [ 6.05569991e-01 7.95415550e-01 2.44763109e-02 3.15419957e+01] [-4.06990008e-02 2.38948177e-04 9.99171424e-01 -5.98294719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89105275399999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:85.33, Y:31.56, Z:-5.98 [[ 7.93552420e-01 -6.07604893e-01 3.30280347e-02 8.53250990e+01] [ 6.07096680e-01 7.94239374e-01 2.48482885e-02 3.15610927e+01] [-4.13301072e-02 3.32790782e-04 9.99145491e-01 -5.98459463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92105275399999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:85.35, Y:31.58, Z:-5.98 [[ 7.92448898e-01 -6.09049089e-01 3.29233959e-02 8.53507897e+01] [ 6.08545867e-01 7.93132418e-01 2.47567134e-02 3.15831467e+01] [-4.11906664e-02 4.16966222e-04 9.99151217e-01 -5.98186689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.95105275399999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:85.38, Y:31.60, Z:-5.98 [[ 7.92397989e-01 -6.09122252e-01 3.27949467e-02 8.53761368e+01] [ 6.08623551e-01 7.93076224e-01 2.46470085e-02 3.16043601e+01] [-4.10219339e-02 4.29536937e-04 9.99158154e-01 -5.98169109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98105275399999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:85.40, Y:31.62, Z:-5.99 [[ 7.93452176e-01 -6.07734432e-01 3.30530594e-02 8.54021758e+01] [ 6.07227201e-01 7.94140241e-01 2.48274937e-02 3.16228611e+01] [-4.13372873e-02 3.71287856e-04 9.99145180e-01 -5.98511043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01105275399999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:85.43, Y:31.64, Z:-5.99 [[ 7.93442038e-01 -6.07733627e-01 3.33102092e-02 8.54291099e+01] [ 6.07218990e-01 7.94140851e-01 2.50081607e-02 3.16400494e+01] [-4.16512981e-02 3.84065589e-04 9.99132134e-01 -5.98976428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04105275399999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:85.46, Y:31.66, Z:-5.99 [[ 7.93508871e-01 -6.07646149e-01 3.33141089e-02 8.54559942e+01] [ 6.07131652e-01 7.94207787e-01 2.50029648e-02 3.16601036e+01] [-4.16512800e-02 3.85975627e-04 9.99132134e-01 -5.99111367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.071052754 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:85.48, Y:31.68, Z:-6.00 [[ 7.95376861e-01 -6.05225734e-01 3.28246647e-02 8.54847713e+01] [ 6.04724420e-01 7.96053857e-01 2.46299227e-02 3.16772998e+01] [-4.10368639e-02 2.59805691e-04 9.99157599e-01 -5.99555181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.101052754 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:85.51, Y:31.70, Z:-6.00 [[ 7.96531128e-01 -6.03730870e-01 3.23604407e-02 8.55116216e+01] [ 6.03242931e-01 7.97188184e-01 2.42686344e-02 3.16968686e+01] [-4.04490847e-02 1.90484360e-04 9.99181583e-01 -5.99728837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.131052754 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:85.54, Y:31.72, Z:-6.00 [[ 7.97469516e-01 -6.02517729e-01 3.18552572e-02 8.55377822e+01] [ 6.02044455e-01 7.98105487e-01 2.38768906e-02 3.17162028e+01] [-3.98101055e-02 1.37188556e-04 9.99207254e-01 -5.99663586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.161052754 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:85.56, Y:31.74, Z:-6.00 [[ 7.98791100e-01 -6.00773032e-01 3.16945142e-02 8.55644758e+01] [ 6.00303464e-01 7.99419640e-01 2.37484848e-02 3.17360043e+01] [-3.96046664e-02 5.62483363e-05 9.99215426e-01 -5.99698639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.191052754 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:85.59, Y:31.75, Z:-6.00 [[ 8.01668498e-01 -5.97000098e-01 3.03067945e-02 8.55918522e+01] [ 5.96568499e-01 8.02241154e-01 2.26970547e-02 3.17549036e+01] [-3.78635017e-02 -1.15434838e-04 9.99282914e-01 -5.99937993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.221052754 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:85.62, Y:31.77, Z:-6.00 [[ 8.03376918e-01 -5.94752796e-01 2.92342038e-02 8.56179541e+01] [ 5.94350143e-01 8.03908620e-01 2.18823707e-02 3.17733839e+01] [-3.65162296e-02 -2.04438341e-04 9.99333039e-01 -6.00156758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25105275399999 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:85.64, Y:31.79, Z:-6.01 [[ 8.05612124e-01 -5.91802734e-01 2.75432146e-02 8.56445589e+01] [ 5.91443932e-01 8.06082767e-01 2.06069975e-02 3.17911251e+01] [-3.43973881e-02 -3.10979870e-04 9.99408186e-01 -6.00578954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28105275399999 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:85.67, Y:31.81, Z:-6.01 [[ 8.07062444e-01 -5.89835232e-01 2.72875548e-02 8.56703169e+01] [ 5.89482277e-01 8.07523530e-01 2.04057062e-02 3.18102347e+01] [-3.40713470e-02 -3.83149123e-04 9.99419330e-01 -6.00689532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31105275399999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:85.70, Y:31.83, Z:-6.01 [[ 8.07579424e-01 -5.89132523e-01 2.71724811e-02 8.56973847e+01] [ 5.88782473e-01 8.08036328e-01 2.03099023e-02 3.18301719e+01] [-3.39215758e-02 -4.03178576e-04 9.99424416e-01 -6.00762486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34105275399999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:85.72, Y:31.85, Z:-6.01 [[ 8.07828328e-01 -5.88773558e-01 2.75515739e-02 8.57233423e+01] [ 5.88413851e-01 8.08297918e-01 2.05819030e-02 3.18497193e+01] [-3.43879601e-02 -4.14916516e-04 9.99408473e-01 -6.00672843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37105275399999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:85.75, Y:31.87, Z:-6.01 [[ 8.07462389e-01 -5.89270467e-01 2.76551446e-02 8.57494479e+01] [ 5.88908696e-01 8.07935744e-01 2.06489867e-02 3.18699655e+01] [-3.45114179e-02 -3.86925015e-04 9.99404229e-01 -6.00691331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40105275399999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:85.78, Y:31.89, Z:-6.01 [[ 8.07119179e-01 -5.89714177e-01 2.82102855e-02 8.57762324e+01] [ 5.89338402e-01 8.07611946e-01 2.10521265e-02 3.18900188e+01] [-3.51977010e-02 -3.66170418e-04 9.99380302e-01 -6.00737261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43105275399999 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:85.80, Y:31.91, Z:-6.01 [[ 8.06269690e-01 -5.90782569e-01 3.00855796e-02 8.58031641e+01] [ 5.90356375e-01 8.06830742e-01 2.24388881e-02 3.19079296e+01] [-3.75304744e-02 -3.30581635e-04 9.99295429e-01 -6.00869320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.461052754 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:85.83, Y:31.93, Z:-6.01 [[ 8.06015884e-01 -5.91057973e-01 3.14462728e-02 8.58292952e+01] [ 5.90593025e-01 8.06629016e-01 2.34416318e-02 3.19257433e+01] [-3.92208395e-02 -3.22378217e-04 9.99230515e-01 -6.00987404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.491052754 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:85.86, Y:31.95, Z:-6.01 [[ 8.05784625e-01 -5.91342869e-01 3.20117080e-02 8.58562938e+01] [ 5.90861579e-01 8.06420186e-01 2.38553359e-02 3.19451343e+01] [-3.99215703e-02 -3.07774553e-04 9.99202769e-01 -6.01072339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.521052754 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:85.88, Y:31.96, Z:-6.01 [[ 8.05100439e-01 -5.92228485e-01 3.28436448e-02 8.58832271e+01] [ 5.91723107e-01 8.05770038e-01 2.44624333e-02 3.19638881e+01] [-4.09517747e-02 -2.60372195e-04 9.99161090e-01 -6.01070307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.551052754 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:85.91, Y:31.98, Z:-6.01 [[ 8.04916481e-01 -5.92493310e-01 3.25751039e-02 8.59103962e+01] [ 5.91996882e-01 8.05575337e-01 2.42501185e-02 3.19836274e+01] [-4.06097332e-02 -2.34960074e-04 9.99175057e-01 -6.01180393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.581052754 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:85.94, Y:32.00, Z:-6.01 [[ 8.04298062e-01 -5.93452805e-01 3.03050415e-02 8.59372807e+01] [ 5.93024268e-01 8.04868772e-01 2.25494280e-02 3.20014211e+01] [-3.77736029e-02 -1.64836136e-04 9.99286309e-01 -6.01480158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61105275399999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:85.96, Y:32.02, Z:-6.02 [[ 8.03903414e-01 -5.94039710e-01 2.92595969e-02 8.59643020e+01] [ 5.93640991e-01 8.04435707e-01 2.17615919e-02 3.20201193e+01] [-3.64647142e-02 -1.24521912e-04 9.99334933e-01 -6.01695835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64105275399999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:85.99, Y:32.04, Z:-6.02 [[ 8.01756511e-01 -5.96992557e-01 2.80425520e-02 8.59911929e+01] [ 5.96628501e-01 8.02246774e-01 2.08457414e-02 3.20367873e+01] [-3.49417993e-02 1.77768601e-05 9.99389349e-01 -6.01985149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67105275399999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:86.02, Y:32.06, Z:-6.02 [[ 8.00889035e-01 -5.98212936e-01 2.67962104e-02 8.60182081e+01] [ 5.97881386e-01 8.01337181e-01 1.99140655e-02 3.20551422e+01] [-3.33856513e-02 7.19987565e-05 9.99442541e-01 -6.02211132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70105275399999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:86.05, Y:32.07, Z:-6.02 [[ 7.99213259e-01 -6.00516223e-01 2.52672123e-02 8.60452121e+01] [ 6.00222861e-01 7.99612555e-01 1.87691080e-02 3.20737670e+01] [-3.14751341e-02 1.65438437e-04 9.99504522e-01 -6.02451479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.73105275399999 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:86.07, Y:32.09, Z:-6.03 [[ 7.98920826e-01 -6.00932606e-01 2.46072400e-02 8.60715715e+01] [ 6.00654825e-01 7.99299674e-01 1.82705372e-02 3.20936552e+01] [-3.06479204e-02 1.83744764e-04 9.99530225e-01 -6.02537311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76105275399999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:86.10, Y:32.11, Z:-6.03 [[ 7.98803972e-01 -6.01065277e-01 2.51544627e-02 8.60978086e+01] [ 6.00775441e-01 7.99199907e-01 1.86648751e-02 3.21124582e+01] [-3.13222526e-02 2.02607030e-04 9.99509317e-01 -6.02732418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79105275399999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:86.12, Y:32.13, Z:-6.03 [[ 7.99507460e-01 -6.00100050e-01 2.58408893e-02 8.61245392e+01] [ 5.99793864e-01 7.99924934e-01 1.91682298e-02 3.21321598e+01] [-3.21736273e-02 1.74064093e-04 9.99482280e-01 -6.02794722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.821052754 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:86.15, Y:32.15, Z:-6.03 [[ 8.00437346e-01 -5.98829485e-01 2.65198481e-02 8.61503594e+01] [ 5.98506663e-01 8.00876538e-01 1.96607345e-02 3.21524013e+01] [-3.30125517e-02 1.35119644e-04 9.99454928e-01 -6.02855995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.851052754 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:86.18, Y:32.17, Z:-6.03 [[ 8.02642740e-01 -5.95811148e-01 2.78155947e-02 8.61760892e+01] [ 5.95454598e-01 8.03124570e-01 2.06093988e-02 3.21737315e+01] [-3.46186971e-02 2.09394212e-05 9.99400593e-01 -6.02881642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.881052754 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:86.20, Y:32.19, Z:-6.03 [[ 8.03719759e-01 -5.94344070e-01 2.81011771e-02 8.62016490e+01] [ 5.93979693e-01 8.04210871e-01 2.08086229e-02 3.21933460e+01] [-3.49667537e-02 -3.27728103e-05 9.99388476e-01 -6.03038744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.911052754 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:86.23, Y:32.21, Z:-6.03 [[ 8.05358975e-01 -5.92098476e-01 2.85712501e-02 8.62264331e+01] [ 5.91720635e-01 8.05865608e-01 2.11497237e-02 3.22135225e+01] [-3.55473070e-02 -1.26921516e-04 9.99367987e-01 -6.03164808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.941052754 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:86.25, Y:32.23, Z:-6.03 [[ 8.07035998e-01 -5.89776197e-01 2.92734706e-02 8.62515412e+01] [ 5.89378451e-01 8.07566707e-01 2.16576650e-02 3.22332836e+01] [-3.64134556e-02 -2.25362523e-04 9.99336785e-01 -6.03296347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.971052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:86.28, Y:32.25, Z:-6.03 [[ 8.07683226e-01 -5.88801353e-01 3.09963271e-02 8.62781059e+01] [ 5.88354965e-01 8.08277730e-01 2.29248039e-02 3.22537816e+01] [-3.85517965e-02 -2.79136593e-04 9.99256564e-01 -6.03392749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00105275399999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:86.30, Y:32.27, Z:-6.03 [[ 8.08330902e-01 -5.87861472e-01 3.19381148e-02 8.63046150e+01] [ 5.87387323e-01 8.08961547e-01 2.36082207e-02 3.22737760e+01] [-3.97150702e-02 -3.23210546e-04 9.99210993e-01 -6.03463465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03105275399999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:86.33, Y:32.29, Z:-6.04 [[ 8.10420889e-01 -5.84916728e-01 3.30212659e-02 8.63299101e+01] [ 5.84407980e-01 8.11093211e-01 2.43949798e-02 3.22937813e+01] [-4.10523564e-02 -4.72309924e-04 9.99156885e-01 -6.03615398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06105275399999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:86.35, Y:32.31, Z:-6.04 [[ 8.12052568e-01 -5.82675124e-01 3.25626392e-02 8.63545884e+01] [ 5.82179105e-01 8.12704975e-01 2.40439824e-02 3.23137187e+01] [-4.04736493e-02 -5.67689553e-04 9.99180445e-01 -6.03706166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.09105275399999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:86.38, Y:32.33, Z:-6.04 [[ 8.15896807e-01 -5.77228809e-01 3.34559758e-02 8.63799659e+01] [ 5.76701129e-01 8.16582009e-01 2.46906695e-02 3.23347707e+01] [-4.15717137e-02 -8.50939345e-04 9.99135160e-01 -6.03812352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:86.41, Y:32.35, Z:-6.04 [[ 8.18256756e-01 -5.73863149e-01 3.37189527e-02 8.64059009e+01] [ 5.73324849e-01 8.18950577e-01 2.48710581e-02 3.23547006e+01] [-4.18867395e-02 -1.01899790e-03 9.99121846e-01 -6.03986163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15105275399999 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:86.45, Y:32.38, Z:-6.04 [[ 8.19414548e-01 -5.72031065e-01 3.66095430e-02 8.64501384e+01] [ 5.71949818e-01 8.20174355e-01 1.36906523e-02 3.23785204e+01] [-3.78576868e-02 9.72050177e-03 9.99235862e-01 -6.03655591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:86.48, Y:32.39, Z:-6.04 [[ 8.18953524e-01 -5.73179026e-01 2.79451163e-02 8.64778892e+01] [ 5.72817297e-01 8.19429891e-01 2.03714928e-02 3.23947402e+01] [-3.45755760e-02 -6.75859830e-04 9.99401857e-01 -6.04316697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.211052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:86.51, Y:32.41, Z:-6.04 [[ 8.18147430e-01 -5.74970599e-01 6.60251419e-03 8.65115198e+01] [ 5.74465638e-01 8.17819962e-01 3.40549480e-02 3.24085639e+01] [-2.49802618e-02 -2.40690507e-02 9.99398153e-01 -6.04487603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.241052754 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:86.53, Y:32.43, Z:-6.03 [[ 8.16199930e-01 -5.77543704e-01 1.61537443e-02 8.65313751e+01] [ 5.77365672e-01 8.16355746e-01 1.45662946e-02 3.24340486e+01] [-2.15998737e-02 -2.56239117e-03 9.99763412e-01 -6.03342732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.271052754 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:86.52, Y:32.46, Z:-6.04 [[ 8.10991231e-01 -5.83433439e-01 4.35734490e-02 8.65238436e+01] [ 5.84031938e-01 8.11729715e-01 -1.25124178e-03 3.24565636e+01] [-3.46398470e-02 2.64630319e-02 9.99049443e-01 -6.03516961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.301052754 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:86.57, Y:32.47, Z:-6.05 [[ 8.09231366e-01 -5.86751881e-01 2.94419161e-02 8.65744734e+01] [ 5.86709789e-01 8.09723136e-01 1.09574613e-02 3.24740046e+01] [-3.02691117e-02 8.40673904e-03 9.99506432e-01 -6.04574020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.331052754 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:86.60, Y:32.49, Z:-6.05 [[ 8.07374603e-01 -5.89472125e-01 2.58623972e-02 8.66022356e+01] [ 5.89167503e-01 8.07788716e-01 1.89484462e-02 3.24920662e+01] [-3.20609335e-02 -6.12102601e-05 9.99485914e-01 -6.04992123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36105275399999 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:86.62, Y:32.51, Z:-6.05 [[ 8.03978391e-01 -5.93844038e-01 3.11128032e-02 8.66238301e+01] [ 5.93478998e-01 8.04578436e-01 2.08858671e-02 3.25146091e+01] [-3.74356382e-02 1.67300943e-03 9.99297640e-01 -6.04744829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:86.65, Y:32.53, Z:-6.05 [[ 8.01443170e-01 -5.97176929e-01 3.26888401e-02 8.66485575e+01] [ 5.96765723e-01 8.02107744e-01 2.22224660e-02 3.25346662e+01] [-3.94907158e-02 1.69753573e-03 9.99218496e-01 -6.04837082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42105275399999 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:86.68, Y:32.55, Z:-6.05 [[ 7.97642076e-01 -6.02582466e-01 2.57194341e-02 8.66772582e+01] [ 6.01992700e-01 7.98031141e-01 2.74059670e-02 3.25532136e+01] [-3.70392645e-02 -6.37724090e-03 9.99293462e-01 -6.04915596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.45105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:86.70, Y:32.57, Z:-6.05 [[ 7.93808427e-01 -6.07132850e-01 3.54666610e-02 8.66975012e+01] [ 6.06798983e-01 7.94584319e-01 2.07545974e-02 3.25744650e+01] [-4.07820506e-02 5.04595958e-03 9.99155325e-01 -6.05443559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48105275399999 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:86.72, Y:32.60, Z:-6.05 [[ 7.92241645e-01 -6.09024981e-01 3.79703627e-02 8.67226229e+01] [ 6.08766626e-01 7.93112955e-01 1.93658645e-02 3.25955691e+01] [-4.19090818e-02 7.77264521e-03 9.99091194e-01 -6.05130767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:86.75, Y:32.61, Z:-6.06 [[ 7.88866540e-01 -6.13768155e-01 3.12767200e-02 8.67482429e+01] [ 6.13114176e-01 7.89479331e-01 2.85200454e-02 3.26143565e+01] [-4.21970196e-02 -3.32230911e-03 9.99103785e-01 -6.05829879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:86.77, Y:32.64, Z:-6.05 [[ 7.86856200e-01 -6.15921421e-01 3.87055978e-02 8.67708127e+01] [ 6.15680838e-01 7.87759926e-01 1.92718390e-02 3.26357314e+01] [-4.23606573e-02 8.66612885e-03 9.99064799e-01 -6.05172405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.571052754 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:86.79, Y:32.65, Z:-6.06 [[ 7.86543962e-01 -6.16560952e-01 3.46581576e-02 8.67946841e+01] [ 6.16165687e-01 7.87298271e-01 2.23892591e-02 3.26534941e+01] [-4.10906505e-02 3.74503087e-03 9.99148404e-01 -6.05782563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.601052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:86.82, Y:32.67, Z:-6.06 [[ 7.86428978e-01 -6.16873312e-01 3.15718285e-02 8.68207122e+01] [ 6.16525973e-01 7.87056684e-01 2.09165106e-02 3.26717310e+01] [-3.77516558e-02 3.01550226e-03 9.99282602e-01 -6.06132405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.631052754 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:86.83, Y:32.68, Z:-6.07 [[ 7.87715213e-01 -6.15282754e-01 3.05266368e-02 8.68267866e+01] [ 6.14586692e-01 7.88293279e-01 2.96125675e-02 3.26842125e+01] [-4.22840447e-02 -4.56500523e-03 9.99095201e-01 -6.06857514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.661052754 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:86.87, Y:32.71, Z:-6.06 [[ 7.88814905e-01 -6.13874230e-01 3.04873053e-02 8.68731559e+01] [ 6.13532817e-01 7.89400065e-01 2.06160113e-02 3.27110804e+01] [-3.67223189e-02 2.44274527e-03 9.99322523e-01 -6.06209283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.691052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:86.89, Y:32.73, Z:-6.06 [[ 7.90610359e-01 -6.11513137e-01 3.14156637e-02 8.68948132e+01] [ 6.11229876e-01 7.91223498e-01 1.90634454e-02 3.27307669e+01] [-3.65143586e-02 4.13043480e-03 9.99324592e-01 -6.06211990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.721052754 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:86.90, Y:32.74, Z:-6.07 [[ 7.96284316e-01 -6.04097187e-01 3.15891764e-02 8.68994830e+01] [ 6.03516713e-01 7.96907930e-01 2.65580237e-02 3.27437924e+01] [-4.12172926e-02 -2.08314178e-03 9.99148035e-01 -6.06780959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75105275399999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:86.94, Y:32.77, Z:-6.06 [[ 7.96161099e-01 -6.04206767e-01 3.25835493e-02 8.69438672e+01] [ 6.04016939e-01 7.96800689e-01 1.64984500e-02 3.27702602e+01] [-3.59310697e-02 6.54559168e-03 9.99332834e-01 -6.06341730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78105275399999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:86.97, Y:32.79, Z:-6.07 [[ 7.98416177e-01 -6.01488207e-01 2.72680250e-02 8.69715918e+01] [ 6.01132049e-01 7.98881668e-01 2.06963888e-02 3.27876255e+01] [-3.42325591e-02 -1.32647932e-04 9.99413885e-01 -6.06940420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81105275399999 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:87.00, Y:32.79, Z:-6.08 [[ 8.03114094e-01 -5.95811360e-01 4.07136575e-03 8.69953636e+01] [ 5.95040436e-01 8.02388098e-01 4.58281557e-02 3.27934111e+01] [-3.05717512e-02 -3.43826105e-02 9.98941041e-01 -6.07819522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84105275399999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:86.99, Y:32.83, Z:-6.06 [[ 8.02493756e-01 -5.94378141e-01 5.21382499e-02 8.69939029e+01] [ 5.95530603e-01 8.03285359e-01 -8.71398813e-03 3.28299914e+01] [-3.67024887e-02 3.80428444e-02 9.98601857e-01 -6.05521217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87105275399999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:87.04, Y:32.84, Z:-6.08 [[ 8.05391749e-01 -5.92482901e-01 1.75539822e-02 8.70435918e+01] [ 5.91850982e-01 8.05451147e-01 3.09978196e-02 3.28368132e+01] [-3.25045532e-02 -1.45760465e-02 9.99365295e-01 -6.07829978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90105275399999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:87.07, Y:32.86, Z:-6.07 [[ 8.08162057e-01 -5.88274810e-01 2.84048926e-02 8.70664114e+01] [ 5.87935391e-01 8.08660899e-01 1.99881528e-02 3.28616254e+01] [-3.47284528e-02 5.46574946e-04 9.99396636e-01 -6.06989781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93105275399999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:87.09, Y:32.88, Z:-6.07 [[ 8.07911164e-01 -5.88611651e-01 2.85635389e-02 8.70920766e+01] [ 5.88267106e-01 8.08415762e-01 2.01436639e-02 3.28812996e+01] [-3.49480103e-02 5.28699437e-04 9.99388992e-01 -6.07140607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.961052754 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:87.12, Y:32.91, Z:-6.07 [[ 8.02611040e-01 -5.95178244e-01 3.97287770e-02 8.71189830e+01] [ 5.95496786e-01 8.03344767e-01 4.55671632e-03 3.29099627e+01] [-3.46279635e-02 2.00010882e-02 9.99200110e-01 -6.06699099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.991052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:87.13, Y:32.92, Z:-6.08 [[ 8.09685701e-01 -5.86124518e-01 2.94468096e-02 8.71282594e+01] [ 5.85379257e-01 8.10186900e-01 3.04682237e-02 3.29161761e+01] [-4.17155923e-02 -7.43213355e-03 9.99101883e-01 -6.08339965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.021052754 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:87.15, Y:32.94, Z:-6.08 [[ 8.11772951e-01 -5.82956103e-01 3.44508051e-02 8.71531417e+01] [ 5.82375495e-01 8.12502946e-01 2.60335362e-02 3.29377586e+01] [-4.31677894e-02 -1.07001584e-03 9.99067264e-01 -6.08080026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.051052754 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:87.19, Y:32.96, Z:-6.08 [[ 8.17861603e-01 -5.73611970e-01 4.55159894e-02 8.71917785e+01] [ 5.73428944e-01 8.19051295e-01 1.82817472e-02 3.29635332e+01] [-4.77665590e-02 1.11482467e-02 9.98796312e-01 -6.07647566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.081052754 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:87.20, Y:32.97, Z:-6.09 [[ 8.14549573e-01 -5.79306510e-01 3.02152328e-02 8.72045780e+01] [ 5.78259257e-01 8.15010495e-01 3.70691935e-02 3.29734158e+01] [-4.61001569e-02 -1.27224576e-02 9.98855803e-01 -6.08687726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11105275399999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:87.23, Y:33.00, Z:-6.08 [[ 8.16054026e-01 -5.76695957e-01 3.84395683e-02 8.72280724e+01] [ 5.75965973e-01 8.16957355e-01 2.90495654e-02 3.29953220e+01] [-4.81562550e-02 -1.56613143e-03 9.98838587e-01 -6.08146466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14105275399999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:87.27, Y:33.02, Z:-6.08 [[ 8.19612099e-01 -5.70412551e-01 5.35306400e-02 8.72681782e+01] [ 5.70458387e-01 8.21172163e-01 1.59219549e-02 3.30234428e+01] [-5.30399543e-02 1.74871757e-02 9.98439263e-01 -6.07839969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17105275399999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:87.30, Y:33.04, Z:-6.09 [[ 8.17963394e-01 -5.72295107e-01 5.84311274e-02 8.72958854e+01] [ 5.72307247e-01 8.19837584e-01 1.81865476e-02 3.30423623e+01] [-5.83121066e-02 1.85646275e-02 9.98125770e-01 -6.08680696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20105275399999 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:87.31, Y:33.04, Z:-6.11 [[ 8.11655199e-01 -5.83908068e-01 1.63464621e-02 8.73099007e+01] [ 5.82112811e-01 8.10853611e-01 6.05070040e-02 3.30405426e+01] [-4.85851156e-02 -3.95953393e-02 9.98033915e-01 -6.10628107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.23105275399999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:87.33, Y:33.07, Z:-6.09 [[ 8.08883251e-01 -5.86658877e-01 3.92332522e-02 8.73288776e+01] [ 5.85906951e-01 8.09833482e-01 2.97115627e-02 3.30718329e+01] [-4.92029532e-02 -1.04615023e-03 9.98788253e-01 -6.08656661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26105275399999 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:87.37, Y:33.11, Z:-6.08 [[ 8.07537947e-01 -5.84433252e-01 7.94999231e-02 8.73665440e+01] [ 5.86730137e-01 8.09751785e-01 -7.05637967e-03 3.31088708e+01] [-6.02512217e-02 5.23432951e-02 9.96809896e-01 -6.07833718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29105275399999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:87.39, Y:33.10, Z:-6.12 [[ 8.00549046e-01 -5.99237060e-01 6.01418805e-03 8.73902031e+01] [ 5.97533743e-01 7.98955898e-01 6.79919064e-02 3.30951594e+01] [-4.55483412e-02 -5.08371755e-02 9.97667745e-01 -6.11774657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.321052754 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:87.41, Y:33.13, Z:-6.09 [[ 7.94178158e-01 -6.06672913e-01 3.50575268e-02 8.74058485e+01] [ 6.06088220e-01 7.94951550e-01 2.66289849e-02 3.31295558e+01] [-4.40241191e-02 9.97958323e-05 9.99030463e-01 -6.09281256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.351052754 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:87.43, Y:33.15, Z:-6.09 [[ 7.91037280e-01 -6.10823173e-01 3.39863671e-02 8.74315186e+01] [ 6.10277860e-01 7.91766976e-01 2.58067603e-02 3.31485019e+01] [-4.26726503e-02 3.27017954e-04 9.99089054e-01 -6.09493875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.381052754 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:87.46, Y:33.17, Z:-6.10 [[ 7.85787873e-01 -6.17618492e-01 3.29365514e-02 8.74576282e+01] [ 6.17112639e-01 7.86477550e-01 2.50010991e-02 3.31680365e+01] [-4.13449994e-02 6.80001617e-04 9.99144699e-01 -6.09722847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.411052754 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:87.48, Y:33.19, Z:-6.10 [[ 7.84311352e-01 -6.19487595e-01 3.30276095e-02 8.74840008e+01] [ 6.18981161e-01 7.85006047e-01 2.50565217e-02 3.31883485e+01] [-4.14490776e-02 7.91353639e-04 9.99140304e-01 -6.09780536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.441052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:87.51, Y:33.21, Z:-6.10 [[ 7.86356752e-01 -6.16915168e-01 3.25382008e-02 8.75107930e+01] [ 6.16421990e-01 7.87029380e-01 2.46715665e-02 3.32086192e+01] [-4.08287836e-02 6.56609572e-04 9.99165942e-01 -6.09871069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.471052754 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:87.54, Y:33.23, Z:-6.10 [[ 7.86809506e-01 -6.16264142e-01 3.39014651e-02 8.75365790e+01] [ 6.15728770e-01 7.87539251e-01 2.56906614e-02 3.32282124e+01] [-4.25309678e-02 6.60450808e-04 9.99094931e-01 -6.09917211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50105275399999 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:87.56, Y:33.25, Z:-6.10 [[ 7.89206881e-01 -6.13108741e-01 3.53577527e-02 8.75628563e+01] [ 6.12523652e-01 7.89998356e-01 2.67838214e-02 3.32487200e+01] [-4.43539615e-02 5.19483620e-04 9.99015744e-01 -6.09948734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53105275399999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:87.59, Y:33.27, Z:-6.10 [[ 7.90260168e-01 -6.11744824e-01 3.54561157e-02 8.75893715e+01] [ 6.11155747e-01 7.91055031e-01 2.68438152e-02 3.32681642e+01] [-4.44693037e-02 4.55610954e-04 9.99010647e-01 -6.10112170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:87.62, Y:33.29, Z:-6.10 [[ 7.92145542e-01 -6.09355923e-01 3.45079524e-02 8.76165829e+01] [ 6.08796283e-01 7.92896749e-01 2.61119058e-02 3.32877092e+01] [-4.32726877e-02 3.23883401e-04 9.99063246e-01 -6.10277827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.59105275399999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:87.64, Y:33.31, Z:-6.11 [[ 7.94384304e-01 -6.06431740e-01 3.45560771e-02 8.76437002e+01] [ 6.05868382e-01 7.95135532e-01 2.61340729e-02 3.33056238e+01] [-4.33252960e-02 1.75937255e-04 9.99061003e-01 -6.10552931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:87.67, Y:33.33, Z:-6.11 [[ 7.96188155e-01 -6.04041564e-01 3.49028809e-02 8.76704749e+01] [ 6.03465138e-01 7.96952813e-01 2.63826035e-02 3.33250174e+01] [-4.37521382e-02 5.71554356e-05 9.99042415e-01 -6.10629007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65105275399999 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:87.70, Y:33.34, Z:-6.11 [[ 7.99026400e-01 -6.00227071e-01 3.58367951e-02 8.76962226e+01] [ 5.99616186e-01 7.99829633e-01 2.70737405e-02 3.33438022e+01] [-4.49137227e-02 -1.44311035e-04 9.98990859e-01 -6.10605022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68105275399999 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:87.72, Y:33.36, Z:-6.11 [[ 8.01321479e-01 -5.97199518e-01 3.51656492e-02 8.77220439e+01] [ 5.96608971e-01 8.02092668e-01 2.65534905e-02 3.33639294e+01] [-4.40638411e-02 -2.97740438e-04 9.99028673e-01 -6.10721811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.711052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:87.75, Y:33.38, Z:-6.11 [[ 8.04169281e-01 -5.93483932e-01 3.29937835e-02 8.77490642e+01] [ 5.92961475e-01 8.04845706e-01 2.49013811e-02 3.33822060e+01] [-4.13334745e-02 -4.60883190e-04 9.99145300e-01 -6.10732946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.741052754 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:87.78, Y:33.40, Z:-6.11 [[ 8.06143922e-01 -5.90918951e-01 3.07696396e-02 8.77764364e+01] [ 5.90462988e-01 8.06730745e-01 2.32156122e-02 3.33998382e+01] [-3.85413595e-02 -5.46791359e-04 9.99256856e-01 -6.10861251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.771052754 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:87.80, Y:33.42, Z:-6.11 [[ 8.07147847e-01 -5.89604520e-01 2.96456178e-02 8.78040699e+01] [ 5.89180641e-01 8.07691879e-01 2.23606992e-02 3.34185737e+01] [-3.71284941e-02 -5.81766136e-04 9.99310330e-01 -6.11022227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.801052754 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:87.83, Y:33.44, Z:-6.11 [[ 8.08811362e-01 -5.87368655e-01 2.86748026e-02 8.78320607e+01] [ 5.86971073e-01 8.09319242e-01 2.16176673e-02 3.34372108e+01] [-3.59046097e-02 -6.53335252e-04 9.99355008e-01 -6.11173721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.831052754 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:87.86, Y:33.46, Z:-6.11 [[ 8.12712637e-01 -5.82020971e-01 2.73817346e-02 8.78590299e+01] [ 5.81655751e-01 8.13173340e-01 2.06326544e-02 3.34553957e+01] [-3.42747341e-02 -8.41675569e-04 9.99412094e-01 -6.11477577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:87.89, Y:33.47, Z:-6.12 [[ 8.14795151e-01 -5.79108430e-01 2.72449803e-02 8.78856631e+01] [ 5.78745548e-01 8.15249975e-01 2.05199841e-02 3.34748836e+01] [-3.40947653e-02 -9.51672505e-04 9.99418151e-01 -6.11533648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89105275399999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:87.91, Y:33.50, Z:-6.11 [[ 8.17406390e-01 -5.75377750e-01 2.80577603e-02 8.79103981e+01] [ 5.74991100e-01 8.17887013e-01 2.11203708e-02 3.34952123e+01] [-3.51002692e-02 -1.13096359e-03 9.99383156e-01 -6.11153527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:87.94, Y:33.52, Z:-6.11 [[ 8.17931856e-01 -5.74631993e-01 2.80277027e-02 8.79356986e+01] [ 5.74246118e-01 8.18411109e-01 2.10867946e-02 3.35157447e+01] [-3.50553301e-02 -1.15276156e-03 9.99384708e-01 -6.10994497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.95105275399999 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:87.96, Y:33.53, Z:-6.11 [[ 8.18394485e-01 -5.73929745e-01 2.88983349e-02 8.79615469e+01] [ 5.73519324e-01 8.18903641e-01 2.17350279e-02 3.35344087e+01] [-3.61393307e-02 -1.21407343e-03 9.99346024e-01 -6.11006557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98105275399999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:87.99, Y:33.55, Z:-6.11 [[ 8.17771683e-01 -5.74707182e-01 3.10020995e-02 8.79885296e+01] [ 5.74235813e-01 8.18358159e-01 2.33056683e-02 3.35536763e+01] [-3.87647560e-02 -1.25619981e-03 9.99247575e-01 -6.11222086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01105275399999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:88.02, Y:33.57, Z:-6.11 [[ 8.16549209e-01 -5.76380051e-01 3.21469402e-02 8.80158030e+01] [ 5.75875036e-01 8.17180870e-01 2.41530312e-02 3.35728237e+01] [-4.01911899e-02 -1.20951819e-03 9.99191276e-01 -6.11397419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04105275399999 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:88.04, Y:33.59, Z:-6.12 [[ 8.13337866e-01 -5.80875339e-01 3.26397960e-02 8.80428417e+01] [ 5.80358850e-01 8.13991926e-01 2.45102039e-02 3.35909304e+01] [-4.08059034e-02 -9.92282421e-04 9.99166600e-01 -6.11616890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.071052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:88.07, Y:33.61, Z:-6.12 [[ 8.11507142e-01 -5.83433278e-01 3.25847954e-02 8.80685121e+01] [ 5.82921074e-01 8.12160626e-01 2.44568682e-02 3.36094973e+01] [-4.07330386e-02 -8.52559340e-04 9.99169702e-01 -6.11766447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.101052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:88.10, Y:33.63, Z:-6.12 [[ 8.09329963e-01 -5.86460311e-01 3.23931412e-02 8.80950906e+01] [ 5.85957005e-01 8.09977674e-01 2.43013617e-02 3.36277765e+01] [-4.04895054e-02 -6.86832170e-04 9.99179728e-01 -6.11817182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.131052754 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:88.12, Y:33.65, Z:-6.12 [[ 8.09229880e-01 -5.86623350e-01 3.19381637e-02 8.81213606e+01] [ 5.86134668e-01 8.09859623e-01 2.39487379e-02 3.36479724e+01] [-3.99143181e-02 -6.59969356e-04 9.99202888e-01 -6.11848642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.161052754 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:88.15, Y:33.67, Z:-6.12 [[ 8.07866177e-01 -5.88524600e-01 3.14807143e-02 8.81482458e+01] [ 5.88051724e-01 8.08479124e-01 2.35939822e-02 3.36674827e+01] [-3.93371392e-02 -5.48491889e-04 9.99225845e-01 -6.11978093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.191052754 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:88.17, Y:33.69, Z:-6.12 [[ 8.06955546e-01 -5.89800708e-01 3.09495083e-02 8.81742402e+01] [ 5.89345051e-01 8.07548701e-01 2.31841718e-02 3.36858595e+01] [-3.86672762e-02 -4.68656416e-04 9.99252031e-01 -6.12165722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.221052754 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:88.20, Y:33.70, Z:-6.12 [[ 8.05419321e-01 -5.91967608e-01 2.95646337e-02 8.82022292e+01] [ 5.91553656e-01 8.05961683e-01 2.21367707e-02 3.37037124e+01] [-3.69322131e-02 -3.40315621e-04 9.99317715e-01 -6.12476623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25105275399999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:88.23, Y:33.72, Z:-6.13 [[ 8.02354509e-01 -5.96222565e-01 2.73110822e-02 8.82296097e+01] [ 5.95872145e-01 8.02819181e-01 2.04389309e-02 3.37208779e+01] [-3.41120125e-02 -1.25355268e-04 9.99418008e-01 -6.12844766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28105275399999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:88.26, Y:33.74, Z:-6.13 [[ 8.01087347e-01 -5.97984381e-01 2.59565522e-02 8.82573702e+01] [ 5.97669093e-01 8.01507753e-01 1.94159029e-02 3.37395195e+01] [-3.24147845e-02 -4.04051145e-05 9.99474502e-01 -6.13134320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31105275399999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:88.29, Y:33.76, Z:-6.14 [[ 7.98855821e-01 -6.01113185e-01 2.21881782e-02 8.82858882e+01] [ 6.00884220e-01 7.99163896e-01 1.65898200e-02 3.37570798e+01] [-2.77043505e-02 7.96518463e-05 9.99616158e-01 -6.13632349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34105275399999 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:88.31, Y:33.78, Z:-6.14 [[ 7.98274426e-01 -6.01933757e-01 2.08252896e-02 8.83117614e+01] [ 6.01732550e-01 7.98546016e-01 1.55627285e-02 3.37760473e+01] [-2.59976837e-02 1.07926434e-04 9.99661997e-01 -6.13891308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37105275399999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:88.34, Y:33.80, Z:-6.14 [[ 7.96367781e-01 -6.04488130e-01 1.98105389e-02 8.83369554e+01] [ 6.04307019e-01 7.96614126e-01 1.47973270e-02 3.37968615e+01] [-2.47261637e-02 1.87533279e-04 9.99694244e-01 -6.13798629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40105275399999 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:88.36, Y:33.82, Z:-6.14 [[ 7.95733101e-01 -6.05322514e-01 1.98364801e-02 8.83626213e+01] [ 6.05141366e-01 7.95980280e-01 1.48094773e-02 3.38173184e+01] [-2.47539570e-02 2.19483338e-04 9.99693550e-01 -6.13826743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43105275399999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:88.39, Y:33.84, Z:-6.14 [[ 7.94371361e-01 -6.07059429e-01 2.12835599e-02 8.83872725e+01] [ 6.06851765e-01 7.94656378e-01 1.58800884e-02 3.38371855e+01] [-2.65532740e-02 3.01278465e-04 9.99647354e-01 -6.13919277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.461052754 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:88.41, Y:33.86, Z:-6.14 [[ 7.93750423e-01 -6.07844206e-01 2.20383008e-02 8.84139869e+01] [ 6.07622086e-01 7.94056233e-01 1.64347174e-02 3.38573277e+01] [-2.74893979e-02 3.45894426e-04 9.99622035e-01 -6.14148437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.491052754 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:88.44, Y:33.88, Z:-6.14 [[ 7.91415348e-01 -6.10839037e-01 2.31822870e-02 8.84407187e+01] [ 6.10594817e-01 7.91754659e-01 1.72780170e-02 3.38767169e+01] [-2.89087710e-02 4.80896499e-04 9.99581938e-01 -6.14403308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.521052754 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:88.47, Y:33.90, Z:-6.14 [[ 7.90289246e-01 -6.12301332e-01 2.30214514e-02 8.84669428e+01] [ 6.12061359e-01 7.90624304e-01 1.71494262e-02 3.38971679e+01] [-2.87019355e-02 5.37533713e-04 9.99587870e-01 -6.14486577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.551052754 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:88.49, Y:33.92, Z:-6.15 [[ 7.90212008e-01 -6.12435778e-01 2.20771363e-02 8.84916595e+01] [ 6.12215386e-01 7.90520170e-01 1.64372075e-02 3.39187918e+01] [-2.75191555e-02 5.27083785e-04 9.99621137e-01 -6.14542165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.581052754 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:88.52, Y:33.94, Z:-6.15 [[ 7.90776403e-01 -6.11668569e-01 2.31136874e-02 8.85169485e+01] [ 6.11426966e-01 7.91113948e-01 1.71984363e-02 3.39381464e+01] [-2.88053034e-02 5.32214106e-04 9.99584899e-01 -6.14669052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61105275399999 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:88.54, Y:33.96, Z:-6.15 [[ 7.93842511e-01 -6.07640283e-01 2.42353762e-02 8.85418235e+01] [ 6.07373082e-01 7.94212261e-01 1.80228419e-02 3.39587667e+01] [-3.01994377e-02 4.12617029e-04 9.99543808e-01 -6.14885289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64105275399999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:88.57, Y:33.98, Z:-6.15 [[ 7.96547228e-01 -6.04056750e-01 2.50590654e-02 8.85678460e+01] [ 6.03769580e-01 7.96941251e-01 1.86262537e-02 3.39788006e+01] [-3.12219172e-02 2.93210649e-04 9.99512434e-01 -6.15195690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67105275399999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:88.59, Y:34.00, Z:-6.15 [[ 7.97801272e-01 -6.02397447e-01 2.51086813e-02 8.85932500e+01] [ 6.02108648e-01 7.98196254e-01 1.86525259e-02 3.39979904e+01] [-3.12778893e-02 2.37145219e-04 9.99510699e-01 -6.15413550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70105275399999 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:88.62, Y:34.02, Z:-6.16 [[ 7.99961659e-01 -5.99541735e-01 2.47194638e-02 8.86184989e+01] [ 5.99260744e-01 8.00343483e-01 1.83540165e-02 3.40179989e+01] [-3.07880607e-02 1.30894775e-04 9.99525927e-01 -6.15518474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.73105275399999 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:88.64, Y:34.04, Z:-6.16 [[ 8.01627843e-01 -5.97324186e-01 2.44257685e-02 8.86447894e+01] [ 5.97049077e-01 8.01999884e-01 1.81269455e-02 3.40379377e+01] [-3.04171264e-02 5.23183252e-05 9.99537291e-01 -6.15644222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76105275399999 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:88.67, Y:34.06, Z:-6.16 [[ 8.03805248e-01 -5.94396311e-01 2.42929871e-02 8.86711576e+01] [ 5.94123143e-01 8.04172259e-01 1.80185610e-02 3.40577476e+01] [-3.02459125e-02 -5.03880274e-05 9.99542486e-01 -6.15843736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79105275399999 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:88.70, Y:34.08, Z:-6.16 [[ 8.07788356e-01 -5.88968411e-01 2.43758725e-02 8.86966876e+01] [ 5.88691203e-01 8.08156018e-01 1.80697770e-02 3.40767437e+01] [-3.03420359e-02 -2.46693725e-04 9.99539544e-01 -6.15997115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.821052754 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:88.72, Y:34.10, Z:-6.16 [[ 8.09969906e-01 -5.85957897e-01 2.45376221e-02 8.87231655e+01] [ 5.85675894e-01 8.10341420e-01 1.81804740e-02 3.40970877e+01] [-3.05368438e-02 -3.54543023e-04 9.99533579e-01 -6.16107707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.851052754 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:88.75, Y:34.12, Z:-6.16 [[ 8.10040027e-01 -5.85860717e-01 2.45433266e-02 8.87501751e+01] [ 5.85578903e-01 8.10411685e-01 1.81727693e-02 3.41169840e+01] [-3.05369103e-02 -3.48616318e-04 9.99533579e-01 -6.16237062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.881052754 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:88.78, Y:34.14, Z:-6.16 [[ 8.14088426e-01 -5.80188989e-01 2.53134707e-02 8.87756730e+01] [ 5.79886568e-01 8.14481679e-01 1.87393433e-02 3.41361438e+01] [-3.14897187e-02 -5.76540828e-04 9.99503910e-01 -6.16272421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.911052754 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:88.80, Y:34.16, Z:-6.16 [[ 8.17403631e-01 -5.75448185e-01 2.66587762e-02 8.88020807e+01] [ 5.75110591e-01 8.17837857e-01 1.97242813e-02 3.41558358e+01] [-3.31528582e-02 -7.90954645e-04 9.99449980e-01 -6.16336832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.941052754 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:88.83, Y:34.18, Z:-6.16 [[ 8.19841674e-01 -5.71959417e-01 2.68710580e-02 8.88290954e+01] [ 5.71614931e-01 8.20281390e-01 1.98698437e-02 3.41757496e+01] [-3.34065730e-02 -9.30228009e-04 9.99441412e-01 -6.16482257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.971052754 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:88.86, Y:34.20, Z:-6.17 [[ 8.23845320e-01 -5.66107865e-01 2.82979666e-02 8.88561371e+01] [ 5.65722791e-01 8.24330272e-01 2.09123413e-02 3.41952981e+01] [-3.51655114e-02 -1.21972982e-03 9.99380758e-01 -6.16772333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00105275399999 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:88.88, Y:34.21, Z:-6.17 [[ 8.26091939e-01 -5.62767646e-01 2.94055235e-02 8.88815487e+01] [ 5.62350182e-01 8.26613938e-01 2.17179758e-02 3.42142430e+01] [-3.65291897e-02 -1.40484326e-03 9.99331599e-01 -6.16857010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03105275399999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:88.91, Y:34.23, Z:-6.17 [[ 8.28576545e-01 -5.58960877e-01 3.19944810e-02 8.89090685e+01] [ 5.58464333e-01 8.29192285e-01 2.36165854e-02 3.42333888e+01] [-3.97303241e-02 -1.70037224e-03 9.99208992e-01 -6.17061976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06105275399999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:88.94, Y:34.25, Z:-6.17 [[ 8.29770524e-01 -5.57160669e-01 3.24479141e-02 8.89360471e+01] [ 5.56649106e-01 8.30402761e-01 2.39379793e-02 3.42532842e+01] [-4.02821380e-02 -1.80092721e-03 9.99186722e-01 -6.17099326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.09105275399999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:88.96, Y:34.27, Z:-6.17 [[ 8.32282150e-01 -5.53374905e-01 3.29034591e-02 8.89610273e+01] [ 5.52846470e-01 8.32929895e-01 2.42604470e-02 3.42747564e+01] [-4.08313973e-02 -2.00097576e-03 9.99164047e-01 -6.17090379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:88.99, Y:34.29, Z:-6.17 [[ 8.33335652e-01 -5.51786039e-01 3.29220040e-02 8.89864423e+01] [ 5.51256329e-01 8.33983146e-01 2.42605115e-02 3.42946570e+01] [-4.08430080e-02 -2.06868611e-03 9.99163435e-01 -6.17185694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15105275399999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:89.01, Y:34.31, Z:-6.17 [[ 8.34788591e-01 -5.49562729e-01 3.32988673e-02 8.90128834e+01] [ 5.49019590e-01 8.35449582e-01 2.45252240e-02 3.43140527e+01] [-4.12976738e-02 -2.19164675e-03 9.99144483e-01 -6.17357419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18105275399999 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:89.04, Y:34.33, Z:-6.18 [[ 8.35038678e-01 -5.49214781e-01 3.27647607e-02 8.90400566e+01] [ 5.48689188e-01 8.35678435e-01 2.41190284e-02 3.43332166e+01] [-4.06273309e-02 -2.16265165e-03 9.99172029e-01 -6.17622892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.211052754 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:89.07, Y:34.35, Z:-6.18 [[ 8.34397161e-01 -5.50217422e-01 3.22825943e-02 8.90665132e+01] [ 5.49708459e-01 8.35018860e-01 2.37510750e-02 3.43524916e+01] [-4.00248304e-02 -2.07181437e-03 9.99196538e-01 -6.17776908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.241052754 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:89.09, Y:34.37, Z:-6.18 [[ 8.32494125e-01 -5.53145914e-01 3.13548914e-02 8.90915198e+01] [ 5.52668343e-01 8.33082300e-01 2.30561198e-02 3.43727022e+01] [-3.88746035e-02 -1.86522841e-03 9.99242356e-01 -6.17840300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.271052754 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:89.12, Y:34.39, Z:-6.18 [[ 8.30592666e-01 -5.55990174e-01 3.14761562e-02 8.91183277e+01] [ 5.55511399e-01 8.31187065e-01 2.31332778e-02 3.43923798e+01] [-3.90244490e-02 -1.72896733e-03 9.99236760e-01 -6.18021052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.301052754 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:89.15, Y:34.41, Z:-6.18 [[ 8.26695626e-01 -5.61808130e-01 3.07565778e-02 8.91451224e+01] [ 5.61355462e-01 8.27266361e-01 2.25923098e-02 3.44111090e+01] [-3.81364255e-02 -1.41159073e-03 9.99271545e-01 -6.18303214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.331052754 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:89.17, Y:34.43, Z:-6.18 [[ 8.25724643e-01 -5.63249592e-01 3.04747632e-02 8.91716305e+01] [ 5.62806626e-01 8.26285754e-01 2.23730750e-02 3.44310631e+01] [-3.77824881e-02 -1.32260071e-03 9.99285112e-01 -6.18423949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36105275399999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:89.20, Y:34.45, Z:-6.18 [[ 8.22281057e-01 -5.68242187e-01 3.08978984e-02 8.91968263e+01] [ 5.67790816e-01 8.22860627e-01 2.26710976e-02 3.44508996e+01] [-3.83073381e-02 -1.09847114e-03 9.99265401e-01 -6.18481631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39105275399999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:89.22, Y:34.47, Z:-6.19 [[ 8.21016226e-01 -5.70064201e-01 3.09703527e-02 8.92231244e+01] [ 5.69612450e-01 8.21599534e-01 2.27126209e-02 3.44714103e+01] [-3.83928795e-02 -1.00633179e-03 9.99262215e-01 -6.18550773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42105275399999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:89.25, Y:34.49, Z:-6.19 [[ 8.17685722e-01 -5.74761556e-01 3.22368483e-02 8.92496961e+01] [ 5.74276250e-01 8.18320538e-01 2.36280925e-02 3.44919017e+01] [-3.99605942e-02 -8.07497514e-04 9.99200930e-01 -6.18613645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.45105275399999 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:89.27, Y:34.51, Z:-6.19 [[ 8.17308558e-01 -5.75308461e-01 3.20451997e-02 8.92747118e+01] [ 5.74829844e-01 8.17936176e-01 2.34747207e-02 3.45113494e+01] [-3.97161335e-02 -7.65552973e-04 9.99210710e-01 -6.18714537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48105275399999 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:89.30, Y:34.53, Z:-6.19 [[ 8.15642276e-01 -5.77674668e-01 3.19320463e-02 8.93011103e+01] [ 5.77201711e-01 8.16266850e-01 2.33797854e-02 3.45314192e+01] [-3.95709806e-02 -6.38309632e-04 9.99216558e-01 -6.19003073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51105275399999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:89.33, Y:34.55, Z:-6.19 [[ 8.12469994e-01 -5.82149680e-01 3.15318781e-02 8.93269799e+01] [ 5.81692367e-01 8.13081537e-01 2.30738708e-02 3.45497553e+01] [-3.90704344e-02 -4.04974819e-04 9.99236377e-01 -6.19167247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54105275399999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:89.35, Y:34.57, Z:-6.19 [[ 8.11659226e-01 -5.83292603e-01 3.12896069e-02 8.93537445e+01] [ 5.82843608e-01 8.12262042e-01 2.28845687e-02 3.45690483e+01] [-3.87637597e-02 -3.37523972e-04 9.99248346e-01 -6.19316437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.571052754 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:89.38, Y:34.59, Z:-6.19 [[ 8.10604374e-01 -5.84794717e-01 3.05890104e-02 8.93798729e+01] [ 5.84367145e-01 8.11181285e-01 2.23598547e-02 3.45877530e+01] [-3.78891577e-02 -2.49783297e-04 9.99281917e-01 -6.19455236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.601052754 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:89.41, Y:34.61, Z:-6.20 [[ 8.11246243e-01 -5.83899343e-01 3.06771925e-02 8.94061314e+01] [ 5.83469108e-01 8.11826014e-01 2.24125530e-02 3.46074255e+01] [-3.79912179e-02 -2.82905296e-04 9.99278033e-01 -6.19582540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.631052754 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:89.43, Y:34.63, Z:-6.20 [[ 8.13486113e-01 -5.80767233e-01 3.08182408e-02 8.94323354e+01] [ 5.80331259e-01 8.14069557e-01 2.25030440e-02 3.46279091e+01] [-3.81572223e-02 -4.21125319e-04 9.99271659e-01 -6.19590385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.661052754 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:89.46, Y:34.65, Z:-6.20 [[ 8.14312242e-01 -5.79585685e-01 3.12411164e-02 8.94580798e+01] [ 5.79137284e-01 8.14911167e-01 2.27990228e-02 3.46469894e+01] [-3.86727219e-02 -4.72628035e-04 9.99251819e-01 -6.19657274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.691052754 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:89.48, Y:34.67, Z:-6.20 [[ 8.15743474e-01 -5.77560072e-01 3.14157419e-02 8.94843025e+01] [ 5.77105601e-01 8.16347994e-01 2.29145792e-02 3.46660431e+01] [-3.88807239e-02 -5.62217800e-04 9.99243701e-01 -6.19721677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.721052754 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:89.51, Y:34.69, Z:-6.20 [[ 8.16760178e-01 -5.76125980e-01 3.13315730e-02 8.95110189e+01] [ 5.75673338e-01 8.17360674e-01 2.28415544e-02 3.46857488e+01] [-3.87688085e-02 -6.19320828e-04 9.99248015e-01 -6.19909040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.54, Y:34.70, Z:-6.20 [[ 8.16534725e-01 -5.76414690e-01 3.18927643e-02 8.95388574e+01] [ 5.75946428e-01 8.17157107e-01 2.32373466e-02 3.47032496e+01] [-3.94557470e-02 -6.05576756e-04 9.99221135e-01 -6.20061341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:89.57, Y:34.72, Z:-6.20 [[ 8.16085791e-01 -5.77023398e-01 3.23725065e-02 8.95650733e+01] [ 5.76541946e-01 8.16727414e-01 2.35736186e-02 3.47212815e+01] [-4.00420430e-02 -5.73987328e-04 9.99197831e-01 -6.20238167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81105275399999 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:89.59, Y:34.74, Z:-6.20 [[ 8.15047666e-01 -5.78518144e-01 3.18443031e-02 8.95913977e+01] [ 5.78053735e-01 8.15669370e-01 2.31809723e-02 3.47395890e+01] [-3.93850357e-02 -4.85878971e-04 9.99223990e-01 -6.20321959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:89.62, Y:34.76, Z:-6.20 [[ 8.15181215e-01 -5.78422507e-01 3.01162872e-02 8.96171142e+01] [ 5.78007482e-01 8.15737210e-01 2.19124300e-02 3.47614055e+01] [-3.72416188e-02 -4.55161992e-04 9.99306187e-01 -6.20420112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87105275399999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:89.64, Y:34.78, Z:-6.21 [[ 8.15226835e-01 -5.78372624e-01 2.98381521e-02 8.96434021e+01] [ 5.77965638e-01 8.15772586e-01 2.16981591e-02 3.47815767e+01] [-3.68907677e-02 -4.43495011e-04 9.99319206e-01 -6.20529572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90105275399999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:89.67, Y:34.80, Z:-6.21 [[ 8.14465178e-01 -5.79399888e-01 3.06959703e-02 8.96692291e+01] [ 5.78970366e-01 8.15043318e-01 2.23092806e-02 3.48024878e+01] [-3.79445402e-02 -3.98075035e-04 9.99279767e-01 -6.20539502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93105275399999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.70, Y:34.82, Z:-6.21 [[ 8.14654792e-01 -5.79099042e-01 3.13347953e-02 8.96955695e+01] [ 5.78651727e-01 8.15257095e-01 2.27606532e-02 3.48219766e+01] [-3.87265866e-02 -4.10141759e-04 9.99249760e-01 -6.20739701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.961052754 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:89.72, Y:34.84, Z:-6.21 [[ 8.13354895e-01 -5.80820901e-01 3.31797467e-02 8.97229607e+01] [ 5.80321347e-01 8.14031307e-01 2.40866514e-02 3.48413311e+01] [-4.09993831e-02 -3.36080513e-04 9.99159115e-01 -6.20925693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.991052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.75, Y:34.86, Z:-6.21 [[ 8.13413161e-01 -5.80704614e-01 3.37813659e-02 8.97491744e+01] [ 5.80187249e-01 8.14114266e-01 2.45095534e-02 3.48612627e+01] [-4.17347026e-02 -3.36875588e-04 9.99128671e-01 -6.20930344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.021052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:89.77, Y:34.88, Z:-6.21 [[ 8.13651487e-01 -5.80347998e-01 3.41680933e-02 8.97745041e+01] [ 5.79818994e-01 8.14368516e-01 2.47760826e-02 3.48812495e+01] [-4.22041693e-02 -3.47786961e-04 9.99108947e-01 -6.20889136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.051052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:89.80, Y:34.90, Z:-6.21 [[ 8.15491803e-01 -5.77738860e-01 3.45098322e-02 8.98020691e+01] [ 5.77197444e-01 8.16221528e-01 2.50105747e-02 3.48992485e+01] [-4.26172488e-02 -4.76931750e-04 9.99091359e-01 -6.21079962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.081052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:89.83, Y:34.92, Z:-6.21 [[ 8.17295470e-01 -5.75162042e-01 3.48818133e-02 8.98296862e+01] [ 5.74607146e-01 8.18039276e-01 2.52659969e-02 3.49179746e+01] [-4.30667357e-02 -6.06445643e-04 9.99072014e-01 -6.21221050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11105275399999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:89.86, Y:34.93, Z:-6.21 [[ 8.20046542e-01 -5.71098386e-01 3.70175840e-02 8.98566358e+01] [ 5.70469963e-01 8.20881171e-01 2.67978463e-02 3.49348276e+01] [-4.56912445e-02 -8.58061455e-04 9.98955241e-01 -6.21397449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:89.88, Y:34.95, Z:-6.21 [[ 8.21321233e-01 -5.69254260e-01 3.71620725e-02 8.98839286e+01] [ 5.68619508e-01 8.22160978e-01 2.68920504e-02 3.49538651e+01] [-4.58616201e-02 -9.55932615e-04 9.98947345e-01 -6.21448131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.91, Y:34.97, Z:-6.21 [[ 8.22432757e-01 -5.67672194e-01 3.67782776e-02 8.99101392e+01] [ 5.67049571e-01 8.23254054e-01 2.65997396e-02 3.49729720e+01] [-4.53777986e-02 -1.02139061e-03 9.98969375e-01 -6.21441749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:89.94, Y:34.99, Z:-6.22 [[ 8.26492634e-01 -5.61820142e-01 3.56097403e-02 8.99354391e+01] [ 5.61231604e-01 8.27258402e-01 2.57414459e-02 3.49943126e+01] [-4.39205196e-02 -1.28980374e-03 9.99034196e-01 -6.21572985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.23105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:89.96, Y:35.01, Z:-6.22 [[ 8.27473817e-01 -5.60274985e-01 3.71352021e-02 8.99644900e+01] [ 5.59634069e-01 8.28305458e-01 2.68286717e-02 3.50111218e+01] [-4.57907242e-02 -1.41789909e-03 9.98950048e-01 -6.22025045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:89.99, Y:35.03, Z:-6.22 [[ 8.28131758e-01 -5.59303941e-01 3.71065076e-02 8.99906108e+01] [ 5.58663735e-01 8.28961384e-01 2.67928041e-02 3.50291773e+01] [-4.57451828e-02 -1.45791181e-03 9.98952077e-01 -6.22210687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:90.02, Y:35.05, Z:-6.22 [[ 8.28614390e-01 -5.58615393e-01 3.67019831e-02 9.00153170e+01] [ 5.57988999e-01 8.29425516e-01 2.64875696e-02 3.50494434e+01] [-4.52379254e-02 -1.46867848e-03 9.98975161e-01 -6.22356576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.321052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:90.04, Y:35.07, Z:-6.22 [[ 8.27411275e-01 -5.60445324e-01 3.59391288e-02 9.00427213e+01] [ 5.59846849e-01 8.28190354e-01 2.59276482e-02 3.50688396e+01] [-4.42954690e-02 -1.33242046e-03 9.99017585e-01 -6.22442060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.351052754 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:90.07, Y:35.09, Z:-6.23 [[ 8.22989902e-01 -5.66997117e-01 3.46682973e-02 9.00698606e+01] [ 5.66446595e-01 8.23719245e-01 2.49972094e-02 3.50869427e+01] [-4.27302893e-02 -9.34711967e-04 9.99086207e-01 -6.22511845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.381052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:90.10, Y:35.11, Z:-6.23 [[ 8.21184030e-01 -5.69682161e-01 3.34518112e-02 9.00965665e+01] [ 5.69172342e-01 8.21864747e-01 2.41077198e-02 3.51064818e+01] [-4.12266023e-02 -7.57028752e-04 9.99149535e-01 -6.22608272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.411052754 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:90.12, Y:35.13, Z:-6.23 [[ 8.19365502e-01 -5.72424908e-01 3.11431947e-02 9.01221408e+01] [ 5.71985480e-01 8.19956952e-01 2.24322757e-02 3.51262360e+01] [-3.83768724e-02 -5.66777702e-04 9.99263176e-01 -6.23089811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.441052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:90.15, Y:35.14, Z:-6.23 [[ 8.16882762e-01 -5.75875933e-01 3.27026540e-02 9.01498438e+01] [ 5.75394487e-01 8.17536993e-01 2.35467435e-02 3.51447038e+01] [-4.02956323e-02 -4.18002011e-04 9.99187714e-01 -6.23288680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.471052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:90.18, Y:35.16, Z:-6.23 [[ 8.16468208e-01 -5.76410129e-01 3.36307726e-02 9.01751535e+01] [ 5.75901977e-01 8.17160455e-01 2.42013113e-02 3.51645819e+01] [-4.14316184e-02 -3.91572874e-04 9.99141265e-01 -6.23135772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:35.19, Z:-6.23 [[ 8.15921763e-01 -5.77104713e-01 3.49546408e-02 9.02015420e+01] [ 5.76556801e-01 8.16670079e-01 2.51443215e-02 3.51851726e+01] [-4.30573157e-02 -3.62463243e-04 9.99072538e-01 -6.22977634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:90.23, Y:35.20, Z:-6.23 [[ 8.15764868e-01 -5.77287225e-01 3.55969221e-02 9.02287288e+01] [ 5.76719797e-01 8.16541083e-01 2.55917174e-02 3.52045380e+01] [-4.38401208e-02 -3.47374278e-04 9.99038499e-01 -6.22993406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:90.25, Y:35.22, Z:-6.23 [[ 8.16020348e-01 -5.76821568e-01 3.72514594e-02 9.02529755e+01] [ 5.76310269e-01 8.16868585e-01 2.43349226e-02 3.52235136e+01] [-4.44664552e-02 1.61060659e-03 9.99009580e-01 -6.22862289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.59105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:90.28, Y:35.24, Z:-6.23 [[ 8.16522177e-01 -5.76172172e-01 3.62927430e-02 9.02813835e+01] [ 5.75467560e-01 8.17324643e-01 2.85922291e-02 3.52416676e+01] [-4.61370000e-02 -2.46089292e-03 9.98932090e-01 -6.23048413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:35.26, Z:-6.23 [[ 8.18735342e-01 -5.72925745e-01 3.77959017e-02 9.03094273e+01] [ 5.72283233e-01 8.19607070e-01 2.71321173e-02 3.52595044e+01] [-4.65224768e-02 -5.84062520e-04 9.98917073e-01 -6.23328599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.34, Y:35.28, Z:-6.23 [[ 8.19665596e-01 -5.71615200e-01 3.74749739e-02 9.03363870e+01] [ 5.70971063e-01 8.20521383e-01 2.71423280e-02 3.52774370e+01] [-4.62639847e-02 -8.50506819e-04 9.98928887e-01 -6.23425626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:90.36, Y:35.30, Z:-6.24 [[ 8.20635169e-01 -5.70236115e-01 3.72651634e-02 9.03628843e+01] [ 5.69620125e-01 8.21480675e-01 2.65030749e-02 3.52960352e+01] [-4.57256221e-02 -5.22368284e-04 9.98953900e-01 -6.23537723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.711052754 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:90.39, Y:35.31, Z:-6.23 [[ 8.21762297e-01 -5.68708682e-01 3.57374053e-02 9.03891081e+01] [ 5.68131555e-01 8.22538671e-01 2.56255942e-02 3.53139752e+01] [-4.39688958e-02 -7.54599561e-04 9.99032615e-01 -6.23475044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.741052754 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:90.42, Y:35.33, Z:-6.24 [[ 8.21868677e-01 -5.68554540e-01 3.57436995e-02 9.04164532e+01] [ 5.67977649e-01 8.22645227e-01 2.56168120e-02 3.53334800e+01] [-4.39689386e-02 -7.52032925e-04 9.99032616e-01 -6.23604440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.771052754 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:90.44, Y:35.35, Z:-6.23 [[ 8.23261149e-01 -5.66642408e-01 3.40214833e-02 9.04419537e+01] [ 5.66118543e-01 8.23963429e-01 2.43733935e-02 3.53536816e+01] [-4.18434564e-02 -8.05475355e-04 9.99123854e-01 -6.23452452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.801052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:90.47, Y:35.37, Z:-6.24 [[ 8.22748566e-01 -5.67447180e-01 3.29923466e-02 9.04694914e+01] [ 5.66955531e-01 8.23409472e-01 2.36276843e-02 3.53727491e+01] [-4.05736735e-02 -7.34449941e-04 9.99176280e-01 -6.23670376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.831052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:90.50, Y:35.39, Z:-6.24 [[ 8.20617854e-01 -5.70690416e-01 2.99797651e-02 9.04967006e+01] [ 5.70287057e-01 8.21165139e-01 2.14589531e-02 3.53901575e+01] [-3.68647569e-02 -5.12528055e-04 9.99320132e-01 -6.24039173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86105275399999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:90.52, Y:35.41, Z:-6.24 [[ 8.18248168e-01 -5.74097364e-01 2.97010523e-02 9.05246258e+01] [ 5.73704122e-01 8.18786966e-01 2.12481549e-02 3.54085544e+01] [-3.65173443e-02 -3.46647664e-04 9.99332959e-01 -6.24263605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:90.55, Y:35.43, Z:-6.24 [[ 8.13252541e-01 -5.81189047e-01 2.89757897e-02 9.05512569e+01] [ 5.80819666e-01 8.13768573e-01 2.07177226e-02 3.54267728e+01] [-3.56205005e-02 -1.90320618e-05 9.99365388e-01 -6.24423298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92105275399999 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:90.58, Y:35.45, Z:-6.24 [[ 8.08244574e-01 -5.88101631e-01 2.96172180e-02 9.05778164e+01] [ 5.87720739e-01 8.08786981e-01 2.11648902e-02 3.54467344e+01] [-3.64011268e-02 3.00245621e-04 9.99337214e-01 -6.24403843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.95105275399999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:90.60, Y:35.46, Z:-6.24 [[ 8.07255129e-01 -5.89442469e-01 2.99454883e-02 9.06043482e+01] [ 5.89054461e-01 8.07810272e-01 2.13870877e-02 3.54646136e+01] [-3.67967308e-02 3.74687249e-04 9.99322701e-01 -6.24424517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:35.48, Z:-6.24 [[ 8.08275882e-01 -5.88036876e-01 3.00454807e-02 9.06314998e+01] [ 5.87645721e-01 8.08834055e-01 2.14470774e-02 3.54840952e+01] [-3.69134804e-02 3.20942760e-04 9.99318414e-01 -6.24483060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:90.66, Y:35.50, Z:-6.24 [[ 8.11062773e-01 -5.84165586e-01 3.04589310e-02 9.06572247e+01] [ 5.83761326e-01 8.11634489e-01 2.17294912e-02 3.55030486e+01] [-3.74151399e-02 1.56764532e-04 9.99299796e-01 -6.24407189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04105275399999 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:90.68, Y:35.52, Z:-6.24 [[ 8.12783692e-01 -5.81732759e-01 3.11394936e-02 9.06844085e+01] [ 5.81308742e-01 8.13379982e-01 2.22070174e-02 3.55223186e+01] [-3.82467902e-02 5.21583062e-05 9.99268322e-01 -6.24498391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.071052754 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:90.71, Y:35.54, Z:-6.25 [[ 8.15682962e-01 -5.77713314e-01 3.01435309e-02 9.07116298e+01] [ 5.77313678e-01 8.16239739e-01 2.14850128e-02 3.55415214e+01] [-3.70165258e-02 -1.22686162e-04 9.99314646e-01 -6.24502789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.101052754 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:90.74, Y:35.56, Z:-6.25 [[ 8.17009817e-01 -5.75898493e-01 2.89116638e-02 9.07391383e+01] [ 5.75530121e-01 8.17521186e-01 2.05958616e-02 3.55602268e+01] [-3.54970233e-02 -1.87487735e-04 9.99369765e-01 -6.24650388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.131052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:90.77, Y:35.58, Z:-6.25 [[ 8.17644916e-01 -5.75110274e-01 2.65511529e-02 9.07670198e+01] [ 5.74799528e-01 8.18075874e-01 1.89041800e-02 3.55769230e+01] [-3.25928457e-02 -1.95316531e-04 9.99468693e-01 -6.24953520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.161052754 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:90.79, Y:35.59, Z:-6.25 [[ 8.15480258e-01 -5.78215662e-01 2.56631275e-02 9.07942958e+01] [ 5.77927195e-01 8.15883965e-01 1.82623462e-02 3.55942972e+01] [-3.14977088e-02 -6.11635021e-05 9.99503822e-01 -6.25050798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.191052754 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:90.82, Y:35.61, Z:-6.25 [[ 8.13870440e-01 -5.80526073e-01 2.45842715e-02 9.08211348e+01] [ 5.80262675e-01 8.14241658e-01 1.74857177e-02 3.56124286e+01] [-3.01684530e-02 3.42264348e-05 9.99544828e-01 -6.25157100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.221052754 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:90.85, Y:35.63, Z:-6.25 [[ 8.09773594e-01 -5.86294546e-01 2.29222979e-02 9.08486143e+01] [ 5.86068076e-01 8.10097925e-01 1.62960729e-02 3.56306505e+01] [-2.81236046e-02 2.37897510e-04 9.99604425e-01 -6.25226204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25105275399999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:90.88, Y:35.65, Z:-6.25 [[ 8.07736037e-01 -5.89102529e-01 2.28189599e-02 9.08757315e+01] [ 5.88879472e-01 8.08058225e-01 1.62133666e-02 3.56498835e+01] [-2.79903835e-02 3.41496531e-04 9.99608134e-01 -6.25249839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28105275399999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:90.90, Y:35.67, Z:-6.25 [[ 8.03331221e-01 -5.95085654e-01 2.30654064e-02 9.09023030e+01] [ 5.94860480e-01 8.03662085e-01 1.63787319e-02 3.56683216e+01] [-2.82835410e-02 5.63152006e-04 9.99599782e-01 -6.25295328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31105275399999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:90.93, Y:35.69, Z:-6.25 [[ 8.01497513e-01 -5.97572707e-01 2.25520925e-02 9.09296052e+01] [ 5.97358645e-01 8.01814472e-01 1.60062984e-02 3.56874679e+01] [-2.76475212e-02 6.42679078e-04 9.99617528e-01 -6.25455097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34105275399999 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:90.96, Y:35.70, Z:-6.26 [[ 7.97637596e-01 -6.02776016e-01 2.08648023e-02 9.09569195e+01] [ 6.02594767e-01 7.97910074e-01 1.48007039e-02 3.57040450e+01] [-2.55697453e-02 7.67422860e-04 9.99672746e-01 -6.25816161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37105275399999 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:90.98, Y:35.72, Z:-6.26 [[ 7.96145301e-01 -6.04783389e-01 1.97411134e-02 9.09836281e+01] [ 6.04621926e-01 7.96389618e-01 1.39965306e-02 3.57223445e+01] [-2.41864869e-02 7.92637924e-04 9.99707150e-01 -6.25920800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40105275399999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:91.01, Y:35.74, Z:-6.26 [[ 7.94001584e-01 -6.07632803e-01 1.85434856e-02 9.10100528e+01] [ 6.07491249e-01 7.94217657e-01 1.31413718e-02 3.57417573e+01] [-2.27126923e-02 8.30735217e-04 9.99741688e-01 -6.25837296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43105275399999 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:91.04, Y:35.76, Z:-6.26 [[ 7.93419977e-01 -6.08391485e-01 1.85618246e-02 9.10355068e+01] [ 6.08250041e-01 7.93636606e-01 1.31463141e-02 3.57608416e+01] [-2.27294490e-02 8.59682370e-04 9.99741283e-01 -6.25807880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.461052754 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:91.06, Y:35.78, Z:-6.26 [[ 7.92572011e-01 -6.09509764e-01 1.80957443e-02 9.10629864e+01] [ 6.09375766e-01 7.92778080e-01 1.28098742e-02 3.57797147e+01] [-2.21536528e-02 8.74360254e-04 9.99754195e-01 -6.26003405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.491052754 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:91.09, Y:35.80, Z:-6.26 [[ 7.92500603e-01 -6.09599876e-01 1.81875096e-02 9.10906657e+01] [ 6.09464706e-01 7.92708776e-01 1.28673429e-02 3.57970894e+01] [-2.22613292e-02 8.87268199e-04 9.99751792e-01 -6.26268539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.521052754 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:91.12, Y:35.82, Z:-6.26 [[ 7.92766529e-01 -6.09228020e-01 1.90381261e-02 9.11173021e+01] [ 6.09080004e-01 7.92994555e-01 1.34604622e-02 3.58158739e+01] [-2.32976210e-02 9.24738035e-04 9.99728146e-01 -6.26398309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.551052754 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:91.14, Y:35.84, Z:-6.26 [[ 7.94510925e-01 -6.06922177e-01 1.99464716e-02 9.11434127e+01] [ 6.06759162e-01 7.94760753e-01 1.40948639e-02 3.58360380e+01] [-2.44071583e-02 9.04181013e-04 9.99701692e-01 -6.26199560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.581052754 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:91.17, Y:35.86, Z:-6.26 [[ 7.96210919e-01 -6.04679274e-01 2.02767669e-02 9.11700988e+01] [ 6.04510292e-01 7.96468608e-01 1.43200635e-02 3.58557805e+01] [-2.48088539e-02 8.55723350e-04 9.99691847e-01 -6.26271354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61105275399999 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:91.20, Y:35.87, Z:-6.26 [[ 7.97001887e-01 -6.03613397e-01 2.09489359e-02 9.11967605e+01] [ 6.03432892e-01 7.97276697e-01 1.47855505e-02 3.58744539e+01] [-2.56268548e-02 8.57165332e-04 9.99671211e-01 -6.26213597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64105275399999 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:91.22, Y:35.89, Z:-6.26 [[ 7.99633294e-01 -6.00112973e-01 2.12371201e-02 9.12238960e+01] [ 5.99926437e-01 7.99914896e-01 1.49810004e-02 3.58933624e+01] [-2.59781814e-02 7.61403107e-04 9.99662220e-01 -6.26269259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67105275399999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:91.25, Y:35.91, Z:-6.26 [[ 8.01461623e-01 -5.97686883e-01 2.07281801e-02 9.12505949e+01] [ 5.97508580e-01 8.01729342e-01 1.46136840e-02 3.59119996e+01] [-2.53527974e-02 6.72958526e-04 9.99678340e-01 -6.26468275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70105275399999 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:91.28, Y:35.93, Z:-6.27 [[ 8.04181653e-01 -5.94037635e-01 2.02770147e-02 9.12785815e+01] [ 5.93866022e-01 8.04437060e-01 1.42885875e-02 3.59288760e+01] [-2.47995408e-02 5.51210185e-04 9.99692292e-01 -6.26736985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.73105275399999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:91.31, Y:35.95, Z:-6.27 [[ 8.06447283e-01 -5.90974746e-01 1.97896584e-02 9.13054920e+01] [ 5.90810541e-01 8.06689932e-01 1.39376662e-02 3.59483454e+01] [-2.42009269e-02 4.51945774e-04 9.99707013e-01 -6.26869308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76105275399999 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:91.33, Y:35.97, Z:-6.27 [[ 8.11086221e-01 -5.84610854e-01 1.92169567e-02 9.13309381e+01] [ 5.84454398e-01 8.11313800e-01 1.35268090e-02 3.59681040e+01] [-2.34989015e-02 2.60026423e-04 9.99723829e-01 -6.27197683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79105275399999 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:91.36, Y:35.99, Z:-6.27 [[ 8.14002559e-01 -5.80524063e-01 1.97900317e-02 9.13577439e+01] [ 5.80357101e-01 8.14243077e-01 1.39228885e-02 3.59870840e+01] [-2.41964681e-02 1.52018600e-04 9.99707211e-01 -6.27379690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.821052754 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:91.38, Y:36.01, Z:-6.27 [[ 8.14669851e-01 -5.79579697e-01 2.00101953e-02 9.13840356e+01] [ 5.79408947e-01 8.14915552e-01 1.40682561e-02 3.60062093e+01] [-2.44602949e-02 1.33102070e-04 9.99700793e-01 -6.27398390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.851052754 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:91.41, Y:36.03, Z:-6.27 [[ 8.14769628e-01 -5.79474784e-01 1.89585882e-02 9.14093133e+01] [ 5.79321537e-01 8.14990159e-01 1.33265656e-02 3.60281642e+01] [-2.31734715e-02 1.25037600e-04 9.99731451e-01 -6.27252935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.881052754 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:91.43, Y:36.05, Z:-6.27 [[ 8.14733913e-01 -5.79529937e-01 1.88070062e-02 9.14348382e+01] [ 5.79379315e-01 8.14950940e-01 1.32126464e-02 3.60484659e+01] [-2.29839115e-02 1.31599282e-04 9.99735826e-01 -6.27319351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.911052754 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:91.46, Y:36.07, Z:-6.28 [[ 8.11995878e-01 -5.83329941e-01 1.97198775e-02 9.14606065e+01] [ 5.83165640e-01 8.12235258e-01 1.38463786e-02 3.60671023e+01] [-2.40941870e-02 2.56752662e-04 9.99709660e-01 -6.27658318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.941052754 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:91.49, Y:36.09, Z:-6.28 [[ 8.11196510e-01 -5.84419176e-01 2.03580103e-02 9.14875847e+01] [ 5.84244589e-01 8.11451868e-01 1.42872521e-02 3.60870649e+01] [-2.48692896e-02 3.04288370e-04 9.99690665e-01 -6.27938708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.971052754 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:91.52, Y:36.11, Z:-6.28 [[ 8.06872981e-01 -5.90290770e-01 2.26450865e-02 9.15150036e+01] [ 5.90077312e-01 8.07190503e-01 1.58826128e-02 3.61059943e+01] [-2.76542585e-02 5.47100611e-04 9.99617398e-01 -6.28091573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00105275399999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:91.54, Y:36.13, Z:-6.28 [[ 8.06073461e-01 -5.91356663e-01 2.32996395e-02 9.15403512e+01] [ 5.91131389e-01 8.06409901e-01 1.63325874e-02 3.61259193e+01] [-2.84474444e-02 6.07883024e-04 9.99595105e-01 -6.28079341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03105275399999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:91.56, Y:36.15, Z:-6.28 [[ 8.03841818e-01 -5.94348448e-01 2.42539377e-02 9.15642946e+01] [ 5.94105956e-01 8.04207286e-01 1.69927503e-02 3.61485024e+01] [-2.96048082e-02 7.49925532e-04 9.99561400e-01 -6.27694249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06105275399999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:91.59, Y:36.17, Z:-6.28 [[ 8.02799718e-01 -5.95709120e-01 2.53625194e-02 9.15910641e+01] [ 5.95444905e-01 8.03199808e-01 1.77604364e-02 3.61680840e+01] [-3.09512247e-02 8.43909606e-04 9.99520540e-01 -6.27750534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.09105275399999 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:91.62, Y:36.19, Z:-6.28 [[ 8.00513643e-01 -5.98732265e-01 2.64117824e-02 9.16180921e+01] [ 5.98447688e-01 8.00948599e-01 1.84853102e-02 3.61867661e+01] [-3.22222317e-02 1.00832708e-03 9.99480220e-01 -6.28007668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12105275399999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:91.65, Y:36.21, Z:-6.28 [[ 7.99890571e-01 -5.99587063e-01 2.58926429e-02 9.16458722e+01] [ 5.99314297e-01 8.00308874e-01 1.81129611e-02 3.62053932e+01] [-3.15824090e-02 1.02944431e-03 9.99500621e-01 -6.28206925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15105275399999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:91.67, Y:36.22, Z:-6.29 [[ 7.99506133e-01 -6.00156793e-01 2.45309198e-02 9.16726180e+01] [ 5.99912479e-01 7.99881752e-01 1.71522652e-02 3.62241029e+01] [-2.99158836e-02 1.00306364e-03 9.99551917e-01 -6.28513006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18105275399999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:91.70, Y:36.24, Z:-6.29 [[ 8.00653547e-01 -5.98604675e-01 2.50268192e-02 9.16997538e+01] [ 5.98349892e-01 8.01044006e-01 1.74901793e-02 3.62430378e+01] [-3.05172866e-02 9.71220448e-04 9.99533767e-01 -6.28741423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.211052754 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:91.73, Y:36.26, Z:-6.29 [[ 8.01770165e-01 -5.97095870e-01 2.53204440e-02 9.17272044e+01] [ 5.96834631e-01 8.02169341e-01 1.76853394e-02 3.62623159e+01] [-3.08711270e-02 9.32540384e-04 9.99522938e-01 -6.28835569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.241052754 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:91.75, Y:36.28, Z:-6.29 [[ 8.05330187e-01 -5.92284462e-01 2.53457499e-02 9.17533690e+01] [ 5.92020633e-01 8.05728579e-01 1.76925717e-02 3.62813236e+01] [-3.09008304e-02 7.56844856e-04 9.99522169e-01 -6.29022366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.271052754 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:91.78, Y:36.30, Z:-6.29 [[ 8.06946913e-01 -5.90037501e-01 2.63139963e-02 9.17807439e+01] [ 5.89752257e-01 8.07375532e-01 1.83582261e-02 3.62998627e+01] [-3.20773186e-02 7.04624850e-04 9.99485142e-01 -6.29113792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.301052754 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:91.81, Y:36.32, Z:-6.29 [[ 8.10767867e-01 -5.84784943e-01 2.61158208e-02 9.18067943e+01] [ 5.84501576e-01 8.11188215e-01 1.82095570e-02 3.63191253e+01] [-3.18335208e-02 5.01014751e-04 9.99493059e-01 -6.29118084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.331052754 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:91.83, Y:36.34, Z:-6.29 [[ 8.12926101e-01 -5.81811813e-01 2.54198570e-02 9.18336578e+01] [ 5.81542169e-01 8.13323348e-01 1.77154365e-02 3.63383297e+01] [-3.09816134e-02 3.81378089e-04 9.99519882e-01 -6.29217998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36105275399999 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:91.86, Y:36.35, Z:-6.29 [[ 8.16568064e-01 -5.76728126e-01 2.45207268e-02 9.18608351e+01] [ 5.76475237e-01 8.16936125e-01 1.70783124e-02 3.63546053e+01] [-2.98814107e-02 1.89987296e-04 9.99553433e-01 -6.29483202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39105275399999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:91.89, Y:36.37, Z:-6.30 [[ 8.18775023e-01 -5.73614678e-01 2.39512521e-02 9.18874742e+01] [ 5.73372208e-01 8.19125262e-01 1.66768254e-02 3.63731763e+01] [-2.91851475e-02 7.84141917e-05 9.99574020e-01 -6.29614809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42105275399999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:91.92, Y:36.39, Z:-6.30 [[ 8.23542364e-01 -5.66798292e-01 2.27523894e-02 9.19153282e+01] [ 5.66577085e-01 8.23856586e-01 1.58345498e-02 3.63906922e+01] [-2.77197016e-02 -1.49440066e-04 9.99615724e-01 -6.29776805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.45105275399999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:91.94, Y:36.41, Z:-6.30 [[ 8.26116966e-01 -5.63034451e-01 2.28684488e-02 9.19426810e+01] [ 5.62809796e-01 8.26433382e-01 1.59059263e-02 3.64093582e+01] [-2.78548340e-02 -2.69568512e-04 9.99611942e-01 -6.29859836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48105275399999 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:91.97, Y:36.43, Z:-6.30 [[ 8.30016260e-01 -5.57221096e-01 2.40345297e-02 9.19691674e+01] [ 5.56970830e-01 8.30364029e-01 1.67055200e-02 3.64279395e+01] [-2.92660771e-02 -4.79321278e-04 9.99571542e-01 -6.29698268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51105275399999 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:92.00, Y:36.45, Z:-6.30 [[ 8.31067242e-01 -5.55613623e-01 2.49146919e-02 9.19968835e+01] [ 5.55344132e-01 8.31440436e-01 1.73117550e-02 3.64462982e+01] [-3.03337292e-02 -5.51004555e-04 9.99539675e-01 -6.29853286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54105275399999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:92.04, Y:36.46, Z:-6.30 [[ 8.35162958e-01 -5.49389367e-01 2.59645515e-02 9.20364719e+01] [ 5.49164204e-01 8.35565755e-01 1.57653493e-02 3.64644492e+01] [-3.03564054e-02 1.09216657e-03 9.99538541e-01 -6.29881378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.571052754 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:92.06, Y:36.48, Z:-6.30 [[ 8.35459087e-01 -5.48701187e-01 3.05797542e-02 9.20628305e+01] [ 5.48590589e-01 8.35995478e-01 1.26461974e-02 3.64842450e+01] [-3.25035197e-02 6.21038480e-03 9.99452326e-01 -6.29932066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.601052754 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:92.09, Y:36.50, Z:-6.30 [[ 8.35746624e-01 -5.48140072e-01 3.27114880e-02 9.20888102e+01] [ 5.47985610e-01 8.36365292e-01 1.43132575e-02 3.65047069e+01] [-3.52044232e-02 5.96316810e-03 9.99362341e-01 -6.29969994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.631052754 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:92.10, Y:36.52, Z:-6.31 [[ 8.33197148e-01 -5.52612192e-01 2.00568419e-02 9.21022681e+01] [ 5.51946137e-01 8.33310771e-01 3.07996965e-02 3.65177625e+01] [-3.37338702e-02 -1.45919229e-02 9.99324323e-01 -6.30540403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.661052754 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:92.13, Y:36.54, Z:-6.30 [[ 8.33283254e-01 -5.52139354e-01 2.79491139e-02 9.21274778e+01] [ 5.51796029e-01 8.33751444e-01 1.94851661e-02 3.65407642e+01] [-3.40611412e-02 -8.14452546e-04 9.99419419e-01 -6.29910523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.691052754 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:92.15, Y:36.56, Z:-6.30 [[ 8.31900807e-01 -5.54180463e-01 2.87238934e-02 9.21539990e+01] [ 5.53819214e-01 8.32396213e-01 2.00205641e-02 3.65585443e+01] [-3.50046656e-02 -7.47279379e-04 9.99386870e-01 -6.30023461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.721052754 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:92.18, Y:36.58, Z:-6.30 [[ 8.29340207e-01 -5.58007758e-01 2.86733883e-02 9.21810568e+01] [ 5.57650428e-01 8.29835532e-01 1.99747366e-02 3.65768151e+01] [-3.49402545e-02 -5.76124918e-04 9.99389237e-01 -6.30315033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75105275399999 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:92.22, Y:36.60, Z:-6.31 [[ 8.29872348e-01 -5.57333885e-01 2.62835917e-02 9.22186069e+01] [ 5.56922362e-01 8.30281716e-01 2.16738417e-02 3.65961063e+01] [-3.39023520e-02 -3.34860195e-03 9.99419540e-01 -6.30515048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78105275399999 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:92.23, Y:36.61, Z:-6.30 [[ 8.26542901e-01 -5.62037018e-01 3.06793521e-02 9.22316378e+01] [ 5.61794865e-01 8.27105391e-01 1.68285804e-02 3.66144855e+01] [-3.48333427e-02 3.32595881e-03 9.99387601e-01 -6.30464817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.81105275399999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:92.26, Y:36.63, Z:-6.31 [[ 8.22606525e-01 -5.67906784e-01 2.82911526e-02 9.22589824e+01] [ 5.67564807e-01 8.23092863e-01 1.97060417e-02 3.66328493e+01] [-3.44774406e-02 -1.53255973e-04 9.99405465e-01 -6.30663896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84105275399999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:92.29, Y:36.65, Z:-6.31 [[ 8.20134263e-01 -5.71486123e-01 2.79893091e-02 9.22854629e+01] [ 5.71153851e-01 8.20611730e-01 1.94850674e-02 3.66524223e+01] [-3.41038010e-02 5.83027588e-06 9.99418296e-01 -6.30759075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87105275399999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:92.31, Y:36.67, Z:-6.31 [[ 8.19092280e-01 -5.72960586e-01 2.83549566e-02 9.23129367e+01] [ 5.72620846e-01 8.19582919e-01 1.97282896e-02 3.66711146e+01] [-3.45427704e-02 7.73495500e-05 9.99403217e-01 -6.30914446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90105275399999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:92.34, Y:36.69, Z:-6.31 [[ 8.17098951e-01 -5.75751129e-01 2.93247618e-02 9.23405730e+01] [ 5.75389972e-01 8.17624971e-01 2.03908563e-02 3.66887231e+01] [-3.57167160e-02 2.11826570e-04 9.99361932e-01 -6.31062304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93105275399999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:92.37, Y:36.71, Z:-6.31 [[ 8.16394253e-01 -5.76740183e-01 2.95158481e-02 9.23673465e+01] [ 5.76375384e-01 8.16927592e-01 2.05116295e-02 3.67066401e+01] [-3.59421916e-02 2.66631814e-04 9.99353835e-01 -6.31130727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.961052754 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:92.39, Y:36.72, Z:-6.31 [[ 8.16271150e-01 -5.76930875e-01 2.91920336e-02 9.23938864e+01] [ 5.76574406e-01 8.16792929e-01 2.02796894e-02 3.67243250e+01] [-3.55438256e-02 2.77654074e-04 9.99368080e-01 -6.31323623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.991052754 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:92.42, Y:36.74, Z:-6.31 [[ 8.15959544e-01 -5.77326641e-01 3.00661440e-02 9.24214419e+01] [ 5.76949177e-01 8.16513228e-01 2.08757023e-02 3.67423947e+01] [-3.66015034e-02 3.12908543e-04 9.99329892e-01 -6.31433690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.021052754 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:92.45, Y:36.76, Z:-6.31 [[ 8.17855850e-01 -5.74545803e-01 3.17636339e-02 9.24480689e+01] [ 5.74122909e-01 8.18472404e-01 2.20410654e-02 3.67614427e+01] [-3.86612594e-02 2.09815616e-04 9.99252352e-01 -6.31316520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.051052754 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:92.48, Y:36.78, Z:-6.31 [[ 8.20019707e-01 -5.71432997e-01 3.21249165e-02 9.24755511e+01] [ 5.70998535e-01 8.20648722e-01 2.22788836e-02 3.67802580e+01] [-3.90941609e-02 7.41566845e-05 9.99235528e-01 -6.31424663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.081052754 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:92.50, Y:36.80, Z:-6.32 [[ 8.24118783e-01 -5.65501948e-01 3.21835125e-02 9.25030327e+01] [ 5.65061861e-01 8.24746936e-01 2.23066214e-02 3.67974002e+01] [-3.91576911e-02 -1.97630226e-04 9.99233024e-01 -6.31675094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11105275399999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:92.53, Y:36.82, Z:-6.32 [[ 8.25853962e-01 -5.62969820e-01 3.20969730e-02 9.25305548e+01] [ 5.62530504e-01 8.26477396e-01 2.22384025e-02 3.68157454e+01] [-3.90469721e-02 -3.10146392e-04 9.99237328e-01 -6.31773552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14105275399999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:92.56, Y:36.83, Z:-6.32 [[ 8.29383271e-01 -5.57784116e-01 3.16270525e-02 9.25573041e+01] [ 5.57354268e-01 8.29985899e-01 2.19003925e-02 3.68340383e+01] [-3.84656986e-02 -5.36346446e-04 9.99259777e-01 -6.31716460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17105275399999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:92.58, Y:36.85, Z:-6.32 [[ 8.31859812e-01 -5.54120585e-01 3.09779062e-02 9.25847278e+01] [ 5.53706086e-01 8.32436131e-01 2.14396186e-02 3.68528536e+01] [-3.76672624e-02 -6.82101862e-04 9.99290104e-01 -6.31786384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:92.61, Y:36.87, Z:-6.32 [[ 8.34385882e-01 -5.50342369e-01 3.03887695e-02 9.26116614e+01] [ 5.49941420e-01 8.34938677e-01 2.10200190e-02 3.68707296e+01] [-3.69409660e-02 -8.26764081e-04 9.99317108e-01 -6.31930117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.23105275399999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:92.64, Y:36.89, Z:-6.32 [[ 8.36141726e-01 -5.47718594e-01 2.95187519e-02 9.26396236e+01] [ 5.47339021e-01 8.36662130e-01 2.04077520e-02 3.68879395e+01] [-3.58749270e-02 -9.07008206e-04 9.99355876e-01 -6.32169894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:92.67, Y:36.91, Z:-6.32 [[ 8.36808288e-01 -5.46694140e-01 2.96210435e-02 9.26662546e+01] [ 5.46311709e-01 8.37331849e-01 2.04668456e-02 3.69055190e+01] [-3.59917477e-02 -9.44503167e-04 9.99351641e-01 -6.32312742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29105275399999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:92.69, Y:36.92, Z:-6.32 [[ 8.37112088e-01 -5.46236679e-01 2.94761378e-02 9.26935774e+01] [ 5.45858077e-01 8.37630340e-01 2.03561382e-02 3.69247049e+01] [-3.58093767e-02 -9.50581463e-04 9.99358187e-01 -6.32379099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.321052754 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:92.72, Y:36.94, Z:-6.32 [[ 8.35556300e-01 -5.48630274e-01 2.91631872e-02 9.27204904e+01] [ 5.48261518e-01 8.36064671e-01 2.01289408e-02 3.69445980e+01] [-3.54256568e-02 -8.29809994e-04 9.99371970e-01 -6.32312524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.75, Y:36.96, Z:-6.32 [[ 8.34527392e-01 -5.50204344e-01 2.89691634e-02 9.27480670e+01] [ 5.49841817e-01 8.35029712e-01 1.99839317e-02 3.69637970e+01] [-3.51853581e-02 -7.48680956e-04 9.99380523e-01 -6.32449865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.381052754 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:92.78, Y:36.98, Z:-6.33 [[ 8.30902903e-01 -5.55673888e-01 2.87558123e-02 9.27761770e+01] [ 5.55320331e-01 8.31400190e-01 1.98255832e-02 3.69817824e+01] [-3.49241467e-02 -5.04447435e-04 9.99389839e-01 -6.32767880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.411052754 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:92.80, Y:37.00, Z:-6.33 [[ 8.27530989e-01 -5.60774139e-01 2.69226212e-02 9.28005696e+01] [ 5.60467260e-01 8.27968777e-01 1.85513894e-02 3.70021995e+01] [-3.26942292e-02 -2.62601897e-04 9.99465366e-01 -6.32818473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.441052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:92.83, Y:37.02, Z:-6.33 [[ 8.24734588e-01 -5.64900902e-01 2.64543060e-02 9.28270503e+01] [ 5.64606902e-01 8.25158750e-01 1.82231460e-02 3.70219522e+01] [-3.21232737e-02 -9.29750792e-05 9.99483910e-01 -6.32949802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.471052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:92.85, Y:37.04, Z:-6.33 [[ 8.17984589e-01 -5.74625118e-01 2.65929841e-02 9.28545329e+01] [ 5.74333463e-01 8.18416694e-01 1.83081283e-02 3.70401644e+01] [-3.22844525e-02 2.97473915e-04 9.99478677e-01 -6.33057638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:92.88, Y:37.06, Z:-6.33 [[ 8.17568069e-01 -5.75278019e-01 2.52517780e-02 9.28817635e+01] [ 5.75015651e-01 8.17957885e-01 1.73752473e-02 3.70565770e+01] [-3.06504888e-02 3.14720217e-04 9.99530114e-01 -6.33274949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53105275399999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:92.91, Y:37.08, Z:-6.33 [[ 8.19420076e-01 -5.72676019e-01 2.43498703e-02 9.29094750e+01] [ 5.72431160e-01 8.19781758e-01 1.67462605e-02 3.70751907e+01] [-2.95517612e-02 2.16402450e-04 9.99563228e-01 -6.33385230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56105275399999 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:92.94, Y:37.09, Z:-6.33 [[ 8.22375243e-01 -5.68270610e-01 2.77033266e-02 9.29354707e+01] [ 5.67951561e-01 8.22841727e-01 1.90398529e-02 3.70949394e+01] [-3.36152420e-02 7.62439954e-05 9.99434845e-01 -6.33095304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.59105275399999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:92.96, Y:37.11, Z:-6.33 [[ 8.25956582e-01 -5.62841716e-01 3.17005879e-02 9.29628908e+01] [ 5.62420415e-01 8.26564685e-01 2.17737911e-02 3.71143136e+01] [-3.84577844e-02 -1.55148324e-04 9.99260214e-01 -6.32896037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62105275399999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:92.99, Y:37.13, Z:-6.33 [[ 8.27757213e-01 -5.60088677e-01 3.34465229e-02 9.29903579e+01] [ 5.59617972e-01 8.28432611e-01 2.29594078e-02 3.71332674e+01] [-4.05674947e-02 -2.87540118e-04 9.99176759e-01 -6.32850583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:93.02, Y:37.15, Z:-6.33 [[ 8.30959263e-01 -5.55338551e-01 3.32535248e-02 9.30180003e+01] [ 5.54869968e-01 8.31624216e-01 2.28140730e-02 3.71486435e+01] [-4.03239708e-02 -5.06183084e-04 9.99186530e-01 -6.33391614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.05, Y:37.16, Z:-6.34 [[ 8.32047341e-01 -5.53739220e-01 3.27123534e-02 9.30467766e+01] [ 5.53284998e-01 8.32689953e-01 2.24310839e-02 3.71649959e+01] [-3.96602189e-02 -5.64469391e-04 9.99213065e-01 -6.33803957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.711052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.07, Y:37.18, Z:-6.34 [[ 8.33755240e-01 -5.51168113e-01 3.26483048e-02 9.30737802e+01] [ 5.50714179e-01 8.34393945e-01 2.23749271e-02 3.71816939e+01] [-3.95738942e-02 -6.75328308e-04 9.99216418e-01 -6.33885821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.741052754 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:93.10, Y:37.20, Z:-6.34 [[ 8.34239108e-01 -5.50451022e-01 3.23849100e-02 9.31007057e+01] [ 5.50004152e-01 8.34867167e-01 2.21866272e-02 3.72008036e+01] [-3.92497496e-02 -6.97117113e-04 9.99229189e-01 -6.33851692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.771052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:93.13, Y:37.22, Z:-6.34 [[ 8.34888050e-01 -5.49504991e-01 3.17207992e-02 9.31279265e+01] [ 5.49076032e-01 8.35490127e-01 2.17200135e-02 3.72188459e+01] [-3.84376704e-02 -7.16649154e-04 9.99260743e-01 -6.33887443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.801052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:93.16, Y:37.24, Z:-6.34 [[ 8.35226676e-01 -5.49025537e-01 3.11023997e-02 9.31555529e+01] [ 5.48613215e-01 8.35805269e-01 2.12859622e-02 3.72369744e+01] [-3.76820864e-02 -7.15416004e-04 9.99289522e-01 -6.34032524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.831052754 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:93.18, Y:37.25, Z:-6.35 [[ 8.34758444e-01 -5.49898024e-01 2.81158906e-02 9.31845224e+01] [ 5.49561916e-01 8.35231584e-01 1.92328103e-02 3.72526702e+01] [-3.40593642e-02 -6.03328041e-04 9.99419629e-01 -6.34582533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86105275399999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:93.21, Y:37.27, Z:-6.35 [[ 8.34472419e-01 -5.50427034e-01 2.61889672e-02 9.32122313e+01] [ 5.50135978e-01 8.34883102e-01 1.79056256e-02 3.72682161e+01] [-3.17204666e-02 -5.34257571e-04 9.99496637e-01 -6.34972916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89105275399999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:93.24, Y:37.28, Z:-6.35 [[ 8.32877004e-01 -5.52916805e-01 2.44724888e-02 9.32407608e+01] [ 5.52663963e-01 8.33236367e-01 1.67242610e-02 3.72834555e+01] [-2.96384926e-02 -4.04189777e-04 9.99560602e-01 -6.35238665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92105275399999 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:93.27, Y:37.30, Z:-6.35 [[ 8.31744702e-01 -5.54637472e-01 2.40421774e-02 9.32691350e+01] [ 5.54394393e-01 8.32092042e-01 1.64222902e-02 3.73014407e+01] [-2.91137219e-02 -3.30304517e-04 9.99576051e-01 -6.35350225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.95105275399999 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:93.30, Y:37.32, Z:-6.35 [[ 8.29100127e-01 -5.58626200e-01 2.30162460e-02 9.32972146e+01] [ 5.58405169e-01 8.29419518e-01 1.57139844e-02 3.73185175e+01] [-2.78683671e-02 -1.76075713e-04 9.99611586e-01 -6.35371847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98105275399999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:93.33, Y:37.34, Z:-6.35 [[ 8.24946431e-01 -5.64717860e-01 2.36034863e-02 9.33251357e+01] [ 5.64488163e-01 8.25284034e-01 1.61051774e-02 3.73354527e+01] [-2.85744617e-02 3.79799664e-05 9.99591666e-01 -6.35459285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01105275399999 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:93.35, Y:37.35, Z:-6.36 [[ 8.22130939e-01 -5.68810101e-01 2.35751668e-02 9.33526021e+01] [ 5.68582871e-01 8.22468865e-01 1.60774508e-02 3.73531679e+01] [-2.85348571e-02 1.86666245e-04 9.99592781e-01 -6.35621126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04105275399999 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:93.38, Y:37.37, Z:-6.36 [[ 8.16141723e-01 -5.77372755e-01 2.35242456e-02 9.33810746e+01] [ 5.77150292e-01 8.16480533e-01 1.60337184e-02 3.73707417e+01] [-2.84645207e-02 4.91238680e-04 9.99594683e-01 -6.35935555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.071052754 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:93.41, Y:37.39, Z:-6.36 [[ 8.12964110e-01 -5.81813308e-01 2.41377505e-02 9.34091217e+01] [ 5.81581324e-01 8.13322091e-01 1.64420181e-02 3.73886498e+01] [-2.91979506e-02 6.71294230e-04 9.99573424e-01 -6.36063429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.101052754 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:93.44, Y:37.41, Z:-6.36 [[ 8.10560525e-01 -5.85136418e-01 2.46375388e-02 9.34366499e+01] [ 5.84896550e-01 8.10934466e-01 1.67725513e-02 3.74070901e+01] [-2.97936600e-02 8.15243477e-04 9.99555738e-01 -6.36183639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.131052754 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:93.46, Y:37.43, Z:-6.36 [[ 8.06680553e-01 -5.90421631e-01 2.58608437e-02 9.34625110e+01] [ 5.90160392e-01 8.07094266e-01 1.75942502e-02 3.74258973e+01] [-3.12601646e-02 1.06910622e-03 9.99510710e-01 -6.36161262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.161052754 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:93.49, Y:37.45, Z:-6.36 [[ 8.06351244e-01 -5.90819743e-01 2.70130185e-02 9.34895849e+01] [ 5.90535265e-01 8.06802782e-01 1.83676984e-02 3.74453635e+01] [-3.26461773e-02 1.14132356e-03 9.99466320e-01 -6.36113667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.191052754 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:93.52, Y:37.47, Z:-6.36 [[ 8.05530426e-01 -5.91834457e-01 2.92011701e-02 9.35160495e+01] [ 5.91503125e-01 8.06058506e-01 1.98428220e-02 3.74660883e+01] [-3.52815173e-02 1.28858653e-03 9.99376583e-01 -6.35934450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.221052754 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:93.54, Y:37.48, Z:-6.36 [[ 8.06699200e-01 -5.90182078e-01 3.03564666e-02 9.35428748e+01] [ 5.89823302e-01 8.07269155e-01 2.06151177e-02 3.74846166e+01] [-3.66725122e-02 1.27475237e-03 9.99326524e-01 -6.36260159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25105275399999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:93.57, Y:37.50, Z:-6.37 [[ 8.08015863e-01 -5.88374628e-01 3.04247040e-02 9.35693981e+01] [ 5.88013413e-01 8.08587562e-01 2.06490067e-02 3.75020250e+01] [-3.67503889e-02 1.20540904e-03 9.99323749e-01 -6.36536375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28105275399999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:93.60, Y:37.52, Z:-6.37 [[ 8.10956195e-01 -5.84284857e-01 3.10041333e-02 9.35957233e+01] [ 5.83907202e-01 8.11547969e-01 2.10302892e-02 3.75195631e+01] [-3.74490209e-02 1.04889340e-03 9.99297989e-01 -6.36885678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.31105275399999 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:93.62, Y:37.54, Z:-6.37 [[ 8.13167535e-01 -5.81209630e-01 3.08856822e-02 9.36234946e+01] [ 5.80833065e-01 8.13753361e-01 2.09384274e-02 3.75383280e+01] [-3.73029433e-02 9.12976028e-04 9.99303586e-01 -6.37011895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34105275399999 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:93.65, Y:37.56, Z:-6.37 [[ 8.15418223e-01 -5.78064939e-01 3.05622068e-02 9.36503362e+01] [ 5.77694467e-01 8.15990399e-01 2.07067826e-02 3.75577361e+01] [-3.69083323e-02 7.70929889e-04 9.99318358e-01 -6.37130138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37105275399999 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:93.68, Y:37.58, Z:-6.37 [[ 8.20500234e-01 -5.70881773e-01 2.95527983e-02 9.36766116e+01] [ 5.70531103e-01 8.21032159e-01 2.00113387e-02 3.75760001e+01] [-3.56879063e-02 4.41482594e-04 9.99362886e-01 -6.37251943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40105275399999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:93.70, Y:37.60, Z:-6.37 [[ 8.25367711e-01 -5.63924548e-01 2.75180950e-02 9.37032243e+01] [ 5.63616941e-01 8.25826305e-01 1.86241314e-02 3.75950452e+01] [-3.32277715e-02 1.37907810e-04 9.99447796e-01 -6.37485995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43105275399999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:93.73, Y:37.61, Z:-6.38 [[ 8.27648307e-01 -5.60618792e-01 2.65490087e-02 9.37295661e+01] [ 5.60331095e-01 8.28074012e-01 1.79581057e-02 3.76134363e+01] [-3.20521957e-02 1.32393697e-05 9.99486196e-01 -6.37688832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.461052754 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:93.76, Y:37.63, Z:-6.38 [[ 8.31874535e-01 -5.54412421e-01 2.47310566e-02 9.37565725e+01] [ 5.54160271e-01 8.32242047e-01 1.67203167e-02 3.76334907e+01] [-2.98521765e-02 -2.04236653e-04 9.99554304e-01 -6.37838907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.491052754 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:93.78, Y:37.65, Z:-6.38 [[ 8.34023331e-01 -5.51176983e-01 2.46782648e-02 9.37843131e+01] [ 5.50924775e-01 8.34388300e-01 1.66750269e-02 3.76520095e+01] [-2.97821464e-02 -3.11493977e-04 9.99556365e-01 -6.37913623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.521052754 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:93.81, Y:37.67, Z:-6.38 [[ 8.37151889e-01 -5.46397581e-01 2.50279508e-02 9.38107406e+01] [ 5.46136342e-01 8.37525793e-01 1.69009715e-02 3.76710812e+01] [-3.01962043e-02 -4.80006721e-04 9.99543875e-01 -6.38138310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.551052754 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:93.84, Y:37.69, Z:-6.38 [[ 8.37253090e-01 -5.46242285e-01 2.50325595e-02 9.38386250e+01] [ 5.45981181e-01 8.37627088e-01 1.68941422e-02 3.76898030e+01] [-3.01962447e-02 -4.77366317e-04 9.99543875e-01 -6.38265038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.581052754 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:93.87, Y:37.71, Z:-6.39 [[ 8.38571508e-01 -5.44188549e-01 2.56251487e-02 9.38665959e+01] [ 5.43914170e-01 8.38962758e-01 1.72877223e-02 3.77082047e+01] [-3.09063259e-02 -5.59109898e-04 9.99522129e-01 -6.38519099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61105275399999 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:93.89, Y:37.73, Z:-6.39 [[ 8.40295014e-01 -5.41501183e-01 2.60913420e-02 9.38930162e+01] [ 5.41215771e-01 8.40699728e-01 1.75913796e-02 3.77256196e+01] [-3.14607370e-02 -6.60902839e-04 9.99504770e-01 -6.38684489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64105275399999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:93.92, Y:37.75, Z:-6.39 [[ 8.43241747e-01 -5.36757586e-01 2.88903217e-02 9.39200607e+01] [ 5.36405260e-01 8.43736008e-01 1.94665281e-02 3.77456202e+01] [-3.48246114e-02 -9.18068656e-04 9.99393018e-01 -6.38709614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67105275399999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:93.95, Y:37.76, Z:-6.39 [[ 8.45035829e-01 -5.33768140e-01 3.17178198e-02 9.39471177e+01] [ 5.33341848e-01 8.45630115e-01 2.13584248e-02 3.77648695e+01] [-3.82219903e-02 -1.13219356e-03 9.99268631e-01 -6.38653855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70105275399999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:93.97, Y:37.78, Z:-6.39 [[ 8.46895404e-01 -5.30765925e-01 3.24916408e-02 9.39742775e+01] [ 5.30316864e-01 8.47517477e-01 2.18666331e-02 3.77835435e+01] [-3.91432972e-02 -1.28788604e-03 9.99232778e-01 -6.38776262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.73105275399999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:94.00, Y:37.80, Z:-6.39 [[ 8.48015391e-01 -5.28906586e-01 3.35815506e-02 9.40009773e+01] [ 5.28425970e-01 8.48678879e-01 2.25865998e-02 3.78013462e+01] [-4.04461541e-02 -1.40842082e-03 9.99180727e-01 -6.38924126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76105275399999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:94.03, Y:37.82, Z:-6.39 [[ 8.48460531e-01 -5.28209628e-01 3.33063925e-02 9.40284003e+01] [ 5.27736810e-01 8.49112815e-01 2.23894271e-02 3.78194495e+01] [-4.01071957e-02 -1.41953590e-03 9.99194374e-01 -6.39123771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79105275399999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:94.05, Y:37.84, Z:-6.39 [[ 8.49377134e-01 -5.26756904e-01 3.29491739e-02 9.40543712e+01] [ 5.26293599e-01 8.50014723e-01 2.21363658e-02 3.78375294e+01] [-3.96677665e-02 -1.46118360e-03 9.99211856e-01 -6.39405894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.821052754 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:94.08, Y:37.86, Z:-6.40 [[ 8.49863269e-01 -5.25966559e-01 3.30394114e-02 9.40819630e+01] [ 5.25500603e-01 8.50503941e-01 2.21847402e-02 3.78551170e+01] [-3.97685811e-02 -1.49176523e-03 9.99207804e-01 -6.39687922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.851052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:94.11, Y:37.87, Z:-6.40 [[ 8.50301486e-01 -5.25230333e-01 3.34735709e-02 9.41100147e+01] [ 5.24751998e-01 8.50958718e-01 2.24633118e-02 3.78734141e+01] [-4.02830397e-02 -1.53526419e-03 9.99187129e-01 -6.39949311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.881052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:94.14, Y:37.89, Z:-6.40 [[ 8.50802050e-01 -5.24430073e-01 3.33011969e-02 9.41370446e+01] [ 5.23956552e-01 8.51452103e-01 2.23349092e-02 3.78925896e+01] [-4.00674722e-02 -1.55420619e-03 9.99195768e-01 -6.40085961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.911052754 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:94.16, Y:37.91, Z:-6.40 [[ 8.50628805e-01 -5.24677700e-01 3.38222823e-02 9.41636892e+01] [ 5.24189967e-01 8.51299531e-01 2.26712770e-02 3.79114236e+01] [-4.06880065e-02 -1.55554022e-03 9.99170689e-01 -6.40335205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.941052754 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:94.19, Y:37.93, Z:-6.40 [[ 8.50210060e-01 -5.25353964e-01 3.38536142e-02 9.41907811e+01] [ 5.24866394e-01 8.50882437e-01 2.26791997e-02 3.79299618e+01] [-4.07200532e-02 -1.51345935e-03 9.99169448e-01 -6.40481203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.971052754 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:94.22, Y:37.95, Z:-6.41 [[ 8.48449585e-01 -5.28215070e-01 3.34983725e-02 9.42168952e+01] [ 5.27740432e-01 8.49109543e-01 2.24281174e-02 3.79480270e+01] [-4.02906573e-02 -1.35068129e-03 9.99187089e-01 -6.40672246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00105275399999 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:94.24, Y:37.97, Z:-6.41 [[ 8.47862100e-01 -5.29192049e-01 3.29489637e-02 9.42439760e+01] [ 5.28734071e-01 8.48501123e-01 2.20482812e-02 3.79667353e+01] [-3.96250079e-02 -1.27266229e-03 9.99213811e-01 -6.40848500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03105275399999 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:94.27, Y:37.99, Z:-6.41 [[ 8.46325690e-01 -5.31643541e-01 3.29844270e-02 9.42698126e+01] [ 5.31186938e-01 8.46967429e-01 2.20592617e-02 3.79855549e+01] [-3.96643993e-02 -1.14842314e-03 9.99212398e-01 -6.40986846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06105275399999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:94.30, Y:38.00, Z:-6.41 [[ 8.44308675e-01 -5.34734212e-01 3.46725318e-02 9.42969021e+01] [ 5.34232799e-01 8.45019664e-01 2.31750548e-02 3.80039513e+01] [-4.16914658e-02 -1.04369613e-03 9.99129988e-01 -6.41227349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.09105275399999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:94.32, Y:38.02, Z:-6.41 [[ 8.44071185e-01 -5.35047329e-01 3.56116652e-02 9.43239280e+01] [ 5.34519256e-01 8.44821440e-01 2.37886462e-02 3.80226684e+01] [-4.28135499e-02 -1.04418995e-03 9.99082534e-01 -6.41388837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:94.35, Y:38.04, Z:-6.42 [[ 8.43375449e-01 -5.36060219e-01 3.68414732e-02 9.43499282e+01] [ 5.35496633e-01 8.44179135e-01 2.45956059e-02 3.80417481e+01] [-4.42855288e-02 -1.01484528e-03 9.99018399e-01 -6.41543227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:94.38, Y:38.06, Z:-6.42 [[ 8.42906705e-01 -5.36769654e-01 3.72374120e-02 9.43771389e+01] [ 5.36195185e-01 8.43728265e-01 2.48463032e-02 3.80610441e+01] [-4.47549986e-02 -9.76594598e-04 9.98997516e-01 -6.41599946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:94.40, Y:38.08, Z:-6.41 [[ 8.40917133e-01 -5.39779575e-01 3.86831448e-02 9.44040424e+01] [ 5.39163483e-01 8.41805983e-01 2.57958648e-02 3.80813185e+01] [-4.64877837e-02 -8.35645635e-04 9.98918509e-01 -6.41492513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.211052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.43, Y:38.10, Z:-6.42 [[ 8.39878369e-01 -5.41361794e-01 3.91373526e-02 9.44316235e+01] [ 5.40733572e-01 8.40789423e-01 2.60835332e-02 3.80998409e+01] [-4.70269004e-02 -7.44114855e-04 9.98893346e-01 -6.41631138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.241052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:94.46, Y:38.12, Z:-6.42 [[ 8.39529201e-01 -5.41922752e-01 3.88645335e-02 9.44579146e+01] [ 5.41304560e-01 8.40428015e-01 2.58867851e-02 3.81175103e+01] [-4.66914806e-02 -6.95162821e-04 9.98909116e-01 -6.41874532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.271052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:94.49, Y:38.14, Z:-6.42 [[ 8.38562208e-01 -5.43384005e-01 3.93350438e-02 9.44854256e+01] [ 5.42753047e-01 8.39484039e-01 2.61854613e-02 3.81359137e+01] [-4.72499023e-02 -6.08923386e-04 9.98882914e-01 -6.42179382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.301052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:94.51, Y:38.16, Z:-6.42 [[ 8.38222301e-01 -5.43867803e-01 3.98896694e-02 9.45111322e+01] [ 5.43220165e-01 8.39170709e-01 2.65400348e-02 3.81553176e+01] [-4.79085126e-02 -5.77576257e-04 9.98851561e-01 -6.42125301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.331052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.54, Y:38.17, Z:-6.42 [[ 8.37690769e-01 -5.44709149e-01 3.95742127e-02 9.45382533e+01] [ 5.44073169e-01 8.38624872e-01 2.63194022e-02 3.81735404e+01] [-4.75243382e-02 -5.16252988e-04 9.98869947e-01 -6.42185846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.57, Y:38.19, Z:-6.43 [[ 8.37974459e-01 -5.44407511e-01 3.76731803e-02 9.45662524e+01] [ 5.43831520e-01 8.38820729e-01 2.50412055e-02 3.81910238e+01] [-4.52336650e-02 -4.96027693e-04 9.98976311e-01 -6.42512752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:94.59, Y:38.21, Z:-6.43 [[ 8.38427115e-01 -5.43775474e-01 3.67179403e-02 9.45943808e+01] [ 5.43228342e-01 8.39230588e-01 2.43924121e-02 3.82090177e+01] [-4.40788140e-02 -5.05033886e-04 9.99027929e-01 -6.42805946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:94.62, Y:38.23, Z:-6.43 [[ 8.37627557e-01 -5.45116761e-01 3.50398830e-02 9.46215276e+01] [ 5.44620234e-01 8.38360039e-01 2.32647101e-02 3.82259520e+01] [-4.20580211e-02 -4.03733013e-04 9.99115088e-01 -6.43066653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.45105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:94.65, Y:38.24, Z:-6.43 [[ 8.37359989e-01 -5.45580304e-01 3.42108191e-02 9.46493112e+01] [ 5.45107890e-01 8.38058471e-01 2.27021382e-02 3.82441193e+01] [-4.10565062e-02 -3.61274726e-04 9.99156761e-01 -6.43115359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:94.68, Y:38.26, Z:-6.43 [[ 8.37921234e-01 -5.44716394e-01 3.42352986e-02 9.46771911e+01] [ 5.44243118e-01 8.38620233e-01 2.27053528e-02 3.82624928e+01] [-4.10783920e-02 -3.92971575e-04 9.99155849e-01 -6.43204369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:94.70, Y:38.28, Z:-6.43 [[ 8.38726360e-01 -5.43458595e-01 3.45086754e-02 9.47048558e+01] [ 5.42977209e-01 8.39435856e-01 2.28734559e-02 3.82809043e+01] [-4.13985956e-02 -4.47146200e-04 9.99142611e-01 -6.43351835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:94.73, Y:38.30, Z:-6.44 [[ 8.39768533e-01 -5.41727539e-01 3.63329724e-02 9.47339508e+01] [ 5.41192899e-01 8.40553968e-01 2.40681039e-02 3.82974970e+01] [-4.35781789e-02 -5.48489637e-04 9.99049869e-01 -6.43609038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.571052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:94.76, Y:38.32, Z:-6.44 [[ 8.40798697e-01 -5.40044496e-01 3.75432207e-02 9.47624650e+01] [ 5.39472610e-01 8.41636220e-01 2.48551149e-02 3.83153133e+01] [-4.50206024e-02 -6.44608990e-04 9.98985851e-01 -6.43772221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.601052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:94.79, Y:38.34, Z:-6.44 [[ 8.42999173e-01 -5.36566643e-01 3.80608970e-02 9.47894530e+01] [ 5.35975989e-01 8.43857541e-01 2.51831264e-02 3.83351908e+01] [-4.56304005e-02 -8.29627811e-04 9.98958046e-01 -6.43583707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.631052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:94.82, Y:38.35, Z:-6.44 [[ 8.43873777e-01 -5.35225120e-01 3.75648718e-02 9.48161544e+01] [ 5.34649080e-01 8.44709003e-01 2.48407254e-02 3.83544460e+01] [-4.50267656e-02 -8.78412594e-04 9.98985395e-01 -6.43519740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.661052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:38.37, Z:-6.44 [[ 8.47047032e-01 -5.30155409e-01 3.80337776e-02 9.48419219e+01] [ 5.29560434e-01 8.47899710e-01 2.51361839e-02 3.83733282e+01] [-4.55749129e-02 -1.15034619e-03 9.98960261e-01 -6.43555112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.87, Y:38.39, Z:-6.44 [[ 8.51354613e-01 -5.23115629e-01 3.93110927e-02 9.48700715e+01] [ 5.22473155e-01 8.52260279e-01 2.59657358e-02 3.83915766e+01] [-4.70863650e-02 -1.56705837e-03 9.98889593e-01 -6.43798907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.721052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.90, Y:38.41, Z:-6.44 [[ 8.53129324e-01 -5.20194386e-01 3.95999605e-02 9.48980254e+01] [ 5.19540007e-01 8.54046143e-01 2.61412832e-02 3.84099217e+01] [-4.74187423e-02 -1.72813150e-03 9.98873604e-01 -6.43910060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:94.92, Y:38.43, Z:-6.44 [[ 8.55230348e-01 -5.16741978e-01 3.94813764e-02 9.49247755e+01] [ 5.16088562e-01 8.56139074e-01 2.60476726e-02 3.84271722e+01] [-4.72614749e-02 -1.90087337e-03 9.98880743e-01 -6.44048567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.95, Y:38.44, Z:-6.44 [[ 8.56018885e-01 -5.15448848e-01 3.92957227e-02 9.49517154e+01] [ 5.14800837e-01 8.56918127e-01 2.59118035e-02 3.84445602e+01] [-4.70294264e-02 -1.95152222e-03 9.98891598e-01 -6.44177472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.81105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:94.98, Y:38.46, Z:-6.44 [[ 8.56193465e-01 -5.15174286e-01 3.90922702e-02 9.49781966e+01] [ 5.14533160e-01 8.57083229e-01 2.57675334e-02 3.84623308e+01] [-4.67800998e-02 -1.94772443e-03 9.98903313e-01 -6.44255928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:38.48, Z:-6.44 [[ 8.55951533e-01 -5.15569496e-01 3.91799457e-02 9.50066798e+01] [ 5.14926562e-01 8.56845619e-01 2.58112491e-02 3.84796805e+01] [-4.68786575e-02 -1.91838351e-03 9.98898749e-01 -6.44441723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.03, Y:38.50, Z:-6.45 [[ 8.55395143e-01 -5.16407797e-01 4.02757501e-02 9.50340732e+01] [ 5.15730049e-01 8.56340664e-01 2.65175992e-02 3.84971292e+01] [-4.81836576e-02 -1.91161101e-03 9.98836664e-01 -6.44692554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.06, Y:38.51, Z:-6.45 [[ 8.54505800e-01 -5.17813123e-01 4.11023915e-02 9.50617247e+01] [ 5.17109615e-01 8.55491742e-01 2.70467421e-02 3.85147799e+01] [-4.91679145e-02 -1.85715613e-03 9.98788800e-01 -6.44809927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:95.09, Y:38.53, Z:-6.45 [[ 8.51252542e-01 -5.23207729e-01 4.02837724e-02 9.50888350e+01] [ 5.22538715e-01 8.52203858e-01 2.64929386e-02 3.85340572e+01] [-4.81912965e-02 -1.50235059e-03 9.98836995e-01 -6.44817652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.961052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.12, Y:38.55, Z:-6.45 [[ 8.48728242e-01 -5.27380061e-01 3.91234218e-02 9.51152866e+01] [ 5.26754152e-01 8.49628619e-01 2.57152291e-02 3.85516060e+01] [-4.68020780e-02 -1.21681628e-03 9.98903441e-01 -6.45108534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.991052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:95.14, Y:38.57, Z:-6.46 [[ 8.42880827e-01 -5.36872489e-01 3.63296330e-02 9.51423919e+01] [ 5.36342104e-01 8.43663163e-01 2.38666295e-02 3.85678740e+01] [-4.34633098e-02 -6.31612602e-04 9.99054824e-01 -6.45579721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.021052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.17, Y:38.59, Z:-6.46 [[ 8.39851104e-01 -5.41671771e-01 3.52394151e-02 9.51695459e+01] [ 5.41177483e-01 8.40590008e-01 2.31380711e-02 3.85861636e+01] [-4.21551402e-02 -3.61756643e-04 9.99111012e-01 -6.45773300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.051052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:95.20, Y:38.60, Z:-6.46 [[ 8.33611536e-01 -5.51252475e-01 3.48212010e-02 9.51959292e+01] [ 5.50778678e-01 8.34338475e-01 2.28507498e-02 3.86037776e+01] [-4.16492002e-02 1.30126375e-04 9.99132287e-01 -6.45917259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.081052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:95.22, Y:38.62, Z:-6.46 [[ 8.31022451e-01 -5.55132392e-01 3.50672639e-02 9.52238077e+01] [ 5.54655686e-01 8.31761935e-01 2.30033474e-02 3.86223741e+01] [-4.19375185e-02 3.33959142e-04 9.99120179e-01 -6.46050090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:38.64, Z:-6.46 [[ 8.28114533e-01 -5.59364342e-01 3.65766828e-02 9.52514381e+01] [ 5.58850435e-01 8.28921705e-01 2.39791184e-02 3.86411242e+01] [-4.37322700e-02 5.83438697e-04 9.99043116e-01 -6.46118246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.28, Y:38.66, Z:-6.46 [[ 8.27103148e-01 -5.60765865e-01 3.79740225e-02 9.52779283e+01] [ 5.60214028e-01 8.27974132e-01 2.48813310e-02 3.86586346e+01] [-4.53941095e-02 6.94152890e-04 9.98968915e-01 -6.46178179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.30, Y:38.68, Z:-6.46 [[ 8.26890184e-01 -5.60909916e-01 4.04065585e-02 9.53049880e+01] [ 5.60285790e-01 8.27876497e-01 2.64639222e-02 3.86775680e+01] [-4.82955164e-02 7.56463052e-04 9.98832804e-01 -6.46086440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:95.33, Y:38.70, Z:-6.46 [[ 8.27487295e-01 -5.59936877e-01 4.16589739e-02 9.53320211e+01] [ 5.59273021e-01 8.28534944e-01 2.72678223e-02 3.86960169e+01] [-4.97841749e-02 7.34963645e-04 9.98759729e-01 -6.46153263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.23105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.36, Y:38.71, Z:-6.46 [[ 8.29481648e-01 -5.56862968e-01 4.31721031e-02 9.53598498e+01] [ 5.56146684e-01 8.30604174e-01 2.82413311e-02 3.87148504e+01] [-5.15854805e-02 5.84356146e-04 9.98668412e-01 -6.46346665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.39, Y:38.73, Z:-6.47 [[ 8.30793343e-01 -5.54920056e-01 4.29668839e-02 9.53880415e+01] [ 5.54208807e-01 8.31903543e-01 2.80908018e-02 3.87325876e+01] [-5.13324523e-02 4.74974347e-04 9.98681508e-01 -6.46537627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:95.42, Y:38.75, Z:-6.47 [[ 8.32921149e-01 -5.51756589e-01 4.25091360e-02 9.54166764e+01] [ 5.51057118e-01 8.34005145e-01 2.77753535e-02 3.87500311e+01] [-5.07780724e-02 2.90282651e-04 9.98709919e-01 -6.46808540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.321052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.44, Y:38.77, Z:-6.47 [[ 8.33998572e-01 -5.50169709e-01 4.19484598e-02 9.54448165e+01] [ 5.49487382e-01 8.35052842e-01 2.73928339e-02 3.87682573e+01] [-5.00998881e-02 2.04564996e-04 9.98744191e-01 -6.47025853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.351052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:38.78, Z:-6.47 [[ 8.35289598e-01 -5.48356726e-01 3.99523197e-02 9.54725070e+01] [ 5.47736454e-01 8.36244516e-01 2.60746414e-02 3.87847700e+01] [-4.77081132e-02 1.03465174e-04 9.98861314e-01 -6.47177334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.381052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:38.80, Z:-6.47 [[ 8.36231480e-01 -5.47024965e-01 3.84785447e-02 9.55001879e+01] [ 5.46448850e-01 8.37116292e-01 2.50991839e-02 3.88028411e+01] [-4.59408969e-02 3.78287780e-05 9.98944159e-01 -6.47212989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.411052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:38.82, Z:-6.47 [[ 8.38282151e-01 -5.44036815e-01 3.61521605e-02 9.55273253e+01] [ 5.43526064e-01 8.39061340e-01 2.35687419e-02 3.88203972e+01] [-4.31561435e-02 -1.07614133e-04 9.99068334e-01 -6.47308353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.441052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:38.84, Z:-6.48 [[ 8.39805442e-01 -5.41729511e-01 3.54394597e-02 9.55560118e+01] [ 5.41237180e-01 8.40552849e-01 2.30916195e-02 3.88377212e+01] [-4.22981506e-02 -2.11314474e-04 9.99105010e-01 -6.47544384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.471052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:38.86, Z:-6.48 [[ 8.39904789e-01 -5.41575082e-01 3.54454031e-02 9.55842023e+01] [ 5.41082998e-01 8.40652358e-01 2.30824931e-02 3.88559814e+01] [-4.22981648e-02 -2.08191552e-04 9.99105010e-01 -6.47671082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.61, Y:38.87, Z:-6.48 [[ 8.41929474e-01 -5.38461961e-01 3.48349953e-02 9.56124786e+01] [ 5.37984405e-01 8.42649746e-01 2.26756667e-02 3.88728834e+01] [-4.15636839e-02 -3.50627955e-04 9.99135795e-01 -6.47774302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:38.89, Z:-6.48 [[ 8.43728677e-01 -5.35565615e-01 3.59359425e-02 9.56408098e+01] [ 5.35055348e-01 8.44493472e-01 2.33784056e-02 3.88908666e+01] [-4.28683390e-02 -4.97312998e-04 9.99080606e-01 -6.47809131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.67, Y:38.91, Z:-6.48 [[ 8.44679392e-01 -5.34046416e-01 3.62098002e-02 9.56686081e+01] [ 5.33527541e-01 8.45454968e-01 2.35427107e-02 3.89081139e+01] [-4.31866557e-02 -5.67116886e-04 9.99066860e-01 -6.47878856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.59105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.70, Y:38.93, Z:-6.48 [[ 8.46736677e-01 -5.30827287e-01 3.54879020e-02 9.56951109e+01] [ 5.30326633e-01 8.47479731e-01 2.30600929e-02 3.89257657e+01] [-4.23162042e-02 -7.05646862e-04 9.99104019e-01 -6.47935089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:38.94, Z:-6.48 [[ 8.48765427e-01 -5.27639556e-01 3.45506763e-02 9.57220591e+01] [ 5.27162725e-01 8.49467953e-01 2.24423403e-02 3.89449226e+01] [-4.11911587e-02 -8.34453865e-04 9.99150936e-01 -6.48100743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.75, Y:38.96, Z:-6.48 [[ 8.49574111e-01 -5.26239819e-01 3.59928035e-02 9.57504651e+01] [ 5.25721719e-01 8.50335694e-01 2.33641020e-02 3.89618488e+01] [-4.29010864e-02 -9.27337674e-04 9.99078894e-01 -6.48262515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:38.98, Z:-6.48 [[ 8.50185055e-01 -5.25213358e-01 3.65554483e-02 9.57774856e+01] [ 5.24678621e-01 8.50970014e-01 2.37145541e-02 3.89791481e+01] [-4.35627909e-02 -9.81897327e-04 9.99050209e-01 -6.48255529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.711052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:95.80, Y:39.00, Z:-6.48 [[ 8.51318016e-01 -5.23390340e-01 3.63343868e-02 9.58048695e+01] [ 5.22860983e-01 8.52092386e-01 2.35575558e-02 3.89987940e+01] [-4.32900515e-02 -1.05713843e-03 9.99061987e-01 -6.48243622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.741052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:95.83, Y:39.02, Z:-6.48 [[ 8.51319296e-01 -5.23380636e-01 3.64440228e-02 9.58328593e+01] [ 5.22848692e-01 8.52098357e-01 2.36142820e-02 3.90158077e+01] [-4.34131498e-02 -1.04858423e-03 9.99056655e-01 -6.48475127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.771052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:95.86, Y:39.03, Z:-6.49 [[ 8.48942394e-01 -5.27193459e-01 3.69305906e-02 9.58611324e+01] [ 5.26651448e-01 8.49744862e-01 2.39149082e-02 3.90317677e+01] [-4.39893628e-02 -8.52830435e-04 9.99031635e-01 -6.48671595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.801052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:95.89, Y:39.05, Z:-6.49 [[ 8.48166958e-01 -5.28486443e-01 3.62614243e-02 9.58892398e+01] [ 5.27965658e-01 8.48941401e-01 2.34683195e-02 3.90497441e+01] [-4.31865131e-02 -7.60266406e-04 9.99066738e-01 -6.48838041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.831052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:39.07, Z:-6.49 [[ 8.46940957e-01 -5.30505689e-01 3.54221627e-02 9.59160678e+01] [ 5.30011076e-01 8.47681140e-01 2.29116373e-02 3.90678815e+01] [-4.21814532e-02 -6.30665452e-04 9.99109767e-01 -6.49055357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:95.94, Y:39.09, Z:-6.49 [[ 8.45694813e-01 -5.32437531e-01 3.62016386e-02 9.59440492e+01] [ 5.31923250e-01 8.46469131e-01 2.34022689e-02 3.90859106e+01] [-4.31038158e-02 -5.34684183e-04 9.99070456e-01 -6.49132717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:95.97, Y:39.10, Z:-6.49 [[ 8.42964246e-01 -5.36694332e-01 3.70199249e-02 9.59730483e+01] [ 5.36161251e-01 8.43776686e-01 2.39168621e-02 3.91026447e+01] [-4.40725939e-02 -3.12410367e-04 9.99028282e-01 -6.49342358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92105275399999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:96.00, Y:39.12, Z:-6.50 [[ 8.42143112e-01 -5.38022554e-01 3.64240331e-02 9.60016285e+01] [ 5.37508336e-01 8.42930412e-01 2.35182705e-02 3.91198180e+01] [-4.33562852e-02 -2.27528102e-04 9.99059648e-01 -6.49536412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.95105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:96.03, Y:39.14, Z:-6.50 [[ 8.39700929e-01 -5.41792778e-01 3.69179639e-02 9.60304719e+01] [ 5.41268769e-01 8.40512097e-01 2.38229886e-02 3.91370237e+01] [-4.39371184e-02 -2.16447616e-05 9.99034298e-01 -6.49598835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:96.06, Y:39.15, Z:-6.50 [[ 8.38525132e-01 -5.43602744e-01 3.70359170e-02 9.60584040e+01] [ 5.43077763e-01 8.39342629e-01 2.38850145e-02 3.91545909e+01] [-4.40697834e-02 8.51980182e-05 9.99028452e-01 -6.49677410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:96.09, Y:39.17, Z:-6.50 [[ 8.36517414e-01 -5.46748041e-01 3.61274989e-02 9.60873739e+01] [ 5.46252013e-01 8.37297148e-01 2.32856850e-02 3.91710190e+01] [-4.29808545e-02 2.55838004e-04 9.99075863e-01 -6.49957999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04105275399999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:96.11, Y:39.19, Z:-6.50 [[ 8.35618542e-01 -5.48152637e-01 3.56418096e-02 9.61145032e+01] [ 5.47671688e-01 8.36378248e-01 2.29596931e-02 3.91872575e+01] [-4.23954506e-02 3.34464723e-04 9.99100853e-01 -6.50160707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.071052754 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:96.14, Y:39.20, Z:-6.50 [[ 8.35015673e-01 -5.49141739e-01 3.45279169e-02 9.61435406e+01] [ 5.48691582e-01 8.35729147e-01 2.22337839e-02 3.92039639e+01] [-4.10654853e-02 3.79619300e-04 9.99156385e-01 -6.50409375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.101052754 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:96.17, Y:39.22, Z:-6.51 [[ 8.35595036e-01 -5.48285503e-01 3.41166287e-02 9.61719447e+01] [ 5.47845812e-01 8.36291151e-01 2.19562404e-02 3.92212654e+01] [-4.05697230e-02 3.44126684e-04 9.99176651e-01 -6.50535993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.131052754 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:96.20, Y:39.24, Z:-6.50 [[ 8.37066411e-01 -5.46000970e-01 3.46808885e-02 9.61993280e+01] [ 5.45545174e-01 8.37784506e-01 2.23066065e-02 3.92383005e+01] [-4.12345398e-02 2.47880249e-04 9.99149464e-01 -6.50476159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.161052754 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:96.23, Y:39.26, Z:-6.51 [[ 8.38529815e-01 -5.43662158e-01 3.60445296e-02 9.62277146e+01] [ 5.43168033e-01 8.39304138e-01 2.31743525e-02 3.92564117e+01] [-4.28513414e-02 1.45850786e-04 9.99081449e-01 -6.50506644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.191052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:96.26, Y:39.27, Z:-6.51 [[ 8.39795565e-01 -5.41719749e-01 3.58206985e-02 9.62562086e+01] [ 5.41230574e-01 8.40559165e-01 2.30164316e-02 3.92738749e+01] [-4.25778719e-02 5.81599982e-05 9.99093150e-01 -6.50675438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.221052754 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:96.28, Y:39.29, Z:-6.51 [[ 8.41302956e-01 -5.39430481e-01 3.49870315e-02 9.62833763e+01] [ 5.38962397e-01 8.42030138e-01 2.24673203e-02 3.92906080e+01] [-4.15796924e-02 -4.51286134e-05 9.99135190e-01 -6.50853412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25105275399999 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:96.31, Y:39.31, Z:-6.51 [[ 8.42905517e-01 -5.36984841e-01 3.40230865e-02 9.63132727e+01] [ 5.36540702e-01 8.43591879e-01 2.18361458e-02 3.93058846e+01] [-4.04272788e-02 -1.51037037e-04 9.99182472e-01 -6.51209482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28105275399999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:96.34, Y:39.32, Z:-6.51 [[ 8.43762791e-01 -5.35762209e-01 3.19876207e-02 9.63420217e+01] [ 5.35369179e-01 8.44368889e-01 2.05188260e-02 3.93225277e+01] [-3.80025633e-02 -1.87835657e-04 9.99277624e-01 -6.51363082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31105275399999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:96.37, Y:39.34, Z:-6.51 [[ 8.43994803e-01 -5.35463826e-01 3.08425494e-02 9.63699223e+01] [ 5.35098662e-01 8.44558143e-01 1.97728526e-02 3.93396981e+01] [-3.66359736e-02 -1.84377867e-04 9.99328660e-01 -6.51499601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34105275399999 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:96.40, Y:39.36, Z:-6.52 [[ 8.44477407e-01 -5.34860884e-01 2.79596767e-02 9.63977110e+01] [ 5.34560802e-01 8.44940117e-01 1.79150178e-02 3.93561372e+01] [-3.32062948e-02 -1.82680607e-04 9.99448502e-01 -6.51795691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.37105275399999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:96.43, Y:39.37, Z:-6.52 [[ 8.44804643e-01 -5.34385674e-01 2.71489767e-02 9.64254890e+01] [ 5.34102820e-01 8.45240745e-01 1.73856700e-02 3.93726301e+01] [-3.22380742e-02 -1.87149717e-04 9.99480201e-01 -6.51985520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40105275399999 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:96.45, Y:39.39, Z:-6.52 [[ 8.44622212e-01 -5.34651923e-01 2.75797168e-02 9.64539986e+01] [ 5.34360359e-01 8.45072358e-01 1.76554960e-02 3.93896658e+01] [-3.27464012e-02 -1.74716709e-04 9.99463678e-01 -6.52165022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43105275399999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:96.48, Y:39.41, Z:-6.52 [[ 8.44209079e-01 -5.35315245e-01 2.73609032e-02 9.64808385e+01] [ 5.35028971e-01 8.44652336e-01 1.75051631e-02 3.94077024e+01] [-3.24812315e-02 -1.39141763e-04 9.99472336e-01 -6.52219443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.461052754 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:96.51, Y:39.43, Z:-6.52 [[ 8.43124265e-01 -5.37088030e-01 2.60369462e-02 9.65074201e+01] [ 5.36829905e-01 8.43526197e-01 1.66495719e-02 3.94253319e+01] [-3.09051320e-02 -6.02466646e-05 9.99522321e-01 -6.52492070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.491052754 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:96.53, Y:39.44, Z:-6.53 [[ 8.42580529e-01 -5.37971631e-01 2.53885227e-02 9.65338148e+01] [ 5.37726863e-01 8.42962944e-01 1.62264127e-02 3.94431801e+01] [-3.01309335e-02 -1.99687406e-05 9.99545960e-01 -6.52710247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.521052754 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:96.56, Y:39.46, Z:-6.53 [[ 8.41109650e-01 -5.40259226e-01 2.55837086e-02 9.65607725e+01] [ 5.40011999e-01 8.41498642e-01 1.63424860e-02 3.94616851e+01] [-3.03578349e-02 6.96869184e-05 9.99539092e-01 -6.52829570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.551052754 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:96.59, Y:39.48, Z:-6.53 [[ 8.40360973e-01 -5.41401591e-01 2.60336629e-02 9.65877204e+01] [ 5.41146461e-01 8.40764118e-01 1.66194343e-02 3.94796380e+01] [-3.08859578e-02 1.21700499e-04 9.99522908e-01 -6.52901913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.581052754 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:96.61, Y:39.50, Z:-6.53 [[ 8.38646424e-01 -5.43981426e-01 2.75024320e-02 9.66137161e+01] [ 5.43698272e-01 8.39097225e-01 1.75509202e-02 3.94988524e+01] [-3.26245889e-02 2.34008263e-04 9.99467649e-01 -6.52837242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61105275399999 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:96.64, Y:39.52, Z:-6.53 [[ 8.38493898e-01 -5.44185486e-01 2.81094134e-02 9.66407820e+01] [ 5.43890123e-01 8.38964893e-01 1.79288103e-02 3.95180028e+01] [-3.33394094e-02 2.55234294e-04 9.99444055e-01 -6.52887907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64105275399999 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:96.67, Y:39.54, Z:-6.53 [[ 8.38690706e-01 -5.43857134e-01 2.85887764e-02 9.66665026e+01] [ 5.43551781e-01 8.39177784e-01 1.82238447e-02 3.95370355e+01] [-3.39022340e-02 2.55311103e-04 9.99425121e-01 -6.52979559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67105275399999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:96.69, Y:39.55, Z:-6.53 [[ 8.39439389e-01 -5.42684691e-01 2.88935687e-02 9.66940642e+01] [ 5.42372437e-01 8.39936473e-01 1.84081744e-02 3.95544158e+01] [-3.42585966e-02 2.18528622e-04 9.99412978e-01 -6.53082531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70105275399999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:96.72, Y:39.57, Z:-6.53 [[ 8.40445575e-01 -5.41082131e-01 2.96877455e-02 9.67216681e+01] [ 5.40751827e-01 8.40969738e-01 1.89040000e-02 3.95723193e+01] [-3.51951122e-02 1.65919455e-04 9.99380446e-01 -6.53176673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.73105275399999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:96.75, Y:39.59, Z:-6.53 [[ 8.42592851e-01 -5.37636547e-01 3.13724698e-02 9.67478195e+01] [ 5.37265741e-01 8.43176697e-01 1.99645082e-02 3.95913544e+01] [-3.71861847e-02 3.34013115e-05 9.99308354e-01 -6.53059521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76105275399999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:96.78, Y:39.61, Z:-6.53 [[ 8.43507389e-01 -5.36165678e-01 3.19632697e-02 9.67752274e+01] [ 5.35780137e-01 8.44112768e-01 2.03292700e-02 3.96095699e+01] [-3.78804609e-02 -2.26044537e-05 9.99282278e-01 -6.53123919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79105275399999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:96.80, Y:39.63, Z:-6.53 [[ 8.44276129e-01 -5.34949942e-01 3.20371366e-02 9.68033234e+01] [ 5.34562187e-01 8.44883753e-01 2.03645105e-02 3.96277844e+01] [-3.79616499e-02 -6.74282718e-05 9.99279195e-01 -6.53244321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.821052754 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:96.83, Y:39.64, Z:-6.54 [[ 8.45806874e-01 -5.32511329e-01 3.22864848e-02 9.68301058e+01] [ 5.32116188e-01 8.46422859e-01 2.05111236e-02 3.96447146e+01] [-3.82504245e-02 -1.68288116e-04 9.99268171e-01 -6.53583624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.851052754 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:96.86, Y:39.66, Z:-6.54 [[ 8.46021395e-01 -5.32178759e-01 3.21491423e-02 9.68582413e+01] [ 5.31787149e-01 8.46631997e-01 2.04129747e-02 3.96617390e+01] [-3.80818441e-02 -1.73312616e-04 9.99274608e-01 -6.53810893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.881052754 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:96.89, Y:39.68, Z:-6.54 [[ 8.45939214e-01 -5.32335825e-01 3.17082934e-02 9.68864997e+01] [ 5.31955417e-01 8.46533251e-01 2.01218527e-02 3.96793406e+01] [-3.75537078e-02 -1.54465852e-04 9.99294599e-01 -6.54033758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.911052754 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:96.91, Y:39.70, Z:-6.54 [[ 8.45139516e-01 -5.33658743e-01 3.07822139e-02 9.69135045e+01] [ 5.33301506e-01 8.45699911e-01 1.95234349e-02 3.96970013e+01] [-3.64513673e-02 -8.38253028e-05 9.99335425e-01 -6.54217295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.941052754 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:96.94, Y:39.71, Z:-6.54 [[ 8.43064004e-01 -5.36991854e-01 2.97125129e-02 9.69418159e+01] [ 5.36661420e-01 8.43587426e-01 1.88354905e-02 3.97147456e+01] [-3.51796072e-02 6.60353186e-05 9.99381004e-01 -6.54300167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.971052754 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:96.97, Y:39.73, Z:-6.54 [[ 8.40684498e-01 -5.40683533e-01 3.01809988e-02 9.69678369e+01] [ 5.40345358e-01 8.41226048e-01 1.91214640e-02 3.97338377e+01] [-3.57277030e-02 2.33044214e-04 9.99361535e-01 -6.54299388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00105275399999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:97.00, Y:39.75, Z:-6.54 [[ 8.38723788e-01 -5.43688299e-01 3.07480284e-02 9.69952691e+01] [ 5.43339551e-01 8.39287135e-01 1.94740335e-02 3.97522043e+01] [-3.63942288e-02 3.73284766e-04 9.99337441e-01 -6.54386517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03105275399999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:97.02, Y:39.77, Z:-6.55 [[ 8.36527433e-01 -5.47028883e-01 3.13249929e-02 9.70220412e+01] [ 5.46669664e-01 8.37113560e-01 1.98284184e-02 3.97709518e+01] [-3.70692939e-02 5.37407427e-04 9.99312553e-01 -6.54573489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06105275399999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:97.05, Y:39.79, Z:-6.55 [[ 8.36142691e-01 -5.47630324e-01 3.10874370e-02 9.70485016e+01] [ 5.47277345e-01 8.36720207e-01 1.96673184e-02 3.97887917e+01] [-3.67819067e-02 5.68765407e-04 9.99323155e-01 -6.54742008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.09105275399999 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:97.08, Y:39.81, Z:-6.55 [[ 8.33491096e-01 -5.51588006e-01 3.22995998e-02 9.70769886e+01] [ 5.51210330e-01 8.34116335e-01 2.04233076e-02 3.98052852e+01] [-3.82068753e-02 7.81227990e-04 9.99269545e-01 -6.54926931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12105275399999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:97.10, Y:39.82, Z:-6.55 [[ 8.33164895e-01 -5.52059145e-01 3.26643141e-02 9.71049252e+01] [ 5.51673689e-01 8.33804549e-01 2.06425699e-02 3.98236570e+01] [-3.86315732e-02 8.21378115e-04 9.99253185e-01 -6.54930288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15105275399999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:97.13, Y:39.84, Z:-6.55 [[ 8.33527457e-01 -5.51374224e-01 3.49062021e-02 9.71316603e+01] [ 5.50933939e-01 8.34257595e-01 2.20467600e-02 3.98416982e+01] [-4.12767794e-02 8.54431567e-04 9.99147385e-01 -6.54948450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18105275399999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:97.16, Y:39.86, Z:-6.55 [[ 8.33905192e-01 -5.50721687e-01 3.61628813e-02 9.71590039e+01] [ 5.50249009e-01 8.34688494e-01 2.28286486e-02 3.98585329e+01] [-4.27569728e-02 8.61660963e-04 9.99085131e-01 -6.55039432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.211052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:97.19, Y:39.88, Z:-6.55 [[ 8.37199251e-01 -5.45556951e-01 3.82756628e-02 9.71870941e+01] [ 5.45022574e-01 8.38073505e-01 2.41494343e-02 3.98757752e+01] [-4.52527106e-02 6.43211953e-04 9.98975364e-01 -6.55143526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.241052754 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:97.21, Y:39.89, Z:-6.55 [[ 8.38152978e-01 -5.44027862e-01 3.91569901e-02 9.72147094e+01] [ 5.43467568e-01 8.39066947e-01 2.46913002e-02 3.98920836e+01] [-4.62880914e-02 5.85467388e-04 9.98927960e-01 -6.55321271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.271052754 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:97.24, Y:39.91, Z:-6.56 [[ 8.40736894e-01 -5.39980936e-01 3.97751667e-02 9.72437516e+01] [ 5.39398743e-01 8.41677163e-01 2.50708757e-02 3.99075153e+01] [-4.70156444e-02 3.76664759e-04 9.98894082e-01 -6.55515918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.301052754 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:97.27, Y:39.93, Z:-6.55 [[ 8.43414274e-01 -5.35883473e-01 3.84872039e-02 9.72711141e+01] [ 5.35334684e-01 8.44291940e-01 2.42465820e-02 3.99256258e+01] [-4.54877786e-02 1.53621773e-04 9.98964883e-01 -6.55340283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.331052754 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:97.30, Y:39.94, Z:-6.55 [[ 8.44816674e-01 -5.33747270e-01 3.73983934e-02 9.72997897e+01] [ 5.33227607e-01 8.45644044e-01 2.35471704e-02 3.99432062e+01] [-4.41939665e-02 4.88136610e-05 9.99022968e-01 -6.55444782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36105275399999 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:97.33, Y:39.96, Z:-6.56 [[ 8.44914434e-01 -5.33592085e-01 3.74043749e-02 9.73282591e+01] [ 5.33072691e-01 8.45741973e-01 2.35376653e-02 3.99610267e+01] [-4.41939617e-02 5.19376262e-05 9.99022968e-01 -6.55571482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39105275399999 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:97.36, Y:39.98, Z:-6.56 [[ 8.46583247e-01 -5.31077598e-01 3.54032491e-02 9.73576375e+01] [ 5.30610492e-01 8.47323185e-01 2.22693856e-02 3.99769614e+01] [-4.18247657e-02 -6.75533496e-05 9.99124959e-01 -6.55809942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:97.39, Y:39.99, Z:-6.56 [[ 8.47505519e-01 -5.29650314e-01 3.47122592e-02 9.73859574e+01] [ 5.29200597e-01 8.48216087e-01 2.18219829e-02 3.99938949e+01] [-4.10015168e-02 -1.24502636e-04 9.99159076e-01 -6.55977285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.45105275399999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:97.41, Y:40.01, Z:-6.56 [[ 8.49526004e-01 -5.26495327e-01 3.32902326e-02 9.74136612e+01] [ 5.26079758e-01 8.50177985e-01 2.09160787e-02 4.00105898e+01] [-3.93148405e-02 -2.55435265e-04 9.99226840e-01 -6.56154984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48105275399999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:97.44, Y:40.03, Z:-6.56 [[ 8.50173583e-01 -5.25505700e-01 3.23826622e-02 9.74412095e+01] [ 5.25112193e-01 8.50790032e-01 2.03348697e-02 4.00268443e+01] [-3.82369362e-02 -2.83638246e-04 9.99268661e-01 -6.56371338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51105275399999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:97.47, Y:40.04, Z:-6.57 [[ 8.50679518e-01 -5.24708261e-01 3.20249720e-02 9.74692979e+01] [ 5.24323248e-01 8.51282061e-01 2.00993740e-02 4.00436664e+01] [-3.78085917e-02 -3.06688471e-04 9.99284953e-01 -6.56513194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54105275399999 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:97.50, Y:40.06, Z:-6.56 [[ 8.51404366e-01 -5.23559114e-01 3.15667393e-02 9.74975130e+01] [ 5.23184682e-01 8.51989282e-01 1.98003145e-02 4.00617293e+01] [-3.72611587e-02 -3.42839714e-04 9.99305503e-01 -6.56448398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.571052754 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:97.52, Y:40.08, Z:-6.56 [[ 8.51743322e-01 -5.23020915e-01 3.13438390e-02 9.75244256e+01] [ 5.22651819e-01 8.52319774e-01 1.96488782e-02 4.00786613e+01] [-3.69917480e-02 -3.53886273e-04 9.99315508e-01 -6.56478835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.601052754 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:97.55, Y:40.10, Z:-6.57 [[ 8.53812164e-01 -5.19576091e-01 3.23337874e-02 9.75527492e+01] [ 5.19181123e-01 8.54424030e-01 2.02617497e-02 4.00960939e+01] [-3.81542856e-02 -5.12636306e-04 9.99271729e-01 -6.56623326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.631052754 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:97.58, Y:40.11, Z:-6.57 [[ 8.55528326e-01 -5.16603723e-01 3.45235842e-02 9.75808442e+01] [ 5.16151549e-01 8.56224348e-01 2.16204392e-02 4.01129432e+01] [-4.07291327e-02 -6.77496652e-04 9.99169995e-01 -6.56654304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.661052754 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:97.61, Y:40.13, Z:-6.57 [[ 8.56295341e-01 -5.15295207e-01 3.50590680e-02 9.76092784e+01] [ 5.14828351e-01 8.57012428e-01 2.19423450e-02 4.01306198e+01] [-4.13528422e-02 -7.39725600e-04 9.99144332e-01 -6.56702090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.691052754 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:97.64, Y:40.15, Z:-6.57 [[ 8.57234432e-01 -5.13722319e-01 3.51924456e-02 9.76361877e+01] [ 5.13251118e-01 8.57956133e-01 2.20127898e-02 4.01476370e+01] [-4.15020360e-02 -8.07559321e-04 9.99138093e-01 -6.56808526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.721052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:97.66, Y:40.16, Z:-6.57 [[ 8.57389607e-01 -5.13459910e-01 3.52417644e-02 9.76646428e+01] [ 5.12987532e-01 8.58113197e-01 2.20348309e-02 4.01642398e+01] [-4.15554254e-02 -8.13849297e-04 9.99135869e-01 -6.56923184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75105275399999 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:97.69, Y:40.18, Z:-6.57 [[ 8.55983699e-01 -5.15756171e-01 3.58814592e-02 9.76929169e+01] [ 5.15269077e-01 8.56735127e-01 2.24209898e-02 4.01795594e+01] [-4.23046704e-02 -7.03395473e-04 9.99104509e-01 -6.56912028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78105275399999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:97.72, Y:40.20, Z:-6.57 [[ 8.55157908e-01 -5.17035808e-01 3.71338843e-02 9.77212303e+01] [ 5.16515900e-01 8.55963521e-01 2.31899756e-02 4.01975829e+01] [-4.37752981e-02 -6.50849347e-04 9.99041190e-01 -6.56818020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.81105275399999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:97.75, Y:40.21, Z:-6.57 [[ 8.54681730e-01 -5.17799049e-01 3.74604382e-02 9.77488872e+01] [ 5.17271281e-01 8.55502062e-01 2.33804138e-02 4.02143262e+01] [-4.41538381e-02 -6.05603696e-04 9.99024560e-01 -6.56989625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84105275399999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:97.78, Y:40.23, Z:-6.57 [[ 8.53154732e-01 -5.20316172e-01 3.73909773e-02 9.77780336e+01] [ 5.19793334e-01 8.53973575e-01 2.33243092e-02 4.02306086e+01] [-4.40669218e-02 -4.63663980e-04 9.99028474e-01 -6.57331971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.87105275399999 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:97.81, Y:40.25, Z:-6.57 [[ 8.52593183e-01 -5.21249691e-01 3.71971006e-02 9.78055691e+01] [ 5.20733750e-01 8.53404124e-01 2.31897204e-02 4.02471616e+01] [-4.38317936e-02 -4.01611827e-04 9.99038844e-01 -6.57481791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90105275399999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:97.83, Y:40.26, Z:-6.58 [[ 8.50325447e-01 -5.24983686e-01 3.65891215e-02 9.78331590e+01] [ 5.24488466e-01 8.51112267e-01 2.27981989e-02 4.02638714e+01] [-4.31101327e-02 -1.95316469e-04 9.99070307e-01 -6.57618438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93105275399999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:97.86, Y:40.28, Z:-6.58 [[ 8.48867189e-01 -5.27429590e-01 3.52494306e-02 9.78621541e+01] [ 5.26972578e-01 8.49598743e-01 2.19517058e-02 4.02802065e+01] [-4.15258511e-02 -5.85994533e-05 9.99137428e-01 -6.57873824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.961052754 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:97.89, Y:40.30, Z:-6.58 [[ 8.48130245e-01 -5.28748581e-01 3.31666252e-02 9.78911571e+01] [ 5.28345453e-01 8.48778497e-01 2.06432601e-02 4.02966045e+01] [-3.90662128e-02 1.52624110e-05 9.99236624e-01 -6.58104199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.991052754 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:97.92, Y:40.31, Z:-6.58 [[ 8.47202091e-01 -5.30427224e-01 2.99262111e-02 9.79194545e+01] [ 5.30100442e-01 8.47730471e-01 1.86163673e-02 4.03116518e+01] [-3.52439891e-02 9.20724488e-05 9.99378733e-01 -6.58313962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.021052754 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:97.95, Y:40.33, Z:-6.58 [[ 8.48725993e-01 -5.28052044e-01 2.87267824e-02 9.79491222e+01] [ 5.27749771e-01 8.49212011e-01 1.78644879e-02 4.03270952e+01] [-3.38285080e-02 -1.50233766e-06 9.99427652e-01 -6.58493976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.051052754 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:97.98, Y:40.34, Z:-6.59 [[ 8.49501020e-01 -5.26815109e-01 2.85281906e-02 9.79771884e+01] [ 5.26516647e-01 8.49979905e-01 1.77307960e-02 4.03434996e+01] [-3.35892400e-02 -4.17620371e-05 9.99435721e-01 -6.58625141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.081052754 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:98.01, Y:40.36, Z:-6.59 [[ 8.52363333e-01 -5.22166361e-01 2.86188686e-02 9.80063158e+01] [ 5.21863689e-01 8.52843622e-01 1.77776791e-02 4.03596920e+01] [-3.36903256e-02 -2.17893443e-04 9.99432296e-01 -6.58670141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11105275399999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:98.04, Y:40.38, Z:-6.59 [[ 8.54048001e-01 -5.19384818e-01 2.90072958e-02 9.80355230e+01] [ 5.19072617e-01 8.54540406e-01 1.80086662e-02 4.03760380e+01] [-3.41413342e-02 -3.23372428e-04 9.99416962e-01 -6.58882901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14105275399999 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:98.07, Y:40.39, Z:-6.59 [[ 8.58912575e-01 -5.11252520e-01 2.98336914e-02 9.80650478e+01] [ 5.10917715e-01 8.59430294e-01 1.85110525e-02 4.03916196e+01] [-3.51038003e-02 -6.56814327e-04 9.99383456e-01 -6.58946783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17105275399999 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:98.09, Y:40.41, Z:-6.59 [[ 8.62211887e-01 -5.05678469e-01 2.96639280e-02 9.80910223e+01] [ 5.05344530e-01 8.62721583e-01 1.83949988e-02 4.04101446e+01] [-3.48936658e-02 -8.69882798e-04 9.99390652e-01 -6.58846742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20105275399999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:98.12, Y:40.43, Z:-6.59 [[ 8.67953563e-01 -4.95753392e-01 2.97520882e-02 9.81179175e+01] [ 4.95411824e-01 8.68462415e-01 1.84434099e-02 4.04272910e+01] [-3.49819534e-02 -1.26848705e-03 9.99387139e-01 -6.58979658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.23105275399999 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:98.15, Y:40.44, Z:-6.59 [[ 8.70642145e-01 -4.91020572e-01 2.96825563e-02 9.81485782e+01] [ 4.90678180e-01 8.71146775e-01 1.83907520e-02 4.04405037e+01] [-3.48881008e-02 -1.44718106e-03 9.99390177e-01 -6.59244406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26105275399999 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:98.18, Y:40.46, Z:-6.59 [[ 8.70765316e-01 -4.90796544e-01 2.97744381e-02 9.81779271e+01] [ 4.90452253e-01 8.71273002e-01 1.84375420e-02 4.04567795e+01] [-3.49907459e-02 -1.45183179e-03 9.99386582e-01 -6.59402307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29105275399999 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:98.21, Y:40.47, Z:-6.60 [[ 8.70388552e-01 -4.91547230e-01 2.83740941e-02 9.82074428e+01] [ 4.91235272e-01 8.70849876e-01 1.75613537e-02 4.04723432e+01] [-3.33418111e-02 -1.34684537e-03 9.99443100e-01 -6.59530590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.321052754 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:98.24, Y:40.49, Z:-6.60 [[ 8.70006434e-01 -4.92256029e-01 2.77994147e-02 9.82352411e+01] [ 4.91957255e-01 8.70449511e-01 1.71961693e-02 4.04888416e+01] [-3.26629049e-02 -1.28465418e-03 9.99465599e-01 -6.59662215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.351052754 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:98.26, Y:40.51, Z:-6.60 [[ 8.70052126e-01 -4.92252636e-01 2.63939462e-02 9.82634604e+01] [ 4.91983559e-01 8.70451533e-01 1.63188986e-02 4.05065801e+01] [-3.10076718e-02 -1.21290480e-03 9.99518411e-01 -6.59729850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.381052754 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:98.29, Y:40.52, Z:-6.60 [[ 8.69740577e-01 -4.92927268e-01 2.39590681e-02 9.82907039e+01] [ 4.92706019e-01 8.70069858e-01 1.48061150e-02 4.05228688e+01] [-2.81444008e-02 -1.07270196e-03 9.99603292e-01 -6.60134188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.411052754 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:98.32, Y:40.54, Z:-6.60 [[ 8.68470530e-01 -4.95195387e-01 2.32479707e-02 9.83189405e+01] [ 4.94988074e-01 8.68781100e-01 1.43598755e-02 4.05393831e+01] [-2.73083417e-02 -9.63660458e-04 9.99626593e-01 -6.60355152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.441052754 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:98.35, Y:40.56, Z:-6.60 [[ 8.67688820e-01 -4.96578824e-01 2.29256161e-02 9.83457879e+01] [ 4.96377921e-01 8.67991164e-01 1.41526924e-02 4.05569477e+01] [-2.69271595e-02 -9.00363315e-04 9.99636993e-01 -6.60364281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.471052754 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:98.37, Y:40.58, Z:-6.60 [[ 8.66074327e-01 -4.99437029e-01 2.18612398e-02 9.83721475e+01] [ 4.99255420e-01 8.66349851e-01 1.34893398e-02 4.05774198e+01] [-2.56765576e-02 -7.68428445e-04 9.99670008e-01 -6.60432333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50105275399999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:98.40, Y:40.59, Z:-6.61 [[ 8.64024095e-01 -5.02963312e-01 2.21420439e-02 9.83995432e+01] [ 5.02778376e-01 8.64307506e-01 1.36543129e-02 4.05935863e+01] [-2.60051532e-02 -6.65114441e-04 9.99661588e-01 -6.60768355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53105275399999 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:98.43, Y:40.61, Z:-6.61 [[ 8.61359409e-01 -5.07544871e-01 2.14049718e-02 9.84287418e+01] [ 5.07373614e-01 8.61625180e-01 1.31933826e-02 4.06100886e+01] [-2.51392963e-02 -5.03926291e-04 9.99683831e-01 -6.61014062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56105275399999 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:98.46, Y:40.63, Z:-6.61 [[ 8.60897312e-01 -5.08323400e-01 2.15206902e-02 9.84560146e+01] [ 5.08150736e-01 8.61166124e-01 1.32565237e-02 4.06268748e+01] [-2.52714906e-02 -4.76751090e-04 9.99680511e-01 -6.61243264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.59105275399999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:98.48, Y:40.65, Z:-6.61 [[ 8.60410468e-01 -5.09104434e-01 2.25056013e-02 9.84829639e+01] [ 5.08916078e-01 8.60704628e-01 1.38552782e-02 4.06470529e+01] [-2.64244588e-02 -4.67763995e-04 9.99650704e-01 -6.61083313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62105275399999 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:98.51, Y:40.67, Z:-6.61 [[ 8.60823249e-01 -5.08279821e-01 2.51983695e-02 9.85095427e+01] [ 5.08043641e-01 8.61191807e-01 1.55025579e-02 4.06677003e+01] [-2.95802667e-02 -5.43090835e-04 9.99562261e-01 -6.60861359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65105275399999 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:98.54, Y:40.69, Z:-6.61 [[ 8.61734920e-01 -5.06711471e-01 2.56205341e-02 9.85380220e+01] [ 5.06466899e-01 8.62115495e-01 1.57529140e-02 4.06853417e+01] [-3.00700417e-02 -5.98883597e-04 9.99547615e-01 -6.61114461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68105275399999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:98.57, Y:40.70, Z:-6.61 [[ 8.62925471e-01 -5.04675157e-01 2.57413490e-02 9.85671784e+01] [ 5.04427652e-01 8.63309066e-01 1.58176981e-02 4.07012689e+01] [-3.02055393e-02 -6.64846324e-04 9.99543487e-01 -6.61376545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.711052754 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:98.59, Y:40.72, Z:-6.62 [[ 8.65754910e-01 -4.99847820e-01 2.49116848e-02 9.85946825e+01] [ 4.99614272e-01 8.66112878e-01 1.52990459e-02 4.07186076e+01] [-2.92235258e-02 -7.98990854e-04 9.99572582e-01 -6.61568968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.741052754 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:98.62, Y:40.74, Z:-6.62 [[ 8.66622210e-01 -4.98334091e-01 2.50814251e-02 9.86238516e+01] [ 4.98096963e-01 8.66984667e-01 1.53948778e-02 4.07353659e+01] [-2.94170034e-02 -8.48561346e-04 9.99566866e-01 -6.61682146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.771052754 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:98.65, Y:40.75, Z:-6.62 [[ 8.70280587e-01 -4.91964320e-01 2.41413910e-02 9.86523004e+01] [ 4.91742408e-01 8.70614767e-01 1.48098599e-02 4.07523061e+01] [-2.83037742e-02 -1.01738785e-03 9.99598850e-01 -6.61717582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.801052754 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:98.68, Y:40.77, Z:-6.62 [[ 8.72776182e-01 -4.87555384e-01 2.34836825e-02 9.86799920e+01] [ 4.87344030e-01 8.73091341e-01 1.43981692e-02 4.07700904e+01] [-2.75233047e-02 -1.12174666e-03 9.99620533e-01 -6.61819558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.831052754 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:98.71, Y:40.79, Z:-6.62 [[ 8.76276013e-01 -4.81295366e-01 2.22512765e-02 9.87076526e+01] [ 4.81103798e-01 8.76557600e-01 1.36348542e-02 4.07862431e+01] [-2.60669177e-02 -1.24272205e-03 9.99659428e-01 -6.61802701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86105275399999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:98.74, Y:40.80, Z:-6.62 [[ 8.78525263e-01 -4.77203076e-01 2.16929847e-02 9.87369605e+01] [ 4.77019931e-01 8.78792052e-01 1.32858751e-02 4.08020454e+01] [-2.54036830e-02 -1.32399082e-03 9.99676398e-01 -6.62060603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89105275399999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:98.77, Y:40.82, Z:-6.62 [[ 8.82015317e-01 -4.70753569e-01 2.09775663e-02 9.87666808e+01] [ 4.70580655e-01 8.82263545e-01 1.28407232e-02 4.08173073e+01] [-2.45525583e-02 -1.45407767e-03 9.99697483e-01 -6.62461067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92105275399999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:98.79, Y:40.83, Z:-6.62 [[ 8.83585580e-01 -4.67734921e-01 2.23733343e-02 9.87947449e+01] [ 4.67537492e-01 8.83867286e-01 1.36863094e-02 4.08344618e+01] [-2.61766231e-02 -1.63265304e-03 9.99656000e-01 -6.62407120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.95105275399999 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:98.82, Y:40.85, Z:-6.62 [[ 8.84758519e-01 -4.65489207e-01 2.28508401e-02 9.88221152e+01] [ 4.65282742e-01 8.85051870e-01 1.39699067e-02 4.08526948e+01] [-2.67270196e-02 -1.72789243e-03 9.99641276e-01 -6.62354432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:98.85, Y:40.87, Z:-6.62 [[ 8.85319943e-01 -4.64340140e-01 2.44301831e-02 9.88489267e+01] [ 4.64103988e-01 8.85654964e-01 1.49255529e-02 4.08702888e+01] [-2.85672462e-02 -1.87574421e-03 9.99590113e-01 -6.62336772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01105275399999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:98.88, Y:40.89, Z:-6.62 [[ 8.85332175e-01 -4.64298302e-01 2.47795594e-02 9.88762944e+01] [ 4.64055578e-01 8.85676855e-01 1.51304286e-02 4.08874648e+01] [-2.89717145e-02 -1.89636246e-03 9.99578433e-01 -6.62492404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:98.90, Y:40.90, Z:-6.63 [[ 8.84522868e-01 -4.65831335e-01 2.49090886e-02 9.89045023e+01] [ 4.65586906e-01 8.84871601e-01 1.52014059e-02 4.09040153e+01] [-2.91226363e-02 -1.84864567e-03 9.99574137e-01 -6.62707159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.071052754 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:98.93, Y:40.92, Z:-6.63 [[ 8.83856220e-01 -4.67110676e-01 2.46129829e-02 9.89322295e+01] [ 4.66872799e-01 8.84197071e-01 1.50109697e-02 4.09210290e+01] [-2.87745116e-02 -1.77640670e-03 9.99584350e-01 -6.62849366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.101052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:98.96, Y:40.94, Z:-6.63 [[ 8.82976954e-01 -4.68859884e-01 2.28496769e-02 9.89605549e+01] [ 4.68655548e-01 8.83271120e-01 1.39322080e-02 4.09390334e+01] [-2.67147131e-02 -1.59319073e-03 9.99641829e-01 -6.63081664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:40.96, Z:-6.63 [[ 8.82995761e-01 -4.68854956e-01 2.22152392e-02 9.89874088e+01] [ 4.68662012e-01 8.83273826e-01 1.35376236e-02 4.09557565e+01] [-2.59693212e-02 -1.54222554e-03 9.99661551e-01 -6.63183792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.161052754 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:99.01, Y:40.97, Z:-6.63 [[ 8.84143033e-01 -4.66767731e-01 2.04690910e-02 9.90146986e+01] [ 4.66603515e-01 8.84378719e-01 1.24676014e-02 4.09723205e+01] [-2.39219025e-02 -1.47219312e-03 9.99712746e-01 -6.63291081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:40.99, Z:-6.63 [[ 8.85609783e-01 -4.64000980e-01 1.99600282e-02 9.90428706e+01] [ 4.63844271e-01 8.85833410e-01 1.21516102e-02 4.09900226e+01] [-2.33196189e-02 -1.50324011e-03 9.99726931e-01 -6.63418926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22105275399998 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:99.07, Y:41.00, Z:-6.64 [[ 8.86549371e-01 -4.62212536e-01 1.97429485e-02 9.90724023e+01] [ 4.62058930e-01 8.86767860e-01 1.20128211e-02 4.10044169e+01] [-2.30598887e-02 -1.52755332e-03 9.99732918e-01 -6.63700978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:99.10, Y:41.02, Z:-6.64 [[ 8.86892543e-01 -4.61534937e-01 2.01771976e-02 9.91011865e+01] [ 4.61374488e-01 8.87120639e-01 1.22700657e-02 4.10211131e+01] [-2.35626725e-02 -1.57298559e-03 9.99721124e-01 -6.63721339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:99.13, Y:41.04, Z:-6.64 [[ 8.86944807e-01 -4.61434306e-01 2.01814319e-02 9.91298976e+01] [ 4.61273989e-01 8.87172995e-01 1.22630966e-02 4.10384543e+01] [-2.35630348e-02 -1.56752024e-03 9.99721124e-01 -6.63847908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.31105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.16, Y:41.06, Z:-6.64 [[ 8.88439015e-01 -4.58567919e-01 1.97883733e-02 9.91570852e+01] [ 4.58413097e-01 8.88657903e-01 1.20234712e-02 4.10561237e+01] [-2.30986725e-02 -1.61087146e-03 9.99731892e-01 -6.63609842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:99.18, Y:41.07, Z:-6.64 [[ 8.90407837e-01 -4.54768364e-01 1.89636033e-02 9.91849738e+01] [ 4.54625454e-01 8.90608258e-01 1.15164296e-02 4.10727761e+01] [-2.21264495e-02 -1.63298240e-03 9.99753847e-01 -6.63706157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.37105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:99.21, Y:41.09, Z:-6.64 [[ 8.91733666e-01 -4.52177228e-01 1.86231862e-02 9.92129231e+01] [ 4.52038963e-01 8.91926562e-01 1.13041570e-02 4.10897087e+01] [-2.17219968e-02 -1.66189159e-03 9.99762668e-01 -6.63846674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:99.24, Y:41.11, Z:-6.64 [[ 8.92610533e-01 -4.50438770e-01 1.87443653e-02 9.92404853e+01] [ 4.50298465e-01 8.92805686e-01 1.13710178e-02 4.11067904e+01] [-2.18570232e-02 -1.70933139e-03 9.99759645e-01 -6.64050247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43105275399999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:99.27, Y:41.12, Z:-6.64 [[ 8.92727211e-01 -4.50197630e-01 1.89794643e-02 9.92693150e+01] [ 4.50053857e-01 8.92927262e-01 1.15078134e-02 4.11240047e+01] [-2.21280714e-02 -1.73155701e-03 9.99753645e-01 -6.64114490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.461052754 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:99.30, Y:41.14, Z:-6.64 [[ 8.92394941e-01 -4.50828041e-01 1.96302575e-02 9.92966150e+01] [ 4.50674554e-01 8.92609069e-01 1.18952342e-02 4.11411591e+01] [-2.28848510e-02 -1.76838923e-03 9.99736543e-01 -6.64178169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.491052754 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:99.32, Y:41.16, Z:-6.64 [[ 8.90360001e-01 -4.54825046e-01 1.98304120e-02 9.93244023e+01] [ 4.54669530e-01 8.90579229e-01 1.20106387e-02 4.11590520e+01] [-2.31232923e-02 -1.67750819e-03 9.99731214e-01 -6.64144612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.521052754 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:99.35, Y:41.18, Z:-6.64 [[ 8.87554004e-01 -4.60303927e-01 1.91881629e-02 9.93530467e+01] [ 4.60159720e-01 8.87760161e-01 1.16158615e-02 4.11760009e+01] [-2.23813133e-02 -1.48008474e-03 9.99748411e-01 -6.64331303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.551052754 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:99.38, Y:41.19, Z:-6.64 [[ 8.86049160e-01 -4.63216294e-01 1.86427423e-02 9.93816985e+01] [ 4.63080948e-01 8.86244218e-01 1.12792820e-02 4.11930574e+01] [-2.17467698e-02 -1.36089951e-03 9.99762585e-01 -6.64496442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.581052754 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:99.41, Y:41.21, Z:-6.65 [[ 8.84002223e-01 -4.67127733e-01 1.82140250e-02 9.94085079e+01] [ 4.66999506e-01 8.84188989e-01 1.10132793e-02 4.12103721e+01] [-2.12492485e-02 -1.22982266e-03 9.99773453e-01 -6.64562066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61105275399999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:99.44, Y:41.23, Z:-6.65 [[ 8.82716081e-01 -4.69547343e-01 1.83742492e-02 9.94367061e+01] [ 4.69417496e-01 8.82906511e-01 1.11043830e-02 4.12273647e+01] [-2.14367777e-02 -1.17682339e-03 9.99769513e-01 -6.64628617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:99.47, Y:41.24, Z:-6.66 [[ 8.77673148e-01 -4.78850265e-01 1.98057910e-02 9.94681007e+01] [ 4.78096533e-01 8.77672535e-01 3.33860118e-02 4.12414809e+01] [-3.33698994e-02 -1.98329261e-02 9.99246268e-01 -6.65688087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67105275399999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:99.49, Y:41.26, Z:-6.65 [[ 8.77797022e-01 -4.78052342e-01 3.06324321e-02 9.94909764e+01] [ 4.77988176e-01 8.78310939e-01 9.85893715e-03 4.12632460e+01] [-3.16178882e-02 5.98779470e-03 9.99482094e-01 -6.64946969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70105275399999 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:99.52, Y:41.28, Z:-6.65 [[ 8.79408528e-01 -4.75228479e-01 2.82583258e-02 9.95174219e+01] [ 4.75114037e-01 8.79854666e-01 1.10643123e-02 4.12767837e+01] [-3.01212961e-02 3.69587666e-03 9.99539418e-01 -6.65411788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.73105275399999 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:99.55, Y:41.29, Z:-6.65 [[ 8.83818198e-01 -4.67546539e-01 1.62980523e-02 9.95478056e+01] [ 4.67577623e-01 8.83949562e-01 2.08285041e-03 4.12938355e+01] [-1.53804857e-02 5.77974348e-03 9.99865009e-01 -6.65024341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76105275399999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:99.58, Y:41.31, Z:-6.67 [[ 8.84237322e-01 -4.66434973e-01 2.37228777e-02 9.95753287e+01] [ 4.65984744e-01 8.84513773e-01 2.22172099e-02 4.13062541e+01] [-3.13460958e-02 -8.59078710e-03 9.99471671e-01 -6.66500871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79105275399999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:99.60, Y:41.32, Z:-6.66 [[ 8.86079884e-01 -4.62787135e-01 2.62774841e-02 9.96031323e+01] [ 4.62395499e-01 8.86453140e-01 1.97796343e-02 4.13235281e+01] [-3.24475186e-02 -5.37574568e-03 9.99458984e-01 -6.66311399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.821052754 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:99.63, Y:41.34, Z:-6.66 [[ 8.91300017e-01 -4.52114773e-01 3.43003343e-02 9.96297373e+01] [ 4.51850342e-01 8.91958261e-01 1.55476330e-02 4.13419860e+01] [-3.76237811e-02 1.64101222e-03 9.99290627e-01 -6.65968899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.851052754 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:99.66, Y:41.36, Z:-6.65 [[ 8.94882098e-01 -4.45824017e-01 2.06634235e-02 9.96606344e+01] [ 4.45797073e-01 8.95112942e-01 6.14744392e-03 4.13595355e+01] [-2.12367759e-02 3.71045622e-03 9.99767589e-01 -6.65094985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.881052754 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:99.69, Y:41.37, Z:-6.65 [[ 8.99823596e-01 -4.35819844e-01 1.94565981e-02 9.96903074e+01] [ 4.35668387e-01 9.00031657e-01 1.16650278e-02 4.13737005e+01] [-2.25954048e-02 -2.01984251e-03 9.99742651e-01 -6.65364078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.911052754 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:99.72, Y:41.39, Z:-6.66 [[ 9.05459636e-01 -4.24010075e-01 1.89289347e-02 9.97199624e+01] [ 4.23864298e-01 9.05654685e-01 1.13423242e-02 4.13891976e+01] [-2.19523381e-02 -2.24671709e-03 9.99756494e-01 -6.65577775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.941052754 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:99.75, Y:41.41, Z:-6.66 [[ 9.08717785e-01 -4.17012005e-01 1.82476088e-02 9.97482475e+01] [ 4.16875267e-01 9.08898008e-01 1.09280830e-02 4.14061773e+01] [-2.11423570e-02 -2.32356655e-03 9.99773775e-01 -6.65754232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97105275399998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:99.78, Y:41.42, Z:-6.66 [[ 9.13409799e-01 -4.06595042e-01 1.90528422e-02 9.97768458e+01] [ 4.06443895e-01 9.13604583e-01 1.14029191e-02 4.14226846e+01] [-2.20431343e-02 -2.67162660e-03 9.99753451e-01 -6.65744783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00105275399999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:99.81, Y:41.44, Z:-6.66 [[ 9.15365233e-01 -4.02150033e-01 1.95407618e-02 9.98053671e+01] [ 4.01990215e-01 9.15569368e-01 1.16875742e-02 4.14387861e+01] [-2.25910813e-02 -2.84320403e-03 9.99740746e-01 -6.65959189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03105275399999 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:99.83, Y:41.45, Z:-6.66 [[ 9.19361564e-01 -3.92964851e-01 1.87867141e-02 9.98341807e+01] [ 3.92815384e-01 9.19548777e-01 1.12303863e-02 4.14544718e+01] [-2.16884470e-02 -2.94507520e-03 9.99760440e-01 -6.66054003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06105275399999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:99.86, Y:41.47, Z:-6.66 [[ 9.20801842e-01 -3.89579473e-01 1.87564052e-02 9.98626061e+01] [ 3.89429958e-01 9.20987923e-01 1.12050759e-02 4.14693270e+01] [-2.16396902e-02 -3.01334849e-03 9.99761293e-01 -6.66312858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.09105275399999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:99.89, Y:41.49, Z:-6.66 [[ 9.22578427e-01 -3.85366486e-01 1.84856155e-02 9.98903988e+01] [ 3.85220597e-01 9.22758531e-01 1.10356250e-02 4.14855574e+01] [-2.13105195e-02 -3.06018971e-03 9.99768222e-01 -6.66374860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12105275399999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:99.92, Y:41.50, Z:-6.67 [[ 9.23007210e-01 -3.84305307e-01 1.91604308e-02 9.99190829e+01] [ 3.84148406e-01 9.23200533e-01 1.14358621e-02 4.15023977e+01] [-2.20837824e-02 -3.19493424e-03 9.99751018e-01 -6.66578034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15105275399999 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:99.95, Y:41.52, Z:-6.67 [[ 9.22340640e-01 -3.85797194e-01 2.11723752e-02 9.99489217e+01] [ 3.85606200e-01 9.22577039e-01 1.26279629e-02 4.15179231e+01] [-2.44049799e-02 -3.48308429e-03 9.99696086e-01 -6.66790790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18105275399999 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:99.98, Y:41.53, Z:-6.67 [[ 9.22229890e-01 -3.86053504e-01 2.13242319e-02 9.99770109e+01] [ 3.85860013e-01 9.22469773e-01 1.27109126e-02 4.15347960e+01] [-2.45780517e-02 -3.49421509e-03 9.99691807e-01 -6.66948536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.211052754 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:100.00, Y:41.56, Z:-6.67 [[ 9.21218447e-01 -3.86433169e-01 4.50108801e-02 9.99966185e+01] [ 3.87275303e-01 9.21893099e-01 -1.14434899e-02 4.15619647e+01] [-3.70730757e-02 2.79735563e-02 9.98920951e-01 -6.66944298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.241052754 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:100.04, Y:41.56, Z:-6.69 [[ 9.20020375e-01 -3.91843486e-01 4.60342906e-03 1.00035619e+02] [ 3.91339503e-01 9.19321613e-01 4.12451841e-02 4.15568563e+01] [-2.03936886e-02 -3.61449061e-02 9.99138450e-01 -6.69248165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.271052754 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:100.06, Y:41.58, Z:-6.68 [[ 9.14876234e-01 -4.03062279e-01 2.32868266e-02 1.00059140e+02] [ 4.02837286e-01 9.15166588e-01 1.38649947e-02 4.15831902e+01] [-2.68997820e-02 -3.30395209e-03 9.99632675e-01 -6.67702714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.301052754 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:100.09, Y:41.60, Z:-6.68 [[ 9.12149397e-01 -4.09197516e-01 2.32566242e-02 1.00086397e+02] [ 4.08975286e-01 9.12440526e-01 1.38384379e-02 4.16005654e+01] [-2.68829409e-02 -3.11133826e-03 9.99633746e-01 -6.67770801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.331052754 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:100.11, Y:41.62, Z:-6.68 [[ 9.07370787e-01 -4.19694206e-01 2.31306683e-02 1.00114926e+02] [ 4.19477917e-01 9.07661308e-01 1.37559675e-02 4.16178702e+01] [-2.67681125e-02 -2.77895854e-03 9.99637807e-01 -6.68109394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:100.14, Y:41.64, Z:-6.68 [[ 9.03724851e-01 -4.27377416e-01 2.50985688e-02 1.00142749e+02] [ 4.27125947e-01 9.04069094e-01 1.49163828e-02 4.16363374e+01] [-2.90657655e-02 -2.76005586e-03 9.99573691e-01 -6.68412706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.17, Y:41.65, Z:-6.68 [[ 9.01830551e-01 -4.31255276e-01 2.68429698e-02 1.00170721e+02] [ 4.30969648e-01 9.02225580e-01 1.59425799e-02 4.16540399e+01] [-3.10937357e-02 -2.80900036e-03 9.99512526e-01 -6.68482716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42105275399999 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:100.20, Y:41.67, Z:-6.68 [[ 8.98651526e-01 -4.37651931e-01 2.97694944e-02 1.00197182e+02] [ 4.37304497e-01 8.99139929e-01 1.76681812e-02 4.16729010e+01] [-3.44994547e-02 -2.85920424e-03 9.99400627e-01 -6.68470082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.45105275399999 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:100.22, Y:41.69, Z:-6.68 [[ 8.96939604e-01 -4.41138004e-01 2.99434070e-02 1.00223911e+02] [ 4.40788784e-01 8.97435123e-01 1.77608871e-02 4.16901685e+01] [-3.47072674e-02 -2.73172508e-03 9.99393788e-01 -6.68437927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48105275399999 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:100.25, Y:41.71, Z:-6.69 [[ 8.95350401e-01 -4.44381935e-01 2.95356611e-02 1.00252686e+02] [ 4.44044249e-01 8.95833765e-01 1.75091610e-02 4.17066625e+01] [-3.42397973e-02 -2.56169384e-03 9.99410363e-01 -6.68549792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51105275399999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:100.28, Y:41.72, Z:-6.69 [[ 8.93904235e-01 -4.47355911e-01 2.84237191e-02 1.00280642e+02] [ 4.47045003e-01 8.94352941e-01 1.68399277e-02 4.17222969e+01] [-3.29542780e-02 -2.34660107e-03 9.99454106e-01 -6.68862342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54105275399999 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:100.31, Y:41.74, Z:-6.69 [[ 8.93876814e-01 -4.47444308e-01 2.78896449e-02 1.00310642e+02] [ 4.47145318e-01 8.94308863e-01 1.65142910e-02 4.17375306e+01] [-3.23311822e-02 -2.29101767e-03 9.99474585e-01 -6.69078867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.571052754 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:100.34, Y:41.75, Z:-6.69 [[ 8.95035002e-01 -4.45137249e-01 2.76618002e-02 1.00338774e+02] [ 4.44842348e-01 8.95459282e-01 1.63694892e-02 4.17541934e+01] [-3.20566851e-02 -2.34612563e-03 9.99483299e-01 -6.69211087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.601052754 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:100.37, Y:41.77, Z:-6.69 [[ 8.97564762e-01 -4.39970658e-01 2.83428667e-02 1.00367137e+02] [ 4.39658845e-01 8.98008433e-01 1.67616905e-02 4.17692449e+01] [-3.28267853e-02 -2.58351068e-03 9.99457717e-01 -6.69314725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.631052754 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:100.40, Y:41.78, Z:-6.69 [[ 8.99406575e-01 -4.36179171e-01 2.85577404e-02 1.00396938e+02] [ 4.35861036e-01 8.99855687e-01 1.68789864e-02 4.17848008e+01] [-3.30601074e-02 -2.73386505e-03 9.99449626e-01 -6.69450360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.661052754 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:100.42, Y:41.80, Z:-6.69 [[ 9.04377431e-01 -4.25796663e-01 2.82606283e-02 1.00423468e+02] [ 4.25480411e-01 9.04813661e-01 1.66930859e-02 4.18021787e+01] [-3.26784629e-02 -3.07250643e-03 9.99461194e-01 -6.69462325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.691052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.45, Y:41.82, Z:-6.70 [[ 9.06484801e-01 -4.21309235e-01 2.79970501e-02 1.00451864e+02] [ 4.20997037e-01 9.06911415e-01 1.65281285e-02 4.18186707e+01] [-3.23542975e-02 -3.19582210e-03 9.99471353e-01 -6.69562273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72105275399998 meters Centerline goodness : 0.999975 Centerline is valid? [True, True] Translation: X:100.48, Y:41.83, Z:-6.70 [[ 9.11343959e-01 -4.10786677e-01 2.65799695e-02 1.00480151e+02] [ 4.10501147e-01 9.11725220e-01 1.56822440e-02 4.18343024e+01] [-3.06756854e-02 -3.38081042e-03 9.99523673e-01 -6.69790657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:41.85, Z:-6.70 [[ 9.13541652e-01 -4.05940878e-01 2.55666433e-02 1.00508430e+02] [ 4.05675081e-01 9.13893012e-01 1.50761972e-02 4.18509781e+01] [-2.94852214e-02 -3.40098396e-03 9.99559430e-01 -6.69938004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:41.87, Z:-6.70 [[ 9.17332253e-01 -3.97329231e-01 2.51200952e-02 1.00535883e+02] [ 3.97069721e-01 9.17669048e-01 1.48038801e-02 4.18677677e+01] [-2.89339481e-02 -3.60564752e-03 9.99574823e-01 -6.70050734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.81105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:41.88, Z:-6.70 [[ 9.17936108e-01 -3.95894386e-01 2.57087033e-02 1.00565413e+02] [ 3.95622273e-01 9.18288480e-01 1.51421401e-02 4.18834864e+01] [-2.96026943e-02 -3.72858150e-03 9.99554790e-01 -6.70147128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84105275399999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:100.59, Y:41.90, Z:-6.70 [[ 9.20032868e-01 -3.91066643e-01 2.46252373e-02 1.00592592e+02] [ 3.90815565e-01 9.20354880e-01 1.44944202e-02 4.18999807e+01] [-2.83322416e-02 -3.71141696e-03 9.99591671e-01 -6.70277075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.87105275399999 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:100.62, Y:41.92, Z:-6.71 [[ 9.20948810e-01 -3.88911231e-01 2.45223247e-02 1.00620932e+02] [ 3.88661629e-01 9.21267569e-01 1.44293097e-02 4.19165327e+01] [-2.82033431e-02 -3.75776895e-03 9.99595143e-01 -6.70516890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90105275399999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:100.65, Y:41.93, Z:-6.71 [[ 9.21705880e-01 -3.87023593e-01 2.59038277e-02 1.00649322e+02] [ 3.86744628e-01 9.22061041e-01 1.52324758e-02 4.19327380e+01] [-2.97802379e-02 -4.02169630e-03 9.99548380e-01 -6.70606301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93105275399999 meters Centerline goodness : 0.999926 Centerline is valid? [True, True] Translation: X:100.68, Y:41.95, Z:-6.70 [[ 9.23191819e-01 -3.82195474e-01 4.05399130e-02 1.00681384e+02] [ 3.82224989e-01 9.24040248e-01 7.32654564e-03 4.19524284e+01] [-4.02606838e-02 8.73156080e-03 9.99151058e-01 -6.70498939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.961052754 meters Centerline goodness : 0.999877 Centerline is valid? [True, True] Translation: X:100.71, Y:41.96, Z:-6.71 [[ 9.21694481e-01 -3.87277908e-01 2.22509721e-02 1.00706990e+02] [ 3.86606867e-01 9.21779709e-01 2.92796649e-02 4.19613103e+01] [-3.18498619e-02 -1.83845269e-02 9.99323569e-01 -6.71279364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.991052754 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:100.73, Y:41.98, Z:-6.70 [[ 9.21372440e-01 -3.87540770e-01 2.97485784e-02 1.00731844e+02] [ 3.87173874e-01 9.21841195e-01 1.74700569e-02 4.19834608e+01] [-3.41938244e-02 -4.57855658e-03 9.99404732e-01 -6.70471424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.021052754 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:100.76, Y:42.00, Z:-6.71 [[ 9.21053984e-01 -3.88246586e-01 3.03997983e-02 1.00759609e+02] [ 3.87864180e-01 9.21543832e-01 1.78421710e-02 4.20007743e+01] [-3.49419086e-02 -4.64260987e-03 9.99378562e-01 -6.70517299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.051052754 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:100.79, Y:42.02, Z:-6.71 [[ 9.20468820e-01 -3.89597542e-01 3.08367892e-02 1.00788135e+02] [ 3.89205199e-01 9.20973485e-01 1.80873569e-02 4.20171802e+01] [-3.54466551e-02 -4.64700938e-03 9.99360766e-01 -6.70711378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.081052754 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:100.82, Y:42.03, Z:-6.71 [[ 9.18776532e-01 -3.93618701e-01 3.02324709e-02 1.00817849e+02] [ 3.93244101e-01 9.19263300e-01 1.77218092e-02 4.20298453e+01] [-3.47672365e-02 -4.39364150e-03 9.99385779e-01 -6.71175948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11105275399999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:100.85, Y:42.04, Z:-6.71 [[ 9.17372238e-01 -3.96895556e-01 3.00348959e-02 1.00846082e+02] [ 3.96527914e-01 9.17854023e-01 1.75956273e-02 4.20442901e+01] [-3.45512763e-02 -4.23206531e-03 9.99393966e-01 -6.71336305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14105275399999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:100.87, Y:42.06, Z:-6.71 [[ 9.17231219e-01 -3.97225337e-01 2.99820483e-02 1.00874461e+02] [ 3.96859505e-01 9.17711483e-01 1.75547017e-02 4.20615731e+01] [-3.44880423e-02 -4.20305959e-03 9.99396272e-01 -6.71343089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17105275399999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:100.90, Y:42.08, Z:-6.71 [[ 9.17278346e-01 -3.97116124e-01 2.99870076e-02 1.00903450e+02] [ 3.96750506e-01 9.17758773e-01 1.75462258e-02 4.20784495e+01] [-3.44887285e-02 -4.19741256e-03 9.99396272e-01 -6.71468396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20105275399999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:100.93, Y:42.09, Z:-6.72 [[ 9.18089989e-01 -3.95364196e-01 2.82475641e-02 1.00930918e+02] [ 3.95039078e-01 9.18515679e-01 1.65249578e-02 4.20948975e+01] [-3.24792072e-02 -4.01250669e-03 9.99464357e-01 -6.71634512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.23105275399999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:100.96, Y:42.11, Z:-6.72 [[ 9.19081965e-01 -3.93131410e-01 2.71299673e-02 1.00959410e+02] [ 3.92830834e-01 9.19473935e-01 1.58625160e-02 4.21111180e+01] [-3.11813511e-02 -3.92146466e-03 9.99506051e-01 -6.71820453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26105275399999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:100.99, Y:42.13, Z:-6.72 [[ 9.21156372e-01 -3.88209330e-01 2.76487812e-02 1.00987517e+02] [ 3.87895290e-01 9.21561845e-01 1.61557893e-02 4.21287857e+01] [-3.17518899e-02 -4.15717624e-03 9.99487136e-01 -6.71826190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29105275399999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:101.01, Y:42.14, Z:-6.72 [[ 9.21705767e-01 -3.86782440e-01 2.92886144e-02 1.01014844e+02] [ 3.86429701e-01 9.22160278e-01 1.71028385e-02 4.21449662e+01] [-3.36238744e-02 -4.44579441e-03 9.99424669e-01 -6.71844211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.321052754 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:101.04, Y:42.16, Z:-6.72 [[ 9.22376329e-01 -3.85077821e-01 3.06101376e-02 1.01043040e+02] [ 3.84691973e-01 9.22872128e-01 1.78639541e-02 4.21605883e+01] [-3.51282554e-02 -4.70181415e-03 9.99371752e-01 -6.71804164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.351052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:101.07, Y:42.18, Z:-6.72 [[ 9.22690847e-01 -3.84349071e-01 3.02884889e-02 1.01071992e+02] [ 3.83971249e-01 9.23176026e-01 1.76664948e-02 4.21767013e+01] [-3.47517077e-02 -4.67080408e-03 9.99385062e-01 -6.71848443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.381052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:101.10, Y:42.19, Z:-6.72 [[ 9.22663847e-01 -3.84442418e-01 2.99241141e-02 1.01099961e+02] [ 3.84074040e-01 9.23137505e-01 1.74435768e-02 4.21915876e+01] [-3.43301228e-02 -4.60148226e-03 9.99399954e-01 -6.71857606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.411052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:101.13, Y:42.21, Z:-6.72 [[ 9.22436908e-01 -3.84970706e-01 3.01281561e-02 1.01128585e+02] [ 3.84597901e-01 9.22917309e-01 1.75526642e-02 4.22073916e+01] [-3.45630582e-02 -4.60399968e-03 9.99391914e-01 -6.71920910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.441052754 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:101.16, Y:42.22, Z:-6.72 [[ 9.21574445e-01 -3.87012424e-01 3.03632252e-02 1.01158383e+02] [ 3.86635224e-01 9.22063259e-01 1.76791010e-02 4.22225244e+01] [-3.48388461e-02 -4.55311532e-03 9.99382571e-01 -6.71917759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47105275399998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:101.19, Y:42.24, Z:-6.72 [[ 9.20926687e-01 -3.88518761e-01 3.07767570e-02 1.01186572e+02] [ 3.88132441e-01 9.21429595e-01 1.79083875e-02 4.22374687e+01] [-3.53163593e-02 -4.54685417e-03 9.99365839e-01 -6.72067889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50105275399999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:101.22, Y:42.25, Z:-6.72 [[ 9.19810953e-01 -3.91096359e-01 3.14872747e-02 1.01215339e+02] [ 3.90693862e-01 9.20338536e-01 1.83107974e-02 4.22528082e+01] [-3.61402385e-02 -4.54058708e-03 9.99336413e-01 -6.72070549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:101.24, Y:42.27, Z:-6.72 [[ 9.18813913e-01 -3.93434292e-01 3.14714387e-02 1.01243790e+02] [ 3.93033913e-01 9.19342032e-01 1.82913079e-02 4.22692102e+01] [-3.61294442e-02 -4.43696549e-03 9.99337269e-01 -6.72172982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56105275399999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:101.27, Y:42.28, Z:-6.72 [[ 9.18613227e-01 -3.93910429e-01 3.13737574e-02 1.01271587e+02] [ 3.93513217e-01 9.19138328e-01 1.82230934e-02 4.22845710e+01] [-3.60150894e-02 -4.39398648e-03 9.99341586e-01 -6.72430965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.59105275399999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:101.30, Y:42.30, Z:-6.73 [[ 9.18567186e-01 -3.94125522e-01 2.99899510e-02 1.01300363e+02] [ 3.93763036e-01 9.19047102e-01 1.74096729e-02 4.23008734e+01] [-3.44237740e-02 -4.18302009e-03 9.99398572e-01 -6.72657995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:101.33, Y:42.32, Z:-6.73 [[ 9.19081030e-01 -3.93150590e-01 2.68825760e-02 1.01328077e+02] [ 3.92859228e-01 9.19466353e-01 1.55965468e-02 4.23173136e+01] [-3.08494157e-02 -3.77342225e-03 9.99516921e-01 -6.72857016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65105275399999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:101.36, Y:42.33, Z:-6.73 [[ 9.19292985e-01 -3.92718535e-01 2.59337540e-02 1.01356003e+02] [ 3.92447355e-01 9.19651473e-01 1.50413522e-02 4.23343215e+01] [-2.97570329e-02 -3.64977642e-03 9.99550498e-01 -6.72945703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68105275399999 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:101.38, Y:42.35, Z:-6.73 [[ 9.19133796e-01 -3.93134822e-01 2.52601598e-02 1.01383949e+02] [ 3.92877955e-01 9.19474047e-01 1.46420396e-02 4.23516081e+01] [-2.89823570e-02 -3.53383352e-03 9.99573677e-01 -6.73030096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.711052754 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:101.41, Y:42.37, Z:-6.73 [[ 9.18812173e-01 -3.93914639e-01 2.48082426e-02 1.01412737e+02] [ 3.93667407e-01 9.19140596e-01 1.43714480e-02 4.23682302e+01] [-2.84633866e-02 -3.43846488e-03 9.99588922e-01 -6.73193235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.741052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:101.44, Y:42.39, Z:-6.73 [[ 9.17637727e-01 -3.96700157e-01 2.38743976e-02 1.01441074e+02] [ 3.96472334e-01 9.17942606e-01 1.38224794e-02 4.23850173e+01] [-2.73987065e-02 -3.21849046e-03 9.99619404e-01 -6.73415501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.771052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:101.47, Y:42.40, Z:-6.74 [[ 9.16129599e-01 -4.00192276e-01 2.35095770e-02 1.01469578e+02] [ 3.99972716e-01 9.16426094e-01 1.36030060e-02 4.24020525e+01] [-2.69886077e-02 -3.05892712e-03 9.99631061e-01 -6.73651216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.801052754 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:101.50, Y:42.42, Z:-6.74 [[ 9.15108898e-01 -4.02552822e-01 2.29549650e-02 1.01498347e+02] [ 4.02344444e-01 9.15392129e-01 1.32739756e-02 4.24193245e+01] [-2.63562706e-02 -2.91133050e-03 9.99648374e-01 -6.73708815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.831052754 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:101.52, Y:42.44, Z:-6.74 [[ 9.12687121e-01 -4.08035553e-01 2.25656141e-02 1.01524778e+02] [ 4.07836047e-01 9.12962049e-01 1.30405318e-02 4.24369732e+01] [-2.59225499e-02 -2.69885456e-03 9.99660311e-01 -6.73644757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86105275399999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:101.55, Y:42.45, Z:-6.74 [[ 9.11394081e-01 -4.10870859e-01 2.33659076e-02 1.01553559e+02] [ 4.10658082e-01 9.11689545e-01 1.34949177e-02 4.24537232e+01] [-2.68471221e-02 -2.70378931e-03 9.99635895e-01 -6.73727844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89105275399999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:101.58, Y:42.47, Z:-6.74 [[ 9.10151765e-01 -4.13563834e-01 2.42635365e-02 1.01582032e+02] [ 4.13335598e-01 9.10471073e-01 1.40038610e-02 4.24694957e+01] [-2.78827386e-02 -2.71665547e-03 9.99607509e-01 -6.73832466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92105275399999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:101.61, Y:42.49, Z:-6.74 [[ 9.07836718e-01 -4.18518611e-01 2.59743203e-02 1.01611086e+02] [ 4.18259324e-01 9.08204096e-01 1.49818891e-02 4.24863956e+01] [-2.98601835e-02 -2.73710733e-03 9.99550338e-01 -6.73857926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.95105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.64, Y:42.50, Z:-6.74 [[ 9.05558913e-01 -4.23365882e-01 2.69143893e-02 1.01638049e+02] [ 4.23089922e-01 9.05954882e-01 1.55135499e-02 4.25035137e+01] [-3.09511301e-02 -2.66122657e-03 9.99517356e-01 -6.73812252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:101.67, Y:42.52, Z:-6.74 [[ 9.04380528e-01 -4.25900385e-01 2.65466124e-02 1.01665748e+02] [ 4.25633274e-01 9.04766520e-01 1.52924991e-02 4.25198836e+01] [-3.05315674e-02 -2.53111688e-03 9.99530598e-01 -6.73884791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:101.69, Y:42.54, Z:-6.74 [[ 9.02568714e-01 -4.29750272e-01 2.61614168e-02 1.01694327e+02] [ 4.29492714e-01 9.02944705e-01 1.50621076e-02 4.25374653e+01] [-3.00952576e-02 -2.35844915e-03 9.99544253e-01 -6.74098720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.72, Y:42.55, Z:-6.74 [[ 9.02538699e-01 -4.29832230e-01 2.58486034e-02 1.01721860e+02] [ 4.29581111e-01 9.02905796e-01 1.48725447e-02 4.25538002e+01] [-2.97315529e-02 -2.31897539e-03 9.99555230e-01 -6.74275955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.071052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:101.75, Y:42.57, Z:-6.74 [[ 9.04033344e-01 -4.26751492e-01 2.46348771e-02 1.01748319e+02] [ 4.26522521e-01 9.04366010e-01 1.41654161e-02 4.25722932e+01] [-2.83240579e-02 -2.29867858e-03 9.99596150e-01 -6.74325487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.101052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:42.59, Z:-6.74 [[ 9.05607186e-01 -4.23417694e-01 2.43532712e-02 1.01775834e+02] [ 4.23192851e-01 9.05931472e-01 1.39992552e-02 4.25917084e+01] [-2.79899272e-02 -2.37169585e-03 9.99605392e-01 -6.74351641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.131052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.80, Y:42.61, Z:-6.74 [[ 9.07428518e-01 -4.19501828e-01 2.43248947e-02 1.01802142e+02] [ 4.19276370e-01 9.07751100e-01 1.39737822e-02 4.26108924e+01] [-2.79429771e-02 -2.48135493e-03 9.99606439e-01 -6.74361915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.161052754 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:101.83, Y:42.63, Z:-6.74 [[ 9.10599209e-01 -4.12580365e-01 2.42182443e-02 1.01828062e+02] [ 4.12354677e-01 9.10917278e-01 1.39044189e-02 4.26313623e+01] [-2.77975074e-02 -2.67484653e-03 9.99609996e-01 -6.74413786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.191052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:42.65, Z:-6.75 [[ 9.11579010e-01 -4.10324156e-01 2.56475245e-02 1.01856613e+02] [ 4.10070446e-01 9.11935138e-01 1.47150315e-02 4.26474542e+01] [-2.94268117e-02 -2.89662204e-03 9.99562741e-01 -6.74584413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22105275399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:42.66, Z:-6.75 [[ 9.11114773e-01 -4.11284666e-01 2.67356350e-02 1.01885913e+02] [ 4.11009683e-01 9.11502087e-01 1.53292574e-02 4.26627558e+01] [-3.06742756e-02 -2.97810798e-03 9.99524997e-01 -6.74649442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25105275399999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:101.92, Y:42.68, Z:-6.75 [[ 9.11184880e-01 -4.11091979e-01 2.73038291e-02 1.01915057e+02] [ 4.10805411e-01 9.11588805e-01 1.56449407e-02 4.26788553e+01] [-3.13213746e-02 -3.03887264e-03 9.99504746e-01 -6.74706465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:42.69, Z:-6.75 [[ 9.11478035e-01 -4.10442790e-01 2.72856565e-02 1.01944223e+02] [ 4.10156624e-01 9.11881249e-01 1.56247064e-02 4.26945921e+01] [-3.12943266e-02 -3.05018397e-03 9.99505559e-01 -6.74842703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:101.97, Y:42.71, Z:-6.75 [[ 9.12790114e-01 -4.07476604e-01 2.78751867e-02 1.01973385e+02] [ 4.07176900e-01 9.13210003e-01 1.59518910e-02 4.27088638e+01] [-3.19559217e-02 -3.21059630e-03 9.99484123e-01 -6.74914369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34105275399999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:102.00, Y:42.72, Z:-6.75 [[ 9.13808482e-01 -4.05095560e-01 2.91829561e-02 1.02002642e+02] [ 4.04766205e-01 9.14267881e-01 1.66901301e-02 4.27239383e+01] [-3.34421371e-02 -3.43930800e-03 9.99434738e-01 -6.75015991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37105275399999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:102.03, Y:42.74, Z:-6.75 [[ 9.16425269e-01 -3.98891194e-01 3.24120656e-02 1.02032413e+02] [ 3.98481545e-01 9.16989276e-01 1.85236570e-02 4.27371662e+01] [-3.71104402e-02 -4.05993743e-03 9.99302923e-01 -6.75046113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:102.06, Y:42.75, Z:-6.75 [[ 9.19313407e-01 -3.92160615e-01 3.27553338e-02 1.02062896e+02] [ 3.91738311e-01 9.19886377e-01 1.87122601e-02 4.27512641e+01] [-3.74693968e-02 -4.37091245e-03 9.99288216e-01 -6.75139047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:102.09, Y:42.77, Z:-6.75 [[ 9.20343855e-01 -3.89785138e-01 3.21672935e-02 1.02092467e+02] [ 3.89376857e-01 9.20895427e-01 1.83650426e-02 4.27655342e+01] [-3.67811341e-02 -4.37695441e-03 9.99313760e-01 -6.75423866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.461052754 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:102.12, Y:42.78, Z:-6.76 [[ 9.21136218e-01 -3.88050135e-01 3.04164505e-02 1.02121762e+02] [ 3.87684544e-01 9.21628722e-01 1.73549309e-02 4.27785347e+01] [-3.47672577e-02 -4.19426762e-03 9.99386635e-01 -6.75669166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.491052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:102.15, Y:42.79, Z:-6.76 [[ 9.21901664e-01 -3.86454743e-01 2.73870972e-02 1.02153471e+02] [ 3.86157934e-01 9.22300449e-01 1.56183153e-02 4.27887514e+01] [-3.12949041e-02 -3.82280600e-03 9.99502884e-01 -6.76003827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.521052754 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:102.18, Y:42.80, Z:-6.76 [[ 9.21980525e-01 -3.86300814e-01 2.68996688e-02 1.02184282e+02] [ 3.86014702e-01 9.22365225e-01 1.53310294e-02 4.28025259e+01] [-3.07337082e-02 -3.75124291e-03 9.99520569e-01 -6.76213284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.551052754 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:102.22, Y:42.81, Z:-6.76 [[ 9.21632340e-01 -3.87125072e-01 2.69816238e-02 1.02216743e+02] [ 3.86837858e-01 9.22019682e-01 1.53680744e-02 4.28111150e+01] [-3.08269551e-02 -3.72620079e-03 9.99517791e-01 -6.76481140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.581052754 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:102.25, Y:42.82, Z:-6.77 [[ 9.21042680e-01 -3.88546555e-01 2.66825046e-02 1.02249297e+02] [ 3.88266517e-01 9.21421943e-01 1.51892809e-02 4.28210824e+01] [-3.04875880e-02 -3.63005281e-03 9.99528554e-01 -6.76620132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61105275399999 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:102.28, Y:42.83, Z:-6.77 [[ 9.20685040e-01 -3.89408685e-01 2.64562530e-02 1.02278494e+02] [ 3.89134015e-01 9.21058189e-01 1.50509428e-02 4.28339678e+01] [-3.02287163e-02 -3.56214998e-03 9.99536661e-01 -6.76674542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64105275399999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:102.31, Y:42.84, Z:-6.77 [[ 9.19813559e-01 -3.91456192e-01 2.65530749e-02 1.02310846e+02] [ 3.91180610e-01 9.20190090e-01 1.50972978e-02 4.28435757e+01] [-3.03438071e-02 -3.49965117e-03 9.99533394e-01 -6.76811680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67105275399999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:102.34, Y:42.86, Z:-6.77 [[ 9.19456100e-01 -3.92313941e-01 2.62726430e-02 1.02341042e+02] [ 3.92044781e-01 9.19825002e-01 1.49283155e-02 4.28554721e+01] [-3.00228202e-02 -3.42587814e-03 9.99543343e-01 -6.76917677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70105275399999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:102.37, Y:42.86, Z:-6.77 [[ 9.18635136e-01 -3.94178936e-01 2.70638635e-02 1.02373562e+02] [ 3.93894398e-01 9.19027209e-01 1.53685663e-02 4.28648069e+01] [-3.09303920e-02 -3.45780074e-03 9.99515560e-01 -6.77038680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.73105275399999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:102.40, Y:42.88, Z:-6.77 [[ 9.18330572e-01 -3.94875802e-01 2.72408210e-02 1.02403623e+02] [ 3.94588139e-01 9.18728041e-01 1.54591927e-02 4.28780216e+01] [-3.11313672e-02 -3.44774440e-03 9.99509355e-01 -6.77039169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76105275399999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:102.43, Y:42.89, Z:-6.77 [[ 9.18198557e-01 -3.95103967e-01 2.83595897e-02 1.02434401e+02] [ 3.94792652e-01 9.18629470e-01 1.60828953e-02 4.28881524e+01] [-3.24063705e-02 -3.57113362e-03 9.99468396e-01 -6.77041389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79105275399999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:102.46, Y:42.90, Z:-6.77 [[ 9.18175712e-01 -3.95108662e-01 2.90259721e-02 1.02463744e+02] [ 3.94782749e-01 9.18627143e-01 1.64545720e-02 4.29009361e+01] [-3.31653897e-02 -3.64923533e-03 9.99443215e-01 -6.77074857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.821052754 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:102.50, Y:42.91, Z:-6.77 [[ 9.18499679e-01 -3.94183558e-01 3.12675921e-02 1.02495276e+02] [ 3.93805209e-01 9.19023211e-01 1.77142386e-02 4.29098279e+01] [-3.57183045e-02 -3.95718178e-03 9.99354063e-01 -6.77109771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.851052754 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:102.53, Y:42.92, Z:-6.77 [[ 9.18970922e-01 -3.93064913e-01 3.15026620e-02 1.02526286e+02] [ 3.92680574e-01 9.19501932e-01 1.78371684e-02 4.29230723e+01] [-3.59779236e-02 -4.02135570e-03 9.99344494e-01 -6.77203236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.881052754 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:102.56, Y:42.93, Z:-6.77 [[ 9.20765538e-01 -3.88855402e-01 3.13416799e-02 1.02557911e+02] [ 3.88472986e-01 9.21289433e-01 1.77346764e-02 4.29335721e+01] [-3.57709832e-02 -4.15408282e-03 9.99351380e-01 -6.77281825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.911052754 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:102.59, Y:42.95, Z:-6.77 [[ 9.22124191e-01 -3.85564314e-01 3.20489621e-02 1.02588155e+02] [ 3.85162916e-01 9.22670626e-01 1.81230352e-02 4.29470796e+01] [-3.65582315e-02 -4.36761750e-03 9.99321980e-01 -6.77390793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.941052754 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:102.62, Y:42.96, Z:-6.77 [[ 9.24929323e-01 -3.78692922e-01 3.31272956e-02 1.02619643e+02] [ 3.78260180e-01 9.25510011e-01 1.87204573e-02 4.29556364e+01] [-3.77489484e-02 -4.78436311e-03 9.99275801e-01 -6.77488473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97105275399998 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:102.65, Y:42.96, Z:-6.78 [[ 9.26995517e-01 -3.73570812e-01 3.35285042e-02 1.02653190e+02] [ 3.73124672e-01 9.27587956e-01 1.89357647e-02 4.29641382e+01] [-3.81744857e-02 -5.04305688e-03 9.99258363e-01 -6.77739864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00105275399999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:102.68, Y:42.98, Z:-6.78 [[ 9.27496196e-01 -3.72302511e-01 3.37882740e-02 1.02684671e+02] [ 3.71849069e-01 9.28097295e-01 1.90704240e-02 4.29765933e+01] [-3.84587724e-02 -5.12360745e-03 9.99247052e-01 -6.77966919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03105275399999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:102.71, Y:42.99, Z:-6.78 [[ 9.27476706e-01 -3.72392801e-01 3.33251015e-02 1.02714238e+02] [ 3.71952219e-01 9.28061536e-01 1.87971226e-02 4.29885823e+01] [-3.79276581e-02 -5.03854792e-03 9.99267785e-01 -6.78119815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06105275399999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:102.75, Y:43.00, Z:-6.78 [[ 9.25950928e-01 -3.76211069e-01 3.28650398e-02 1.02746507e+02] [ 3.75785330e-01 9.26521531e-01 1.85267038e-02 4.29984403e+01] [-3.74201180e-02 -4.80461880e-03 9.99288072e-01 -6.78185743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.09105275399999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:102.78, Y:43.01, Z:-6.78 [[ 9.25996667e-01 -3.76098027e-01 3.28701459e-02 1.02775755e+02] [ 3.75672533e-01 9.26567453e-01 1.85176400e-02 4.30148388e+01] [-3.74208553e-02 -4.79886197e-03 9.99288072e-01 -6.78311112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12105275399999 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:102.81, Y:43.03, Z:-6.78 [[ 9.25125762e-01 -3.78205571e-01 3.32095072e-02 1.02805490e+02] [ 3.77772777e-01 9.25709411e-01 1.87033409e-02 4.30264555e+01] [-3.78160611e-02 -4.75729474e-03 9.99273393e-01 -6.78452554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15105275399999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:102.84, Y:43.03, Z:-6.79 [[ 9.23156994e-01 -3.82797131e-01 3.53202672e-02 1.02838166e+02] [ 3.82311340e-01 9.23819706e-01 1.98794020e-02 4.30327983e+01] [-4.02393368e-02 -4.84847027e-03 9.99178306e-01 -6.78850422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18105275399999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:102.87, Y:43.04, Z:-6.79 [[ 9.22545346e-01 -3.84262447e-01 3.53900667e-02 1.02869416e+02] [ 3.83776273e-01 9.23211512e-01 1.99067136e-02 4.30441131e+01] [-4.03219195e-02 -4.78297811e-03 9.99175293e-01 -6.79075751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.211052754 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:102.90, Y:43.05, Z:-6.79 [[ 9.21505264e-01 -3.86694883e-01 3.59877199e-02 1.02900565e+02] [ 3.86194500e-01 9.22195514e-01 2.02297372e-02 4.30549378e+01] [-4.10104497e-02 -4.74354978e-03 9.99147457e-01 -6.79131948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.241052754 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:102.93, Y:43.07, Z:-6.79 [[ 9.21130194e-01 -3.87609146e-01 3.57535487e-02 1.02929650e+02] [ 3.87116426e-01 9.21812033e-01 2.00860363e-02 4.30702050e+01] [-4.07435828e-02 -4.66106856e-03 9.99158764e-01 -6.78995663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.271052754 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:102.96, Y:43.09, Z:-6.79 [[ 9.20741214e-01 -3.88556753e-01 3.54861429e-02 1.02959226e+02] [ 3.88072585e-01 9.21413446e-01 1.99230883e-02 4.30852375e+01] [-4.04386598e-02 -4.57280931e-03 9.99171559e-01 -6.79102534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.301052754 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:102.99, Y:43.10, Z:-6.80 [[ 9.18725448e-01 -3.93473731e-01 3.34958814e-02 1.02990471e+02] [ 3.93046018e-01 9.19326711e-01 1.87943031e-02 4.30951682e+01] [-3.81887231e-02 -4.10138172e-03 9.99262128e-01 -6.79563012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.331052754 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:103.02, Y:43.11, Z:-6.80 [[ 9.17039525e-01 -3.97432870e-01 3.29487858e-02 1.03021200e+02] [ 3.97021943e-01 9.17623123e-01 1.84764719e-02 4.31085195e+01] [-3.75777250e-02 -3.86226401e-03 9.99286244e-01 -6.79818518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36105275399999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:103.05, Y:43.12, Z:-6.80 [[ 9.15181994e-01 -4.01736122e-01 3.24038039e-02 1.03050056e+02] [ 4.01341775e-01 9.15748343e-01 1.81590617e-02 4.31226476e+01] [-3.69688808e-02 -3.61384614e-03 9.99309883e-01 -6.79929701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39105275399999 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:103.08, Y:43.14, Z:-6.80 [[ 9.12127401e-01 -4.08864001e-01 2.92204135e-02 1.03078810e+02] [ 4.08365750e-01 9.12561989e-01 2.16340175e-02 4.31368167e+01] [-3.55108096e-02 -7.80036410e-03 9.99338850e-01 -6.79807794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42105275399999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:103.11, Y:43.16, Z:-6.80 [[ 9.08636369e-01 -4.16124393e-01 3.49347687e-02 1.03105081e+02] [ 4.15881906e-01 9.09306383e-01 1.42878105e-02 4.31555849e+01] [-3.77119147e-02 1.54631391e-03 9.99287456e-01 -6.79661210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.45105275399999 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:103.14, Y:43.17, Z:-6.80 [[ 9.07890916e-01 -4.18133072e-01 2.99803050e-02 1.03135768e+02] [ 4.17545881e-01 9.08338275e-01 2.40211337e-02 4.31668427e+01] [-3.72762890e-02 -9.29041625e-03 9.99261811e-01 -6.79998659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48105275399999 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:103.16, Y:43.18, Z:-6.80 [[ 9.04748806e-01 -4.24866592e-01 3.02981255e-02 1.03163381e+02] [ 4.24432792e-01 9.05241541e-01 1.98634754e-02 4.31829773e+01] [-3.58664489e-02 -5.11193761e-03 9.99343517e-01 -6.80078217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51105275399999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:103.19, Y:43.20, Z:-6.80 [[ 9.03017741e-01 -4.28243150e-01 3.41579102e-02 1.03189313e+02] [ 4.28078281e-01 9.03656962e-01 1.23725747e-02 4.32014790e+01] [-3.61655037e-02 3.44960499e-03 9.99339860e-01 -6.80060483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54105275399999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:103.22, Y:43.22, Z:-6.80 [[ 9.01155179e-01 -4.32250137e-01 3.28506041e-02 1.03218919e+02] [ 4.31982476e-01 9.01753620e-01 1.52167672e-02 4.32184055e+01] [-3.62006009e-02 4.78216732e-04 9.99344429e-01 -6.80388096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.571052754 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:103.25, Y:43.24, Z:-6.80 [[ 8.98425925e-01 -4.37943333e-01 3.21946313e-02 1.03245375e+02] [ 4.37579082e-01 8.99000212e-01 1.79768341e-02 4.32381120e+01] [-3.68158150e-02 -2.06315660e-03 9.99319938e-01 -6.80359012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.601052754 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:103.27, Y:43.25, Z:-6.80 [[ 8.97919385e-01 -4.39199463e-01 2.90621867e-02 1.03272462e+02] [ 4.38577942e-01 8.98332738e-01 2.54495737e-02 4.32531147e+01] [-3.72849529e-02 -1.01056315e-02 9.99253576e-01 -6.80444359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.631052754 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:103.30, Y:43.28, Z:-6.80 [[ 8.97453038e-01 -4.39380235e-01 3.90263173e-02 1.03296983e+02] [ 4.39237063e-01 8.98282409e-01 1.26299316e-02 4.32780335e+01] [-4.06059967e-02 5.80703454e-03 9.99158362e-01 -6.80205547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.661052754 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:103.32, Y:43.30, Z:-6.81 [[ 8.99191560e-01 -4.36199496e-01 3.44171130e-02 1.03322862e+02] [ 4.35783031e-01 8.99847157e-01 1.91896594e-02 4.32973560e+01] [-3.93406611e-02 -2.25678592e-03 9.99223308e-01 -6.80643710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.691052754 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:103.35, Y:43.32, Z:-6.81 [[ 9.00557050e-01 -4.33408423e-01 3.39726037e-02 1.03348822e+02] [ 4.33001120e-01 9.01194582e-01 1.89302997e-02 4.33182320e+01] [-3.88204777e-02 -2.33763943e-03 9.99243467e-01 -6.80708567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72105275399998 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:103.37, Y:43.34, Z:-6.81 [[ 9.04449142e-01 -4.25168016e-01 3.46973627e-02 1.03371052e+02] [ 4.24737596e-01 9.05110304e-01 1.93213102e-02 4.33449262e+01] [-3.96197436e-02 -2.73786804e-03 9.99211079e-01 -6.80593981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75105275399999 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:103.40, Y:43.37, Z:-6.81 [[ 9.07126896e-01 -4.19371984e-01 3.53260932e-02 1.03397107e+02] [ 4.18921931e-01 9.07809413e-01 1.96592328e-02 4.33660347e+01] [-4.03138914e-02 -3.03454361e-03 9.99182457e-01 -6.80612965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78105275399999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:103.42, Y:43.39, Z:-6.81 [[ 9.12915184e-01 -4.06670580e-01 3.47117480e-02 1.03420224e+02] [ 4.06227375e-01 9.13568074e-01 1.93052707e-02 4.33896143e+01] [-3.95624304e-02 -3.52321245e-03 9.99210889e-01 -6.80875824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.81105275399999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:103.45, Y:43.41, Z:-6.81 [[ 9.15516805e-01 -4.01274619e-01 2.84193609e-02 1.03445028e+02] [ 4.00578276e-01 9.15857465e-01 2.72424090e-02 4.34058558e+01] [-3.69597711e-02 -1.35567046e-02 9.99224795e-01 -6.81153350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84105275399999 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:103.47, Y:43.44, Z:-6.81 [[ 9.19253767e-01 -3.92060690e-01 3.55095317e-02 1.03468485e+02] [ 3.92013077e-01 9.19919596e-01 8.58398290e-03 4.34356349e+01] [-3.60313563e-02 6.02934218e-03 9.99332471e-01 -6.80752296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.87105275399999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:103.50, Y:43.44, Z:-6.81 [[ 9.19802082e-01 -3.92378278e-01 1.84864513e-03 1.03496439e+02] [ 3.91923220e-01 9.18942873e-01 4.40475509e-02 4.34440347e+01] [-1.89821014e-02 -3.97905020e-02 9.99027725e-01 -6.81031541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90105275399999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:103.51, Y:43.49, Z:-6.80 [[ 9.22257663e-01 -3.83482864e-01 4.88026166e-02 1.03513833e+02] [ 3.84603698e-01 9.22947194e-01 -1.57629812e-02 4.34863811e+01] [-3.89974049e-02 3.33071970e-02 9.98684051e-01 -6.79517476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93105275399999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:103.55, Y:43.49, Z:-6.81 [[ 9.22862017e-01 -3.83900022e-01 3.07647775e-02 1.03547482e+02] [ 3.83540787e-01 9.23366210e-01 1.70676977e-02 4.34929469e+01] [-3.49594455e-02 -3.95158297e-03 9.99380919e-01 -6.81307947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.961052754 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:103.58, Y:43.51, Z:-6.82 [[ 9.22729794e-01 -3.84319465e-01 2.94665184e-02 1.03575522e+02] [ 3.83990468e-01 9.23192510e-01 1.63373796e-02 4.35082300e+01] [-3.34820421e-02 -3.76012472e-03 9.99432246e-01 -6.81737869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.991052754 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:103.60, Y:43.52, Z:-6.82 [[ 9.22215739e-01 -3.85976921e-01 2.32367725e-02 1.03602200e+02] [ 3.85394389e-01 9.22386723e-01 2.59595454e-02 4.35201846e+01] [-3.14530759e-02 -1.49849796e-02 9.99392893e-01 -6.82129379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.021052754 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:103.63, Y:43.54, Z:-6.81 [[ 9.20174210e-01 -3.91063090e-01 1.86837423e-02 1.03630886e+02] [ 3.90644267e-01 9.20265685e-01 2.25416315e-02 4.35371970e+01] [-2.60092070e-02 -1.34435311e-02 9.99571304e-01 -6.81458947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.051052754 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:103.66, Y:43.56, Z:-6.81 [[ 9.16843078e-01 -3.97116749e-01 4.11953730e-02 1.03656403e+02] [ 3.97520985e-01 9.17591350e-01 -1.78344392e-03 4.35597613e+01] [-3.70922824e-02 1.80111635e-02 9.99149519e-01 -6.80934581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.081052754 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:103.69, Y:43.57, Z:-6.82 [[ 9.14556980e-01 -4.03306240e-01 3.04894544e-02 1.03689095e+02] [ 4.02965200e-01 9.15059643e-01 1.68788730e-02 4.35669879e+01] [-3.47070241e-02 -3.15050208e-03 9.99392564e-01 -6.81962616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11105275399999 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:103.72, Y:43.58, Z:-6.82 [[ 9.12148828e-01 -4.08733167e-01 3.03597559e-02 1.03718465e+02] [ 4.08398223e-01 9.12649242e-01 1.68003622e-02 4.35793593e+01] [-3.45746734e-02 -2.92556036e-03 9.99397835e-01 -6.82194951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14105275399999 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:103.75, Y:43.59, Z:-6.82 [[ 9.06836025e-01 -4.20360533e-01 3.07481068e-02 1.03750776e+02] [ 4.20023762e-01 9.07353693e-01 1.70092758e-02 4.35900480e+01] [-3.50494365e-02 -2.50968860e-03 9.99382429e-01 -6.82459081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17105275399999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:103.78, Y:43.60, Z:-6.83 [[ 9.04306071e-01 -4.25721073e-01 3.14976011e-02 1.03780966e+02] [ 4.25371315e-01 9.04851400e-01 1.74123112e-02 4.36045100e+01] [-3.59134362e-02 -2.34788271e-03 9.99352146e-01 -6.82514484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20105275399999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:103.81, Y:43.62, Z:-6.82 [[ 8.99670603e-01 -4.35302865e-01 3.32298367e-02 1.03810147e+02] [ 4.34920516e-01 9.00281711e-01 1.83571565e-02 4.36199974e+01] [-3.79071370e-02 -2.06305638e-03 9.99279137e-01 -6.82370884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.23105275399999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:103.84, Y:43.64, Z:-6.82 [[ 8.98088228e-01 -4.38528068e-01 3.36254059e-02 1.03838942e+02] [ 4.38139283e-01 8.98715403e-01 1.85632504e-02 4.36353081e+01] [-3.83601765e-02 -1.93882542e-03 9.99262097e-01 -6.82410961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26105275399999 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:103.87, Y:43.65, Z:-6.83 [[ 8.96199899e-01 -4.42428202e-01 3.29093665e-02 1.03868868e+02] [ 4.42058833e-01 8.96802271e-01 1.81569769e-02 4.36502233e+01] [-3.75463533e-02 -1.72440470e-03 9.99293399e-01 -6.82645847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29105275399999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:103.90, Y:43.67, Z:-6.83 [[ 8.95643024e-01 -4.43702002e-01 3.08562273e-02 1.03897596e+02] [ 4.43378407e-01 8.96173034e-01 1.70141400e-02 4.36675321e+01] [-3.52017268e-02 -1.55761093e-03 9.99379013e-01 -6.82942630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.321052754 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:103.93, Y:43.69, Z:-6.83 [[ 8.95881559e-01 -4.43276888e-01 3.00305320e-02 1.03925578e+02] [ 4.42970514e-01 8.96383446e-01 1.65481724e-02 4.36851657e+01] [-3.42542942e-02 -1.52256233e-03 9.99411990e-01 -6.83036679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.351052754 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:103.95, Y:43.70, Z:-6.83 [[ 8.96177799e-01 -4.42703414e-01 2.96486218e-02 1.03952859e+02] [ 4.42404836e-01 8.96666823e-01 1.63269628e-02 4.37035480e+01] [-3.38129376e-02 -1.51516790e-03 9.99427031e-01 -6.83101706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.381052754 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:103.98, Y:43.72, Z:-6.83 [[ 8.95935626e-01 -4.43203346e-01 2.94982921e-02 1.03977960e+02] [ 4.42908423e-01 8.96419883e-01 1.62333707e-02 4.37247556e+01] [-3.36375397e-02 -1.47901313e-03 9.99433003e-01 -6.83176334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.411052754 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:104.00, Y:43.74, Z:-6.83 [[ 8.95579344e-01 -4.43857652e-01 3.04634870e-02 1.04004298e+02] [ 4.43543855e-01 8.96096065e-01 1.67538516e-02 4.37445871e+01] [-3.47345360e-02 -1.49251091e-03 9.99395459e-01 -6.83473467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.441052754 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:104.03, Y:43.76, Z:-6.84 [[ 8.95413430e-01 -4.44216320e-01 3.01106333e-02 1.04031715e+02] [ 4.43910321e-01 8.95918385e-01 1.65491180e-02 4.37625615e+01] [-3.43280582e-02 -1.45188160e-03 9.99409564e-01 -6.83671724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47105275399998 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:104.06, Y:43.78, Z:-6.84 [[ 8.94939408e-01 -4.45203183e-01 2.96240047e-02 1.04056179e+02] [ 4.44907893e-01 8.95428510e-01 1.62711312e-02 4.37848677e+01] [-3.37701378e-02 -1.38172299e-03 9.99428671e-01 -6.83781240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50105275399999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:104.08, Y:43.81, Z:-6.84 [[ 8.94887865e-01 -4.45257410e-01 3.03570028e-02 1.04082480e+02] [ 4.44947710e-01 8.95401511e-01 1.66634061e-02 4.38052998e+01] [-3.46012113e-02 -1.40460104e-03 9.99400212e-01 -6.83759181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53105275399999 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:104.11, Y:43.83, Z:-6.84 [[ 8.95611051e-01 -4.43713277e-01 3.16128691e-02 1.04105989e+02] [ 4.43376889e-01 8.96167527e-01 1.73406718e-02 4.38295510e+01] [-3.60247130e-02 -1.51408178e-03 9.99349752e-01 -6.83653057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56105275399999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:104.13, Y:43.85, Z:-6.84 [[ 8.96546332e-01 -4.41819702e-01 3.16231950e-02 1.04133379e+02] [ 4.41482305e-01 8.97102475e-01 1.73356017e-02 4.38494824e+01] [-3.60284569e-02 -1.58108910e-03 9.99349514e-01 -6.83802415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.59105275399999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:104.16, Y:43.87, Z:-6.84 [[ 8.99691921e-01 -4.35365221e-01 3.18052096e-02 1.04158544e+02] [ 4.35020322e-01 9.00252042e-01 1.74235544e-02 4.38711151e+01] [-3.62183145e-02 -1.83991856e-03 9.99342208e-01 -6.84077934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62105275399999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:104.19, Y:43.89, Z:-6.84 [[ 9.01633560e-01 -4.31334767e-01 3.17370713e-02 1.04185789e+02] [ 4.30989245e-01 9.02189762e-01 1.73753763e-02 4.38907129e+01] [-3.61274647e-02 -1.98788606e-03 9.99345213e-01 -6.84185503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65105275399999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:104.21, Y:43.92, Z:-6.84 [[ 9.05768000e-01 -4.22615249e-01 3.13158194e-02 1.04210430e+02] [ 4.22274027e-01 9.06306285e-01 1.71337046e-02 4.39153023e+01] [-3.56226888e-02 -2.29530419e-03 9.99362675e-01 -6.84154018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68105275399999 meters Centerline goodness : 0.999883 Centerline is valid? [True, True] Translation: X:104.24, Y:43.93, Z:-6.84 [[ 9.07666580e-01 -4.18521016e-01 3.13295120e-02 1.04236094e+02] [ 4.18177475e-01 9.08203817e-01 1.71297149e-02 4.39347517e+01] [-3.56227280e-02 -2.44677355e-03 9.99362314e-01 -6.84205186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.711052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:104.26, Y:43.96, Z:-6.84 [[ 9.11091845e-01 -4.11072044e-01 3.05192578e-02 1.04262273e+02] [ 4.10742231e-01 9.11598984e-01 1.66766991e-02 4.39559826e+01] [-3.46766491e-02 -2.65845652e-03 9.99395048e-01 -6.84422014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.741052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:43.97, Z:-6.85 [[ 9.12763089e-01 -4.07424070e-01 2.94816991e-02 1.04290711e+02] [ 4.07114759e-01 9.13235116e-01 1.60995920e-02 4.39735064e+01] [-3.34830842e-02 -2.69267848e-03 9.99435657e-01 -6.84598187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.771052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:104.32, Y:43.99, Z:-6.85 [[ 9.15076245e-01 -4.02334131e-01 2.76172463e-02 1.04317847e+02] [ 4.02060701e-01 9.15488951e-01 1.50722769e-02 4.39925910e+01] [-3.13473752e-02 -2.68847314e-03 9.99504935e-01 -6.84781723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.801052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:44.01, Z:-6.85 [[ 9.16060774e-01 -4.00090824e-01 2.75679246e-02 1.04346177e+02] [ 3.99817669e-01 9.16471365e-01 1.50356136e-02 4.40104758e+01] [-3.12808245e-02 -2.75139247e-03 9.99506848e-01 -6.84908979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.831052754 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:104.37, Y:44.03, Z:-6.85 [[ 9.17843380e-01 -3.95805767e-01 3.00220656e-02 1.04370300e+02] [ 3.95724729e-01 9.18326553e-01 8.84762233e-03 4.40291487e+01] [-3.10720000e-02 3.75974219e-03 9.99510078e-01 -6.84735237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:104.40, Y:44.04, Z:-6.86 [[ 9.17524312e-01 -3.96943467e-01 2.41872021e-02 1.04402009e+02] [ 3.96509136e-01 9.17793122e-01 2.08875706e-02 4.40422763e+01] [-3.04900324e-02 -9.57440726e-03 9.99489214e-01 -6.85575295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89105275399999 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:104.43, Y:44.06, Z:-6.85 [[ 9.17667983e-01 -3.96139087e-01 3.09725092e-02 1.04428590e+02] [ 3.96050097e-01 9.18182625e-01 9.21889954e-03 4.40601290e+01] [-3.20903862e-02 3.80677633e-03 9.99477721e-01 -6.85321090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.46, Y:44.07, Z:-6.86 [[ 9.16908270e-01 -3.98338659e-01 2.46076497e-02 1.04461198e+02] [ 3.97895455e-01 9.17189032e-01 2.10591309e-02 4.40718823e+01] [-3.09585324e-02 -9.51801929e-03 9.99475351e-01 -6.86046833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.95105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:104.49, Y:44.09, Z:-6.86 [[ 9.15463864e-01 -4.01395495e-01 2.84177968e-02 1.04488602e+02] [ 4.01107441e-01 9.15900715e-01 1.54499261e-02 4.40900417e+01] [-3.22294111e-02 -2.74525930e-03 9.99476727e-01 -6.85827151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:104.52, Y:44.11, Z:-6.86 [[ 9.15509902e-01 -4.01290177e-01 2.84220427e-02 1.04518114e+02] [ 4.01002313e-01 9.15946879e-01 1.54421110e-02 4.41059810e+01] [-3.22298488e-02 -2.74010062e-03 9.99476727e-01 -6.85952479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.55, Y:44.12, Z:-6.86 [[ 9.14708368e-01 -4.03060312e-01 2.91716830e-02 1.04547101e+02] [ 4.02758071e-01 9.15169301e-01 1.58457157e-02 4.41221206e+01] [-3.30838079e-02 -2.74507799e-03 9.99448811e-01 -6.85954529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:104.57, Y:44.14, Z:-6.86 [[ 9.13048571e-01 -4.06716555e-01 3.03965645e-02 1.04574959e+02] [ 4.06390787e-01 9.13550375e-01 1.64996854e-02 4.41378595e+01] [-3.44794881e-02 -2.71213046e-03 9.99401726e-01 -6.85842090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.071052754 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:104.60, Y:44.15, Z:-6.86 [[ 9.12666881e-01 -4.07655472e-01 2.92605624e-02 1.04604365e+02] [ 4.07354412e-01 9.13132205e-01 1.58732246e-02 4.41537039e+01] [-3.31895687e-02 -2.56754718e-03 9.99445777e-01 -6.85892174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.101052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:104.63, Y:44.17, Z:-6.86 [[ 9.11525322e-01 -4.10221986e-01 2.89742826e-02 1.04633628e+02] [ 4.09928221e-01 9.11982423e-01 1.57134820e-02 4.41673770e+01] [-3.28700523e-02 -2.44586063e-03 9.99456641e-01 -6.86274823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.131052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:104.66, Y:44.18, Z:-6.87 [[ 9.10150677e-01 -4.13357597e-01 2.75906249e-02 1.04662353e+02] [ 4.13092982e-01 9.10566091e-01 1.49526646e-02 4.41833613e+01] [-3.13038849e-02 -2.21168433e-03 9.99507466e-01 -6.86530126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.161052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.69, Y:44.20, Z:-6.87 [[ 9.09691998e-01 -4.14521871e-01 2.51413391e-02 1.04689503e+02] [ 4.14249923e-01 9.10032081e-01 1.54471085e-02 4.41988734e+01] [-2.92825894e-02 -3.63731326e-03 9.99564555e-01 -6.86538254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.191052754 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:104.72, Y:44.22, Z:-6.87 [[ 9.08415141e-01 -4.17092914e-01 2.85557806e-02 1.04717909e+02] [ 4.16867166e-01 9.08863672e-01 1.37328507e-02 4.42150918e+01] [-3.16811863e-02 -5.71162243e-04 9.99497862e-01 -6.86625736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22105275399998 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:104.75, Y:44.23, Z:-6.87 [[ 9.07779502e-01 -4.18505747e-01 2.80947464e-02 1.04747839e+02] [ 4.18234567e-01 9.08211835e-01 1.52023173e-02 4.42299649e+01] [-3.18782383e-02 -2.05015795e-03 9.99489657e-01 -6.86833822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25105275399999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:104.78, Y:44.24, Z:-6.87 [[ 9.06152429e-01 -4.22324394e-01 2.30191638e-02 1.04776298e+02] [ 4.21924793e-01 9.06402947e-01 2.03264965e-02 4.42431761e+01] [-2.94490133e-02 -8.70654827e-03 9.99528365e-01 -6.86965915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28105275399999 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:104.80, Y:44.26, Z:-6.86 [[ 9.05110295e-01 -4.24300180e-01 2.72893839e-02 1.04802328e+02] [ 4.24161779e-01 9.05520084e-01 1.09618500e-02 4.42621662e+01] [-2.93622002e-02 1.65343030e-03 9.99567470e-01 -6.86457605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.31105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.83, Y:44.28, Z:-6.87 [[ 9.02000129e-01 -4.30906724e-01 2.67425119e-02 1.04832540e+02] [ 4.30758746e-01 9.02395580e-01 1.13631317e-02 4.42792735e+01] [-2.90287744e-02 1.27002463e-03 9.99577770e-01 -6.86588517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:104.86, Y:44.29, Z:-6.87 [[ 9.00116191e-01 -4.35304921e-01 1.73340220e-02 1.04860483e+02] [ 4.34923921e-01 9.00200693e-01 2.19065263e-02 4.42915183e+01] [-2.51401173e-02 -1.21794382e-02 9.99609742e-01 -6.86887182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.37105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:44.31, Z:-6.87 [[ 8.96761968e-01 -4.41973324e-01 2.18530129e-02 1.04889583e+02] [ 4.41701743e-01 8.97014675e-01 1.62555671e-02 4.43069188e+01] [-2.67870003e-02 -4.92486040e-03 9.99629032e-01 -6.86708256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:44.33, Z:-6.87 [[ 8.95221409e-01 -4.44236847e-01 3.51034676e-02 1.04917985e+02] [ 4.44457922e-01 8.95798189e-01 1.66126910e-03 4.43257164e+01] [-3.21836197e-02 1.41148106e-02 9.99382303e-01 -6.86598835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43105275399999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:104.95, Y:44.33, Z:-6.88 [[ 8.91159107e-01 -4.53394160e-01 1.64067609e-02 1.04947418e+02] [ 4.52890946e-01 8.91152462e-01 2.71492155e-02 4.43333957e+01] [-2.69302211e-02 -1.67637972e-02 9.99496743e-01 -6.87562087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.461052754 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:104.97, Y:44.36, Z:-6.87 [[ 8.88136920e-01 -4.58316406e-01 3.40423922e-02 1.04971641e+02] [ 4.58576647e-01 8.88654840e-01 1.83342286e-04 4.43606445e+01] [-3.03359654e-02 1.54482130e-02 9.99420373e-01 -6.86573752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.491052754 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:105.00, Y:44.37, Z:-6.88 [[ 8.86250368e-01 -4.62935118e-01 1.58543896e-02 1.05000875e+02] [ 4.62495294e-01 8.86267101e-01 2.50744592e-02 4.43693561e+01] [-2.56590717e-02 -1.48896681e-02 9.99559858e-01 -6.87612198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.521052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.03, Y:44.39, Z:-6.87 [[ 8.85219940e-01 -4.64590173e-01 2.32729300e-02 1.05027671e+02] [ 4.64424203e-01 8.85525797e-01 1.24186472e-02 4.43907353e+01] [-2.63783613e-02 -1.84722182e-04 9.99652013e-01 -6.86975378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.551052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.05, Y:44.41, Z:-6.87 [[ 8.82939132e-01 -4.68820954e-01 2.50080232e-02 1.05052848e+02] [ 4.68682515e-01 8.83291830e-01 1.14997054e-02 4.44090059e+01] [-2.74806854e-02 1.56728328e-03 9.99621106e-01 -6.87090098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.581052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.08, Y:44.43, Z:-6.87 [[ 8.82378254e-01 -4.69829685e-01 2.58589193e-02 1.05079762e+02] [ 4.69669263e-01 8.82756189e-01 1.23407222e-02 4.44258453e+01] [-2.86251587e-02 1.25595463e-03 9.99589427e-01 -6.87329040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.11, Y:44.45, Z:-6.87 [[ 8.82192254e-01 -4.69810989e-01 3.18506182e-02 1.05105877e+02] [ 4.69896067e-01 8.82706281e-01 5.22563928e-03 4.44488535e+01] [-3.05698035e-02 1.03564617e-02 9.99478980e-01 -6.87344940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:105.14, Y:44.46, Z:-6.88 [[ 8.80069225e-01 -4.73990915e-01 2.84740408e-02 1.05135147e+02] [ 4.73742874e-01 8.80529734e-01 1.53322117e-02 4.44631783e+01] [-3.23395686e-02 -4.03374017e-06 9.99476939e-01 -6.88015889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67105275399999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:105.16, Y:44.48, Z:-6.88 [[ 8.80068864e-01 -4.73960025e-01 2.89946353e-02 1.05162752e+02] [ 4.73703169e-01 8.80546361e-01 1.56017106e-02 4.44799887e+01] [-3.29257078e-02 4.27088032e-06 9.99457802e-01 -6.88132179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70105275399999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:105.19, Y:44.50, Z:-6.88 [[ 8.80565515e-01 -4.73013780e-01 2.93655861e-02 1.05191545e+02] [ 4.72750112e-01 8.81055028e-01 1.57914009e-02 4.44970489e+01] [-3.33422475e-02 -2.27789020e-05 9.99443992e-01 -6.88268228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.73105275399999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:105.22, Y:44.51, Z:-6.88 [[ 8.81477296e-01 -4.71210955e-01 3.09517854e-02 1.05220872e+02] [ 4.70917328e-01 8.82020538e-01 1.66325311e-02 4.45133700e+01] [-3.51375413e-02 -8.54664827e-05 9.99382482e-01 -6.88185823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76105275399999 meters Centerline goodness : 0.999927 Centerline is valid? [True, True] Translation: X:105.25, Y:44.53, Z:-6.88 [[ 8.82774413e-01 -4.68765409e-01 3.11179587e-02 1.05249445e+02] [ 4.68467497e-01 8.83322682e-01 1.67105790e-02 4.45293954e+01] [-3.53205402e-02 -1.73919368e-04 9.99376020e-01 -6.88227771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:105.28, Y:44.54, Z:-6.88 [[ 8.86071058e-01 -4.62429702e-01 3.22001603e-02 1.05278138e+02] [ 4.62106942e-01 8.86655843e-01 1.72797449e-02 4.45434025e+01] [-3.65411276e-02 -4.31164212e-04 9.99332057e-01 -6.88286128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.821052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:44.56, Z:-6.88 [[ 8.88976265e-01 -4.56809021e-01 3.23530271e-02 1.05308096e+02] [ 4.56479852e-01 8.89564550e-01 1.73509754e-02 4.45581671e+01] [-3.67061881e-02 -6.56100239e-04 9.99325885e-01 -6.88368284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.851052754 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:105.34, Y:44.57, Z:-6.89 [[ 8.96230679e-01 -4.42415607e-01 3.22335482e-02 1.05337266e+02] [ 4.42079904e-01 8.96809294e-01 1.72756503e-02 4.45719963e+01] [-3.65503629e-02 -1.23316389e-03 9.99331051e-01 -6.88508036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.881052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.37, Y:44.59, Z:-6.89 [[ 9.03340772e-01 -4.27768576e-01 3.14562394e-02 1.05367707e+02] [ 4.27440301e-01 9.03886550e-01 1.68491459e-02 4.45851503e+01] [-3.56404069e-02 -1.77485605e-03 9.99363103e-01 -6.88743954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.911052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.40, Y:44.60, Z:-6.89 [[ 9.06255150e-01 -4.21584214e-01 3.11183760e-02 1.05398461e+02] [ 4.21259699e-01 9.06787077e-01 1.66572199e-02 4.45986624e+01] [-3.52401622e-02 -1.98677367e-03 9.99376898e-01 -6.88992687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.941052754 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.43, Y:44.61, Z:-6.89 [[ 9.11289310e-01 -4.10666213e-01 3.00841479e-02 1.05429260e+02] [ 4.10357318e-01 9.11782802e-01 1.60932838e-02 4.46119698e+01] [-3.40391766e-02 -2.32038727e-03 9.99417806e-01 -6.89049867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97105275399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.46, Y:44.63, Z:-6.89 [[ 9.13135396e-01 -4.06541986e-01 3.01224482e-02 1.05459382e+02] [ 4.06230439e-01 9.13628767e-01 1.61029789e-02 4.46266152e+01] [-3.40672722e-02 -2.46754463e-03 9.99416496e-01 -6.89081353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00105275399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.49, Y:44.64, Z:-6.89 [[ 9.14844123e-01 -4.02709602e-01 2.97524145e-02 1.05490691e+02] [ 4.02404005e-01 9.15324193e-01 1.58946023e-02 4.46377156e+01] [-3.36340138e-02 -2.56859281e-03 9.99430916e-01 -6.89232489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:105.52, Y:44.65, Z:-6.89 [[ 9.15214409e-01 -4.01926105e-01 2.89480745e-02 1.05521137e+02] [ 4.01636757e-01 9.15668645e-01 1.54547328e-02 4.46497147e+01] [-3.27185047e-02 -2.51778342e-03 9.99461435e-01 -6.89413372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:105.55, Y:44.66, Z:-6.90 [[ 9.15222538e-01 -4.02048161e-01 2.69254895e-02 1.05553191e+02] [ 4.01798142e-01 9.15615556e-01 1.43668596e-02 4.46589979e+01] [-3.04295665e-02 -2.33026207e-03 9.99534197e-01 -6.89659809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.09105275399999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:105.58, Y:44.67, Z:-6.90 [[ 9.15062550e-01 -4.02493718e-01 2.56775303e-02 1.05583490e+02] [ 4.02266766e-01 9.15420103e-01 1.36924444e-02 4.46723204e+01] [-2.90168503e-02 -2.20022603e-03 9.99576501e-01 -6.89818706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12105275399999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:105.61, Y:44.68, Z:-6.90 [[ 9.13952208e-01 -4.05073924e-01 2.46267823e-02 1.05614916e+02] [ 4.04866326e-01 9.14281696e-01 1.31239997e-02 4.46830472e+01] [-2.78320064e-02 -2.02415366e-03 9.99610565e-01 -6.89912170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15105275399999 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:105.64, Y:44.69, Z:-6.90 [[ 9.13386108e-01 -4.06176366e-01 2.73235664e-02 1.05644821e+02] [ 4.05912298e-01 9.13791354e-01 1.48515444e-02 4.46946315e+01] [-3.10003851e-02 -2.47422270e-03 9.99516310e-01 -6.90230323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18105275399999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:105.68, Y:44.70, Z:-6.90 [[ 9.12049137e-01 -4.09260611e-01 2.59253553e-02 1.05677521e+02] [ 4.09039111e-01 9.12415793e-01 1.35803851e-02 4.47044035e+01] [-2.92126203e-02 -1.78149424e-03 9.99571633e-01 -6.90081150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.211052754 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:105.71, Y:44.72, Z:-6.90 [[ 9.11816864e-01 -4.09723089e-01 2.67768104e-02 1.05707785e+02] [ 4.09480359e-01 9.12207701e-01 1.42459300e-02 4.47170918e+01] [-3.02628991e-02 -2.02510129e-03 9.99539922e-01 -6.90125870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.241052754 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:105.74, Y:44.73, Z:-6.90 [[ 9.12251561e-01 -4.08609791e-01 2.88985807e-02 1.05739137e+02] [ 4.08239392e-01 9.12697479e-01 1.79975378e-02 4.47266563e+01] [-3.37296319e-02 -4.62074298e-03 9.99420312e-01 -6.90249001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.271052754 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:105.77, Y:44.74, Z:-6.90 [[ 9.12442665e-01 -4.08169232e-01 2.90905693e-02 1.05769807e+02] [ 4.07964936e-01 9.12906277e-01 1.29128076e-02 4.47418291e+01] [-3.18275741e-02 8.57356534e-05 9.99493371e-01 -6.90062147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.301052754 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:105.80, Y:44.75, Z:-6.90 [[ 9.13901118e-01 -4.04941999e-01 2.84028782e-02 1.05801593e+02] [ 4.04667445e-01 9.14339502e-01 1.50842180e-02 4.47509122e+01] [-3.20781069e-02 -2.29176352e-03 9.99482738e-01 -6.90227870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.331052754 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:105.83, Y:44.76, Z:-6.90 [[ 9.14754700e-01 -4.03021119e-01 2.82456423e-02 1.05832578e+02] [ 4.02748983e-01 9.15187693e-01 1.49914252e-02 4.47630832e+01] [-3.18919251e-02 -2.33757293e-03 9.99488590e-01 -6.90337394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36105275399999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:105.86, Y:44.77, Z:-6.91 [[ 9.16138093e-01 -3.99795211e-01 2.92366947e-02 1.05864799e+02] [ 3.99502366e-01 9.16601008e-01 1.55064851e-02 4.47707907e+01] [-3.29978024e-02 -2.52595300e-03 9.99452232e-01 -6.90540670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39105275399999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:105.90, Y:44.78, Z:-6.91 [[ 9.16961847e-01 -3.97874557e-01 2.96109577e-02 1.05896330e+02] [ 3.97573499e-01 9.17436089e-01 1.56951014e-02 4.47827261e+01] [-3.34108427e-02 -2.61927714e-03 9.99438270e-01 -6.90613684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42105275399999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:105.93, Y:44.79, Z:-6.91 [[ 9.18125977e-01 -3.95152353e-01 2.99884647e-02 1.05928828e+02] [ 3.94766803e-01 9.18603201e-01 1.80922960e-02 4.47906824e+01] [-3.46967130e-02 -4.77255661e-03 9.99386492e-01 -6.90582246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.45105275399999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:105.96, Y:44.80, Z:-6.91 [[ 9.19312092e-01 -3.92138702e-01 3.30532366e-02 1.05961880e+02] [ 3.91841510e-01 9.19905423e-01 1.53050320e-02 4.47978013e+01] [-3.64075470e-02 -1.11847084e-03 9.99336400e-01 -6.90604755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48105275399999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:105.99, Y:44.81, Z:-6.91 [[ 9.20178537e-01 -3.90129640e-01 3.27157942e-02 1.05993979e+02] [ 3.89758270e-01 9.20754448e-01 1.73129494e-02 4.48068105e+01] [-3.68775078e-02 -3.17975312e-03 9.99314735e-01 -6.90836460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51105275399999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:106.03, Y:44.81, Z:-6.91 [[ 9.21828505e-01 -3.86173557e-01 3.31992583e-02 1.06028654e+02] [ 3.85789028e-01 9.22419960e-01 1.75568423e-02 4.48115390e+01] [-3.74036467e-02 -3.37648809e-03 9.99294534e-01 -6.90959844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54105275399999 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:106.06, Y:44.82, Z:-6.91 [[ 9.22958414e-01 -3.83624466e-01 3.13055156e-02 1.06059740e+02] [ 3.83205276e-01 9.23474289e-01 1.86803029e-02 4.48206666e+01] [-3.60760600e-02 -5.24470396e-03 9.99335285e-01 -6.90975208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.571052754 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:106.09, Y:44.83, Z:-6.91 [[ 9.23437211e-01 -3.82275972e-01 3.35975986e-02 1.06090508e+02] [ 3.81959174e-01 9.24046796e-01 1.56431830e-02 4.48318524e+01] [-3.70257663e-02 -1.61258628e-03 9.99313010e-01 -6.91110897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.601052754 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:106.13, Y:44.83, Z:-6.91 [[ 9.24181980e-01 -3.80607136e-01 3.20292958e-02 1.06125729e+02] [ 3.80246844e-01 9.24730391e-01 1.69127544e-02 4.48342474e+01] [-3.60555782e-02 -3.45142419e-03 9.99343826e-01 -6.91430350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.631052754 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:106.16, Y:44.84, Z:-6.92 [[ 9.23974131e-01 -3.81181819e-01 3.11805450e-02 1.06162145e+02] [ 3.80840920e-01 9.24494087e-01 1.64583281e-02 4.48366204e+01] [-3.50998449e-02 -3.33224194e-03 9.99378255e-01 -6.91698904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.661052754 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:106.19, Y:44.85, Z:-6.92 [[ 9.23655204e-01 -3.81958309e-01 3.11273704e-02 1.06194533e+02] [ 3.81619391e-01 9.24173710e-01 1.64193504e-02 4.48455031e+01] [-3.50386047e-02 -3.28701033e-03 9.99380554e-01 -6.91898493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.691052754 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:106.23, Y:44.85, Z:-6.92 [[ 9.23055651e-01 -3.83454905e-01 3.05057512e-02 1.06230461e+02] [ 3.83130562e-01 9.23554208e-01 1.60809580e-02 4.48482968e+01] [-3.43400371e-02 -3.15593359e-03 9.99405224e-01 -6.92169927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72105275399998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:106.26, Y:44.86, Z:-6.92 [[ 9.23410027e-01 -3.82895450e-01 2.65517671e-02 1.06264145e+02] [ 3.82480876e-01 9.23758739e-01 1.94466191e-02 4.48559058e+01] [-3.19734488e-02 -7.80165990e-03 9.99458270e-01 -6.92185315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75105275399999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:106.30, Y:44.86, Z:-6.92 [[ 9.22625665e-01 -3.84584843e-01 2.92639884e-02 1.06296913e+02] [ 3.84323413e-01 9.23087571e-01 1.43125942e-02 4.48624511e+01] [-3.25176308e-02 -1.95833078e-03 9.99469243e-01 -6.92137064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78105275399999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:106.33, Y:44.87, Z:-6.92 [[ 9.22098261e-01 -3.85887132e-01 2.87387817e-02 1.06328554e+02] [ 3.85603667e-01 9.22541763e-01 1.50501904e-02 4.48727179e+01] [-3.23204012e-02 -2.79597478e-03 9.99473649e-01 -6.92246038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81105275399999 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:106.36, Y:44.88, Z:-6.92 [[ 9.20817298e-01 -3.89079814e-01 2.66908580e-02 1.06363468e+02] [ 3.88796906e-01 9.21196611e-01 1.52894967e-02 4.48772812e+01] [-3.05363625e-02 -3.70150998e-03 9.99526803e-01 -6.92402540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84105275399999 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:106.40, Y:44.88, Z:-6.92 [[ 9.20633609e-01 -3.90011767e-01 1.80160706e-02 1.06399153e+02] [ 3.89621013e-01 9.20717577e-01 2.17855421e-02 4.48835323e+01] [-2.50843306e-02 -1.30370625e-02 9.99600326e-01 -6.92487203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87105275399999 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:106.42, Y:44.90, Z:-6.92 [[ 9.18280993e-01 -3.94623477e-01 3.21298726e-02 1.06424689e+02] [ 3.94727178e-01 9.18792387e-01 3.31721048e-03 4.48957761e+01] [-3.08297315e-02 9.63640262e-03 9.99478198e-01 -6.92372107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90105275399999 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:106.46, Y:44.91, Z:-6.93 [[ 9.18322143e-01 -3.94937228e-01 2.66275868e-02 1.06456088e+02] [ 3.94696935e-01 9.18705184e-01 1.39683480e-02 4.49077283e+01] [-2.99795226e-02 -2.31761637e-03 9.99547826e-01 -6.92868264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93105275399999 meters Centerline goodness : 0.996768 Centerline is valid? [True, True] Translation: X:106.49, Y:44.92, Z:-6.93 [[ 9.17449506e-01 -3.96950360e-01 2.67734188e-02 1.06487878e+02] [ 3.96679737e-01 9.17834750e-01 1.49852514e-02 4.49189033e+01] [-3.05219751e-02 -3.12773875e-03 9.99529202e-01 -6.93031976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.961052754 meters Centerline goodness : 0.996260 Centerline is valid? [True, True] Translation: X:106.52, Y:44.93, Z:-6.93 [[ 9.15984399e-01 -4.00215400e-01 2.82880542e-02 1.06519875e+02] [ 3.99980672e-01 9.16420186e-01 1.37660733e-02 4.49277061e+01] [-3.14331385e-02 -1.29483345e-03 9.99505018e-01 -6.93119067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.991052754 meters Centerline goodness : 0.996525 Centerline is valid? [True, True] Translation: X:106.55, Y:44.94, Z:-6.93 [[ 9.15618870e-01 -4.01043444e-01 2.83943838e-02 1.06549936e+02] [ 4.00764998e-01 9.16055650e-01 1.51480178e-02 4.49398896e+01] [-3.20858490e-02 -2.49033576e-03 9.99482014e-01 -6.93134193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.021052754 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:106.58, Y:44.95, Z:-6.93 [[ 9.15710706e-01 -4.00748563e-01 2.95718061e-02 1.06581093e+02] [ 4.00457467e-01 9.16185188e-01 1.54440193e-02 4.49498348e+01] [-3.32824193e-02 -2.30000328e-03 9.99443340e-01 -6.93131734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.051052754 meters Centerline goodness : 0.995770 Centerline is valid? [True, True] Translation: X:106.61, Y:44.96, Z:-6.93 [[ 9.16335374e-01 -3.99359413e-01 2.90093544e-02 1.06609935e+02] [ 3.99085929e-01 9.16792044e-01 1.49254672e-02 4.49611380e+01] [-3.25561711e-02 -2.09950843e-03 9.99467702e-01 -6.93210939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.081052754 meters Centerline goodness : 0.995720 Centerline is valid? [True, True] Translation: X:106.64, Y:44.97, Z:-6.93 [[ 9.17845776e-01 -3.95822307e-01 2.97293351e-02 1.06641090e+02] [ 3.95586574e-01 9.18326775e-01 1.36820034e-02 4.49702708e+01] [-3.27168866e-02 -7.97443214e-04 9.99464341e-01 -6.93401507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11105275399999 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:106.67, Y:44.98, Z:-6.94 [[ 9.18823375e-01 -3.93520504e-01 3.00868442e-02 1.06671488e+02] [ 3.93268677e-01 9.19315128e-01 1.41224315e-02 4.49826285e+01] [-3.32167574e-02 -1.14380681e-03 9.99447517e-01 -6.93573612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14105275399999 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:106.70, Y:44.99, Z:-6.94 [[ 9.20820823e-01 -3.88882203e-01 2.93196818e-02 1.06703076e+02] [ 3.88523252e-01 9.21276243e-01 1.73137537e-02 4.49910014e+01] [-3.37445370e-02 -4.55148675e-03 9.99420127e-01 -6.93686002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17105275399999 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:106.73, Y:45.00, Z:-6.94 [[ 9.21932623e-01 -3.86100282e-01 3.10935909e-02 1.06732844e+02] [ 3.85876115e-01 9.22456804e-01 1.31555335e-02 4.50049550e+01] [-3.37618497e-02 -1.30241432e-04 9.99429898e-01 -6.93679858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20105275399999 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:106.77, Y:45.01, Z:-6.94 [[ 9.23233114e-01 -3.83040228e-01 3.03446980e-02 1.06765674e+02] [ 3.82720616e-01 9.23726416e-01 1.59511178e-02 4.50135964e+01] [-3.41401189e-02 -3.11305871e-03 9.99412208e-01 -6.93835579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.23105275399999 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:106.80, Y:45.03, Z:-6.94 [[ 9.23944554e-01 -3.81327218e-01 3.02657438e-02 1.06796696e+02] [ 3.81037715e-01 9.24437099e-01 1.50435791e-02 4.50256197e+01] [-3.37153025e-02 -2.36704310e-03 9.99428675e-01 -6.93768672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26105275399999 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:106.83, Y:45.03, Z:-6.94 [[ 9.23959967e-01 -3.81128388e-01 3.22355667e-02 1.06830832e+02] [ 3.80698678e-01 9.24508078e-01 1.87971063e-02 4.50319834e+01] [-3.69661526e-02 -5.09573606e-03 9.99303526e-01 -6.93896935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29105275399999 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:106.86, Y:45.05, Z:-6.94 [[ 9.23845984e-01 -3.81135035e-01 3.52800527e-02 1.06858775e+02] [ 3.80835266e-01 9.24519226e-01 1.51228910e-02 4.50451071e+01] [-3.83809505e-02 -5.35333844e-04 9.99263036e-01 -6.93986784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.321052754 meters Centerline goodness : 0.995188 Centerline is valid? [True, True] Translation: X:106.89, Y:45.05, Z:-6.94 [[ 9.24123669e-01 -3.80764239e-01 3.18439568e-02 1.06893321e+02] [ 3.80290470e-01 9.24649930e-01 2.00415799e-02 4.50521882e+01] [-3.70756294e-02 -6.41094505e-03 9.99291898e-01 -6.94061098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.351052754 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:106.92, Y:45.06, Z:-6.94 [[ 9.24292613e-01 -3.80279470e-01 3.27213910e-02 1.06923092e+02] [ 3.79912831e-01 9.24865747e-01 1.70173792e-02 4.50649791e+01] [-3.67342537e-02 -3.29776158e-03 9.99319628e-01 -6.94072418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.381052754 meters Centerline goodness : 0.995592 Centerline is valid? [True, True] Translation: X:106.95, Y:45.08, Z:-6.95 [[ 9.24748844e-01 -3.77760584e-01 4.62224798e-02 1.06952427e+02] [ 3.78128296e-01 9.25752813e-01 8.48466172e-04 4.50778470e+01] [-4.31111078e-02 1.66934094e-02 9.98930810e-01 -6.94540505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.411052754 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:106.99, Y:45.08, Z:-6.95 [[ 9.24942379e-01 -3.78397129e-01 3.60167760e-02 1.06986006e+02] [ 3.77912733e-01 9.25631942e-01 1.96843589e-02 4.50822280e+01] [-4.07867832e-02 -4.59569950e-03 9.99157304e-01 -6.95147266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.441052754 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:107.02, Y:45.09, Z:-6.95 [[ 9.24481103e-01 -3.79240350e-01 3.88773282e-02 1.07019102e+02] [ 3.78939124e-01 9.25297900e-01 1.51306861e-02 4.50914235e+01] [-4.17112769e-02 7.44107272e-04 9.99129429e-01 -6.95281984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47105275399998 meters Centerline goodness : 0.996283 Centerline is valid? [True, True] Translation: X:107.05, Y:45.10, Z:-6.95 [[ 9.23879739e-01 -3.81185956e-01 3.38155907e-02 1.07048952e+02] [ 3.80623881e-01 9.24468393e-01 2.19920993e-02 4.51002345e+01] [-3.96445242e-02 -7.44703359e-03 9.99186095e-01 -6.95348684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50105275399999 meters Centerline goodness : 0.996895 Centerline is valid? [True, True] Translation: X:107.08, Y:45.11, Z:-6.95 [[ 9.23560269e-01 -3.81597551e-01 3.76794140e-02 1.07082676e+02] [ 3.81306799e-01 9.24328377e-01 1.49056090e-02 4.51100841e+01] [-4.05160955e-02 6.01188492e-04 9.99178705e-01 -6.95403369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53105275399999 meters Centerline goodness : 0.996709 Centerline is valid? [True, True] Translation: X:107.11, Y:45.12, Z:-6.96 [[ 9.22749300e-01 -3.83635125e-01 3.68486086e-02 1.07114802e+02] [ 3.83211980e-01 9.23480852e-01 1.82125099e-02 4.51179552e+01] [-4.10159430e-02 -2.68475251e-03 9.99154885e-01 -6.95601870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56105275399999 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:107.14, Y:45.13, Z:-6.96 [[ 9.21757730e-01 -3.86154453e-01 3.53189179e-02 1.07143695e+02] [ 3.85733008e-01 9.22428331e-01 1.83308559e-02 4.51301470e+01] [-3.96577122e-02 -3.27293563e-03 9.99207963e-01 -6.95604931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.59105275399999 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:107.18, Y:45.14, Z:-6.96 [[ 9.21449809e-01 -3.86924114e-01 3.49282057e-02 1.07175316e+02] [ 3.86436960e-01 9.22098203e-01 2.00344578e-02 4.51407496e+01] [-3.99590505e-02 -4.96319773e-03 9.99188992e-01 -6.95639397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62105275399999 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:107.21, Y:45.15, Z:-6.96 [[ 9.19197147e-01 -3.92372106e-01 3.34773841e-02 1.07206114e+02] [ 3.91898084e-01 9.19791599e-01 1.99826258e-02 4.51490204e+01] [-3.86328416e-02 -5.24824988e-03 9.99239691e-01 -6.95566626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65105275399999 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:107.24, Y:45.16, Z:-6.96 [[ 9.16351674e-01 -3.99055421e-01 3.24712149e-02 1.07237216e+02] [ 3.98697576e-01 9.16922719e-01 1.71164024e-02 4.51578219e+01] [-3.66039878e-02 -2.73844936e-03 9.99326097e-01 -6.95624175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68105275399999 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:107.27, Y:45.17, Z:-6.96 [[ 9.15174618e-01 -4.01876650e-01 3.08314364e-02 1.07268156e+02] [ 4.01540914e-01 9.15689284e-01 1.66742065e-02 4.51695984e+01] [-3.49329902e-02 -2.87972744e-03 9.99385508e-01 -6.95697093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.711052754 meters Centerline goodness : 0.997999 Centerline is valid? [True, True] Translation: X:107.30, Y:45.18, Z:-6.96 [[ 9.12830148e-01 -4.07296238e-01 2.91701034e-02 1.07299100e+02] [ 4.07030109e-01 9.13294616e-01 1.48133283e-02 4.51813460e+01] [-3.26743112e-02 -1.64894234e-03 9.99464692e-01 -6.95625385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.741052754 meters Centerline goodness : 0.997578 Centerline is valid? [True, True] Translation: X:107.33, Y:45.19, Z:-6.96 [[ 9.12764858e-01 -4.07540935e-01 2.77614982e-02 1.07329691e+02] [ 4.07246154e-01 9.13181593e-01 1.58097310e-02 4.51946273e+01] [-3.17944017e-02 -3.12480345e-03 9.99489546e-01 -6.95565515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.771052754 meters Centerline goodness : 0.997119 Centerline is valid? [True, True] Translation: X:107.35, Y:45.21, Z:-6.95 [[ 9.13550431e-01 -4.05565084e-01 3.07013395e-02 1.07351948e+02] [ 4.05449121e-01 9.14060788e-01 1.01924055e-02 4.52065518e+01] [-3.21965744e-02 3.13655463e-03 9.99476634e-01 -6.95336610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.801052754 meters Centerline goodness : 0.996898 Centerline is valid? [True, True] Translation: X:107.38, Y:45.22, Z:-6.95 [[ 9.14900460e-01 -4.02768739e-01 2.71015151e-02 1.07377066e+02] [ 4.02503837e-01 9.15297864e-01 1.48486369e-02 4.52164124e+01] [-3.07865256e-02 -2.67656088e-03 9.99522399e-01 -6.95446859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.831052754 meters Centerline goodness : 0.997034 Centerline is valid? [True, True] Translation: X:107.40, Y:45.23, Z:-6.96 [[ 9.16660803e-01 -3.98881598e-01 2.50288482e-02 1.07401826e+02] [ 3.98568704e-01 9.16987144e-01 1.66603411e-02 4.52272719e+01] [-2.95966355e-02 -5.29616606e-03 9.99547893e-01 -6.95551202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86105275399999 meters Centerline goodness : 0.997959 Centerline is valid? [True, True] Translation: X:107.43, Y:45.24, Z:-6.96 [[ 9.19214240e-01 -3.93125451e-01 2.23060888e-02 1.07429068e+02] [ 3.92376068e-01 9.19259307e-01 3.16756740e-02 4.52366050e+01] [-3.29575933e-02 -2.03643552e-02 9.99249263e-01 -6.95810938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89105275399999 meters Centerline goodness : 0.997021 Centerline is valid? [True, True] Translation: X:107.45, Y:45.26, Z:-6.95 [[ 9.20904163e-01 -3.87920044e-01 3.81256015e-02 1.07448792e+02] [ 3.88425923e-01 9.21456307e-01 -6.60131105e-03 4.52614632e+01] [-3.25702951e-02 2.08881468e-02 9.99251150e-01 -6.95326327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92105275399999 meters Centerline goodness : 0.997604 Centerline is valid? [True, True] Translation: X:107.48, Y:45.26, Z:-6.96 [[ 9.20966503e-01 -3.89039479e-01 2.16560449e-02 1.07479316e+02] [ 3.88115429e-01 9.20855516e-01 3.73032574e-02 4.52606687e+01] [-3.44545282e-02 -2.59500054e-02 9.99069308e-01 -6.96130920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.95105275399999 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:107.51, Y:45.29, Z:-6.96 [[ 9.20550985e-01 -3.88224208e-01 4.32186176e-02 1.07505009e+02] [ 3.88656571e-01 9.21381027e-01 -1.75315465e-03 4.52852845e+01] [-3.91401972e-02 1.84110680e-02 9.99064101e-01 -6.96136614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98105275399999 meters Centerline goodness : 0.997635 Centerline is valid? [True, True] Translation: X:107.54, Y:45.29, Z:-6.96 [[ 9.19395241e-01 -3.92554709e-01 2.47626810e-02 1.07536689e+02] [ 3.91567871e-01 9.19410065e-01 3.68745869e-02 4.52868568e+01] [-3.72423509e-02 -2.42060494e-02 9.99013050e-01 -6.96318472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01105275399999 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:107.56, Y:45.31, Z:-6.96 [[ 9.17869837e-01 -3.95401113e-01 3.42479631e-02 1.07564018e+02] [ 3.95012969e-01 9.18504451e-01 1.77293257e-02 4.53060369e+01] [-3.84671016e-02 -2.74482370e-03 9.99256097e-01 -6.96048507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04105275399999 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:107.59, Y:45.33, Z:-6.97 [[ 9.17881242e-01 -3.94126250e-01 4.64599281e-02 1.07594391e+02] [ 3.94820378e-01 9.18735576e-01 -6.46603191e-03 4.53269426e+01] [-4.01359560e-02 2.42783758e-02 9.98899227e-01 -6.96503192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.071052754 meters Centerline goodness : 0.997541 Centerline is valid? [True, True] Translation: X:107.62, Y:45.33, Z:-6.97 [[ 9.16209538e-01 -4.00060609e-01 2.26183979e-02 1.07624789e+02] [ 3.98942571e-01 9.16018051e-01 4.19017431e-02 4.53279877e+01] [-3.74820976e-02 -2.93673349e-02 9.98865683e-01 -6.96698246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.101052754 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:107.65, Y:45.35, Z:-6.96 [[ 9.15639210e-01 -4.00423099e-01 3.55834028e-02 1.07650368e+02] [ 4.00008869e-01 9.16326652e-01 1.83949004e-02 4.53517978e+01] [-3.99717633e-02 -2.60941535e-03 9.99197402e-01 -6.96383537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.131052754 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:107.68, Y:45.37, Z:-6.96 [[ 9.14606032e-01 -4.02755086e-01 3.58350012e-02 1.07678097e+02] [ 4.02337279e-01 9.15304334e-01 1.85119061e-02 4.53683902e+01] [-4.02556962e-02 -2.51334413e-03 9.99186250e-01 -6.96382156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.161052754 meters Centerline goodness : 0.997973 Centerline is valid? [True, True] Translation: X:107.71, Y:45.38, Z:-6.97 [[ 9.14148634e-01 -4.03765733e-01 3.61318012e-02 1.07706934e+02] [ 4.03342255e-01 9.14859056e-01 1.86529735e-02 4.53838199e+01] [-4.05869371e-02 -2.47810807e-03 9.99172938e-01 -6.96508945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.191052754 meters Centerline goodness : 0.997868 Centerline is valid? [True, True] Translation: X:107.74, Y:45.41, Z:-6.97 [[ 9.14048709e-01 -4.03453482e-01 4.17162576e-02 1.07735876e+02] [ 4.03774548e-01 9.14858177e-01 7.93753289e-04 4.54051256e+01] [-3.84847019e-02 1.61184339e-02 9.99129183e-01 -6.96569794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22105275399998 meters Centerline goodness : 0.996912 Centerline is valid? [True, True] Translation: X:107.76, Y:45.42, Z:-6.97 [[ 9.13656545e-01 -4.04575376e-01 3.93761759e-02 1.07761099e+02] [ 4.04537989e-01 9.14474223e-01 9.26882778e-03 4.54173338e+01] [-3.97584374e-02 7.46063389e-03 9.99181468e-01 -6.97024545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25105275399999 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:107.79, Y:45.43, Z:-6.97 [[ 9.14390054e-01 -4.03766443e-01 2.93851875e-02 1.07786792e+02] [ 4.03280276e-01 9.14831153e-01 2.11891509e-02 4.54304662e+01] [-3.54379531e-02 -7.52468234e-03 9.99343550e-01 -6.97349587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28105275399999 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:107.81, Y:45.45, Z:-6.98 [[ 9.14669434e-01 -4.03181454e-01 2.87148506e-02 1.07813667e+02] [ 4.02598260e-01 9.15060368e-01 2.40658446e-02 4.54461650e+01] [-3.59787240e-02 -1.04517436e-02 9.99297900e-01 -6.97500578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.31105275399999 meters Centerline goodness : 0.997632 Centerline is valid? [True, True] Translation: X:107.84, Y:45.48, Z:-6.99 [[ 9.17613901e-01 -3.91362418e-01 6.94275657e-02 1.07843511e+02] [ 3.93497878e-01 9.19112824e-01 -1.97746499e-02 4.54776591e+01] [-5.60727112e-02 4.54650935e-02 9.97390985e-01 -6.99041962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34105275399999 meters Centerline goodness : 0.997533 Centerline is valid? [True, True] Translation: X:107.89, Y:45.48, Z:-7.00 [[ 9.21924575e-01 -3.84383224e-01 4.80064161e-02 1.07887012e+02] [ 3.84100115e-01 9.23163701e-01 1.53584534e-02 4.54817278e+01] [-5.02213126e-02 4.27993433e-03 9.98728943e-01 -6.99674928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.37105275399999 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:107.90, Y:45.48, Z:-6.98 [[ 9.17962370e-01 -3.96666946e-01 -6.49714283e-04 1.07896291e+02] [ 3.95606337e-01 9.15385737e-01 7.45960989e-02 4.54819485e+01] [-2.89950675e-02 -6.87334428e-02 9.97213618e-01 -6.98272104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40105275399999 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:107.91, Y:45.52, Z:-6.97 [[ 9.19184514e-01 -3.92697399e-01 2.98090888e-02 1.07914438e+02] [ 3.92399703e-01 9.19664207e-01 1.54990423e-02 4.55186167e+01] [-3.35007856e-02 -2.54940206e-03 9.99435440e-01 -6.97402622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43105275399999 meters Centerline goodness : 0.995771 Centerline is valid? [True, True] Translation: X:107.94, Y:45.54, Z:-6.97 [[ 9.19461511e-01 -3.92021988e-01 3.01544550e-02 1.07943399e+02] [ 3.91717353e-01 9.19952190e-01 1.56679070e-02 4.55353873e+01] [-3.38828210e-02 -2.59401419e-03 9.99422446e-01 -6.97493259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.461052754 meters Centerline goodness : 0.995965 Centerline is valid? [True, True] Translation: X:107.97, Y:45.55, Z:-6.98 [[ 9.19591661e-01 -3.91060794e-01 3.77177886e-02 1.07974199e+02] [ 3.91098659e-01 9.20324550e-01 6.67545033e-03 4.55547878e+01] [-3.73231137e-02 8.61268808e-03 9.99266134e-01 -6.97766259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.491052754 meters Centerline goodness : 0.996799 Centerline is valid? [True, True] Translation: X:108.00, Y:45.58, Z:-6.99 [[ 9.20300255e-01 -3.84939511e-01 6.97783199e-02 1.08001700e+02] [ 3.86879226e-01 9.21986685e-01 -1.62793693e-02 4.55782441e+01] [-5.80681094e-02 4.19776902e-02 9.97429681e-01 -6.99391168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.521052754 meters Centerline goodness : 0.995851 Centerline is valid? [True, True] Translation: X:108.03, Y:45.57, Z:-6.99 [[ 9.18798282e-01 -3.94664898e-01 7.02398716e-03 1.08031332e+02] [ 3.93134096e-01 9.16541914e-01 7.34608958e-02 4.55664960e+01] [-3.54302155e-02 -6.47343760e-02 9.97273363e-01 -6.98789624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.551052754 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:108.05, Y:45.60, Z:-6.98 [[ 9.18949551e-01 -3.92701350e-01 3.62956369e-02 1.08050770e+02] [ 3.92263984e-01 9.19661117e-01 1.87722343e-02 4.55994835e+01] [-4.07515677e-02 -3.01326517e-03 9.99164766e-01 -6.97885338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.581052754 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:108.08, Y:45.62, Z:-6.98 [[ 9.19604654e-01 -3.91094617e-01 3.70443041e-02 1.08079335e+02] [ 3.90638223e-01 9.20345131e-01 1.91473119e-02 4.56166742e+01] [-4.15819555e-02 -3.13703606e-03 9.99130172e-01 -6.97975344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61105275399999 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:108.11, Y:45.63, Z:-6.98 [[ 9.19875947e-01 -3.90440959e-01 3.72034877e-02 1.08108071e+02] [ 3.89980655e-01 9.20622518e-01 1.92163269e-02 4.56333708e+01] [-4.17532096e-02 -3.16799640e-03 9.99122932e-01 -6.98117836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64105275399999 meters Centerline goodness : 0.995679 Centerline is valid? [True, True] Translation: X:108.13, Y:45.66, Z:-6.98 [[ 9.20246981e-01 -3.88287198e-01 4.87703455e-02 1.08134653e+02] [ 3.88462346e-01 9.21443592e-01 6.22201295e-03 4.56569209e+01] [-4.73550503e-02 1.32196542e-02 9.98790639e-01 -6.98448135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67105275399999 meters Centerline goodness : 0.995161 Centerline is valid? [True, True] Translation: X:108.17, Y:45.66, Z:-6.99 [[ 9.21463303e-01 -3.87336951e-01 2.95882926e-02 1.08165348e+02] [ 3.86348764e-01 9.21720604e-01 3.41432328e-02 4.56621707e+01] [-4.04970747e-02 -2.00303358e-02 9.98978865e-01 -6.98662274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70105275399999 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:108.19, Y:45.68, Z:-6.99 [[ 9.23261150e-01 -3.82201680e-01 3.88680439e-02 1.08192336e+02] [ 3.81693154e-01 9.24071627e-01 2.00490562e-02 4.56821447e+01] [-4.35796395e-02 -3.67484843e-03 9.99043198e-01 -6.98502070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.73105275399999 meters Centerline goodness : 0.996920 Centerline is valid? [True, True] Translation: X:108.20, Y:45.75, Z:-7.01 [[ 0.91773527 -0.35882611 0.17031088 108.20493513] [ 0.38119534 0.91616021 -0.12385708 45.75343875] [ -0.1115889 0.17858972 0.97757538 -7.00871381] [ 0. 0. 0. 1. ]] SLAMing on 124.76105275399999 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:108.25, Y:45.74, Z:-7.06 [[ 9.19607446e-01 -3.73077922e-01 1.23024424e-01 1.08248114e+02] [ 3.76760926e-01 9.26281847e-01 -7.28998504e-03 4.57383769e+01] [-1.11235558e-01 5.30547202e-02 9.92376868e-01 -7.05632971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79105275399999 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:108.29, Y:45.74, Z:-7.07 [[ 9.22373682e-01 -3.74872859e-01 9.32584056e-02 1.08291912e+02] [ 3.72716489e-01 9.27073284e-01 4.02187042e-02 4.57367764e+01] [-1.01534277e-01 -2.33772875e-03 9.94829295e-01 -7.06612747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.821052754 meters Centerline goodness : 0.995713 Centerline is valid? [True, True] Translation: X:108.34, Y:45.73, Z:-7.05 [[ 9.29405923e-01 -3.65933370e-01 4.79311930e-02 1.08341756e+02] [ 3.60750636e-01 9.28190803e-01 9.12184787e-02 4.57256262e+01] [-7.78691778e-02 -6.74877860e-02 9.94676726e-01 -7.05376880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.851052754 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:108.36, Y:45.71, Z:-7.01 [[ 9.28955927e-01 -3.67764257e-01 -4.23123806e-02 1.08360134e+02] [ 3.69662601e-01 9.15451328e-01 1.59054795e-01 4.57094259e+01] [-1.97597434e-02 -1.63396199e-01 9.86362628e-01 -7.01052225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.881052754 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:108.34, Y:45.82, Z:-7.01 [[ 9.20229728e-01 -3.62002343e-01 1.48766769e-01 1.08337588e+02] [ 3.79578081e-01 9.18130757e-01 -1.13826157e-01 4.58247171e+01] [-9.53820106e-02 1.61214818e-01 9.82299371e-01 -7.00560005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.911052754 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:108.39, Y:45.79, Z:-7.05 [[ 9.21023665e-01 -3.80849793e-01 8.16629939e-02 1.08387874e+02] [ 3.79865798e-01 9.24621468e-01 2.78768292e-02 4.57875713e+01] [-8.61242419e-02 5.34575895e-03 9.96270063e-01 -7.04535159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.941052754 meters Centerline goodness : 0.992473 Centerline is valid? [True, True] Translation: X:108.42, Y:45.79, Z:-7.05 [[ 9.19854151e-01 -3.86916004e-01 6.45317501e-02 1.08419339e+02] [ 3.84631451e-01 9.21962597e-01 4.52063915e-02 4.57930656e+01] [-7.69869362e-02 -1.67623463e-02 9.96891185e-01 -7.04794328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2799.70 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%| | 0/4165 [00:00