+ python -m lidar_slam --no-model /working/61721308-a28a-4b5d-a02b-eba3020b5a7b Lidar SLAM 0.0.14 ===================================================== The recording path: /working/61721308-a28a-4b5d-a02b-eba3020b5a7b 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 0.005336195 Adjusted end_distance from 9.223372036854776e+18 to 177.335336195 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.005336195 meters Centerline goodness : 0.997154 Centerline is valid? [0, True] SLAMing on 0.035336195 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.14, Z:-0.00 [[ 9.99313808e-01 -3.50950791e-02 -1.18426796e-02 3.04644674e-02] [ 3.50987939e-02 9.99383842e-01 1.05924947e-04 -1.43453167e-01] [ 1.18316652e-02 -5.21516033e-04 9.99929867e-01 -3.19552712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.065336195 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.14, Z:-0.00 [[ 9.99512590e-01 -3.04114000e-02 -7.05188831e-03 6.24627177e-02] [ 3.04126014e-02 9.99537428e-01 6.31731985e-05 -1.43133176e-01] [ 7.04670512e-03 -2.77608676e-04 9.99975133e-01 -1.07692037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.095336195 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:0.10, Y:-0.14, Z:0.00 [[ 9.99618855e-01 -2.72697177e-02 -4.30201395e-03 9.54956438e-02] [ 2.72701361e-02 9.99628100e-01 3.86043701e-05 -1.39971301e-01] [ 4.29936130e-03 -1.55906162e-04 9.99990746e-01 1.43037349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12533619499999998 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.14, Z:0.00 [[ 9.99698478e-01 -2.42634131e-02 -3.77359694e-03 1.28550769e-01] [ 2.42637143e-02 9.99705592e-01 3.40573152e-05 -1.36237175e-01] [ 3.77165962e-03 -1.25608524e-04 9.99992879e-01 3.31819035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15533619499999998 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.13, Z:0.00 [[ 9.99812607e-01 -1.76744988e-02 -7.89698549e-03 1.60760633e-01] [ 1.76756213e-02 9.99843771e-01 7.23587103e-05 -1.32687683e-01] [ 7.89447285e-03 -2.11929276e-04 9.99968816e-01 1.91569574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18533619499999998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.13, Z:0.00 [[ 9.99876201e-01 -1.32902609e-02 -8.42324847e-03 1.92844447e-01] [ 1.32913874e-02 9.99911663e-01 7.77653784e-05 -1.32374106e-01] [ 8.42147086e-03 -1.89712410e-04 9.99964521e-01 6.92614040e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21533619499999998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.13, Z:-0.00 [[ 9.99931361e-01 -8.30929417e-03 -8.26013974e-03 2.23209131e-01] [ 8.31021014e-03 9.99965467e-01 7.65741486e-05 -1.32637505e-01] [ 8.25921822e-03 -1.45212390e-04 9.99965882e-01 -5.67604845e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24533619499999998 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.13, Z:-0.00 [[ 9.99962035e-01 -3.55881957e-03 -7.95384019e-03 2.52636130e-01] [ 3.55951846e-03 9.99993662e-01 7.37137474e-05 -1.32790654e-01] [ 7.95352744e-03 -1.02022790e-04 9.99968365e-01 -1.65771456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.275336195 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.13, Z:-0.00 [[ 9.99960347e-01 4.63309851e-03 -7.60521884e-03 2.79163357e-01] [-4.63269844e-03 9.99989267e-01 7.02206343e-05 -1.29778165e-01] [ 7.60546255e-03 -3.49851644e-05 9.99971077e-01 -8.81915367e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.305336195 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.12, Z:0.00 [[ 9.99943648e-01 8.34335714e-03 -6.56429673e-03 3.06392322e-01] [-8.34314642e-03 9.99965194e-01 5.94857184e-05 -1.24657193e-01] [ 6.56456457e-03 -4.71547748e-06 9.99978453e-01 1.99198921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33533619499999995 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.12, Z:0.00 [[ 9.99919637e-01 1.17244644e-02 -4.82239720e-03 3.34436244e-01] [-1.17243913e-02 9.99931266e-01 4.34295374e-05 -1.17597711e-01] [ 4.82257492e-03 1.31136244e-05 9.99988371e-01 3.59431556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.365336195 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.12, Z:0.00 [[ 9.99919384e-01 1.17168038e-02 -4.89296773e-03 3.62830342e-01] [-1.17167301e-02 9.99931356e-01 4.37153378e-05 -1.17833067e-01] [ 4.89314406e-03 1.36177688e-05 9.99988028e-01 2.18624602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.395336195 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:0.39, Y:-0.12, Z:0.00 [[ 9.99927271e-01 1.09101510e-02 -5.14007576e-03 3.90937676e-01] [-1.09100610e-02 9.99940482e-01 4.55330266e-05 -1.18991765e-01] [ 5.14026660e-03 1.05488252e-05 9.99986789e-01 6.23610703e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.425336195 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.12, Z:-0.00 [[ 9.99969306e-01 5.26675136e-03 -5.80068261e-03 4.18207496e-01] [-5.26654461e-03 9.99986130e-01 5.09175934e-05 -1.21020174e-01] [ 5.80087032e-03 -2.03664768e-05 9.99983175e-01 -1.99709423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45533619499999994 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.12, Z:-0.00 [[ 9.99981173e-01 1.04926879e-03 -6.04581694e-03 4.45679003e-01] [-1.04897046e-03 9.99999448e-01 5.25154255e-05 -1.19746120e-01] [ 6.04586871e-03 -4.61725534e-05 9.99981723e-01 -8.27764255e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48533619499999997 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:0.47, Y:-0.11, Z:0.00 [[ 9.99947878e-01 -8.10037932e-03 -6.21490315e-03 4.74293504e-01] [ 8.10086884e-03 9.99967186e-01 5.35967095e-05 -1.13937449e-01] [ 6.21426506e-03 -1.03940031e-04 9.99980686e-01 2.42988448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.515336195 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.11, Z:0.00 [[ 9.99903206e-01 -1.26912481e-02 -5.70174490e-03 5.05244599e-01] [ 1.26917330e-02 9.99919456e-01 4.88614454e-05 -1.11691201e-01] [ 5.70066555e-03 -1.21221740e-04 9.99983744e-01 4.33886422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5453361950000001 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.11, Z:0.01 [[ 9.99840022e-01 -1.71663014e-02 -5.02476545e-03 5.37418896e-01] [ 1.71667339e-02 9.99852640e-01 4.29388636e-05 -1.10104132e-01] [ 5.02328790e-03 -1.29190806e-04 9.99987375e-01 5.78832111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.575336195 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:0.57, Y:-0.11, Z:0.01 [[ 9.99775951e-01 -2.07009762e-02 -4.41776072e-03 5.69643726e-01] [ 2.07013459e-02 9.99785703e-01 3.79643995e-05 -1.10390744e-01] [ 4.41602811e-03 -1.29409487e-04 9.99990241e-01 5.25922668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.605336195 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.12, Z:0.00 [[ 9.99670263e-01 -2.53015773e-02 -4.38128657e-03 6.03024995e-01] [ 2.53019860e-02 9.99679853e-01 3.78714030e-05 -1.16408170e-01] [ 4.37892571e-03 -1.48714167e-04 9.99990401e-01 1.19963841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.635336195 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.12, Z:0.00 [[ 9.99645170e-01 -2.62637912e-02 -4.44371364e-03 6.35683951e-01] [ 2.62642226e-02 9.99655035e-01 3.87261403e-05 -1.18398437e-01] [ 4.44116362e-03 -1.55423083e-04 9.99990126e-01 6.11464655e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.665336195 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.12, Z:0.00 [[ 9.99640839e-01 -2.63860449e-02 -4.68722370e-03 6.67739743e-01] [ 2.63865273e-02 9.99651814e-01 4.10925908e-05 -1.16919481e-01] [ 4.68450741e-03 -1.64757388e-04 9.99989014e-01 1.25140895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.695336195 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.11, Z:0.00 [[ 9.99650944e-01 -2.58419899e-02 -5.49373149e-03 7.00026314e-01] [ 2.58426487e-02 9.99666022e-01 4.89392744e-05 -1.12557677e-01] [ 5.49063201e-03 -1.90894765e-04 9.99984908e-01 2.79221370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.725336195 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.10, Z:0.01 [[ 9.99705998e-01 -2.37554878e-02 -4.85741543e-03 7.32977468e-01] [ 2.37559809e-02 9.99717786e-01 4.38268824e-05 -1.02157623e-01] [ 4.85500346e-03 -1.59206665e-04 9.99988202e-01 7.21470803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.755336195 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.10, Z:0.01 [[ 9.99754693e-01 -2.17538724e-02 -4.16203351e-03 7.66173033e-01] [ 2.17542180e-02 9.99763348e-01 3.77646551e-05 -9.90180975e-02] [ 4.16022703e-03 -1.28297175e-04 9.99991338e-01 8.21310524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7853361950000001 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.10, Z:0.00 [[ 9.99838070e-01 -1.76625732e-02 -3.44488621e-03 7.98718013e-01] [ 1.76627864e-02 9.99844000e-01 3.14555355e-05 -1.01088425e-01] [ 3.44379322e-03 -9.22967311e-05 9.99994066e-01 3.51592825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.815336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.10, Z:0.00 [[ 9.99863328e-01 -1.60465340e-02 -3.97921873e-03 8.29850476e-01] [ 1.60468069e-02 9.99871241e-01 3.66700679e-05 -1.02856516e-01] [ 3.97811795e-03 -1.00518811e-04 9.99992082e-01 1.87444633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.845336195 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.10, Z:0.00 [[ 9.99887872e-01 -1.42011300e-02 -4.75082822e-03 8.61844326e-01] [ 1.42014995e-02 9.99899153e-01 4.40546416e-05 -1.02227983e-01] [ 4.74972349e-03 -1.11518586e-04 9.99988714e-01 1.04763139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.875336195 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.10, Z:0.00 [[ 9.99907466e-01 -1.27124252e-02 -4.84296980e-03 8.94551393e-01] [ 1.27127929e-02 9.99919188e-01 4.51400317e-05 -9.65841037e-02] [ 4.84200459e-03 -1.06703527e-04 9.99988272e-01 4.11836894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.905336195 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.09, Z:0.01 [[ 9.99903394e-01 -1.30204042e-02 -4.86542805e-03 9.25301521e-01] [ 1.30207797e-02 9.99915225e-01 4.55162498e-05 -9.26920075e-02] [ 4.86442294e-03 -1.08863519e-04 9.99988163e-01 6.89974377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.935336195 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.09, Z:0.01 [[ 9.99904203e-01 -1.29580795e-02 -4.86542436e-03 9.58006006e-01] [ 1.29584562e-02 9.99916035e-01 4.59060167e-05 -9.30805039e-02] [ 4.86442098e-03 -1.08950008e-04 9.99988163e-01 7.13096633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.965336195 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.09, Z:0.01 [[ 9.99883391e-01 -1.42044229e-02 -5.60699502e-03 9.90536259e-01] [ 1.42049453e-02 9.99899103e-01 5.33436995e-05 -9.02726461e-02] [ 5.60567157e-03 -1.32984536e-04 9.99984279e-01 8.86343497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.995336195 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.09, Z:0.01 [[ 9.99852999e-01 -1.60293919e-02 -6.08598469e-03 1.02187089e+00] [ 1.60300428e-02 9.99871509e-01 5.81777621e-05 -9.07806407e-02] [ 6.08427015e-03 -1.55727805e-04 9.99981479e-01 8.71185162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.025336195 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.09, Z:0.01 [[ 9.99762762e-01 -2.10443285e-02 -5.61744221e-03 1.05498854e+00] [ 2.10449644e-02 9.99778529e-01 5.40992642e-05 -9.41083690e-02] [ 5.61505962e-03 -1.72305301e-04 9.99984221e-01 8.10460217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.055336195 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.09, Z:0.01 [[ 9.99725177e-01 -2.28640281e-02 -5.17743432e-03 1.08806918e+00] [ 2.28645942e-02 9.99738570e-01 5.01775495e-05 -9.39782105e-02] [ 5.17493352e-03 -1.68543694e-04 9.99986596e-01 9.05779619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.085336195 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.09, Z:0.01 [[ 9.99705864e-01 -2.36894742e-02 -5.19554814e-03 1.12034167e+00] [ 2.36900575e-02 9.99719350e-01 5.07388332e-05 -9.30324790e-02] [ 5.19288803e-03 -1.73806743e-04 9.99986502e-01 7.37139923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1153361949999998 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.09, Z:0.01 [[ 9.99722620e-01 -2.28997314e-02 -5.50320553e-03 1.15309887e+00] [ 2.29003756e-02 9.99737751e-01 5.40696769e-05 -9.38102113e-02] [ 5.50052414e-03 -1.80080153e-04 9.99984856e-01 5.74983097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1453361949999998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.09, Z:0.00 [[ 9.99756585e-01 -2.14151987e-02 -5.30652031e-03 1.18570101e+00] [ 2.14157785e-02 9.99770655e-01 5.24683847e-05 -9.46286073e-02] [ 5.30417966e-03 -1.66098877e-04 9.99985919e-01 4.48054409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1753361949999999 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.09, Z:0.00 [[ 9.99786473e-01 -1.98880199e-02 -5.61029231e-03 1.21789313e+00] [ 1.98886465e-02 9.99802200e-01 5.59049506e-05 -9.40304674e-02] [ 5.60807076e-03 -1.67474134e-04 9.99984261e-01 4.39936246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2053361949999999 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.09, Z:0.01 [[ 9.99814679e-01 -1.68531619e-02 -9.30477185e-03 1.24887082e+00] [ 1.68547613e-02 9.99857944e-01 9.34894000e-05 -8.66044910e-02] [ 9.30187446e-03 -2.50301783e-04 9.99956705e-01 6.80825239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.235336195 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.08, Z:0.01 [[ 9.99799577e-01 -1.64414516e-02 -1.14229507e-02 1.28120961e+00] [ 1.64438418e-02 9.99864784e-01 1.15353245e-04 -8.20420211e-02] [ 1.14195095e-02 -3.03167320e-04 9.99934749e-01 8.51164261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.265336195 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.08, Z:0.01 [[ 9.99783223e-01 -1.67955820e-02 -1.23051062e-02 1.31161218e+00] [ 1.67983876e-02 9.99858889e-01 1.24678638e-04 -8.03040574e-02] [ 1.23012758e-02 -3.31357554e-04 9.99924282e-01 8.50193281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.295336195 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.08, Z:0.01 [[ 9.99775442e-01 -1.78116249e-02 -1.14808911e-02 1.34144387e+00] [ 1.78141357e-02 9.99841309e-01 1.16454229e-04 -8.31317989e-02] [ 1.14769950e-02 -3.20950230e-04 9.99934086e-01 6.47677024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3253361949999998 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.09, Z:0.00 [[ 9.99748076e-01 -2.06649194e-02 -8.76048326e-03 1.37301450e+00] [ 2.06664917e-02 9.99786421e-01 8.89787382e-05 -9.13794666e-02] [ 8.75677347e-03 -2.70004777e-04 9.99961622e-01 4.86436525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3553361949999998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.09, Z:0.01 [[ 9.99697793e-01 -2.32337981e-02 -8.03199813e-03 1.40476529e+00] [ 2.32352047e-02 9.99730023e-01 8.18407140e-05 -9.19774356e-02] [ 8.02792821e-03 -2.68441102e-04 9.99967740e-01 6.21391965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3853361949999998 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.09, Z:0.01 [[ 9.99615448e-01 -2.66903748e-02 -7.52200495e-03 1.43798092e+00] [ 2.66917086e-02 9.99643710e-01 7.69657954e-05 -9.11910376e-02] [ 7.51727069e-03 -2.77711362e-04 9.99971706e-01 9.63561211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4153361949999999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.09, Z:0.02 [[ 9.99438416e-01 -3.32309984e-02 -4.30732419e-03 1.47053399e+00] [ 3.32314966e-02 9.99447680e-01 4.41472587e-05 -9.02257943e-02] [ 4.30347811e-03 -1.87261296e-04 9.99990722e-01 1.55035319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4453361949999999 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.09, Z:0.02 [[ 9.99350497e-01 -3.57965518e-02 -4.14624034e-03 1.50264957e+00] [ 3.57970355e-02 9.99359080e-01 4.24666731e-05 -9.29276011e-02] [ 4.14206277e-03 -1.90862203e-04 9.99991403e-01 1.59745510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.475336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.10, Z:0.01 [[ 9.99246303e-01 -3.83715374e-02 -5.86950641e-03 1.53553995e+00] [ 3.83725606e-02 9.99263500e-01 6.17703755e-05 -9.80146359e-02] [ 5.86281330e-03 -2.86951810e-04 9.99982772e-01 1.34914831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.505336195 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.10, Z:0.01 [[ 9.99150857e-01 -4.04502240e-02 -7.83221749e-03 1.56747142e+00] [ 4.04521157e-02 9.99181475e-01 8.32003213e-05 -1.04168512e-01] [ 7.82244115e-03 -3.99959440e-04 9.99969324e-01 1.07763324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.535336195 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.11, Z:0.01 [[ 9.99113242e-01 -4.12508938e-02 -8.43169618e-03 1.59977047e+00] [ 4.12531262e-02 9.99148723e-01 9.09398899e-05 -1.13077660e-01] [ 8.42076713e-03 -4.38693075e-04 9.99964448e-01 1.01839092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.565336195 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.12, Z:0.01 [[ 9.99181856e-01 -3.94669630e-02 -8.83051539e-03 1.63271397e+00] [ 3.94693468e-02 9.99220777e-01 9.57814853e-05 -1.15478960e-01] [ 8.81985424e-03 -4.44237797e-04 9.99961006e-01 1.12678207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5953361949999998 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.12, Z:0.01 [[ 9.99275359e-01 -3.67749747e-02 -9.81622188e-03 1.66470878e+00] [ 3.67777979e-02 9.99323462e-01 1.07180892e-04 -1.17032076e-01] [ 9.80563926e-03 -4.68122248e-04 9.99951814e-01 1.27349930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6253361949999998 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.12, Z:0.02 [[ 9.99513599e-01 -2.97721600e-02 -9.28353735e-03 1.69637249e+00] [ 2.97743882e-02 9.99556639e-01 1.01875705e-04 -1.17656344e-01] [ 9.27638834e-03 -3.78237798e-04 9.99956902e-01 1.52990893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6553361949999998 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.12, Z:0.02 [[ 9.99653065e-01 -2.50916321e-02 -8.00991775e-03 1.72944662e+00] [ 2.50931443e-02 9.99685114e-01 8.83309762e-05 -1.18260216e-01] [ 8.00517916e-03 -2.89294353e-04 9.99967916e-01 1.62319879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6853361949999999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.12, Z:0.02 [[ 9.99766895e-01 -2.03932663e-02 -7.09010055e-03 1.76122380e+00] [ 2.03943375e-02 9.99792011e-01 7.87993711e-05 -1.18695026e-01] [ 7.08701891e-03 -2.23378906e-04 9.99974862e-01 1.53716931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.715336195 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.12, Z:0.01 [[ 9.99850257e-01 -1.58916395e-02 -6.84971478e-03 1.79381996e+00] [ 1.58925358e-02 9.99873703e-01 7.64349395e-05 -1.18972299e-01] [ 6.84763500e-03 -1.85282831e-04 9.99976538e-01 1.41746145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.745336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.12, Z:0.01 [[ 9.99956630e-01 -6.65528500e-03 -6.51505471e-03 1.82559603e+00] [ 6.65590173e-03 9.99977847e-01 7.29849934e-05 -1.15809290e-01] [ 6.51442465e-03 -1.16345392e-04 9.99978774e-01 1.47046551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.12, Z:0.01 [[ 9.99975062e-01 -2.82871904e-03 -6.47093085e-03 1.85535763e+00] [ 2.82924955e-03 9.99995995e-01 7.28310679e-05 -1.15327980e-01] [ 6.47069892e-03 -9.11371298e-05 9.99979061e-01 1.27560130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8053361949999998 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.12, Z:0.01 [[ 9.99973637e-01 5.80629019e-04 -7.23799577e-03 1.88346976e+00] [-5.80055967e-04 9.99999828e-01 8.12717604e-05 -1.16737091e-01] [ 7.23804171e-03 -7.70711752e-05 9.99973802e-01 1.18931216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8353361949999998 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.12, Z:0.01 [[ 9.99930760e-01 3.89504090e-03 -1.11042612e-02 1.91168264e+00] [-3.89391120e-03 9.99992411e-01 1.23354243e-04 -1.21057122e-01] [ 1.11046574e-02 -8.01066954e-05 9.99938338e-01 1.01685834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8653361949999998 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.12, Z:0.01 [[ 9.99917682e-01 3.78525188e-03 -1.22597691e-02 1.93984305e+00] [-3.78388776e-03 9.99992832e-01 1.34461981e-04 -1.19896462e-01] [ 1.22601902e-02 -8.80613224e-05 9.99924837e-01 1.23155309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8953361949999998 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.12, Z:0.02 [[ 9.99918637e-01 2.25848313e-03 -1.25545941e-02 1.96636717e+00] [-2.25694429e-03 9.99997444e-01 1.36739060e-04 -1.17080493e-01] [ 1.25548708e-02 -1.08392915e-04 9.99921179e-01 1.56550536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9253361949999999 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.12, Z:0.02 [[ 9.99915603e-01 -8.51861517e-04 -1.29638155e-02 1.99414865e+00] [ 8.53750828e-04 9.99999626e-01 1.40203782e-04 -1.15058664e-01] [ 1.29636912e-02 -1.51259818e-04 9.99915956e-01 1.77176262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9553361949999999 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.12, Z:0.02 [[ 9.99879446e-01 -8.24616602e-03 -1.31565016e-02 2.02150550e+00] [ 8.24874099e-03 9.99965969e-01 1.41465016e-04 -1.22247199e-01] [ 1.31548873e-02 -2.49972536e-04 9.99913439e-01 1.54499887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.985336195 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.13, Z:0.02 [[ 9.99854577e-01 -1.26288462e-02 -1.14602235e-02 2.04991284e+00] [ 1.26310814e-02 9.99920217e-01 1.22680647e-04 -1.27297324e-01] [ 1.14577599e-02 -2.67417823e-04 9.99934322e-01 1.64084030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0153361949999997 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.13, Z:0.02 [[ 9.99813334e-01 -1.71863423e-02 -8.82759865e-03 2.07918488e+00] [ 1.71878434e-02 9.99852274e-01 9.42064216e-05 -1.31417718e-01] [ 8.82467552e-03 -2.45916220e-04 9.99961032e-01 1.75557746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.045336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.14, Z:0.02 [[ 9.99743411e-01 -2.14041756e-02 -7.41437895e-03 2.11033090e+00] [ 2.14053494e-02 9.99770876e-01 7.89983134e-05 -1.35319341e-01] [ 7.41098925e-03 -2.37685416e-04 9.99972510e-01 1.83575480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0753361949999998 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.14, Z:0.02 [[ 9.99583456e-01 -2.79687047e-02 -7.11794253e-03 2.14377036e+00] [ 2.79699545e-02 9.99608761e-01 7.60762241e-05 -1.41235207e-01] [ 7.11302997e-03 -2.75133064e-04 9.99974664e-01 2.04007019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.105336195 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.15, Z:0.02 [[ 9.99531254e-01 -3.00132177e-02 -6.03975242e-03 2.17606522e+00] [ 3.00141570e-02 9.99549472e-01 6.49241643e-05 -1.45056809e-01] [ 6.03508276e-03 -2.46171809e-04 9.99981758e-01 2.11537183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.135336195 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.15, Z:0.02 [[ 9.99512312e-01 -3.09740363e-02 -3.96834058e-03 2.20806214e+00] [ 3.09744490e-02 9.99520176e-01 4.25692701e-05 -1.51913135e-01] [ 3.96511793e-03 -1.65465672e-04 9.99992125e-01 2.23407014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.165336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.16, Z:0.02 [[ 9.99560450e-01 -2.92397175e-02 -4.89350884e-03 2.24146717e+00] [ 2.92403286e-02 9.99572409e-01 5.33696983e-05 -1.56317378e-01] [ 4.88985591e-03 -1.96434046e-04 9.99988025e-01 2.13101171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.195336195 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.16, Z:0.02 [[ 9.99636391e-01 -2.60499783e-02 -6.96306594e-03 2.27479352e+00] [ 2.60511431e-02 9.99660608e-01 7.66201657e-05 -1.61324439e-01] [ 6.95870678e-03 -2.57988133e-04 9.99975755e-01 1.98270419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2253361949999997 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.17, Z:0.02 [[ 9.99715766e-01 -2.20545946e-02 -9.05437796e-03 2.30815049e+00] [ 2.20564075e-02 9.99756723e-01 1.00409856e-04 -1.65270674e-01] [ 9.04996074e-03 -3.00088366e-04 9.99959003e-01 1.84751331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.255336195 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.16, Z:0.02 [[ 9.99853000e-01 -1.29920345e-02 -1.11886395e-02 2.33951727e+00] [ 1.29942449e-02 9.99915563e-01 1.24882268e-04 -1.63608080e-01] [ 1.11860723e-02 -2.70251832e-04 9.99937397e-01 1.98586574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2853361949999997 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.16, Z:0.02 [[ 9.99901912e-01 -7.47315548e-03 -1.18456036e-02 2.36935244e+00] [ 7.47524950e-03 9.99972051e-01 1.32509652e-04 -1.62332702e-01] [ 1.18442822e-02 -2.21045496e-04 9.99929830e-01 2.01600240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.315336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.16, Z:0.02 [[ 9.99914181e-01 -2.61359081e-03 -1.28374478e-02 2.39769612e+00] [ 2.61563521e-03 9.99996569e-01 1.42465354e-04 -1.61411878e-01] [ 1.28370314e-02 -1.76031208e-04 9.99917586e-01 1.83270503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.345336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.16, Z:0.02 [[ 9.99900499e-01 2.67931563e-03 -1.38496825e-02 2.42514659e+00] [-2.67748031e-03 9.99996404e-01 1.51057165e-04 -1.59834520e-01] [ 1.38500374e-02 -1.13959883e-04 9.99904077e-01 2.08169365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.375336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.15, Z:0.02 [[ 9.99835101e-01 1.08490630e-02 -1.45625556e-02 2.45185274e+00] [-1.08479290e-02 9.99941147e-01 1.56858827e-04 -1.49981703e-01] [ 1.45634004e-02 1.14060893e-06 9.99893948e-01 2.36484097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.405336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.15, Z:0.02 [[ 9.99803657e-01 1.40761183e-02 -1.39467157e-02 2.47961047e+00] [-1.40754178e-02 9.99900925e-01 1.48385127e-04 -1.46183235e-01] [ 1.39474226e-02 4.79498588e-05 9.99902729e-01 2.37248719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4353361949999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.14, Z:0.02 [[ 9.99788284e-01 1.62362010e-02 -1.26401414e-02 2.50694769e+00] [-1.62358193e-02 9.99868182e-01 1.32817768e-04 -1.44024825e-01] [ 1.26406316e-02 7.24334034e-05 9.99920101e-01 2.23355928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.465336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.14, Z:0.02 [[ 9.99773738e-01 1.81278106e-02 -1.11289883e-02 2.53464856e+00] [-1.81276461e-02 9.99835674e-01 1.15661770e-04 -1.42050249e-01] [ 1.11292562e-02 8.61067604e-05 9.99938064e-01 2.34395495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4953361949999997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.13, Z:0.02 [[ 9.99753709e-01 1.80886205e-02 -1.28578240e-02 2.56227338e+00] [-1.80884229e-02 9.99836382e-01 1.31669876e-04 -1.34226629e-01] [ 1.28581020e-02 1.00940311e-04 9.99917326e-01 2.19786764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.525336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.13, Z:0.02 [[ 9.99775564e-01 1.66361796e-02 -1.31171619e-02 2.58955830e+00] [-1.66358661e-02 9.99861606e-01 1.33019177e-04 -1.27924705e-01] [ 1.31175595e-02 8.52260262e-05 9.99913957e-01 2.07265683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5553361949999998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.12, Z:0.02 [[ 9.99806693e-01 1.56897116e-02 -1.18494731e-02 2.61691355e+00] [-1.56894038e-02 9.99876907e-01 1.18942305e-04 -1.21573755e-01] [ 1.18498807e-02 6.69918555e-05 9.99929785e-01 2.35144355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.585336195 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.12, Z:0.02 [[ 9.99848559e-01 1.37903152e-02 -1.06154241e-02 2.64394969e+00] [-1.37899695e-02 9.99904908e-01 1.05759498e-04 -1.15960730e-01] [ 1.06158731e-02 4.06428938e-05 9.99943649e-01 2.39857630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.615336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.11, Z:0.02 [[ 9.99896293e-01 8.44480214e-03 -1.16656663e-02 2.67167033e+00] [-8.44403188e-03 9.99964342e-01 1.15281941e-04 -1.10344225e-01] [ 1.16662239e-02 -1.67647267e-05 9.99931947e-01 1.95750638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6453361949999996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.11, Z:0.02 [[ 9.99909085e-01 4.80278293e-03 -1.25997948e-02 2.69920208e+00] [-4.80160688e-03 9.99988465e-01 1.23587960e-04 -1.08263068e-01] [ 1.26002430e-02 -6.30774624e-05 9.99920612e-01 2.00895835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.675336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.11, Z:0.02 [[ 9.99920193e-01 -1.25610958e-05 -1.26336180e-02 2.72686285e+00] [ 1.41164615e-05 9.99999992e-01 1.23024075e-04 -1.05108798e-01] [ 1.26336164e-02 -1.23192598e-04 9.99920185e-01 1.90313953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7053361949999997 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.10, Z:0.02 [[ 9.99892391e-01 -8.48901084e-03 -1.19642231e-02 2.75510506e+00] [ 8.49100251e-03 9.99963944e-01 1.15682187e-04 -9.69845072e-02] [ 1.19628097e-02 -2.17257988e-04 9.99928419e-01 2.04487781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.735336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.09, Z:0.02 [[ 9.99840045e-01 -1.24845191e-02 -1.28070843e-02 2.78260779e+00] [ 1.24871177e-02 9.99922025e-01 1.22954863e-04 -9.23263751e-02] [ 1.28045506e-02 -2.82858764e-04 9.99917978e-01 2.29502818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7653361949999997 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.09, Z:0.02 [[ 9.99774450e-01 -1.62639604e-02 -1.36577092e-02 2.81093862e+00] [ 1.62672589e-02 9.99867671e-01 1.30447907e-04 -8.79630148e-02] [ 1.36537803e-02 -3.52591977e-04 9.99906721e-01 2.44906738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.795336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.08, Z:0.02 [[ 9.99634215e-01 -2.30260282e-02 -1.41858566e-02 2.84180606e+00] [ 2.30302634e-02 9.99734759e-01 1.35236184e-04 -8.40181430e-02] [ 1.41789799e-02 -4.61890730e-04 9.99899367e-01 2.40916597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8253361949999998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.08, Z:0.02 [[ 9.99635566e-01 -2.29672924e-02 -1.41858526e-02 2.87450998e+00] [ 2.29715276e-02 9.99736110e-01 1.35653796e-04 -8.44054531e-02] [ 1.41789935e-02 -4.61475062e-04 9.99899367e-01 2.43231789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.855336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.09, Z:0.02 [[ 9.99541238e-01 -2.69592237e-02 -1.38026434e-02 2.90712564e+00] [ 2.69636231e-02 9.99636407e-01 1.32711237e-04 -8.53352571e-02] [ 1.37940471e-02 -5.04819629e-04 9.99904730e-01 2.32992455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.885336195 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.09, Z:0.02 [[ 9.99431220e-01 -3.09996131e-02 -1.32763151e-02 2.93908749e+00] [ 3.10040484e-02 9.99519251e-01 1.28333960e-04 -8.61599540e-02] [ 1.32659542e-02 -5.39880481e-04 9.99911858e-01 2.36434544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9153361949999996 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.09, Z:0.02 [[ 9.99308911e-01 -3.50951830e-02 -1.22486071e-02 2.97142054e+00] [ 3.50992735e-02 9.99383824e-01 1.19076260e-04 -8.58491711e-02] [ 1.22368808e-02 -5.48911176e-04 9.99924976e-01 2.38833572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.945336195 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.09, Z:0.03 [[ 9.99172455e-01 -3.90434512e-02 -1.14023818e-02 3.00449783e+00] [ 3.90472601e-02 9.99237359e-01 1.11524361e-04 -8.58894782e-02] [ 1.13893316e-02 -5.56663839e-04 9.99934985e-01 2.50398670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9753361949999997 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.08, Z:0.03 [[ 9.98849123e-01 -4.63504624e-02 -1.23314534e-02 3.03625124e+00] [ 4.63554900e-02 9.98924999e-01 1.22037958e-04 -8.22507140e-02] [ 1.23125405e-02 -6.93528071e-04 9.99923957e-01 2.86590151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.005336195 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.08, Z:0.03 [[ 9.98757054e-01 -4.81758496e-02 -1.27841838e-02 3.06949541e+00] [ 4.81814232e-02 9.98838593e-01 1.28164961e-04 -7.92145580e-02] [ 1.27631617e-02 -7.43965831e-04 9.99918271e-01 2.98990827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0353361949999997 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.08, Z:0.02 [[ 9.98790806e-01 -4.76466474e-02 -1.21129157e-02 3.10267025e+00] [ 4.76516220e-02 9.98864009e-01 1.22243925e-04 -8.20095070e-02] [ 1.20933310e-02 -6.99296187e-04 9.99926628e-01 2.48740998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.065336195 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.09, Z:0.02 [[ 9.98857265e-01 -4.61429268e-02 -1.24496644e-02 3.13502765e+00] [ 4.61480831e-02 9.98934602e-01 1.27062377e-04 -8.63673023e-02] [ 1.24305376e-02 -7.01445328e-04 9.99922492e-01 2.19646291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.095336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.09, Z:0.02 [[ 9.98920925e-01 -4.45271718e-02 -1.32028982e-02 3.16799480e+00] [ 4.45328527e-02 9.99007911e-01 1.36449158e-04 -8.88414935e-02] [ 1.31837240e-02 -7.24264640e-04 9.99912829e-01 1.99861047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.125336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.09, Z:0.02 [[ 9.98987154e-01 -4.26556191e-02 -1.43235777e-02 3.20054476e+00] [ 4.26621269e-02 9.99089546e-01 1.48959216e-04 -8.71652276e-02] [ 1.43041828e-02 -7.59882632e-04 9.99897401e-01 2.08537130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.155336195 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.07, Z:0.03 [[ 9.99138845e-01 -3.77982899e-02 -1.71130741e-02 3.23366868e+00] [ 3.78068891e-02 9.99285048e-01 1.79139743e-04 -7.42951774e-02] [ 1.70940679e-02 -8.25977569e-04 9.99853545e-01 2.83349641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1853361949999996 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.07, Z:0.03 [[ 9.99219984e-01 -3.53234637e-02 -1.76543698e-02 3.26527246e+00] [ 3.53322499e-02 9.99375604e-01 1.85922512e-04 -6.88292809e-02] [ 1.76367791e-02 -8.09546096e-04 9.99844132e-01 3.09256434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.215336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.07, Z:0.03 [[ 9.99335598e-01 -3.22917223e-02 -1.68999191e-02 3.29852723e+00] [ 3.22993591e-02 9.99478224e-01 1.79055579e-04 -6.65666947e-02] [ 1.68853191e-02 -7.24793171e-04 9.99857170e-01 3.12154755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2453361949999997 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.07, Z:0.03 [[ 9.99472244e-01 -2.81856227e-02 -1.61494166e-02 3.33082157e+00] [ 2.81920771e-02 9.99602510e-01 1.72103476e-04 -6.80256286e-02] [ 1.61381466e-02 -6.27298247e-04 9.99869575e-01 2.91048589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.275336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.07, Z:0.02 [[ 9.99674736e-01 -2.06033596e-02 -1.50307905e-02 3.36283404e+00] [ 2.06081057e-02 9.99787617e-01 1.60925926e-04 -7.31286590e-02] [ 1.50242826e-02 -4.70629702e-04 9.99887018e-01 2.21881152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3053361949999998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.07, Z:0.02 [[ 9.99758764e-01 -1.77235197e-02 -1.29726515e-02 3.39504914e+00] [ 1.77268198e-02 9.99842858e-01 1.39439990e-04 -7.19092892e-02] [ 1.29681416e-02 -3.69370208e-04 9.99915842e-01 2.49733312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.335336195 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.07, Z:0.03 [[ 9.99803691e-01 -1.60527215e-02 -1.16142383e-02 3.42598702e+00] [ 1.60552586e-02 9.99871098e-01 1.25235153e-04 -6.82674581e-02] [ 1.16107309e-02 -3.11680168e-04 9.99932545e-01 2.75505178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.365336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.06, Z:0.03 [[ 9.99803145e-01 -1.52500456e-02 -1.26928424e-02 3.45772540e+00] [ 1.52530151e-02 9.99883657e-01 1.37175135e-04 -6.34465100e-02] [ 1.26892737e-02 -3.30752249e-04 9.99919433e-01 2.90683299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3953361949999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.06, Z:0.03 [[ 9.99774030e-01 -1.63858208e-02 -1.35423184e-02 3.48873126e+00] [ 1.63893098e-02 9.99865675e-01 1.46685820e-04 -6.27099195e-02] [ 1.35380958e-02 -3.68601925e-04 9.99908288e-01 3.01571886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.425336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.07, Z:0.03 [[ 9.99693948e-01 -2.04328245e-02 -1.39467201e-02 3.52034231e+00] [ 2.04369242e-02 9.99791133e-01 1.51482376e-04 -6.61937102e-02] [ 1.39407119e-02 -4.36464077e-04 9.99902728e-01 2.92403505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4553361949999997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.07, Z:0.03 [[ 9.99620217e-01 -2.30545753e-02 -1.50966129e-02 3.55146879e+00] [ 2.30596906e-02 9.99734076e-01 1.64832758e-04 -7.13115207e-02] [ 1.50887982e-02 -5.12893380e-04 9.99886026e-01 2.56696697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.485336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.08, Z:0.03 [[ 9.99518679e-01 -2.59119865e-02 -1.70581026e-02 3.58393727e+00] [ 2.59189511e-02 9.99664030e-01 1.87295638e-04 -7.62045415e-02] [ 1.70475184e-02 -6.29333616e-04 9.99854482e-01 2.50203530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5153361949999997 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.08, Z:0.03 [[ 9.99274598e-01 -3.35977425e-02 -1.79295507e-02 3.61530201e+00] [ 3.36066845e-02 9.99435116e-01 1.97577247e-04 -8.01414194e-02] [ 1.79127844e-02 -7.99986676e-04 9.99839233e-01 2.64671176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.545336195 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.08, Z:0.03 [[ 9.99162541e-01 -3.73004054e-02 -1.68195218e-02 3.64717727e+00] [ 3.73088087e-02 9.99303767e-01 1.86003037e-04 -8.37386076e-02] [ 1.68008735e-02 -8.13363589e-04 9.99858525e-01 2.68596596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5753361949999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.09, Z:0.03 [[ 9.99045004e-01 -4.09654387e-02 -1.51957920e-02 3.68045404e+00] [ 4.09727329e-02 9.99160251e-01 1.68873046e-04 -8.93875934e-02] [ 1.51761134e-02 -7.91324899e-04 9.99884523e-01 2.53355329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6053361949999996 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.10, Z:0.03 [[ 9.98884588e-01 -4.55816253e-02 -1.23245716e-02 3.71306956e+00] [ 4.55867826e-02 9.98960373e-01 1.37707754e-04 -9.94509112e-02] [ 1.23054817e-02 -6.99391719e-04 9.99924040e-01 2.78500360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.635336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.11, Z:0.03 [[ 9.98857691e-01 -4.63019440e-02 -1.18086189e-02 3.74503802e+00] [ 4.63067404e-02 9.98927259e-01 1.32940679e-04 -1.06122916e-01] [ 1.17897959e-02 -6.79607468e-04 9.99930267e-01 2.87351035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6653361949999996 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.11, Z:0.03 [[ 9.98880294e-01 -4.58592928e-02 -1.16225601e-02 3.77832219e+00] [ 4.58639222e-02 9.98947688e-01 1.31947693e-04 -1.14707379e-01] [ 1.16042785e-02 -6.64856142e-04 9.99932447e-01 2.69720784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.695336195 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.12, Z:0.03 [[ 9.98965714e-01 -4.38506565e-02 -1.20258918e-02 3.81085436e+00] [ 4.38554781e-02 9.99037876e-01 1.37388298e-04 -1.22431512e-01] [ 1.20082968e-02 -6.64647432e-04 9.99927677e-01 2.56505143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7253361949999997 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.13, Z:0.03 [[ 9.99274038e-01 -3.52169222e-02 -1.45315481e-02 3.84279182e+00] [ 3.52230685e-02 9.99379461e-01 1.67160847e-04 -1.30891834e-01] [ 1.45166438e-02 -6.78885209e-04 9.99894398e-01 2.68312614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.755336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.14, Z:0.03 [[ 9.99452095e-01 -2.89582160e-02 -1.60290763e-02 3.87626626e+00] [ 2.89649103e-02 9.99580412e-01 1.85584189e-04 -1.35079403e-01] [ 1.60169765e-02 -6.49763264e-04 9.99871509e-01 2.76617084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7853361949999997 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.14, Z:0.03 [[ 9.99619914e-01 -2.19915251e-02 -1.66253184e-02 3.90715770e+00] [ 2.19977806e-02 9.99758001e-01 1.93461294e-04 -1.39636688e-01] [ 1.66170406e-02 -5.59107867e-04 9.99861771e-01 2.82438603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.815336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.14, Z:0.03 [[ 9.99855320e-01 -6.04526523e-03 -1.58995011e-02 3.93805369e+00] [ 6.04897489e-03 9.99981688e-01 1.85238519e-04 -1.42256033e-01] [ 1.58980901e-02 -2.81387401e-04 9.99873578e-01 3.19106752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.845336195 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.14, Z:0.03 [[ 9.99886553e-01 2.19427138e-03 -1.49018721e-02 3.96619726e+00] [-2.19195095e-03 9.99997583e-01 1.72045009e-04 -1.40116024e-01] [ 1.49022136e-02 -1.39361318e-04 9.99888946e-01 3.42125378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8753361949999996 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.14, Z:0.03 [[ 9.99859337e-01 1.01051499e-02 -1.33862457e-02 3.99269597e+00] [-1.01040098e-02 9.99948942e-01 1.52801826e-04 -1.38920931e-01] [ 1.33871063e-02 -1.75255756e-05 9.99910389e-01 3.37582572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.905336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.14, Z:0.03 [[ 9.99586613e-01 2.67074415e-02 -1.06450117e-02 4.02058794e+00] [-2.67076711e-02 9.99643279e-01 1.20615313e-04 -1.43662126e-01] [ 1.06444357e-02 1.63738019e-04 9.99943333e-01 2.89100900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9353361949999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.15, Z:0.03 [[ 9.99393750e-01 3.35463338e-02 -9.31539180e-03 4.04817717e+00] [-3.35468174e-02 9.99437142e-01 1.04382818e-04 -1.45555181e-01] [ 9.31365022e-03 2.08182211e-04 9.99956605e-01 2.58166961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.965336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.14, Z:0.03 [[ 9.99232112e-01 3.82002577e-02 -8.71359361e-03 4.07475178e+00] [-3.82008698e-02 9.99270076e-01 9.62337221e-05 -1.43889311e-01] [ 8.71090950e-03 2.36707030e-04 9.99962031e-01 2.58325765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9953361949999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.13, Z:0.03 [[ 9.99221644e-01 3.84004180e-02 -9.02855770e-03 4.10235022e+00] [-3.84010923e-02 9.99262401e-01 9.87253246e-05 -1.31235202e-01] [ 9.02568934e-03 2.48057996e-04 9.99959237e-01 3.07679530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0253361949999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.13, Z:0.03 [[ 9.99333132e-01 3.50423188e-02 -1.02629173e-02 4.12943492e+00] [-3.50430317e-02 9.99385798e-01 1.10406497e-04 -1.26089944e-01] [ 1.02604827e-02 2.49310867e-04 9.99947329e-01 3.27284394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.055336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.13, Z:0.03 [[ 9.99612515e-01 2.40951439e-02 -1.39371230e-02 4.15663663e+00] [-2.40954140e-02 9.99709652e-01 1.48560823e-04 -1.25368067e-01] [ 1.39366560e-02 1.87317490e-04 9.99902863e-01 2.98084272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.085336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.13, Z:0.03 [[ 9.99734361e-01 1.74897668e-02 -1.50104894e-02 4.18426660e+00] [-1.74893534e-02 9.99847037e-01 1.58818798e-04 -1.28609589e-01] [ 1.50109710e-02 1.03747144e-04 9.99887324e-01 2.83103456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.115336194999999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.13, Z:0.02 [[ 9.99829932e-01 1.05959486e-02 -1.50941530e-02 4.21249356e+00] [-1.05947609e-02 9.99943861e-01 1.58647313e-04 -1.32690094e-01] [ 1.50949867e-02 1.29860978e-06 9.99886064e-01 2.44886587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.14, Z:0.02 [[ 9.99878486e-01 3.96946442e-03 -1.50750307e-02 4.24008125e+00] [-3.96754244e-03 9.99992117e-01 1.57398891e-04 -1.37319302e-01] [ 1.50755367e-02 -9.75689402e-05 9.99886353e-01 2.18048523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.175336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.14, Z:0.02 [[ 9.99881104e-01 -2.97411678e-03 -1.51304850e-02 4.26659031e+00] [ 2.97682571e-03 9.99995557e-01 1.56519409e-04 -1.40653437e-01] [ 1.51299523e-02 -2.01541616e-04 9.99885515e-01 2.07183355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.205336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.14, Z:0.03 [[ 9.99797434e-01 -1.49762568e-02 -1.34463136e-02 4.29424777e+00] [ 1.49794650e-02 9.99887792e-01 1.37909644e-04 -1.38965577e-01] [ 1.34427395e-02 -3.39300293e-04 9.99909585e-01 2.72938980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2353361949999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.14, Z:0.03 [[ 9.99714018e-01 -2.01207195e-02 -1.29243585e-02 4.32354537e+00] [ 2.01241054e-02 9.99797481e-01 1.31962384e-04 -1.35718174e-01] [ 1.29190859e-02 -3.92015797e-04 9.99916468e-01 3.09536690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.13, Z:0.03 [[ 9.99590695e-01 -2.48473712e-02 -1.41792490e-02 4.35521956e+00] [ 2.48519224e-02 9.99691133e-01 1.44838295e-04 -1.34573144e-01] [ 1.41712706e-02 -4.97160607e-04 9.99899459e-01 3.30705337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.14, Z:0.03 [[ 9.99304931e-01 -3.29844569e-02 -1.73689626e-02 4.38697591e+00] [ 3.29925265e-02 9.99455583e-01 1.78179825e-04 -1.41557010e-01] [ 1.73536295e-02 -7.51101938e-04 9.99849132e-01 2.96231562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.325336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.15, Z:0.03 [[ 9.99220088e-01 -3.55266760e-02 -1.72357281e-02 4.41947876e+00] [ 3.55350131e-02 9.99368416e-01 1.77593350e-04 -1.47854753e-01] [ 1.72185330e-02 -7.89926664e-04 9.99851438e-01 2.93474693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.15, Z:0.03 [[ 9.99179129e-01 -3.72793778e-02 -1.58529585e-02 4.45150175e+00] [ 3.72866618e-02 9.99304597e-01 1.64048542e-04 -1.53539025e-01] [ 1.58358187e-02 -7.55017781e-04 9.99874321e-01 2.66894167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.385336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.16, Z:0.03 [[ 9.99172353e-01 -3.89473502e-02 -1.17351349e-02 4.48372895e+00] [ 3.89514621e-02 9.99241096e-01 1.21949787e-04 -1.57555808e-01] [ 1.17214794e-02 -5.78949517e-04 9.99931133e-01 2.92033897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.16, Z:0.03 [[ 9.99208876e-01 -3.83852681e-02 -1.04016468e-02 4.51702941e+00] [ 3.83884743e-02 9.99262885e-01 1.08683399e-04 -1.56776414e-01] [ 1.03898077e-02 -5.07900766e-04 9.99945896e-01 3.16950584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.445336194999999 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.15, Z:0.04 [[ 9.99325833e-01 -3.54778207e-02 -9.44482546e-03 4.54944179e+00] [ 3.54803400e-02 9.99370370e-01 9.92620059e-05 -1.50322067e-01] [ 9.43535711e-03 -4.34300705e-04 9.99955392e-01 3.71160913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.475336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.15, Z:0.04 [[ 9.99403504e-01 -3.31204914e-02 -9.78109255e-03 4.58251652e+00] [ 3.31230865e-02 9.99451275e-01 1.03404609e-04 -1.49335619e-01] [ 9.77230060e-03 -4.27322903e-04 9.99952159e-01 3.75614351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.505336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.15, Z:0.03 [[ 9.99566222e-01 -2.70454743e-02 -1.16580297e-02 4.61479527e+00] [ 2.70487616e-02 9.99634108e-01 1.24366374e-04 -1.53875461e-01] [ 1.16504006e-02 -4.39647693e-04 9.99932035e-01 3.35946714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.16, Z:0.03 [[ 9.99650920e-01 -2.35178178e-02 -1.20395055e-02 4.64596824e+00] [ 2.35210804e-02 9.99723333e-01 1.29446265e-04 -1.58742937e-01] [ 1.20331303e-02 -4.12583254e-04 9.99927514e-01 3.05299317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5653361949999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.17, Z:0.03 [[ 9.99721887e-01 -1.81145923e-02 -1.50999843e-02 4.67853331e+00] [ 1.81191212e-02 9.99835822e-01 1.63165547e-04 -1.66630118e-01] [ 1.50945496e-02 -4.36718615e-04 9.99885975e-01 2.67995089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.595336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.17, Z:0.03 [[ 9.99729646e-01 -1.53425391e-02 -1.74711610e-02 4.70780301e+00] [ 1.53481842e-02 9.99882192e-01 1.89061234e-04 -1.67031691e-01] [ 1.74662021e-02 -4.57160718e-04 9.99847350e-01 2.76982187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.625336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.16, Z:0.04 [[ 9.99792731e-01 -9.99965964e-03 -1.77342263e-02 4.73443726e+00] [ 1.00045974e-02 9.99949935e-01 1.89732219e-04 -1.56294726e-01] [ 1.77314411e-02 -3.67116687e-04 9.99842718e-01 3.69473438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.655336194999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.16, Z:0.04 [[ 9.99836426e-01 -5.24332712e-03 -1.73097837e-02 4.76277985e+00] [ 5.24726257e-03 9.99986216e-01 1.81943954e-04 -1.56159432e-01] [ 1.73085911e-02 -2.72743173e-04 9.99850158e-01 3.86941081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.685336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.16, Z:0.03 [[ 9.99853695e-01 -3.09809076e-03 -1.68223140e-02 4.79049083e+00] [ 3.10145093e-03 9.99995175e-01 1.73659627e-04 -1.62633910e-01] [ 1.68216949e-02 -2.25807801e-04 9.99858480e-01 3.29429429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.715336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.17, Z:0.03 [[ 9.99883158e-01 1.33779963e-03 -1.52275969e-02 4.81828004e+00] [-1.33560291e-03 9.99999096e-01 1.54427892e-04 -1.69782906e-01] [ 1.52277897e-02 -1.34071826e-04 9.99884041e-01 2.91823272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.17, Z:0.03 [[ 9.99878171e-01 3.25962541e-03 -1.52649453e-02 4.84612686e+00] [-3.25768632e-03 9.99994682e-01 1.51892812e-04 -1.68120949e-01] [ 1.52653592e-02 -1.02145904e-04 9.99883472e-01 3.02190080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7753361949999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.17, Z:0.03 [[ 9.99878740e-01 3.07982590e-03 -1.52649730e-02 4.87451381e+00] [-3.07790896e-03 9.99995252e-01 1.49069675e-04 -1.68259320e-01] [ 1.52653596e-02 -1.02067402e-04 9.99883472e-01 3.04206798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.805336195 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.16, Z:0.03 [[ 9.99870020e-01 5.34012745e-03 -1.52127287e-02 4.90254220e+00] [-5.33852817e-03 9.99985739e-01 1.45735801e-04 -1.64747414e-01] [ 1.52132900e-02 -6.45032774e-05 9.99884269e-01 3.21214171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.16, Z:0.04 [[ 9.99834300e-01 1.21109685e-02 -1.35902919e-02 4.93016838e+00] [-1.21103510e-02 9.99926659e-01 1.27735444e-04 -1.56624861e-01] [ 1.35908422e-02 3.68689268e-05 9.99907640e-01 3.74589607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.865336194999999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.15, Z:0.04 [[ 9.99784439e-01 1.68949342e-02 -1.20679957e-02 4.95798087e+00] [-1.68948219e-02 9.99857266e-01 1.11264886e-04 -1.52340746e-01] [ 1.20681530e-02 9.26457354e-05 9.99927173e-01 3.85851590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.15, Z:0.04 [[ 9.99771457e-01 1.75465250e-02 -1.22128600e-02 4.98460516e+00] [-1.75464805e-02 9.99846043e-01 1.10796990e-04 -1.53400774e-01] [ 1.22129238e-02 1.03521042e-04 9.99925414e-01 3.62156976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.925336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.16, Z:0.03 [[ 9.99781761e-01 1.74808750e-02 -1.14389189e-02 5.01257327e+00] [-1.74808415e-02 9.99847193e-01 1.02921490e-04 -1.55041526e-01] [ 1.14389701e-02 9.70628997e-05 9.99934568e-01 3.26315372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.955336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.15, Z:0.03 [[ 9.99792506e-01 1.76003306e-02 -1.02554454e-02 5.04076880e+00] [-1.76003168e-02 9.99845098e-01 9.16107010e-05 -1.52611875e-01] [ 1.02554692e-02 8.89073948e-05 9.99947407e-01 3.46133706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9853361949999995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.14, Z:0.04 [[ 9.99785750e-01 1.80812026e-02 -1.00759585e-02 5.06800196e+00] [-1.80812211e-02 9.99836517e-01 8.92646465e-05 -1.42574107e-01] [ 1.00759253e-02 9.29401120e-05 9.99949232e-01 3.72674032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.14, Z:0.04 [[ 9.99757726e-01 1.88021260e-02 -1.14441689e-02 5.09641188e+00] [-1.88022083e-02 9.99823218e-01 1.00410601e-04 -1.37541340e-01] [ 1.14440337e-02 1.14789374e-04 9.99934508e-01 3.61728304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.045336195 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.13, Z:0.04 [[ 9.99720374e-01 1.95301644e-02 -1.33321888e-02 5.12430394e+00] [-1.95303546e-02 9.99809258e-01 1.15941226e-04 -1.29957027e-01] [ 1.33319102e-02 1.44473570e-04 9.99911116e-01 3.58123193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.075336194999999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.13, Z:0.03 [[ 9.99722631e-01 1.76207609e-02 -1.56259430e-02 5.15083106e+00] [-1.76208094e-02 9.99844732e-01 1.34582604e-04 -1.26451693e-01] [ 1.56258882e-02 1.40796488e-04 9.99877898e-01 3.41994934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.105336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.13, Z:0.03 [[ 9.99751933e-01 1.51029850e-02 -1.63698781e-02 5.17898116e+00] [-1.51027409e-02 9.99885938e-01 1.38539402e-04 -1.25481654e-01] [ 1.63701033e-02 1.08724994e-04 9.99865995e-01 3.30185247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.12, Z:0.03 [[ 9.99830527e-01 7.88300964e-03 -1.66365713e-02 5.20635874e+00] [-7.88179532e-03 9.99968929e-01 1.38558518e-04 -1.17728010e-01] [ 1.66371466e-02 -7.40898617e-06 9.99861593e-01 3.42949549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.11, Z:0.04 [[ 9.99863381e-01 3.80838542e-03 -1.60846474e-02 5.23418978e+00] [-3.80674286e-03 9.99992746e-01 1.32735805e-04 -1.11815364e-01] [ 1.60850363e-02 -7.14875544e-05 9.99870625e-01 3.70344777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.195336194999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.11, Z:0.04 [[ 9.99890307e-01 -3.47553208e-03 -1.43977172e-02 5.26068353e+00] [ 3.47758801e-03 9.99993946e-01 1.17761409e-04 -1.06760767e-01] [ 1.43972208e-02 -1.67817820e-04 9.99896341e-01 3.70733540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.11, Z:0.04 [[ 9.99889843e-01 -6.93587939e-03 -1.31222946e-02 5.28881404e+00] [ 6.93787262e-03 9.99975927e-01 1.06379701e-04 -1.08199963e-01] [ 1.31212409e-02 -1.97408791e-04 9.99913893e-01 3.51420629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.255336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.11, Z:0.03 [[ 9.99875344e-01 -1.09191832e-02 -1.14047190e-02 5.31648999e+00] [ 1.09209395e-02 9.99940361e-01 9.17272210e-05 -1.09241356e-01] [ 1.14030373e-02 -2.16266033e-04 9.99934960e-01 3.48152279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.285336194999999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.10, Z:0.04 [[ 9.99769288e-01 -1.98261179e-02 -8.26417544e-03 5.34638753e+00] [ 1.98273409e-02 9.99803417e-01 6.60813243e-05 -1.04911369e-01] [ 8.26124071e-03 -2.29922703e-04 9.99965849e-01 3.92231065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3153361949999995 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.10, Z:0.04 [[ 9.99570428e-01 -2.79343469e-02 -8.86743661e-03 5.37814849e+00] [ 2.79360740e-02 9.99609709e-01 7.09341702e-05 -9.89235657e-02] [ 8.86199423e-03 -3.18625064e-04 9.99960681e-01 4.20237348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.345336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.10, Z:0.04 [[ 9.99467006e-01 -3.10956440e-02 -9.93804927e-03 5.41143969e+00] [ 3.10979804e-02 9.99516338e-01 8.06148243e-05 -9.71849892e-02] [ 9.93073584e-03 -3.89625119e-04 9.99950613e-01 4.17616271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.375336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.10, Z:0.03 [[ 9.99355985e-01 -3.39688494e-02 -1.15642348e-02 5.44334569e+00] [ 3.39722175e-02 9.99422773e-01 9.48864561e-05 -1.02587221e-01] [ 1.15543364e-02 -4.87688046e-04 9.99933127e-01 3.43432780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.405336194999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.11, Z:0.03 [[ 9.99372011e-01 -3.31645883e-02 -1.24777408e-02 5.47628210e+00] [ 3.31684628e-02 9.99449770e-01 1.03635634e-04 -1.07738485e-01] [ 1.24674382e-02 -5.17438034e-04 9.99922145e-01 3.06054379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.435336195 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.10, Z:0.03 [[ 9.99450375e-01 -2.99083580e-02 -1.42981702e-02 5.50876175e+00] [ 2.99131271e-02 9.99552495e-01 1.19750758e-04 -1.04545531e-01] [ 1.42881902e-02 -5.47387923e-04 9.99897769e-01 3.21031832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.465336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.10, Z:0.04 [[ 9.99550993e-01 -2.64857120e-02 -1.40113802e-02 5.54089427e+00] [ 2.64899659e-02 9.99649072e-01 1.18064977e-04 -9.56633808e-02] [ 1.40033361e-02 -4.89172947e-04 9.99901829e-01 3.88396590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.09, Z:0.04 [[ 9.99618782e-01 -2.44520635e-02 -1.28213770e-02 5.57319805e+00] [ 2.44554654e-02 9.99700914e-01 1.08589247e-04 -9.45745164e-02] [ 1.28148871e-02 -4.22100592e-04 9.99917797e-01 3.96530444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5253361949999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.09, Z:0.04 [[ 9.99666746e-01 -2.25391479e-02 -1.25850930e-02 5.60503491e+00] [ 2.25422812e-02 9.99745885e-01 1.07156578e-04 -9.42494883e-02] [ 1.25794797e-02 -3.90817573e-04 9.99920799e-01 4.20794462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.555336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.10, Z:0.04 [[ 9.99720550e-01 -2.01359741e-02 -1.23840613e-02 5.63593928e+00] [ 2.01388309e-02 9.99797188e-01 1.06004192e-04 -9.62552503e-02] [ 1.23794152e-02 -3.55375086e-04 9.99923309e-01 4.01481222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.585336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.10, Z:0.04 [[ 9.99744209e-01 -1.90661938e-02 -1.21653740e-02 5.66791920e+00] [ 1.90688781e-02 9.99818167e-01 1.04680505e-04 -9.80922983e-02] [ 1.21611661e-02 -3.36633762e-04 9.99925994e-01 3.75874182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.615336194999999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.10, Z:0.04 [[ 9.99795762e-01 -1.41594723e-02 -1.44202188e-02 5.69918626e+00] [ 1.41627419e-02 9.99899696e-01 1.24633238e-04 -9.53480634e-02] [ 1.44170076e-02 -3.28837619e-04 9.99896015e-01 3.78452793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.645336195 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.09, Z:0.04 [[ 9.99806612e-01 -1.16835550e-02 -1.58187468e-02 5.72919937e+00] [ 1.16871811e-02 9.99931693e-01 1.36798386e-04 -9.12235682e-02] [ 1.58160680e-02 -3.21648490e-04 9.99874866e-01 3.87332053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.675336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.08, Z:0.04 [[ 9.99872851e-01 -6.68958138e-03 -1.44752033e-02 5.75742902e+00] [ 6.69207359e-03 9.99977600e-01 1.23740195e-04 -8.35792205e-02] [ 1.44740513e-02 -2.20593587e-04 9.99895221e-01 3.99753488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.705336195 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.08, Z:0.04 [[ 9.99908942e-01 -4.70082687e-03 -1.26494871e-02 5.78510569e+00] [ 4.70254397e-03 9.99988937e-01 1.06003956e-04 -8.25165295e-02] [ 1.26488488e-02 -1.65479073e-04 9.99919986e-01 4.14197989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7353361949999995 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.08, Z:0.04 [[ 9.99944298e-01 -4.08182884e-03 -9.73339193e-03 5.81284572e+00] [ 4.08280185e-03 9.99991662e-01 8.00971937e-05 -7.94844781e-02] [ 9.73298383e-03 -1.19832243e-04 9.99952626e-01 3.95381637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.765336195 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.08, Z:0.04 [[ 9.99936891e-01 -4.29227379e-03 -1.03822161e-02 5.84079797e+00] [ 4.29337082e-03 9.99990780e-01 8.33788763e-05 -7.50060167e-02] [ 1.03817625e-02 -1.27948318e-04 9.99946100e-01 4.32363336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.795336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.07, Z:0.04 [[ 9.99896499e-01 -6.51871327e-03 -1.28256804e-02 5.86838018e+00] [ 6.52054418e-03 9.99978736e-01 1.00941101e-04 -6.65832384e-02] [ 1.28247496e-02 -1.84561069e-04 9.99917742e-01 4.36337927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.825336194999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.07, Z:0.04 [[ 9.99874446e-01 -7.80955426e-03 -1.37877955e-02 5.89504425e+00] [ 7.81177767e-03 9.99969482e-01 1.07409660e-04 -6.57782477e-02] [ 1.37865359e-02 -2.15103368e-04 9.99904938e-01 4.19233029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.855336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.07, Z:0.04 [[ 9.99828979e-01 -8.51954424e-03 -1.64143442e-02 5.92232041e+00] [ 8.52276717e-03 9.99963673e-01 1.26404255e-04 -6.59394732e-02] [ 1.64126710e-02 -2.66278271e-04 9.99865268e-01 4.03126974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.885336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.07, Z:0.04 [[ 9.99810255e-01 -8.83076440e-03 -1.73629344e-02 5.94900892e+00] [ 8.83439239e-03 9.99960967e-01 1.32259071e-04 -6.56771685e-02] [ 1.73610888e-02 -2.85624952e-04 9.99849244e-01 4.02939580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.915336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.06, Z:0.04 [[ 9.99755124e-01 -1.06512602e-02 -1.93969702e-02 5.97643359e+00] [ 1.06560735e-02 9.99943212e-01 1.44804011e-04 -6.25649550e-02] [ 1.93943264e-02 -3.51464093e-04 9.99811851e-01 3.93597091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.945336194999999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.06, Z:0.04 [[ 9.99731245e-01 -1.29210141e-02 -1.92479686e-02 6.00343839e+00] [ 1.29261299e-02 9.99916444e-01 1.41388388e-04 -5.97610758e-02] [ 1.92445334e-02 -3.90152131e-04 9.99814731e-01 4.09360191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.975336195 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.06, Z:0.04 [[ 9.99763839e-01 -1.40689339e-02 -1.65629601e-02 6.03122699e+00] [ 1.40728421e-02 9.99900966e-01 1.19425398e-04 -5.99261538e-02] [ 1.65596396e-02 -3.52485116e-04 9.99862818e-01 4.37578228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.005336195 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.06, Z:0.04 [[ 9.99790337e-01 -1.52779222e-02 -1.36333041e-02 6.05967956e+00] [ 1.52806530e-02 9.99883239e-01 9.61519634e-05 -6.20134235e-02] [ 1.36302433e-02 -3.04457593e-04 9.99907058e-01 4.41282679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.035336194999999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.07, Z:0.04 [[ 9.99761953e-01 -1.81049026e-02 -1.21758299e-02 6.09119026e+00] [ 1.81072790e-02 9.99836046e-01 8.49545058e-05 -6.55566001e-02] [ 1.21722955e-02 -3.05405431e-04 9.99925868e-01 4.17662316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0653361949999995 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.07, Z:0.04 [[ 9.99719517e-01 -2.03280246e-02 -1.21515051e-02 6.12280970e+00] [ 2.03305598e-02 9.99793309e-01 8.51313128e-05 -6.53493267e-02] [ 1.21472629e-02 -3.32154336e-04 9.99926164e-01 4.45139280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.095336195 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.07, Z:0.04 [[ 9.99704197e-01 -2.07768777e-02 -1.26428138e-02 6.15538295e+00] [ 2.07796646e-02 9.99784075e-01 8.90917522e-05 -6.72377978e-02] [ 1.26382328e-02 -3.51778827e-04 9.99920072e-01 4.44406379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.125336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.07, Z:0.04 [[ 9.99670032e-01 -2.09777688e-02 -1.48243406e-02 6.18747423e+00] [ 2.09816336e-02 9.99779856e-01 1.05211929e-04 -7.19405101e-02] [ 1.48188700e-02 -4.16216095e-04 9.99890108e-01 4.07202414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.155336194999999 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.07, Z:0.04 [[ 9.99668039e-01 -1.99345113e-02 -1.63226124e-02 6.21868514e+00] [ 1.99390693e-02 9.99801190e-01 1.16532860e-04 -7.27497109e-02] [ 1.63170442e-02 -4.41951874e-04 9.99866770e-01 4.34176701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.185336195 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.07, Z:0.05 [[ 9.99694852e-01 -1.66081930e-02 -1.82858076e-02 6.25037075e+00] [ 1.66133672e-02 9.99861980e-01 1.31080651e-04 -7.03732626e-02] [ 1.82811068e-02 -4.34829488e-04 9.99832792e-01 4.53047257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.215336195 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.07, Z:0.05 [[ 9.99726623e-01 -1.37804798e-02 -1.88885557e-02 6.27890987e+00] [ 1.37854629e-02 9.99904967e-01 1.33631546e-04 -6.93757449e-02] [ 1.88849191e-02 -3.93982498e-04 9.99821586e-01 4.60036921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.245336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.07, Z:0.04 [[ 9.99825125e-01 -4.91234179e-03 -1.80440884e-02 6.30720228e+00] [ 4.91538794e-03 9.99987912e-01 1.24470258e-04 -6.62353384e-02] [ 1.80432588e-02 -2.13142186e-04 9.99837184e-01 4.47312748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2753361949999995 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.06, Z:0.04 [[ 9.99840141e-01 5.25737956e-04 -1.78721970e-02 6.33402842e+00] [-5.23657895e-04 9.99999856e-01 1.21064916e-04 -6.43623563e-02] [ 1.78722580e-02 -1.11686646e-04 9.99840272e-01 4.41418386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.305336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.06, Z:0.04 [[ 9.99823529e-01 9.39694657e-03 -1.62667718e-02 6.36237271e+00] [-9.39643339e-03 9.99955847e-01 1.07978880e-04 -5.98795703e-02] [ 1.62670682e-02 4.48898127e-05 9.99867681e-01 3.97947477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.335336195 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.05, Z:0.04 [[ 9.99808367e-01 1.21680474e-02 -1.53352055e-02 6.39020942e+00] [-1.21679582e-02 9.99925963e-01 9.91191504e-05 -5.38655515e-02] [ 1.53352762e-02 8.74979848e-05 9.99882404e-01 4.14415373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.365336194999999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.04, Z:0.04 [[ 9.99773469e-01 1.51436056e-02 -1.49560236e-02 6.41702740e+00] [-1.51438816e-02 9.99885320e-01 9.48029129e-05 -4.03487075e-02] [ 1.49557441e-02 1.31710815e-04 9.99888148e-01 4.45643152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.395336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.04, Z:0.04 [[ 9.99748150e-01 1.49805885e-02 -1.67098134e-02 6.44471510e+00] [-1.49809519e-02 9.99887774e-01 1.03436489e-04 -3.82696238e-02] [ 1.67094877e-02 1.46918472e-04 9.99860376e-01 4.25659916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.425336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.03, Z:0.04 [[ 9.99749677e-01 1.21930594e-02 -1.87593413e-02 6.47239366e+00] [-1.21930970e-02 9.99925655e-01 1.12375063e-04 -3.49889462e-02] [ 1.87593168e-02 1.16387535e-04 9.99824022e-01 3.98990151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.455336195 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.03, Z:0.04 [[ 9.99781575e-01 9.56192180e-03 -1.85841709e-02 6.49905569e+00] [-9.56155709e-03 9.99954281e-01 1.08481305e-04 -2.90755901e-02] [ 1.85843586e-02 6.92360018e-05 9.99827293e-01 4.26544361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4853361949999995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.02, Z:0.05 [[ 9.99829461e-01 2.56861057e-03 -1.82880259e-02 6.52559481e+00] [-2.56712103e-03 9.99996699e-01 1.04923988e-04 -1.82467067e-02] [ 1.82882350e-02 -5.79585182e-05 9.99832755e-01 4.83636273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.515336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.01, Z:0.05 [[ 9.99810241e-01 -7.34417613e-03 -1.80428886e-02 6.55232934e+00] [ 7.34721352e-03 9.99973004e-01 1.02059992e-04 -1.44865179e-02] [ 1.80416520e-02 -2.34605580e-04 9.99837209e-01 4.56037377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.545336195 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.01, Z:0.05 [[ 9.99769639e-01 -1.21686031e-02 -1.76803294e-02 6.57992828e+00] [ 1.21722507e-02 9.99925911e-01 9.87033443e-05 -1.15295208e-02] [ 1.76778184e-02 -3.13890008e-04 9.99843686e-01 4.83763641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.575336194999999 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.01, Z:0.05 [[ 9.99642279e-01 -2.22671644e-02 -1.48151186e-02 6.60795624e+00] [ 2.22708208e-02 9.99751971e-01 8.18427859e-05 -5.90684214e-03] [ 1.48096216e-02 -4.11758360e-04 9.99890247e-01 4.85649968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.605336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.01, Z:0.05 [[ 9.99537020e-01 -2.66116614e-02 -1.47500619e-02 6.63905093e+00] [ 2.66157561e-02 9.99645735e-01 8.13369408e-05 -5.82273557e-03] [ 1.47426719e-02 -4.73883332e-04 9.99891209e-01 4.80667918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.635336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.01, Z:0.05 [[ 9.99538516e-01 -2.65554223e-02 -1.47500581e-02 6.67176081e+00] [ 2.65595208e-02 9.99647230e-01 8.20096585e-05 -6.08121656e-03] [ 1.47426770e-02 -4.73726289e-04 9.99891209e-01 4.82981727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.665336195 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.01, Z:0.05 [[ 9.99345235e-01 -3.27525613e-02 -1.53743780e-02 6.70366369e+00] [ 3.27577599e-02 9.99463317e-01 8.63621724e-05 -8.69798606e-03] [ 1.53632982e-02 -5.89935809e-04 9.99881804e-01 4.58015500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.695336194999999 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.01, Z:0.05 [[ 9.99304581e-01 -3.40269595e-02 -1.52486214e-02 6.73701318e+00] [ 3.40322362e-02 9.99420732e-01 8.66136118e-05 -1.00359307e-02] [ 1.52368411e-02 -6.05498063e-04 9.99883729e-01 4.68657517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.725336195 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.01, Z:0.05 [[ 9.99271353e-01 -3.55603584e-02 -1.38644972e-02 6.76875224e+00] [ 3.55648793e-02 9.99367366e-01 7.95821932e-05 -1.18351134e-02] [ 1.38528961e-02 -5.72613375e-04 9.99903880e-01 4.84160058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.755336195 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.01, Z:0.05 [[ 9.99253247e-01 -3.61523180e-02 -1.36366165e-02 6.80229176e+00] [ 3.61567581e-02 9.99346128e-01 7.91202842e-05 -1.19340367e-02] [ 1.36248395e-02 -5.72117046e-04 9.99907014e-01 4.99780537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.785336194999999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.01, Z:0.06 [[ 9.99241287e-01 -3.60725799e-02 -1.46839866e-02 6.83466994e+00] [ 3.60777463e-02 9.99348982e-01 8.70096892e-05 -5.81176982e-03] [ 1.46712884e-02 -6.16708817e-04 9.99892181e-01 5.76233161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8153361949999995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.00, Z:0.06 [[ 9.99258985e-01 -3.53845608e-02 -1.51464117e-02 6.86725932e+00] [ 3.53900058e-02 9.99373573e-01 9.15228382e-05 -4.00537145e-03] [ 1.51336851e-02 -6.27486616e-04 9.99885282e-01 5.92284011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.845336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.01, Z:0.05 [[ 9.99345086e-01 -3.24688368e-02 -1.59741616e-02 6.90036525e+00] [ 3.24745387e-02 9.99472558e-01 9.76118245e-05 -1.17566774e-02] [ 1.59625668e-02 -6.16301424e-04 9.99872400e-01 5.14057633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.875336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.02, Z:0.05 [[ 9.99419876e-01 -2.92902003e-02 -1.73780377e-02 6.93338556e+00] [ 2.92964898e-02 9.99570760e-01 1.07402808e-04 -1.50809303e-02] [ 1.73674325e-02 -6.16456005e-04 9.99848985e-01 4.98731831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.905336194999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.01, Z:0.05 [[ 9.99585753e-01 -2.21487247e-02 -1.83781388e-02 6.96526367e+00] [ 2.21545743e-02 9.99754551e-01 1.14732011e-04 -1.07945985e-02] [ 1.83710867e-02 -5.21844325e-04 9.99831101e-01 5.20643702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.935336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.01, Z:0.05 [[ 9.99673559e-01 -1.88378548e-02 -1.72600844e-02 6.99678707e+00] [ 1.88425335e-02 9.99822458e-01 1.08471324e-04 -6.64822441e-03] [ 1.72549766e-02 -4.33659633e-04 9.99851028e-01 5.35840795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.965336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:7.03, Y:0.00, Z:0.06 [[ 9.99835664e-01 -1.22268055e-02 -1.33846994e-02 7.02845905e+00] [ 1.22290311e-02 9.99925219e-01 8.44442706e-05 1.05919347e-03] [ 1.33826660e-02 -2.48112299e-04 9.99910417e-01 6.04179705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.995336194999999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:7.06, Y:0.00, Z:0.06 [[ 9.99919260e-01 -6.92413767e-03 -1.06550514e-02 7.05948683e+00] [ 6.92524883e-03 9.99976018e-01 6.73925211e-05 1.75357607e-03] [ 1.06543293e-02 -1.41175962e-04 9.99943231e-01 5.82661673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0253361949999995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.00, Z:0.05 [[ 9.99926203e-01 -5.37431080e-03 -1.08951980e-02 7.08790632e+00] [ 5.37537469e-03 9.99985550e-01 6.83661507e-05 -8.31572762e-04] [ 1.08946732e-02 -1.26926877e-04 9.99940643e-01 5.48050493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.055336195 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.00, Z:0.05 [[ 9.99918849e-01 -4.07913707e-03 -1.20688336e-02 7.11607803e+00] [ 4.08032129e-03 9.99991673e-01 7.35004435e-05 -3.59598230e-04] [ 1.20684333e-02 -1.22739198e-04 9.99927166e-01 5.43128594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.14, Y:0.00, Z:0.06 [[ 9.99925004e-01 -3.37794899e-03 -1.17718019e-02 7.14342294e+00] [ 3.37900728e-03 9.99994289e-01 7.00127704e-05 3.32961840e-03] [ 1.17714981e-02 -1.09784524e-04 9.99930707e-01 5.67722490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.115336194999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.17, Y:0.01, Z:0.06 [[ 9.99900256e-01 -3.00132044e-03 -1.38010555e-02 7.17134397e+00] [ 3.00271299e-03 9.99995489e-01 8.01813051e-05 8.41685143e-03] [ 1.38007526e-02 -1.21613916e-04 9.99904758e-01 5.85777100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.145336195 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:7.20, Y:0.01, Z:0.06 [[ 9.99875448e-01 -2.81455244e-03 -1.55295237e-02 7.19951231e+00] [ 2.81624611e-03 9.99996031e-01 8.71939980e-05 7.65417308e-03] [ 1.55292166e-02 -1.30918099e-04 9.99879406e-01 5.74423741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.175336195 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:7.23, Y:0.00, Z:0.05 [[ 9.99859436e-01 -9.54143636e-04 -1.67391382e-02 7.22786138e+00] [ 9.55798510e-04 9.99999539e-01 9.08627028e-05 3.82082328e-03] [ 1.67390438e-02 -1.06849174e-04 9.99859887e-01 5.35294257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.205336194999999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:7.26, Y:0.00, Z:0.05 [[ 9.99869509e-01 -1.89471888e-04 -1.61532828e-02 7.25549085e+00] [ 1.90865878e-04 9.99999978e-01 8.47559972e-05 2.77571317e-03] [ 1.61532664e-02 -8.78280478e-05 9.99869524e-01 5.30620221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2353361949999995 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:7.28, Y:0.01, Z:0.06 [[ 9.99889516e-01 -6.65491676e-04 -1.48496477e-02 7.28232556e+00] [ 6.66688859e-04 9.99999775e-01 7.56701672e-05 5.04153406e-03] [ 1.48495940e-02 -8.55619016e-05 9.99889735e-01 5.64136692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.265336195 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:7.31, Y:0.01, Z:0.06 [[ 9.99921980e-01 -1.30296622e-03 -1.24232307e-02 7.30909460e+00] [ 1.30383540e-03 9.99999148e-01 6.18654843e-05 9.61730263e-03] [ 1.24231395e-02 -7.80585056e-05 9.99922827e-01 6.20505616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.295336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:7.34, Y:0.01, Z:0.06 [[ 9.99939648e-01 -2.13952403e-03 -1.07760353e-02 7.33703254e+00] [ 2.14021544e-03 9.99997708e-01 5.26305555e-05 1.23172297e-02] [ 1.07758980e-02 -7.56904162e-05 9.99941935e-01 6.32525416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.325336194999999 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:7.36, Y:0.01, Z:0.06 [[ 9.99932442e-01 -2.26449428e-03 -1.14010383e-02 7.36376150e+00] [ 2.26526636e-03 9.99997433e-01 5.48070665e-05 1.29523719e-02] [ 1.14008849e-02 -8.06297524e-05 9.99935005e-01 6.20310758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.355336195 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:7.39, Y:0.01, Z:0.06 [[ 9.99928247e-01 -7.05375275e-04 -1.19584304e-02 7.39149407e+00] [ 7.06094976e-04 9.99999749e-01 5.59616561e-05 1.20036048e-02] [ 1.19583879e-02 -6.44014283e-05 9.99928494e-01 5.74164231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.385336195 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:7.42, Y:0.01, Z:0.06 [[ 9.99937254e-01 -1.30630650e-04 -1.12013696e-02 7.41892174e+00] [ 1.31203234e-04 9.99999990e-01 5.03824653e-05 1.33524651e-02] [ 1.12013629e-02 -5.18489599e-05 9.99937261e-01 5.56827978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.415336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:7.45, Y:0.02, Z:0.06 [[ 9.99935953e-01 1.82258272e-03 -1.11699654e-02 7.44560861e+00] [-1.82215396e-03 9.99998339e-01 4.85619404e-05 2.12540695e-02] [ 1.11700354e-02 -2.82054334e-05 9.99937613e-01 5.88269957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.445336194999999 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:7.47, Y:0.03, Z:0.06 [[ 9.99921117e-01 2.38258211e-03 -1.23321884e-02 7.47207927e+00] [-2.38211528e-03 9.99997161e-01 5.25436662e-05 3.06220751e-02] [ 1.23322786e-02 -2.31628270e-05 9.99923954e-01 6.07746011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.50, Y:0.03, Z:0.06 [[ 9.99924228e-01 1.73799563e-03 -1.21867820e-02 7.50019088e+00] [-1.73750304e-03 9.99998489e-01 5.10073866e-05 3.19779912e-02] [ 1.21868522e-02 -2.98289510e-05 9.99925737e-01 5.90138257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.505336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:7.53, Y:0.03, Z:0.06 [[ 9.99928336e-01 2.20744526e-04 -1.19696802e-02 7.52847652e+00] [-2.20170449e-04 9.99999975e-01 4.92786744e-05 3.20281343e-02] [ 1.19696908e-02 -4.66397731e-05 9.99928360e-01 5.73778701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.535336194999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:7.56, Y:0.03, Z:0.06 [[ 9.99925859e-01 -3.99564977e-03 -1.15026350e-02 7.55556374e+00] [ 3.99644924e-03 9.99992013e-01 4.65186734e-05 3.40065089e-02] [ 1.15023573e-02 -9.24849215e-05 9.99933841e-01 5.73674238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5653361949999995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:7.58, Y:0.04, Z:0.06 [[ 9.99868289e-01 -9.61961363e-03 -1.30716259e-02 7.58467728e+00] [ 9.62111439e-03 9.99953715e-01 5.19293998e-05 4.05068887e-02] [ 1.30705214e-02 -1.77686169e-04 9.99914561e-01 5.98799409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.595336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:7.61, Y:0.04, Z:0.06 [[ 9.99836570e-01 -1.21461132e-02 -1.33905106e-02 7.61355814e+00] [ 1.21479071e-02 9.99926210e-01 5.26351396e-05 4.30142007e-02] [ 1.33888832e-02 -2.15293217e-04 9.99910342e-01 5.92640266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.625336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:7.64, Y:0.04, Z:0.06 [[ 9.99802886e-01 -1.51395695e-02 -1.28445757e-02 7.64376384e+00] [ 1.51414639e-02 9.99885360e-01 5.02515596e-05 4.45844528e-02] [ 1.28423424e-02 -2.44727334e-04 9.99917504e-01 5.64498641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.655336194999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:7.67, Y:0.04, Z:0.06 [[ 9.99783665e-01 -1.61611217e-02 -1.30935532e-02 7.67494211e+00] [ 1.61631806e-02 9.99869366e-01 5.14327891e-05 4.45776662e-02] [ 1.30910115e-02 -2.63055128e-04 9.99914274e-01 5.55322004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.685336195 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:7.71, Y:0.05, Z:0.06 [[ 9.99752320e-01 -1.71895935e-02 -1.41356689e-02 7.70667888e+00] [ 1.71921041e-02 9.99852203e-01 5.61040933e-05 5.05224049e-02] [ 1.41326153e-02 -2.99112089e-04 9.99900085e-01 5.69007814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.715336195 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:7.74, Y:0.06, Z:0.06 [[ 9.99810983e-01 -1.60783877e-02 -1.09309047e-02 7.73902430e+00] [ 1.60798271e-02 9.99870710e-01 4.38022022e-05 5.76824568e-02] [ 1.09287872e-02 -2.19560981e-04 9.99940255e-01 6.08972558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.745336194999999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:7.77, Y:0.06, Z:0.06 [[ 9.99846299e-01 -1.45917616e-02 -9.71899645e-03 7.77151626e+00] [ 1.45928332e-02 9.99893518e-01 3.93489531e-05 5.88988972e-02] [ 9.71738738e-03 -1.81170599e-04 9.99952769e-01 6.03148046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7753361949999995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:7.80, Y:0.06, Z:0.06 [[ 9.99870722e-01 -1.18052421e-02 -1.09167662e-02 7.80361594e+00] [ 1.18064340e-02 9.99930301e-01 4.47376280e-05 6.02542758e-02] [ 1.09154772e-02 -1.73619925e-04 9.99940409e-01 5.70373923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.805336195 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:7.83, Y:0.06, Z:0.06 [[ 9.99881405e-01 -1.11693275e-02 -1.06029073e-02 7.83439557e+00] [ 1.11704199e-02 9.99937608e-01 4.38153157e-05 6.24832091e-02] [ 1.06017563e-02 -1.62249046e-04 9.99943787e-01 5.66750620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.835336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:7.87, Y:0.07, Z:0.06 [[ 9.99915974e-01 -9.84896614e-03 -8.42863741e-03 7.86621132e+00] [ 9.84961038e-03 9.99951491e-01 3.49266202e-05 7.09683323e-02] [ 8.42788455e-03 -1.17942480e-04 9.99964478e-01 6.03969549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.865336194999999 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:7.90, Y:0.08, Z:0.06 [[ 9.99911310e-01 -9.43866693e-03 -9.39599316e-03 7.89859360e+00] [ 9.43945210e-03 9.99955447e-01 3.92187599e-05 7.58041590e-02] [ 9.39520436e-03 -1.27908309e-04 9.99955856e-01 6.16839927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.895336195 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:7.93, Y:0.08, Z:0.06 [[ 9.99895881e-01 -9.26528623e-03 -1.10625974e-02 7.92960289e+00] [ 9.26636922e-03 9.99957065e-01 4.66422867e-05 8.00200186e-02] [ 1.10616903e-02 -1.49147542e-04 9.99938807e-01 5.89509996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.925336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:7.96, Y:0.08, Z:0.06 [[ 9.99899514e-01 -9.72159367e-03 -1.03175399e-02 7.95881011e+00] [ 9.72256113e-03 9.99952734e-01 4.36134895e-05 7.80602484e-02] [ 1.03166282e-02 -1.43922019e-04 9.99946772e-01 5.54616246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.955336194999999 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:7.99, Y:0.08, Z:0.05 [[ 9.99868021e-01 -1.12384684e-02 -1.17318784e-02 7.98985124e+00] [ 1.12398239e-02 9.99936830e-01 4.96109079e-05 7.75200044e-02] [ 1.17305798e-02 -1.81468608e-04 9.99931178e-01 5.20909898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9853361949999995 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:8.02, Y:0.08, Z:0.05 [[ 9.99833772e-01 -1.29547646e-02 -1.28297851e-02 8.02062617e+00] [ 1.29565351e-02 9.99916059e-01 5.48877266e-05 8.17355825e-02] [ 1.28279971e-02 -2.21108164e-04 9.99917693e-01 5.43203263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.015336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.05, Y:0.08, Z:0.06 [[ 9.99802973e-01 -1.44922296e-02 -1.35642995e-02 8.05319096e+00] [ 1.44943621e-02 9.99894949e-01 5.89128639e-05 8.46814112e-02] [ 1.35620208e-02 -2.55507125e-04 9.99907999e-01 5.76091783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.045336194999999 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:8.08, Y:0.08, Z:0.06 [[ 9.99700899e-01 -1.97805162e-02 -1.43820482e-02 8.08466453e+00] [ 1.97834690e-02 9.99804286e-01 6.30520826e-05 8.36737051e-02] [ 1.43779862e-02 -3.47560027e-04 9.99896571e-01 5.67207477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.075336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:8.12, Y:0.08, Z:0.06 [[ 9.99637000e-01 -2.35581753e-02 -1.30721287e-02 8.11697625e+00] [ 2.35609438e-02 9.99722401e-01 5.77987587e-05 7.99185200e-02] [ 1.30671383e-02 -3.65769468e-04 9.99914554e-01 5.62186021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.105336195 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:8.15, Y:0.08, Z:0.06 [[ 9.99477202e-01 -3.02809432e-02 -1.13307901e-02 8.14863239e+00] [ 3.02834632e-02 9.99541349e-01 5.08554328e-05 7.58219406e-02] [ 1.13240533e-02 -3.93964410e-04 9.99935803e-01 5.91990591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.135336194999999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:8.18, Y:0.07, Z:0.06 [[ 9.99374010e-01 -3.36402882e-02 -1.09507873e-02 8.18137408e+00] [ 3.36428547e-02 9.99433918e-01 5.01847743e-05 7.31229175e-02] [ 1.09429000e-02 -4.18569105e-04 9.99940037e-01 5.77911851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.165336195 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:8.21, Y:0.06, Z:0.05 [[ 9.99248803e-01 -3.76162675e-02 -9.31909789e-03 8.21325147e+00] [ 3.76183062e-02 9.99292180e-01 4.35034391e-05 6.18731711e-02] [ 9.31086521e-03 -3.94039437e-04 9.99956575e-01 5.47829935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.195336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:8.25, Y:0.06, Z:0.05 [[ 9.99251321e-01 -3.76402549e-02 -8.94475896e-03 8.24620139e+00] [ 3.76421473e-02 9.99291282e-01 4.32548303e-05 5.61067554e-02] [ 8.93679153e-03 -3.79922381e-04 9.99959994e-01 5.49211734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.225336194999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.28, Y:0.05, Z:0.06 [[ 9.99334861e-01 -3.47243028e-02 -1.11381105e-02 8.27808326e+00] [ 3.47270794e-02 9.99396832e-01 5.59212775e-05 5.29514349e-02] [ 1.11294506e-02 -4.42678131e-04 9.99937968e-01 5.74181743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.255336195 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:8.31, Y:0.05, Z:0.06 [[ 9.99562915e-01 -2.65731419e-02 -1.29555435e-02 8.31076746e+00] [ 2.65762319e-02 9.99646787e-01 6.63676387e-05 4.88484787e-02] [ 1.29492038e-02 -4.10648158e-04 9.99916071e-01 5.67607773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.285336195 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:8.34, Y:0.05, Z:0.06 [[ 9.99697022e-01 -2.07973992e-02 -1.31655610e-02 8.34365345e+00] [ 2.08001014e-02 9.99783652e-01 6.83318093e-05 4.61159858e-02] [ 1.31612915e-02 -3.42156110e-04 9.99913328e-01 5.62965037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.315336195 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:8.38, Y:0.05, Z:0.06 [[ 9.99857396e-01 -6.90601225e-03 -1.54108719e-02 8.37546715e+00] [ 6.90808167e-03 9.99976136e-01 8.10530440e-05 4.81377203e-02] [ 1.54099444e-02 -1.87501047e-04 9.99881242e-01 6.01294110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.345336195 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:8.40, Y:0.05, Z:0.06 [[ 9.99855757e-01 -4.42384979e-04 -1.69785074e-02 8.40292345e+00] [ 4.43941683e-04 9.99999898e-01 8.79178467e-05 5.11230160e-02] [ 1.69784668e-02 -9.54426323e-05 9.99855851e-01 6.04303783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.375336195 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:8.43, Y:0.05, Z:0.06 [[ 9.99784270e-01 1.27689560e-02 -1.63818874e-02 8.43019114e+00] [-1.27693296e-02 9.99918465e-01 8.17971117e-05 5.23007386e-02] [ 1.63815962e-02 1.27406254e-04 9.99865805e-01 5.79006600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.405336195 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:8.46, Y:0.05, Z:0.06 [[ 9.99735736e-01 1.76802785e-02 -1.46923472e-02 8.45750657e+00] [-1.76811472e-02 9.99843674e-01 7.07769855e-05 5.17530153e-02] [ 1.46913017e-02 1.89019272e-04 9.99892059e-01 5.68117563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.435336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:8.49, Y:0.05, Z:0.06 [[ 9.99636405e-01 2.38167320e-02 -1.26420449e-02 8.48519216e+00] [-2.38178927e-02 9.99716312e-01 5.87612428e-05 5.32440699e-02] [ 1.26398580e-02 2.42366991e-04 9.99920084e-01 5.77148055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.465336194999999 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:8.51, Y:0.06, Z:0.06 [[ 9.99650562e-01 2.33650599e-02 -1.23623731e-02 8.51314545e+00] [-2.33661631e-02 9.99726972e-01 5.52100080e-05 5.51989338e-02] [ 1.23602879e-02 2.33670511e-04 9.99923581e-01 5.81317357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.495336195 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:8.54, Y:0.06, Z:0.06 [[ 9.99759776e-01 1.81932114e-02 -1.22228128e-02 8.54085965e+00] [-1.81939308e-02 9.99834475e-01 5.23392815e-05 6.00096032e-02] [ 1.22217419e-02 1.70054303e-04 9.99925297e-01 6.08254151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.525336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:8.57, Y:0.06, Z:0.06 [[ 9.99851745e-01 8.74003666e-03 -1.48357342e-02 8.56738557e+00] [-8.74009432e-03 9.99961803e-01 6.09506772e-05 5.85244478e-02] [ 1.48357002e-02 6.87240751e-05 9.99889943e-01 5.66422220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.555336194999999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:8.60, Y:0.06, Z:0.06 [[ 9.99853234e-01 8.56804623e-03 -1.48357431e-02 8.59573449e+00] [-8.56811804e-03 9.99963291e-01 5.87218145e-05 5.85494110e-02] [ 1.48357016e-02 6.84012019e-05 9.99889943e-01 5.68435964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.585336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:8.62, Y:0.05, Z:0.05 [[ 9.99873449e-01 2.86582771e-03 -1.56484222e-02 8.62396704e+00] [-2.86523867e-03 9.99995893e-01 6.00616841e-05 5.44994718e-02] [ 1.56485301e-02 -1.52176187e-05 9.99877554e-01 5.47061409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.615336195 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:8.65, Y:0.05, Z:0.06 [[ 9.99837290e-01 -1.00989716e-02 -1.49467161e-02 8.65049796e+00] [ 1.01009368e-02 9.99948983e-01 5.59864846e-05 5.17812428e-02] [ 1.49453882e-02 -2.06953209e-04 9.99888290e-01 5.91844114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.645336195 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:8.68, Y:0.05, Z:0.06 [[ 9.99756371e-01 -1.63800948e-02 -1.47949608e-02 8.67916145e+00] [ 1.63826903e-02 9.99865793e-01 5.42428099e-05 5.29772619e-02] [ 1.47920867e-02 -2.96610855e-04 9.99890547e-01 6.28087465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.675336195 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:8.71, Y:0.05, Z:0.06 [[ 9.99529221e-01 -2.68709604e-02 -1.48083957e-02 8.71124862e+00] [ 2.68747249e-02 9.99638808e-01 5.52355213e-05 4.82406204e-02] [ 1.48015628e-02 -4.53181079e-04 9.99890348e-01 6.32602708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.705336195 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:8.74, Y:0.04, Z:0.06 [[ 9.99447179e-01 -3.02103372e-02 -1.38806282e-02 8.74363864e+00] [ 3.02139871e-02 9.99543452e-01 5.32670985e-05 4.27535755e-02] [ 1.38726818e-02 -4.72626771e-04 9.99903658e-01 6.13608345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.735336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:8.78, Y:0.04, Z:0.06 [[ 9.99434503e-01 -3.22105441e-02 -9.65171626e-03 8.77599933e+00] [ 3.22124060e-02 9.99481045e-01 3.74725584e-05 3.66341843e-02] [ 9.64550044e-03 -3.48356371e-04 9.99953420e-01 6.26345893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.765336195 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:8.81, Y:0.04, Z:0.06 [[ 9.99438237e-01 -3.11938224e-02 -1.22538480e-02 8.80907312e+00] [ 3.11967578e-02 9.99513262e-01 4.84329187e-05 3.74783511e-02] [ 1.22463728e-02 -4.30686040e-04 9.99924918e-01 6.45295665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.795336194999999 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:8.84, Y:0.04, Z:0.07 [[ 9.99540958e-01 -2.61074852e-02 -1.53711437e-02 8.84144827e+00] [ 2.61115199e-02 9.99659034e-01 6.18145209e-05 3.79813625e-02] [ 1.53642889e-02 -4.63150070e-04 9.99881855e-01 6.55199059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.825336195 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:8.87, Y:0.04, Z:0.06 [[ 9.99644147e-01 -2.20511285e-02 -1.50109005e-02 8.87443005e+00] [ 2.20545331e-02 9.99756767e-01 6.12893193e-05 3.68897018e-02] [ 1.50058978e-02 -3.92325911e-04 9.99887328e-01 6.49726689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.855336195 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:8.91, Y:0.03, Z:0.06 [[ 9.99817675e-01 -1.22797634e-02 -1.46227198e-02 8.90539163e+00] [ 1.22819601e-02 9.99924572e-01 6.04251528e-05 3.28233627e-02] [ 1.46208748e-02 -2.40009796e-04 9.99893080e-01 6.06093843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.885336194999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.94, Y:0.03, Z:0.06 [[ 9.99867180e-01 -6.71577561e-03 -1.48499138e-02 8.93520689e+00] [ 6.71742989e-03 9.99977436e-01 6.15224537e-05 3.31249387e-02] [ 1.48491655e-02 -1.61267537e-04 9.99889732e-01 6.03972749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.915336195 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:8.96, Y:0.04, Z:0.07 [[ 9.99909536e-01 2.39035534e-03 -1.32365233e-02 8.96306856e+00] [-2.38985461e-03 9.99997143e-01 5.36470508e-05 4.33611038e-02] [ 1.32366137e-02 -2.20088315e-05 9.99912392e-01 6.72895180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.945336195 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:8.99, Y:0.05, Z:0.07 [[ 9.99914362e-01 5.71975983e-03 -1.17708310e-02 8.99138698e+00] [-5.71961815e-03 9.99983642e-01 4.57000014e-05 4.92334293e-02] [ 1.17708999e-02 2.16285712e-05 9.99930720e-01 7.09374264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.975336194999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:9.02, Y:0.05, Z:0.07 [[ 9.99910379e-01 9.86677230e-03 -9.04881582e-03 9.01955267e+00] [-9.86687064e-03 9.99951321e-01 3.37759912e-05 5.33559726e-02] [ 9.04870859e-03 5.55105310e-05 9.99959058e-01 6.98642352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.005336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:9.05, Y:0.05, Z:0.07 [[ 9.99928287e-01 9.14771243e-03 -7.72921962e-03 9.04769927e+00] [-9.14777159e-03 9.99958158e-01 2.77005945e-05 5.31036417e-02] [ 7.72914961e-03 4.30065276e-05 9.99970129e-01 6.87062633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.035336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:9.08, Y:0.05, Z:0.07 [[ 9.99958581e-01 4.45939835e-03 -7.93404534e-03 9.07506708e+00] [-4.45931767e-03 9.99990057e-01 2.78593726e-05 5.45000554e-02] [ 7.93409069e-03 7.52220996e-06 9.99968525e-01 6.71341330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.065336195 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:9.10, Y:0.06, Z:0.07 [[ 9.99917287e-01 -4.66599534e-04 -1.28530568e-02 9.10177881e+00] [ 4.67199009e-04 9.99999890e-01 4.36380655e-05 5.74218672e-02] [ 1.28530351e-02 -4.96393915e-05 9.99917395e-01 6.56101728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.095336195 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:9.13, Y:0.06, Z:0.07 [[ 9.99884903e-01 -1.71795521e-03 -1.50741588e-02 9.12974487e+00] [ 1.71890128e-03 9.99998521e-01 4.98048448e-05 5.87171120e-02] [ 1.50740509e-02 -7.57101031e-05 9.99886377e-01 6.57029572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.125336195 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:9.16, Y:0.06, Z:0.07 [[ 9.99871128e-01 -2.94296446e-03 -1.57818494e-02 9.15642352e+00] [ 2.94413472e-03 9.99995665e-01 5.09191197e-05 6.08386945e-02] [ 1.57816312e-02 -9.73764485e-05 9.99875458e-01 6.57307680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.155336195 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:9.18, Y:0.06, Z:0.07 [[ 9.99878437e-01 -3.28475612e-03 -1.52420847e-02 9.18456156e+00] [ 3.28585578e-03 9.99994600e-01 4.71033540e-05 6.27147563e-02] [ 1.52418477e-02 -9.71809200e-05 9.99883832e-01 6.77259991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.185336195 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:9.21, Y:0.07, Z:0.07 [[ 9.99903997e-01 -3.85858572e-03 -1.33082232e-02 9.21112689e+00] [ 3.85945280e-03 9.99992552e-01 3.94712131e-05 6.57181044e-02] [ 1.33079717e-02 -9.08298829e-05 9.99911441e-01 6.99223285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.215336194999999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:9.24, Y:0.06, Z:0.07 [[ 9.99947268e-01 -4.00424003e-03 -9.45658849e-03 9.23910387e+00] [ 4.00467637e-03 9.99991981e-01 2.72059935e-05 6.47215845e-02] [ 9.45640372e-03 -6.50751354e-05 9.99955285e-01 6.92251714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.27, Y:0.06, Z:0.07 [[ 9.99972232e-01 -3.99322505e-03 -6.29194796e-03 9.26628296e+00] [ 3.99341299e-03 9.99992026e-01 1.73054863e-05 6.45971190e-02] [ 6.29182869e-03 -4.24313524e-05 9.99980205e-01 6.95038312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.275336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:9.30, Y:0.07, Z:0.07 [[ 9.99976589e-01 -4.22425771e-03 -5.38307201e-03 9.29606669e+00] [ 4.22439623e-03 9.99991077e-01 1.43633556e-05 6.65325769e-02] [ 5.38296330e-03 -3.71032484e-05 9.99985511e-01 6.92885968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.305336194999999 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:9.33, Y:0.07, Z:0.07 [[ 9.99958691e-01 -5.39604236e-03 -7.31425096e-03 9.32557588e+00] [ 5.39632784e-03 9.99985440e-01 1.92950707e-05 7.38608901e-02] [ 7.31404034e-03 -5.87643697e-05 9.99973250e-01 7.17762658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.335336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:9.36, Y:0.08, Z:0.07 [[ 9.99962866e-01 -5.67786330e-03 -6.48299437e-03 9.35651624e+00] [ 5.67809303e-03 9.99983879e-01 1.70312279e-05 7.71530139e-02] [ 6.48279316e-03 -5.38416406e-05 9.99978985e-01 7.37003131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.365336195 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:9.39, Y:0.08, Z:0.07 [[ 9.99937643e-01 -7.05014855e-03 -8.66060164e-03 9.38738310e+00] [ 7.05061054e-03 9.99975144e-01 2.28121197e-05 7.62651377e-02] [ 8.66022555e-03 -8.38732264e-05 9.99962496e-01 6.86187242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.395336194999999 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:9.42, Y:0.08, Z:0.07 [[ 9.99899094e-01 -8.69299360e-03 -1.12353855e-02 9.41759708e+00] [ 8.69387876e-03 9.99962207e-01 2.99434581e-05 7.52414448e-02] [ 1.12347006e-02 -1.27619516e-04 9.99936881e-01 6.55845094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.425336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:9.45, Y:0.08, Z:0.07 [[ 9.99848133e-01 -1.38932816e-02 -1.05207881e-02 9.44750632e+00] [ 1.38943447e-02 9.99903469e-01 2.79608315e-05 7.74027975e-02] [ 1.05193840e-02 -1.74136042e-04 9.99944655e-01 6.52438424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.455336195 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:9.48, Y:0.08, Z:0.07 [[ 9.99713670e-01 -2.26993770e-02 -7.57077211e-03 9.48057104e+00] [ 2.27001797e-02 9.99742318e-01 2.00949068e-05 8.17589597e-02] [ 7.56836511e-03 -1.91947040e-04 9.99971341e-01 6.99897057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.485336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:9.51, Y:0.09, Z:0.07 [[ 9.99584364e-01 -2.75558101e-02 -8.47210327e-03 9.51300841e+00] [ 2.75570038e-02 9.99620233e-01 2.41692702e-05 8.52740520e-02] [ 8.46821984e-03 -2.57625006e-04 9.99964111e-01 7.32789588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.515336195 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:9.55, Y:0.09, Z:0.07 [[ 9.99296373e-01 -3.57332229e-02 -1.13971971e-02 9.54596798e+00] [ 3.57359415e-02 9.99361267e-01 3.49029222e-05 8.60432159e-02] [ 1.13886701e-02 -4.42167933e-04 9.99935049e-01 6.99207305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.545336194999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:9.58, Y:0.08, Z:0.06 [[ 9.99174970e-01 -3.88613528e-02 -1.17972332e-02 9.57830695e+00] [ 3.88645082e-02 9.99244489e-01 3.82509902e-05 8.00247103e-02] [ 1.17868338e-02 -4.96713099e-04 9.99930409e-01 6.39326538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.575336195 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:9.61, Y:0.07, Z:0.06 [[ 9.99076071e-01 -4.14913706e-02 -1.12013747e-02 9.61162766e+00] [ 4.14944011e-02 9.99138736e-01 3.81779996e-05 6.99544571e-02] [ 1.11901433e-02 -5.02937060e-04 9.99937262e-01 5.86089413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.605336195 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:9.64, Y:0.07, Z:0.07 [[ 9.99137202e-01 -3.94298833e-02 -1.30436005e-02 9.64463128e+00] [ 3.94338500e-02 9.99222182e-01 4.69641964e-05 7.31267937e-02] [ 1.30316032e-02 -5.61283062e-04 9.99914928e-01 6.50262831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.635336194999999 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:9.68, Y:0.08, Z:0.07 [[ 9.99202256e-01 -3.79422905e-02 -1.24592663e-02 9.67742473e+00] [ 3.79458138e-02 9.99279797e-01 4.64248720e-05 7.54444039e-02] [ 1.24485316e-02 -5.19164836e-04 9.99922379e-01 6.91249149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.665336195 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:9.71, Y:0.08, Z:0.07 [[ 9.99369637e-01 -3.40281245e-02 -1.01200661e-02 9.71020362e+00] [ 3.40302546e-02 9.99420802e-01 3.83070462e-05 7.51693643e-02] [ 1.01129010e-02 -3.82671323e-04 9.99948790e-01 7.26515366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.695336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.74, Y:0.07, Z:0.07 [[ 9.99486789e-01 -3.00764899e-02 -1.10255514e-02 9.74213380e+00] [ 3.00787888e-02 9.99547530e-01 4.27088709e-05 6.61763957e-02] [ 1.10192782e-02 -3.74322185e-04 9.99939216e-01 6.69573162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.725336194999999 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:9.77, Y:0.06, Z:0.07 [[ 9.99527708e-01 -2.86520988e-02 -1.11093793e-02 9.77374295e+00] [ 2.86543589e-02 9.99589379e-01 4.42898656e-05 6.18363629e-02] [ 1.11035486e-02 -3.62601090e-04 9.99938288e-01 6.65533866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.755336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:9.81, Y:0.06, Z:0.07 [[ 9.99568206e-01 -2.74088031e-02 -1.05905321e-02 9.80677005e+00] [ 2.74107978e-02 9.99624253e-01 4.32086072e-05 5.78061073e-02] [ 1.05853684e-02 -3.33484882e-04 9.99943918e-01 6.83003623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.785336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:9.84, Y:0.06, Z:0.07 [[ 9.99597861e-01 -2.57819021e-02 -1.18071996e-02 9.83953220e+00] [ 2.57842782e-02 9.99667529e-01 4.90332638e-05 5.64545617e-02] [ 1.18020099e-02 -3.53453666e-04 9.99930291e-01 7.05488559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.815336195 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:9.87, Y:0.06, Z:0.07 [[ 9.99665642e-01 -2.19393717e-02 -1.36846052e-02 9.87188781e+00] [ 2.19422169e-02 9.99759239e-01 5.77899586e-05 5.56765593e-02] [ 1.36800426e-02 -3.58041212e-04 9.99906360e-01 7.22876994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.845336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:9.90, Y:0.05, Z:0.07 [[ 9.99737060e-01 -1.87439578e-02 -1.32088956e-02 9.90439332e+00] [ 1.87463388e-02 9.99824270e-01 5.64526225e-05 5.38433343e-02] [ 1.32055162e-02 -3.04056210e-04 9.99912757e-01 7.11122686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.875336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:9.94, Y:0.05, Z:0.07 [[ 9.99871692e-01 -1.01107776e-02 -1.24246708e-02 9.93705751e+00] [ 1.01122247e-02 9.99948869e-01 5.36439914e-05 4.94778422e-02] [ 1.24234931e-02 -1.79278171e-04 9.99922809e-01 6.68061025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.905336195 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:9.97, Y:0.05, Z:0.06 [[ 9.99928049e-01 3.37722275e-05 -1.19956943e-02 9.96561161e+00] [-3.31509250e-05 9.99999998e-01 5.19926344e-05 4.54358906e-02] [ 1.19956961e-02 -5.15912250e-05 9.99928048e-01 6.18096219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.935336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:9.99, Y:0.05, Z:0.06 [[ 9.99906479e-01 7.01532976e-03 -1.17395716e-02 9.99239533e+00] [-7.01522462e-03 9.99975392e-01 5.01352093e-05 4.59791073e-02] [ 1.17396344e-02 3.22252113e-05 9.99931088e-01 6.36741546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.965336194999999 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:10.02, Y:0.05, Z:0.07 [[ 9.99890266e-01 9.22209681e-03 -1.15934578e-02 1.00192768e+01] [-9.22215935e-03 9.99957474e-01 4.80668340e-05 5.30613697e-02] [ 1.15934081e-02 5.88551560e-05 9.99932792e-01 7.03333207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.995336195 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:10.05, Y:0.07, Z:0.08 [[ 9.99872621e-01 1.10257490e-02 -1.15401013e-02 1.00474952e+01] [-1.10259506e-02 9.99939211e-01 4.61547808e-05 6.62585188e-02] [ 1.15399087e-02 8.10916847e-05 9.99933410e-01 7.77481103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.025336195 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:10.07, Y:0.07, Z:0.07 [[ 9.99876343e-01 1.01109403e-02 -1.20443819e-02 1.00744077e+01] [-1.01111145e-02 9.99948880e-01 4.64282957e-05 6.54831837e-02] [ 1.20442356e-02 7.53595700e-05 9.99927463e-01 7.44669018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.055336194999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.10, Y:0.06, Z:0.07 [[ 9.99890581e-01 8.21258871e-03 -1.23036431e-02 1.01024089e+01] [-8.21263838e-03 9.99966275e-01 4.64885565e-05 6.10570339e-02] [ 1.23036100e-02 5.45619019e-05 9.99924306e-01 6.63518125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.085336195 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:10.13, Y:0.06, Z:0.07 [[ 9.99909182e-01 5.84462728e-03 -1.21436140e-02 1.01302826e+01] [-5.84451120e-03 9.99982920e-01 4.50476553e-05 6.23788918e-02] [ 1.21436699e-02 2.59299237e-05 9.99926263e-01 6.57020757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.115336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:10.16, Y:0.07, Z:0.07 [[ 9.99874812e-01 -1.12405872e-04 -1.58223773e-02 1.01576640e+01] [ 1.13327551e-04 9.99999992e-01 5.73550501e-05 6.91607049e-02] [ 1.58223707e-02 -5.91409812e-05 9.99874817e-01 6.73309382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.145336194999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:10.19, Y:0.07, Z:0.07 [[ 9.99845336e-01 -3.63082565e-03 -1.72081918e-02 1.01860002e+01] [ 3.63241472e-03 9.99993401e-01 6.10886296e-05 7.23058128e-02] [ 1.72078564e-02 -1.23586470e-04 9.99851926e-01 6.81939917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.175336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:10.21, Y:0.07, Z:0.07 [[ 9.99849210e-01 -1.09578752e-02 -1.34715593e-02 1.02141679e+01] [ 1.09595031e-02 9.99939942e-01 4.70238428e-05 7.48921179e-02] [ 1.34702350e-02 -1.94658349e-04 9.99909253e-01 7.08568606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.205336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:10.24, Y:0.07, Z:0.07 [[ 9.99763526e-01 -1.87414168e-02 -1.10295431e-02 1.02445727e+01] [ 1.87429771e-02 9.99824334e-01 3.81075090e-05 6.89979033e-02] [ 1.10268914e-02 -2.44824971e-04 9.99939172e-01 6.57196445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.235336195 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:10.28, Y:0.07, Z:0.07 [[ 9.99697906e-01 -2.25300044e-02 -9.82320898e-03 1.02777637e+01] [ 2.25314267e-02 9.99746135e-01 3.41272124e-05 6.76602589e-02] [ 9.81994632e-03 -2.55447816e-04 9.99951751e-01 6.57644717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.265336195 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:10.31, Y:0.08, Z:0.07 [[ 9.99475124e-01 -3.08073695e-02 -1.00191436e-02 1.03107157e+01] [ 3.08092750e-02 9.99525281e-01 3.58529259e-05 7.53071964e-02] [ 1.00132828e-02 -3.44516658e-04 9.99949806e-01 7.37007950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.295336194999999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:10.34, Y:0.08, Z:0.07 [[ 9.99158812e-01 -3.80701612e-02 -1.52423876e-02 1.03425279e+01] [ 3.80754604e-02 9.99274865e-01 5.75085463e-05 7.70093022e-02] [ 1.52291455e-02 -6.37821097e-04 9.99883826e-01 7.37645429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.325336195 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:10.38, Y:0.07, Z:0.07 [[ 9.99023386e-01 -4.07877670e-02 -1.69891764e-02 1.03755264e+01] [ 4.07947697e-02 9.99167545e-01 6.56827633e-05 7.17442251e-02] [ 1.69723546e-02 -7.58688154e-04 9.99855671e-01 7.01677542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.355336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:10.41, Y:0.06, Z:0.06 [[ 9.98926248e-01 -4.27544708e-02 -1.78439668e-02 1.04081227e+01] [ 4.27625502e-02 9.99085261e-01 7.12949883e-05 5.92744222e-02] [ 1.78245961e-02 -8.34271962e-04 9.99840781e-01 6.35401054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.385336194999999 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:10.44, Y:0.05, Z:0.06 [[ 9.98938151e-01 -4.26119800e-02 -1.75154071e-02 1.04410973e+01] [ 4.26197753e-02 9.99091362e-01 7.18405137e-05 5.42634539e-02] [ 1.74964306e-02 -8.18266942e-04 9.99846591e-01 6.28563643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.415336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:10.47, Y:0.05, Z:0.07 [[ 9.99140468e-01 -3.85692880e-02 -1.51899856e-02 1.04741743e+01] [ 3.85746987e-02 9.99255717e-01 6.32640409e-05 5.28376314e-02] [ 1.51762400e-02 -6.49158784e-04 9.99884624e-01 7.00369758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.445336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:10.51, Y:0.05, Z:0.07 [[ 9.99145285e-01 -3.84443050e-02 -1.51899793e-02 1.05077824e+01] [ 3.84497241e-02 9.99260534e-01 6.47615585e-05 5.25817257e-02] [ 1.51762571e-02 -6.48756718e-04 9.99884624e-01 7.02745055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.475336194999999 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:10.54, Y:0.06, Z:0.08 [[ 9.99315312e-01 -3.47645242e-02 -1.26623791e-02 1.05403393e+01] [ 3.47680120e-02 9.99395408e-01 5.53546817e-05 5.62747630e-02] [ 1.26527992e-02 -4.95562531e-04 9.99919827e-01 7.65671920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.505336195 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:10.57, Y:0.06, Z:0.08 [[ 9.99594308e-01 -2.72736915e-02 -8.20758802e-03 1.05725492e+01] [ 2.72749103e-02 9.99627970e-01 3.65877478e-05 5.82682251e-02] [ 8.20353667e-03 -2.60434132e-04 9.99966317e-01 8.09553628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.535336195 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:10.61, Y:0.05, Z:0.07 [[ 9.99762681e-01 -1.97499857e-02 -9.19342875e-03 1.06059703e+01] [ 1.97512105e-02 9.99804925e-01 4.24525343e-05 5.17030896e-02] [ 9.19079691e-03 -2.24023806e-04 9.99957739e-01 7.39367067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.565336194999999 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:10.64, Y:0.05, Z:0.07 [[ 9.99821972e-01 -1.57123534e-02 -1.04473286e-02 1.06389564e+01] [ 1.57137231e-02 9.99876531e-01 4.90221495e-05 4.86071506e-02] [ 1.04452685e-02 -2.13179851e-04 9.99945424e-01 7.17248764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.595336195 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:10.67, Y:0.05, Z:0.07 [[ 9.99856336e-01 -1.06682416e-02 -1.31717964e-02 1.06709316e+01] [ 1.06699931e-02 9.99943072e-01 6.26999423e-05 5.00789866e-02] [ 1.31703776e-02 -2.03233911e-04 9.99913246e-01 7.37855845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.625336195 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:10.70, Y:0.06, Z:0.08 [[ 9.99839378e-01 -8.20268692e-03 -1.59353044e-02 1.06999904e+01] [ 8.20494214e-03 9.99966336e-01 7.61493551e-05 5.65388910e-02] [ 1.59341433e-02 -2.06885374e-04 9.99873022e-01 8.01946157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.655336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:10.73, Y:0.06, Z:0.08 [[ 9.99841371e-01 -8.13464446e-03 -1.58448748e-02 1.07281676e+01] [ 8.13683913e-03 9.99966893e-01 7.40456267e-05 5.92282212e-02] [ 1.58437478e-02 -2.02961078e-04 9.99874459e-01 8.29297926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.685336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:10.76, Y:0.06, Z:0.08 [[ 9.99849809e-01 -9.80975299e-03 -1.42873189e-02 1.07558682e+01] [ 9.81167249e-03 9.99951862e-01 6.42595818e-05 5.77858405e-02] [ 1.42860008e-02 -2.04432425e-04 9.99897929e-01 8.08775315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.715336194999999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:10.78, Y:0.05, Z:0.07 [[ 9.99822221e-01 -1.16679257e-02 -1.48116850e-02 1.07838479e+01] [ 1.16701620e-02 9.99931899e-01 6.45610458e-05 4.74132063e-02] [ 1.48099231e-02 -2.37404333e-04 9.99890299e-01 7.15183939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.745336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:10.81, Y:0.04, Z:0.07 [[ 9.99801688e-01 -1.25424819e-02 -1.54683507e-02 1.08134556e+01] [ 1.25450140e-02 9.99921306e-01 6.66754148e-05 4.47737073e-02] [ 1.54662972e-02 -2.60712869e-04 9.99880356e-01 7.12463869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.775336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:10.84, Y:0.05, Z:0.08 [[ 9.99739645e-01 -1.44432363e-02 -1.76645228e-02 1.08434721e+01] [ 1.44468293e-02 9.99895636e-01 7.58047085e-05 4.73219065e-02] [ 1.76615844e-02 -3.30981317e-04 9.99843967e-01 7.61713374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.805336194999999 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:10.87, Y:0.05, Z:0.08 [[ 9.99713995e-01 -1.51344497e-02 -1.85169400e-02 1.08731548e+01] [ 1.51385108e-02 9.99885403e-01 7.91579461e-05 4.87113416e-02] [ 1.85136200e-02 -3.59454203e-04 9.99828544e-01 7.88993483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.835336195 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:10.90, Y:0.05, Z:0.08 [[ 9.99713393e-01 -1.65408545e-02 -1.73069811e-02 1.09025607e+01] [ 1.65446073e-02 9.99863126e-01 7.36749052e-05 4.56360544e-02] [ 1.73033936e-02 -3.59990996e-04 9.99850220e-01 7.94579406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.865336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:10.93, Y:0.03, Z:0.08 [[ 9.99694818e-01 -2.00789368e-02 -1.43912276e-02 1.09328369e+01] [ 2.00818972e-02 9.99798336e-01 6.12112677e-05 3.36207712e-02] [ 1.43870963e-02 -3.50195739e-04 9.99896439e-01 7.54542155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.895336194999999 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:10.96, Y:0.03, Z:0.08 [[ 9.99560836e-01 -2.62373566e-02 -1.37744610e-02 1.09647769e+01] [ 2.62406638e-02 9.99655653e-01 5.93832596e-05 2.50092946e-02] [ 1.37681597e-02 -4.20808179e-04 9.99905126e-01 7.64912865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.925336195 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:11.00, Y:0.02, Z:0.08 [[ 9.99489675e-01 -2.89680740e-02 -1.34625278e-02 1.09978540e+01] [ 2.89714963e-02 9.99580236e-01 5.92130569e-05 2.49012482e-02] [ 1.34551615e-02 -4.49212414e-04 9.99909374e-01 8.14434569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.955336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:11.03, Y:0.02, Z:0.09 [[ 9.99360348e-01 -3.31002403e-02 -1.35376679e-02 1.10306889e+01] [ 3.31040919e-02 9.99451908e-01 6.04629893e-05 2.32078624e-02] [ 1.35282466e-02 -5.08576515e-04 9.99908360e-01 8.64091647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.985336195 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:11.06, Y:0.02, Z:0.09 [[ 9.99355942e-01 -3.30917974e-02 -1.38792355e-02 1.10623453e+01] [ 3.30958677e-02 9.99452180e-01 6.36187056e-05 1.94713111e-02] [ 1.38695269e-02 -5.22923073e-04 9.99903677e-01 8.58693577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.015336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:11.10, Y:0.01, Z:0.08 [[ 9.99436753e-01 -2.93391722e-02 -1.62907757e-02 1.10954025e+01] [ 2.93443165e-02 9.99569360e-01 7.67842540e-05 9.60186208e-03] [ 1.62815075e-02 -5.54782684e-04 9.99867294e-01 8.13015656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.045336194999999 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:11.13, Y:0.00, Z:0.08 [[ 9.99572784e-01 -2.20151351e-02 -1.92245265e-02 1.11280065e+01] [ 2.20209745e-02 9.99757505e-01 9.20840494e-05 3.42448162e-03] [ 1.92178374e-02 -5.15387517e-04 9.99815187e-01 7.97327747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.075336195 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:11.16, Y:0.00, Z:0.08 [[ 9.99640307e-01 -1.79650880e-02 -1.99126026e-02 1.11591896e+01] [ 1.79705684e-02 9.99838512e-01 9.63046639e-05 2.17720346e-03] [ 1.99076569e-02 -4.54110812e-04 9.99801720e-01 8.05095606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.105336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:11.19, Y:0.00, Z:0.08 [[ 9.99784532e-01 -1.10046867e-02 -1.76007781e-02 1.11884646e+01] [ 1.10078840e-02 9.99939408e-01 8.47851674e-05 1.25282943e-03] [ 1.75987786e-02 -2.78514222e-04 9.99845091e-01 8.39167484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.135336194999999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:11.22, Y:0.00, Z:0.09 [[ 9.99826731e-01 -8.68287412e-03 -1.64655691e-02 1.12159667e+01] [ 8.68532267e-03 9.99962279e-01 7.72027376e-05 1.35693497e-03] [ 1.64642777e-02 -2.20198142e-04 9.99864430e-01 8.67461068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.165336195 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.00, Z:0.09 [[ 9.99887450e-01 -5.42946426e-03 -1.39860295e-02 1.12431164e+01] [ 5.43088885e-03 9.99985251e-01 6.38796657e-05 -3.91866441e-03] [ 1.39854763e-02 -1.39829048e-04 9.99902189e-01 8.59383033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.195336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.01, Z:0.08 [[ 9.99923022e-01 -3.22011031e-03 -1.19824970e-02 1.12711062e+01] [ 3.22098038e-03 9.99994811e-01 5.33138100e-05 -1.16424605e-02] [ 1.19822632e-02 -9.19050939e-05 9.99928206e-01 8.36431154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.225336194999999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.01, Z:0.08 [[ 9.99923405e-01 -1.67030629e-03 -1.22635053e-02 1.12975686e+01] [ 1.67107925e-03 9.99998602e-01 5.27824174e-05 -1.14118547e-02] [ 1.22634000e-02 -7.32716638e-05 9.99924799e-01 8.45507949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.255336195 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.01, Z:0.09 [[ 9.99889198e-01 9.83419583e-04 -1.48534391e-02 1.13256169e+01] [-9.82609874e-04 9.99999515e-01 6.18111210e-05 -1.03502678e-02] [ 1.48534927e-02 -4.72091362e-05 9.99889680e-01 8.75065468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.285336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.02, Z:0.09 [[ 9.99847243e-01 3.76673089e-03 -1.70675763e-02 1.13526943e+01] [-3.76611373e-03 9.99992906e-01 6.83013672e-05 -1.50288477e-02] [ 1.70677125e-02 -4.01250031e-06 9.99854336e-01 8.60384956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.315336194999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.02, Z:0.09 [[ 9.99819170e-01 5.22836531e-03 -1.82836428e-02 1.13808880e+01] [-5.22795590e-03 9.99986332e-01 7.01891907e-05 -1.73569927e-02] [ 1.82837598e-02 2.54095797e-05 9.99832838e-01 8.66565912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.345336195 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.02, Z:0.09 [[ 9.99841104e-01 4.06924384e-03 -1.73553539e-02 1.14076554e+01] [-4.06873566e-03 9.99991721e-01 6.45909215e-05 -1.93814849e-02] [ 1.73554731e-02 6.03368905e-06 9.99849382e-01 8.66831776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.375336195 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.03, Z:0.08 [[ 9.99881003e-01 -6.03375592e-04 -1.54148166e-02 1.14359761e+01] [ 6.04314974e-04 9.99999816e-01 5.62822920e-05 -2.75629105e-02] [ 1.54147798e-02 -6.55909990e-05 9.99881183e-01 8.45269579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.405336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.03, Z:0.09 [[ 9.99895031e-01 -3.53549169e-03 -1.40509039e-02 1.14629211e+01] [ 3.53654374e-03 9.99993745e-01 5.00282772e-05 -2.92471611e-02] [ 1.40506391e-02 -9.97146620e-05 9.99901280e-01 8.58486525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.435336195 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.03, Z:0.09 [[ 9.99900657e-01 -9.09828137e-03 -1.07655642e-02 1.14910890e+01] [ 9.09921163e-03 9.99958601e-01 3.74329794e-05 -2.81155632e-02] [ 1.07647780e-02 -1.35387408e-04 9.99942049e-01 9.16794774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.465336194999999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.03, Z:0.09 [[ 9.99843507e-01 -1.34212385e-02 -1.15252631e-02 1.15202342e+01] [ 1.34225850e-02 9.99909912e-01 3.94848451e-05 -3.34765451e-02] [ 1.15236949e-02 -1.94177490e-04 9.99933581e-01 8.99329219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.495336195 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.04, Z:0.09 [[ 9.99836457e-01 -1.36882431e-02 -1.18191098e-02 1.15505063e+01] [ 1.36896774e-02 9.99906291e-01 4.04592485e-05 -3.83873754e-02] [ 1.18174484e-02 -2.02252432e-04 9.99930151e-01 8.79298943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.525336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.04, Z:0.09 [[ 9.99853492e-01 -1.12731588e-02 -1.28805847e-02 1.15816205e+01] [ 1.12746649e-02 9.99936438e-01 4.43131635e-05 -4.23303036e-02] [ 1.28792664e-02 -1.89530947e-04 9.99917041e-01 8.72396480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.555336194999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.04, Z:0.09 [[ 9.99878427e-01 -7.24020780e-03 -1.38098116e-02 1.16112436e+01] [ 7.24155579e-03 9.99973778e-01 4.76078333e-05 -3.79270474e-02] [ 1.38091048e-02 -1.47606567e-04 9.99904639e-01 8.98862365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.585336195 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.04, Z:0.09 [[ 9.99892158e-01 -5.48118168e-03 -1.36245635e-02 1.16390512e+01] [ 5.48231339e-03 9.99984971e-01 4.57164841e-05 -3.61991196e-02] [ 1.36241081e-02 -1.20405681e-04 9.99907180e-01 9.03667542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.615336195 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.04, Z:0.09 [[ 9.99907282e-01 -3.37631722e-03 -1.31919445e-02 1.16668927e+01] [ 3.37716398e-03 9.99994296e-01 4.19116395e-05 -3.75805142e-02] [ 1.31917277e-02 -8.64591132e-05 9.99912982e-01 8.90870576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.645336194999999 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.04, Z:0.09 [[ 9.99906163e-01 -2.67824958e-03 -1.34347730e-02 1.16938610e+01] [ 2.67904013e-03 9.99996411e-01 4.08467873e-05 -3.75594968e-02] [ 1.34346154e-02 -7.68352505e-05 9.99909749e-01 8.86378422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.675336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.04, Z:0.09 [[ 9.99879104e-01 -1.96724611e-03 -1.54242160e-02 1.17206537e+01] [ 1.96818329e-03 9.99998062e-01 4.55807471e-05 -3.58691688e-02] [ 1.54240965e-02 -7.59329208e-05 9.99881039e-01 8.58847290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.705336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.03, Z:0.09 [[ 9.99881524e-01 -2.39931481e-03 -1.52046353e-02 1.17478148e+01] [ 2.40025725e-03 9.99997118e-01 4.37355274e-05 -3.29505952e-02] [ 1.52044866e-02 -8.02253820e-05 9.99884402e-01 8.66765777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.735336195 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.03, Z:0.09 [[ 9.99890353e-01 -2.95406711e-03 -1.45105512e-02 1.17756481e+01] [ 2.95495665e-03 9.99995633e-01 3.98628591e-05 -3.07528248e-02] [ 1.45103701e-02 -8.27365379e-05 9.99894716e-01 8.80107761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.765336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.03, Z:0.09 [[ 9.99872740e-01 -5.50549141e-03 -1.49730584e-02 1.18037529e+01] [ 5.50669645e-03 9.99984837e-01 3.92534367e-05 -3.02803812e-02] [ 1.49726152e-02 -1.21700529e-04 9.99887897e-01 8.67063284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.795336194999999 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.03, Z:0.09 [[ 9.99843229e-01 -8.24950375e-03 -1.56672693e-02 1.18306473e+01] [ 8.25114068e-03 9.99965958e-01 3.98423745e-05 -3.10703006e-02] [ 1.56664073e-02 -1.69108971e-04 9.99877260e-01 8.67572956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.03, Z:0.09 [[ 9.99714248e-01 -1.71442312e-02 -1.66582718e-02 1.18592184e+01] [ 1.71472987e-02 9.99852973e-01 4.13144003e-05 -2.91708950e-02] [ 1.66551143e-02 -3.26946956e-04 9.99861241e-01 8.89120751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.855336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.03, Z:0.09 [[ 9.99499819e-01 -2.55337142e-02 -1.86585318e-02 1.18909462e+01] [ 2.55390215e-02 9.99673825e-01 4.61785144e-05 -3.18170170e-02] [ 1.86512667e-02 -5.22676061e-04 9.99825913e-01 8.69928883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.885336194999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.04, Z:0.08 [[ 9.99382168e-01 -2.91850044e-02 -1.95836331e-02 1.19234189e+01] [ 2.91915656e-02 9.99573834e-01 4.91932751e-05 -3.72359997e-02] [ 1.95738515e-02 -6.20839793e-04 9.99808221e-01 8.32296081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.915336195 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.04, Z:0.09 [[ 9.99310359e-01 -3.32182089e-02 -1.65938948e-02 1.19559817e+01] [ 3.32234898e-02 9.99447947e-01 4.25961624e-05 -4.23370700e-02] [ 1.65833191e-02 -5.93873879e-04 9.99862311e-01 8.50372502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.945336195 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.04, Z:0.09 [[ 9.99337313e-01 -3.35018504e-02 -1.42323869e-02 1.19885294e+01] [ 3.35057808e-02 9.99438523e-01 3.77332818e-05 -3.94133173e-02] [ 1.42231316e-02 -5.14575510e-04 9.99898714e-01 9.06771042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.975336194999999 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.04, Z:0.09 [[ 9.99466806e-01 -3.04033620e-02 -1.19054463e-02 1.20218112e+01] [ 3.04059043e-02 9.99537633e-01 3.25540223e-05 -3.74881654e-02] [ 1.18989519e-02 -3.94532525e-04 9.99929127e-01 9.33875010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.005336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.05, Z:0.09 [[ 9.99589787e-01 -2.53520572e-02 -1.33240961e-02 1.20540012e+01] [ 2.53548054e-02 9.99678515e-01 3.73505337e-05 -4.67431461e-02] [ 1.33188657e-02 -3.75165077e-04 9.99911230e-01 8.63796094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.035336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.05, Z:0.09 [[ 9.99634796e-01 -2.25400189e-02 -1.49071479e-02 1.20858494e+01] [ 2.25431669e-02 9.99745870e-01 4.31471487e-05 -4.92507984e-02] [ 1.49023870e-02 -3.79185713e-04 9.99888881e-01 8.69261429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.065336194999999 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.05, Z:0.09 [[ 9.99652791e-01 -2.13830087e-02 -1.53969258e-02 1.21170459e+01] [ 2.13862471e-02 9.99771287e-01 4.56863069e-05 -4.70543603e-02] [ 1.53924275e-02 -3.74952905e-04 9.99881459e-01 9.13947447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.095336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.05, Z:0.09 [[ 9.99697068e-01 -1.88764096e-02 -1.57941022e-02 1.21492823e+01] [ 1.88795147e-02 9.99821765e-01 4.75047489e-05 -4.54772673e-02] [ 1.57903904e-02 -3.45675343e-04 9.99875264e-01 9.47548774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.125336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.05, Z:0.09 [[ 9.99720908e-01 -1.73358427e-02 -1.60491021e-02 1.21803799e+01] [ 1.73388605e-02 9.99849669e-01 4.88995309e-05 -4.81761262e-02] [ 1.60458417e-02 -3.27159025e-04 9.99871204e-01 9.38860499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.155336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.05, Z:0.09 [[ 9.99771297e-01 -1.43116525e-02 -1.58912150e-02 1.22112168e+01] [ 1.43142331e-02 9.99897545e-01 4.86550083e-05 -5.38586890e-02] [ 1.58888905e-02 -2.76114437e-04 9.99873725e-01 9.04217838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.185336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.05, Z:0.09 [[ 9.99845952e-01 -1.10496783e-02 -1.36373668e-02 1.22411489e+01] [ 1.10512743e-02 9.99938932e-01 4.16785700e-05 -5.42581303e-02] [ 1.36360735e-02 -1.92382431e-04 9.99907006e-01 9.12882350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.215336194999999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.05, Z:0.09 [[ 9.99856064e-01 -1.01345031e-02 -1.36067008e-02 1.22699404e+01] [ 1.01360032e-02 9.99948629e-01 4.12837347e-05 -5.40392559e-02] [ 1.36055834e-02 -1.79195355e-04 9.99907424e-01 9.13493861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.245336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.05, Z:0.09 [[ 9.99842268e-01 -9.82860157e-03 -1.47931933e-02 1.22988500e+01] [ 9.83031936e-03 9.99951680e-01 4.34076286e-05 -5.23835915e-02] [ 1.47920518e-02 -1.88822596e-04 9.99890574e-01 9.28907813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.275336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.05, Z:0.09 [[ 9.99833306e-01 -9.93176688e-03 -1.53206133e-02 1.23271530e+01] [ 9.93358074e-03 9.99950660e-01 4.22973295e-05 -5.10811778e-02] [ 1.53194373e-02 -1.94478828e-04 9.99882632e-01 9.47330415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.305336194999999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.05, Z:0.10 [[ 9.99825140e-01 -9.98423418e-03 -1.58115183e-02 1.23545633e+01] [ 9.98614076e-03 9.99950136e-01 4.16309453e-05 -5.00400534e-02] [ 1.58103142e-02 -1.99519713e-04 9.99874989e-01 9.65328728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.335336195 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.05, Z:0.09 [[ 9.99811697e-01 -9.97575770e-03 -1.66449502e-02 1.23822682e+01] [ 9.97783096e-03 9.99950219e-01 4.15143578e-05 -5.09436191e-02] [ 1.66437075e-02 -2.07587040e-04 9.99861462e-01 9.42082733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.365336195 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.05, Z:0.09 [[ 9.99810572e-01 -1.00878553e-02 -1.66449558e-02 1.24106805e+01] [ 1.00899050e-02 9.99949095e-01 3.91683277e-05 -5.08826163e-02] [ 1.66437134e-02 -2.07106932e-04 9.99861462e-01 9.44102717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.395336194999999 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.05, Z:0.09 [[ 9.99819318e-01 -9.15241321e-03 -1.66602471e-02 1.24372967e+01] [ 9.15430386e-03 9.99958098e-01 3.72228772e-05 -5.37946535e-02] [ 1.66592083e-02 -1.89729116e-04 9.99861208e-01 9.25482540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.06, Z:0.09 [[ 9.99867350e-01 -8.24763426e-03 -1.40448628e-02 1.24649606e+01] [ 8.24886005e-03 9.99965977e-01 2.93480175e-05 -5.99834930e-02] [ 1.40441429e-02 -1.45198233e-04 9.99901366e-01 8.77197534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.455336195 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.06, Z:0.09 [[ 9.99888371e-01 -7.62325947e-03 -1.28503530e-02 1.24914096e+01] [ 7.62420877e-03 9.99970935e-01 2.48851760e-05 -5.78467436e-02] [ 1.28497898e-02 -1.22856172e-04 9.99917430e-01 8.98751928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.485336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.05, Z:0.10 [[ 9.99866851e-01 -5.82038556e-03 -1.52447773e-02 1.25191644e+01] [ 5.82147171e-03 9.99983055e-01 2.68715302e-05 -4.72149062e-02] [ 1.52443626e-02 -1.15614992e-04 9.99883791e-01 9.62062465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.515336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.04, Z:0.10 [[ 9.99877596e-01 -5.18279414e-03 -1.47625163e-02 1.25462692e+01] [ 5.18371481e-03 9.99986564e-01 2.41014924e-05 -4.21505525e-02] [ 1.47621930e-02 -1.00623217e-04 9.99891028e-01 9.66055092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.545336194999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.04, Z:0.10 [[ 9.99891658e-01 -5.21127737e-03 -1.37664444e-02 1.25728561e+01] [ 5.21206136e-03 9.99986417e-01 2.10723191e-05 -4.08532649e-02] [ 1.37661476e-02 -9.28215890e-05 9.99905238e-01 9.63295638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.575336195 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.04, Z:0.09 [[ 9.99897318e-01 -6.19668533e-03 -1.29211111e-02 1.26007324e+01] [ 6.19743348e-03 9.99980796e-01 1.78610626e-05 -3.84409494e-02] [ 1.29207523e-02 -9.79369554e-05 9.99916519e-01 9.25836963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.605336195 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.04, Z:0.09 [[ 9.99844422e-01 -9.47445308e-03 -1.48784009e-02 1.26294058e+01] [ 9.47578044e-03 9.99955104e-01 1.87189507e-05 -3.96307888e-02] [ 1.48775555e-02 -1.59700499e-04 9.99889310e-01 8.70357808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.635336194999999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.04, Z:0.09 [[ 9.99805752e-01 -1.20590383e-02 -1.55896400e-02 1.26564557e+01] [ 1.20607871e-02 9.99927266e-01 1.81599955e-05 -3.73215459e-02] [ 1.55882871e-02 -2.06179797e-04 9.99878474e-01 8.82202778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.665336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.02, Z:0.10 [[ 9.99685576e-01 -1.86313650e-02 -1.67815922e-02 1.26852443e+01] [ 1.86342964e-02 9.99826366e-01 1.83164676e-05 -2.45879787e-02] [ 1.67783371e-02 -3.31023872e-04 9.99859179e-01 9.76933970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.695336195 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.02, Z:0.10 [[ 9.99608457e-01 -2.25258901e-02 -1.65987116e-02 1.27173526e+01] [ 2.25292987e-02 9.99746183e-01 1.83686649e-05 -2.04414657e-02] [ 1.65940848e-02 -3.92318806e-04 9.99862232e-01 1.00492772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.725336194999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.02, Z:0.10 [[ 9.99461671e-01 -2.94430477e-02 -1.44732496e-02 1.27490982e+01] [ 2.94463728e-02 9.99566361e-01 1.66406731e-05 -2.24435767e-02] [ 1.44664835e-02 -4.42816417e-04 9.99895257e-01 9.78234681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.755336195 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.02, Z:0.10 [[ 9.99402466e-01 -3.16711828e-02 -1.38436549e-02 1.27808580e+01] [ 3.16744482e-02 9.99498239e-01 1.66279135e-05 -2.44261200e-02] [ 1.38361821e-02 -4.55108108e-04 9.99904172e-01 9.54781375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.785336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.02, Z:0.09 [[ 9.99374748e-01 -3.26576546e-02 -1.35495563e-02 1.28142550e+01] [ 3.26608846e-02 9.99466491e-01 1.71151878e-05 -2.41227152e-02] [ 1.35417686e-02 -4.59644982e-04 9.99908200e-01 9.34692534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.815336194999999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.02, Z:0.09 [[ 9.99397104e-01 -3.15303570e-02 -1.45349606e-02 1.28460028e+01] [ 3.15339685e-02 9.99502681e-01 1.92920581e-05 -1.92162161e-02] [ 1.45271238e-02 -4.77625415e-04 9.99894362e-01 9.45213124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.845336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.02, Z:0.10 [[ 9.99383061e-01 -3.09813903e-02 -1.65423943e-02 1.28789206e+01] [ 3.09860118e-02 9.99519818e-01 2.30711712e-05 -1.58401380e-02] [ 1.65337361e-02 -5.35639761e-04 9.99863165e-01 9.63884918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.875336195 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.01, Z:0.10 [[ 9.99310094e-01 -3.08653347e-02 -2.06559055e-02 1.29110350e+01] [ 3.08725453e-02 9.99523329e-01 3.02153065e-05 -1.14230558e-02] [ 2.06451269e-02 -6.67894840e-04 9.99786644e-01 9.89510597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.905336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.02, Z:0.10 [[ 9.99209106e-01 -3.48934713e-02 -1.90685329e-02 1.29429795e+01] [ 3.49003686e-02 9.99390796e-01 2.89513940e-05 -1.50959332e-02] [ 1.90559060e-02 -6.94427323e-04 9.99818179e-01 9.59945551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.935336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.02, Z:0.09 [[ 9.99133100e-01 -3.75591969e-02 -1.79542307e-02 1.29758711e+01] [ 3.75657615e-02 9.99294157e-01 2.83924164e-05 -2.03226102e-02] [ 1.79404914e-02 -7.02832150e-04 9.99838809e-01 9.30097071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.965336194999999 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.03, Z:0.09 [[ 9.98919071e-01 -4.37496062e-02 -1.57054342e-02 1.30089412e+01] [ 4.37554087e-02 9.99042273e-01 2.58655366e-05 -2.83654530e-02] [ 1.56892611e-02 -7.13035270e-04 9.99876662e-01 9.19688246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.995336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.03, Z:0.10 [[ 9.98776062e-01 -4.74301617e-02 -1.40270117e-02 1.30413532e+01] [ 4.74351750e-02 9.98874318e-01 2.47319238e-05 -2.79069623e-02] [ 1.40100487e-02 -6.90075406e-04 9.99901616e-01 9.88283053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.025336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.03, Z:0.10 [[ 9.98760689e-01 -4.74889455e-02 -1.48958123e-02 1.30748334e+01] [ 4.74946329e-02 9.98871493e-01 2.80859593e-05 -2.71274192e-02] [ 1.48776685e-02 -7.35522288e-04 9.99889051e-01 1.01402790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.055336194999999 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.03, Z:0.10 [[ 9.98970604e-01 -4.25104191e-02 -1.58302405e-02 1.31070858e+01] [ 4.25162502e-02 9.99095775e-01 3.18435608e-05 -2.93455731e-02] [ 1.58145727e-02 -7.04853249e-04 9.99874693e-01 1.02818450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.085336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.03, Z:0.10 [[ 9.99153677e-01 -3.77916238e-02 -1.62395427e-02 1.31388322e+01] [ 3.77971681e-02 9.99285431e-01 3.45089820e-05 -3.32778533e-02] [ 1.62266343e-02 -6.48288502e-04 9.99868129e-01 1.01107847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.115336195 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.04, Z:0.09 [[ 9.99539132e-01 -2.59192524e-02 -1.58023943e-02 1.31716830e+01] [ 2.59230362e-02 9.99663941e-01 3.46258612e-05 -4.30407594e-02] [ 1.57961863e-02 -4.44255943e-04 9.99875134e-01 9.48487840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.145336194999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.05, Z:0.09 [[ 9.99701762e-01 -2.00038966e-02 -1.40082871e-02 1.32028489e+01] [ 2.00062986e-02 9.99799853e-01 3.13482784e-05 -4.70784210e-02] [ 1.40048563e-02 -3.11592904e-04 9.99901879e-01 9.37946683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.05, Z:0.10 [[ 9.99827240e-01 -1.13466259e-02 -1.47222234e-02 1.32354544e+01] [ 1.13483511e-02 9.99935605e-01 3.36443280e-05 -4.66134190e-02] [ 1.47208936e-02 -2.00711476e-04 9.99891622e-01 9.72853119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.205336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.04, Z:0.10 [[ 9.99839588e-01 -8.35674528e-03 -1.58418084e-02 1.32636062e+01] [ 8.35836986e-03 9.99965068e-01 3.63417233e-05 -4.25747383e-02] [ 1.58409513e-02 -1.68747588e-04 9.99874510e-01 1.01907763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.235336194999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.03, Z:0.11 [[ 9.99904352e-01 -4.56031699e-03 -1.30571895e-02 1.32901100e+01] [ 4.56108798e-03 9.99989598e-01 2.92688931e-05 -3.35221617e-02] [ 1.30569202e-02 -8.88210836e-05 9.99914751e-01 1.09115549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.265336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.04, Z:0.10 [[ 9.99940677e-01 -1.46480597e-03 -1.07933892e-02 1.33177534e+01] [ 1.46513989e-03 9.99998926e-01 2.30303856e-05 -4.19324779e-02] [ 1.07933438e-02 -3.88428444e-05 9.99941749e-01 1.01616060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.295336194999999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.06, Z:0.09 [[ 9.99917218e-01 1.08426787e-04 -1.28664146e-02 1.33452111e+01] [-1.08108865e-04 9.99999994e-01 2.54049638e-05 -5.50977146e-02] [ 1.28664173e-02 -2.40118873e-05 9.99917224e-01 9.28819562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.325336195 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.05, Z:0.09 [[ 9.99906299e-01 -3.10393341e-05 -1.36891539e-02 1.33733494e+01] [ 3.13976293e-05 9.99999999e-01 2.59587408e-05 -5.39138477e-02] [ 1.36891531e-02 -2.63861154e-05 9.99906299e-01 9.48216123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.355336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.04, Z:0.10 [[ 9.99890100e-01 -1.24336164e-03 -1.47730403e-02 1.34002924e+01] [ 1.24388937e-03 9.99999226e-01 2.65336676e-05 -4.39202366e-02] [ 1.47729959e-02 -4.49067793e-05 9.99890872e-01 1.02220307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.385336194999999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.04, Z:0.10 [[ 9.99872134e-01 -2.21871349e-03 -1.58364700e-02 1.34277520e+01] [ 2.21941777e-03 9.99997537e-01 2.68969801e-05 -4.08662567e-02] [ 1.58363714e-02 -6.20412839e-05 9.99874595e-01 1.04775570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.415336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.04, Z:0.10 [[ 9.99847326e-01 -5.05871405e-03 -1.67252593e-02 1.34555310e+01] [ 5.05987707e-03 9.99987198e-01 2.72203519e-05 -4.34333470e-02] [ 1.67249075e-02 -1.11843952e-04 9.99860123e-01 1.03075545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.445336195 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.05, Z:0.10 [[ 9.99844513e-01 -7.14117216e-03 -1.61230633e-02 1.34824186e+01] [ 7.14249766e-03 9.99974492e-01 2.46287042e-05 -4.82748094e-02] [ 1.61224762e-02 -1.39783817e-04 9.99870015e-01 1.00095952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.475336194999999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.06, Z:0.10 [[ 9.99834478e-01 -1.14746518e-02 -1.41191289e-02 1.35107858e+01] [ 1.14760825e-02 9.99934147e-01 2.03122579e-05 -5.60659309e-02] [ 1.41179660e-02 -1.82341183e-04 9.99900320e-01 9.73760359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.505336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.05, Z:0.10 [[ 9.99793594e-01 -1.62488071e-02 -1.21961428e-02 1.35399846e+01] [ 1.62502218e-02 9.99867956e-01 1.68978299e-05 -5.37984673e-02] [ 1.21942578e-02 -2.15084367e-04 9.99925624e-01 1.00916525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.535336195 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.05, Z:0.10 [[ 9.99773798e-01 -1.79806164e-02 -1.13600054e-02 1.35717997e+01] [ 1.79819543e-02 9.99838311e-01 1.56335499e-05 -5.12042197e-02] [ 1.13578875e-02 -2.19905111e-04 9.99935473e-01 1.03125276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.565336194999999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.05, Z:0.10 [[ 9.99734307e-01 -2.00925843e-02 -1.12961636e-02 1.36031841e+01] [ 2.00940473e-02 9.99798094e-01 1.60185068e-05 -5.20430374e-02] [ 1.12935610e-02 -2.42999897e-04 9.99936196e-01 1.02001809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.595336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.06, Z:0.10 [[ 9.99738271e-01 -1.95515475e-02 -1.18796295e-02 1.36358454e+01] [ 1.95531330e-02 9.99808819e-01 1.73215607e-05 -5.53682611e-02] [ 1.18770197e-02 -2.49601003e-04 9.99929435e-01 9.96662018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.625336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.06, Z:0.10 [[ 9.99781835e-01 -1.65691222e-02 -1.27179260e-02 1.36670128e+01] [ 1.65707050e-02 9.99862696e-01 1.90804889e-05 -5.94166810e-02] [ 1.27158636e-02 -2.29821326e-04 9.99919124e-01 9.74902618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.655336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.06, Z:0.10 [[ 9.99839975e-01 -1.23522743e-02 -1.29400695e-02 1.36974831e+01] [ 1.23535638e-02 9.99923692e-01 1.97251118e-05 -5.91694247e-02] [ 1.29388384e-02 -1.79577929e-04 9.99916274e-01 9.87695767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.685336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.06, Z:0.10 [[ 9.99869719e-01 -1.01365332e-02 -1.25616812e-02 1.37279869e+01] [ 1.01375746e-02 9.99948613e-01 1.92254669e-05 -5.67795192e-02] [ 1.25608408e-02 -1.46567942e-04 9.99921099e-01 1.00642297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.715336194999999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.05, Z:0.11 [[ 9.99918689e-01 -6.56627810e-03 -1.09315379e-02 1.37567446e+01] [ 6.56685188e-03 9.99978438e-01 1.65949102e-05 -4.92844726e-02] [ 1.09311933e-02 -8.83793513e-05 9.99940249e-01 1.05118634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.745336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.05, Z:0.10 [[ 9.99913506e-01 -5.78894806e-03 -1.18096666e-02 1.37851235e+01] [ 5.78954989e-03 9.99983240e-01 1.67735197e-05 -5.16011928e-02] [ 1.18093716e-02 -8.51447231e-05 9.99930263e-01 1.00342626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.775336195 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.05, Z:0.10 [[ 9.99886436e-01 -6.70440583e-03 -1.34969256e-02 1.38115387e+01] [ 6.70524371e-03 9.99977519e-01 1.68279913e-05 -5.41859523e-02] [ 1.34965093e-02 -1.07326256e-04 9.99908912e-01 9.82897530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.805336194999999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.05, Z:0.10 [[ 9.99845272e-01 -9.02784097e-03 -1.50973704e-02 1.38382974e+01] [ 9.02912899e-03 9.99959236e-01 1.71527607e-05 -5.26098400e-02] [ 1.50966002e-02 -1.53466212e-04 9.99886028e-01 9.76054791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.835336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.05, Z:0.10 [[ 9.99832099e-01 -1.00251007e-02 -1.53385345e-02 1.38660058e+01] [ 1.00265156e-02 9.99949733e-01 1.53448760e-05 -4.97887328e-02] [ 1.53376097e-02 -1.69134355e-04 9.99882358e-01 9.89803131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.865336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.04, Z:0.10 [[ 9.99838519e-01 -1.15032226e-02 -1.38062373e-02 1.38934827e+01] [ 1.15044770e-02 9.99933821e-01 1.14373046e-05 -4.40358150e-02] [ 1.38051921e-02 -1.70268997e-04 9.99904689e-01 1.01072110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.895336194999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.04, Z:0.10 [[ 9.99855423e-01 -1.16481800e-02 -1.23875960e-02 1.39230655e+01] [ 1.16491852e-02 9.99932146e-01 8.98985453e-06 -4.38166654e-02] [ 1.23866507e-02 -1.53293954e-04 9.99923271e-01 1.00164873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.925336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.05, Z:0.10 [[ 9.99872112e-01 -1.18517563e-02 -1.07375308e-02 1.39539531e+01] [ 1.18525217e-02 9.99929756e-01 7.65054499e-06 -4.56411531e-02] [ 1.07366859e-02 -1.34916384e-04 9.99942351e-01 9.72406938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.955336195 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.04, Z:0.10 [[ 9.99864922e-01 -1.43833287e-02 -7.95352650e-03 1.39855851e+01] [ 1.43838292e-02 9.99896547e-01 5.73039775e-06 -3.95004407e-02] [ 7.95262127e-03 -1.20131791e-04 9.99968370e-01 1.00209073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.985336194999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.04, Z:0.10 [[ 9.99852596e-01 -1.58909154e-02 -6.50113772e-03 1.40182552e+01] [ 1.58912842e-02 9.99873726e-01 5.07757595e-06 -3.53503191e-02] [ 6.50023611e-03 -1.08388255e-04 9.99978867e-01 1.03134122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.015336195 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.03, Z:0.10 [[ 9.99808475e-01 -1.72034241e-02 -9.33031134e-03 1.40512629e+01] [ 1.72042467e-02 9.99851996e-01 7.90419376e-06 -3.05932545e-02] [ 9.32879443e-03 -1.68423658e-04 9.99956472e-01 1.02607938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.045336194999999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.03, Z:0.10 [[ 9.99770652e-01 -1.74452445e-02 -1.24220603e-02 1.40836411e+01] [ 1.74467326e-02 9.99847794e-01 1.14305602e-05 -2.95335672e-02] [ 1.24199702e-02 -2.28152304e-04 9.99922843e-01 1.00143820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.075336195 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.03, Z:0.10 [[ 9.99680556e-01 -1.96109309e-02 -1.59435595e-02 1.41150407e+01] [ 1.96136694e-02 9.99807633e-01 1.54002551e-05 -2.85653002e-02] [ 1.59401905e-02 -3.28107041e-04 9.99872893e-01 9.62047828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.105336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.03, Z:0.10 [[ 9.99630111e-01 -2.16454736e-02 -1.64655859e-02 1.41467606e+01] [ 2.16486815e-02 9.99765640e-01 1.65871551e-05 -2.75959320e-02] [ 1.64613680e-02 -3.73039245e-04 9.99864433e-01 9.68437057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.135336194999999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.02, Z:0.10 [[ 9.99520623e-01 -2.61585487e-02 -1.65606461e-02 1.41784607e+01] [ 2.61624253e-02 9.99657705e-01 1.74409473e-05 -2.15275361e-02] [ 1.65545213e-02 -4.50699253e-04 9.99862863e-01 9.97144709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.165336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.02, Z:0.10 [[ 9.99450151e-01 -2.95168506e-02 -1.51046705e-02 1.42112205e+01] [ 2.95204715e-02 9.99564176e-01 1.67661372e-05 -2.09438162e-02] [ 1.50975926e-02 -4.62653912e-04 9.99885918e-01 9.97006053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.195336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.02, Z:0.10 [[ 9.99335696e-01 -3.41381739e-02 -1.27573907e-02 1.42435674e+01] [ 3.41411424e-02 9.99417021e-01 1.49112373e-05 -2.17438333e-02] [ 1.27494444e-02 -4.50453224e-04 9.99918621e-01 9.96410481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.225336194999999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.02, Z:0.10 [[ 9.99271088e-01 -3.62446031e-02 -1.19841868e-02 1.42763681e+01] [ 3.62473824e-02 9.99342848e-01 1.47195532e-05 -2.26033477e-02] [ 1.19757779e-02 -4.49104226e-04 9.99928187e-01 9.92431543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.255336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.02, Z:0.10 [[ 9.99273886e-01 -3.61673772e-02 -1.19841857e-02 1.43099300e+01] [ 3.61701611e-02 9.99345646e-01 1.55678820e-05 -2.27603695e-02] [ 1.19757807e-02 -4.49026505e-04 9.99928187e-01 9.94803948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.285336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.02, Z:0.10 [[ 9.99177298e-01 -3.86913390e-02 -1.21535033e-02 1.43427576e+01] [ 3.86943993e-02 9.99251091e-01 1.66791626e-05 -2.12360568e-02] [ 1.21437561e-02 -4.86937950e-04 9.99926143e-01 1.02513441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.315336194999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.02, Z:0.10 [[ 9.99178057e-01 -3.83319016e-02 -1.31861989e-02 1.43761746e+01] [ 3.83354851e-02 9.99264925e-01 1.90191077e-05 -1.88639096e-02] [ 1.31757770e-02 -5.24502807e-04 9.99913058e-01 1.04193633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.345336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.02, Z:0.10 [[ 9.99279950e-01 -3.56547437e-02 -1.29738636e-02 1.44087233e+01] [ 3.56580021e-02 9.99364051e-01 1.98455743e-05 -1.94140961e-02] [ 1.29649053e-02 -4.82453339e-04 9.99915836e-01 1.01037820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.375336195 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.02, Z:0.10 [[ 9.99355948e-01 -3.38279882e-02 -1.19731228e-02 1.44420381e+01] [ 3.38306450e-02 9.99427580e-01 1.93757998e-05 -2.34642432e-02] [ 1.19656137e-02 -4.24421787e-04 9.99928319e-01 9.76319461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.405336194999999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.03, Z:0.10 [[ 9.99475924e-01 -3.06175815e-02 -1.05090478e-02 1.44738275e+01] [ 3.06194574e-02 9.99531114e-01 1.76144477e-05 -2.59312460e-02] [ 1.05035810e-02 -3.39386558e-04 9.99944778e-01 9.75141284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.435336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.02, Z:0.10 [[ 9.99533603e-01 -2.82396012e-02 -1.16233497e-02 1.45072684e+01] [ 2.82417439e-02 9.99601122e-01 2.02180719e-05 -1.80505600e-02] [ 1.16181425e-02 -3.48472308e-04 9.99932446e-01 1.02534752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.465336194999999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.02, Z:0.10 [[ 9.99564224e-01 -2.67924652e-02 -1.23905460e-02 1.45403150e+01] [ 2.67947996e-02 9.99640955e-01 2.24000161e-05 -1.67890102e-02] [ 1.23854971e-02 -3.54392451e-04 9.99923234e-01 1.02574561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.495336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.02, Z:0.10 [[ 9.99586461e-01 -2.42670801e-02 -1.54277473e-02 1.45734885e+01] [ 2.42704179e-02 9.99705430e-01 2.91343618e-05 -1.89130313e-02] [ 1.54224958e-02 -4.03560189e-04 9.99880985e-01 9.81687239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.525336195 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.02, Z:0.10 [[ 9.99571021e-01 -2.26896132e-02 -1.85190511e-02 1.46045787e+01] [ 2.26941746e-02 9.99742453e-01 3.61623170e-05 -1.81619964e-02] [ 1.85134610e-02 -4.56421383e-04 9.99828507e-01 9.55184912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.555336194999999 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.02, Z:0.10 [[ 9.99566485e-01 -2.23855657e-02 -1.91240147e-02 1.46366138e+01] [ 2.23903912e-02 9.99749303e-01 3.82176410e-05 -1.56502699e-02] [ 1.91183648e-02 -4.66395242e-04 9.99817119e-01 9.65889027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.585336195 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.01, Z:0.10 [[ 9.99634227e-01 -2.15319594e-02 -1.63642212e-02 1.46685886e+01] [ 2.15353895e-02 9.99768086e-01 3.33967327e-05 -7.10273647e-03] [ 1.63597070e-02 -3.85794393e-04 9.99866097e-01 1.02602478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.615336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.00, Z:0.10 [[ 9.99679458e-01 -2.08710454e-02 -1.43311121e-02 1.46993128e+01] [ 2.08736156e-02 9.99782122e-01 2.97741356e-05 -4.57437368e-03] [ 1.43273683e-02 -3.28906717e-04 9.99897304e-01 1.03713104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.645336194999999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.00, Z:0.10 [[ 9.99669989e-01 -2.31157194e-02 -1.12060598e-02 1.47318935e+01] [ 2.31174360e-02 9.99732756e-01 2.36615873e-05 -3.98473710e-03] [ 1.12025181e-02 -2.82709148e-04 9.99937210e-01 1.02963263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.675336195 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.01, Z:0.10 [[ 9.99568341e-01 -2.81510219e-02 -8.40547261e-03 1.47643386e+01] [ 2.81521689e-02 9.99603649e-01 1.81496161e-05 -7.06188443e-03] [ 8.40163016e-03 -2.54774067e-04 9.99964673e-01 1.00267263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.705336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.01, Z:0.10 [[ 9.99472936e-01 -3.11367689e-02 -9.18433678e-03 1.47972267e+01] [ 3.11382738e-02 9.99515086e-01 2.08698650e-05 -8.35107173e-03] [ 9.17923335e-03 -3.06843258e-04 9.99957823e-01 9.98998249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.735336194999999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.01, Z:0.10 [[ 9.99374287e-01 -3.36632213e-02 -1.08546081e-02 1.48304583e+01] [ 3.36654812e-02 9.99433157e-01 2.54887839e-05 -9.68542934e-03] [ 1.08475972e-02 -3.90898439e-04 9.99941087e-01 9.93490238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.765336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.02, Z:0.10 [[ 9.99172182e-01 -3.79521570e-02 -1.46487077e-02 1.48630164e+01] [ 3.79567615e-02 9.99279382e-01 3.63343459e-05 -1.50869637e-02] [ 1.46367726e-02 -5.92321774e-04 9.99892701e-01 9.75967892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.795336194999999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.02, Z:0.10 [[ 9.99022587e-01 -4.09726703e-02 -1.65864699e-02 1.48956973e+01] [ 4.09790228e-02 9.99160006e-01 4.31551523e-05 -1.94498891e-02] [ 1.65707692e-02 -7.22810301e-04 9.99862434e-01 9.96066345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.825336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.02, Z:0.10 [[ 9.98982346e-01 -4.20330065e-02 -1.63553818e-02 1.49286827e+01] [ 4.20393436e-02 9.99115955e-01 4.36913184e-05 -2.01716505e-02] [ 1.63390865e-02 -7.31216372e-04 9.99866241e-01 1.02510732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.855336195 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.02, Z:0.10 [[ 9.98995910e-01 -4.21162817e-02 -1.52771126e-02 1.49610201e+01] [ 4.21218494e-02 9.99112480e-01 4.27137116e-05 -2.44562785e-02] [ 1.52617549e-02 -6.86171059e-04 9.99883297e-01 1.04235181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.885336194999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.03, Z:0.10 [[ 9.99078334e-01 -4.01495770e-02 -1.51819969e-02 1.49933947e+01] [ 4.01548883e-02 9.99193466e-01 4.50434598e-05 -2.76463522e-02] [ 1.51679437e-02 -6.54633335e-04 9.99884746e-01 1.04220207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.915336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.03, Z:0.11 [[ 9.99344107e-01 -3.44592199e-02 -1.11318465e-02 1.50260836e+01] [ 3.44617353e-02 9.99406017e-01 3.41678724e-05 -3.16967987e-02] [ 1.11240570e-02 -4.17768211e-04 9.99938038e-01 1.05161665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.945336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.03, Z:0.11 [[ 9.99593075e-01 -2.68816003e-02 -9.54272876e-03 1.50594756e+01] [ 2.68831091e-02 9.99638583e-01 2.98553225e-05 -3.25346681e-02] [ 9.53847730e-03 -2.86381392e-04 9.99954467e-01 1.05549645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.975336194999999 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.03, Z:0.11 [[ 9.99698837e-01 -2.21353562e-02 -1.05953785e-02 1.50928941e+01] [ 2.21369580e-02 9.99754947e-01 3.39107588e-05 -3.19509830e-02] [ 1.05920314e-02 -2.68449995e-04 9.99943867e-01 1.05588508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.005336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.03, Z:0.11 [[ 9.99861804e-01 -1.12443074e-02 -1.22449610e-02 1.51238826e+01] [ 1.12456398e-02 9.99936765e-01 3.99675108e-05 -2.78805732e-02] [ 1.22437373e-02 -1.77664409e-04 9.99925027e-01 1.05628106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.035336195 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.02, Z:0.11 [[ 9.99902403e-01 -6.49527002e-03 -1.23691361e-02 1.51547509e+01] [ 6.49627029e-03 9.99978898e-01 4.06911714e-05 -2.47122740e-02] [ 1.23686108e-02 -1.21040452e-04 9.99923498e-01 1.05366923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.065336194999999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.02, Z:0.11 [[ 9.99925897e-01 7.74756664e-04 -1.21490766e-02 1.51822216e+01] [-7.74339687e-04 9.99999699e-01 3.90255829e-05 -1.53002089e-02] [ 1.21491032e-02 -2.96151788e-05 9.99926196e-01 1.08563579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.095336195 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.01, Z:0.11 [[ 9.99911573e-01 3.19611810e-03 -1.29085452e-02 1.52104514e+01] [-3.19588130e-03 9.99994892e-01 3.89727147e-05 -1.05637479e-02] [ 1.29086038e-02 2.28490978e-06 9.99916680e-01 1.08466710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.125336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.01, Z:0.10 [[ 9.99877461e-01 6.71228529e-03 -1.41424292e-02 1.52375424e+01] [-6.71238154e-03 9.99977471e-01 4.06620414e-05 -7.46486690e-03] [ 1.41423835e-02 5.42723219e-05 9.99899990e-01 1.02202909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.155336194999999 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.01, Z:0.10 [[ 9.99859830e-01 7.15071500e-03 -1.51389146e-02 1.52650146e+01] [-7.15090722e-03 9.99974431e-01 4.14348416e-05 -5.80559785e-03] [ 1.51388238e-02 6.68279400e-05 9.99885399e-01 9.95574626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.185336195 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:15.29, Y:0.01, Z:0.10 [[ 9.99842558e-01 5.28669667e-03 -1.69384203e-02 1.52921233e+01] [-5.28670763e-03 9.99986024e-01 4.41307873e-05 5.10391598e-03] [ 1.69384169e-02 4.54246367e-05 9.99856534e-01 1.00306715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.215336194999999 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:15.32, Y:0.02, Z:0.11 [[ 9.99851851e-01 3.02106161e-04 -1.72100465e-02 1.53199960e+01] [-3.01400959e-04 9.99999954e-01 4.35699169e-05 1.92827388e-02] [ 1.72100589e-02 -3.83763375e-05 9.99851895e-01 1.05404025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.245336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:15.35, Y:0.03, Z:0.11 [[ 9.99831345e-01 -6.52675145e-03 -1.71663602e-02 1.53474949e+01] [ 6.52843914e-03 9.99978689e-01 4.22759391e-05 2.60252628e-02] [ 1.71657185e-02 -1.54338347e-04 9.99852646e-01 1.05084549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.38, Y:0.03, Z:0.10 [[ 9.99823260e-01 -1.07029288e-02 -1.54562931e-02 1.53756197e+01] [ 1.07047801e-02 9.99942702e-01 3.70483226e-05 2.60702837e-02] [ 1.54550109e-02 -2.02497994e-04 9.99880544e-01 1.03097322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.305336194999999 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:15.40, Y:0.03, Z:0.10 [[ 9.99802616e-01 -1.50380051e-02 -1.29841241e-02 1.54045396e+01] [ 1.50396594e-02 9.99886897e-01 2.97726206e-05 2.67219511e-02] [ 1.29822079e-02 -2.25043549e-04 9.99915702e-01 1.02139347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.335336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:15.44, Y:0.03, Z:0.10 [[ 9.99672711e-01 -2.27995414e-02 -1.16039773e-02 1.54378966e+01] [ 2.28013834e-02 9.99740014e-01 2.64466119e-05 3.10282836e-02] [ 1.16003574e-02 -2.91024690e-04 9.99932671e-01 1.03243165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.365336195 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:15.47, Y:0.03, Z:0.10 [[ 9.99598543e-01 -2.61264975e-02 -1.09617256e-02 1.54702686e+01] [ 2.61283573e-02 9.99658596e-01 2.64610737e-05 3.36472990e-02] [ 1.09572919e-02 -3.12862335e-04 9.99939918e-01 1.03929952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.395336194999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:15.50, Y:0.04, Z:0.11 [[ 9.99472646e-01 -3.13263614e-02 -8.54921068e-03 1.55033900e+01] [ 3.13276862e-02 9.99509167e-01 2.10591067e-05 4.18312962e-02] [ 8.54435474e-03 -2.88874991e-04 9.99963455e-01 1.09748369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.425336195 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:15.54, Y:0.05, Z:0.11 [[ 9.99427595e-01 -3.28537862e-02 -8.06918806e-03 1.55362332e+01] [ 3.28550212e-02 9.99460128e-01 2.05127092e-05 4.50802972e-02] [ 8.06415781e-03 -2.85614313e-04 9.99967443e-01 1.11099770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.455336195 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:15.57, Y:0.05, Z:0.11 [[ 9.99424136e-01 -3.26843304e-02 -9.11766673e-03 1.55686720e+01] [ 3.26859170e-02 9.99465672e-01 2.50096222e-05 4.68072340e-02] [ 9.11197748e-03 -3.23014518e-04 9.99958433e-01 1.09638860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.485336194999999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:15.60, Y:0.05, Z:0.11 [[ 9.99525440e-01 -2.89199871e-02 -1.06079567e-02 1.56017456e+01] [ 2.89219406e-02 9.99581673e-01 3.07632252e-05 4.90461849e-02] [ 1.06026295e-02 -3.37551321e-04 9.99943734e-01 1.07087527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.515336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:15.63, Y:0.05, Z:0.11 [[ 9.99574942e-01 -2.71124895e-02 -1.07167506e-02 1.56343241e+01] [ 2.71143892e-02 9.99632337e-01 3.19840259e-05 4.99571486e-02] [ 1.07119432e-02 -3.22548577e-04 9.99942573e-01 1.05690180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.545336194999999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:15.67, Y:0.06, Z:0.11 [[ 9.99639332e-01 -2.50299391e-02 -9.73184182e-03 1.56676600e+01] [ 2.50314159e-02 9.99686665e-01 2.99625413e-05 5.61149173e-02] [ 9.72804253e-03 -2.73553515e-04 9.99952644e-01 1.08098182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.575336195 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:15.70, Y:0.06, Z:0.11 [[ 9.99662865e-01 -2.42124376e-02 -9.37627542e-03 1.56995498e+01] [ 2.42137783e-02 9.99706803e-01 2.94818637e-05 6.10116008e-02] [ 9.37281250e-03 -2.56506979e-04 9.99956041e-01 1.10216340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.605336195 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:15.73, Y:0.06, Z:0.11 [[ 9.99676168e-01 -2.35126208e-02 -9.73224270e-03 1.57328860e+01] [ 2.35140381e-02 9.99723506e-01 3.12120115e-05 6.49813941e-02] [ 9.72881792e-03 -2.60046230e-04 9.99952640e-01 1.08390232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.635336194999999 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:15.77, Y:0.06, Z:0.10 [[ 9.99608260e-01 -2.52982456e-02 -1.19718956e-02 1.57653769e+01] [ 2.53005288e-02 9.99679890e-01 3.92724625e-05 6.46620926e-02] [ 1.19670697e-02 -3.42152366e-04 9.99928334e-01 1.04932897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.665336195 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:15.80, Y:0.06, Z:0.10 [[ 9.99564848e-01 -2.62422569e-02 -1.34706632e-02 1.57987464e+01] [ 2.62452452e-02 9.99655533e-01 4.50773487e-05 6.45009115e-02] [ 1.34648400e-02 -3.98598592e-04 9.99909265e-01 1.03804404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.695336195 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:15.83, Y:0.06, Z:0.10 [[ 9.99444749e-01 -2.88724072e-02 -1.66306342e-02 1.58317210e+01] [ 2.88773467e-02 9.99582961e-01 5.69004425e-05 6.47565518e-02] [ 1.66220557e-02 -5.37117438e-04 9.99861700e-01 1.03661241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.725336194999999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:15.86, Y:0.07, Z:0.11 [[ 9.99409794e-01 -2.99001138e-02 -1.69129111e-02 1.58640013e+01] [ 2.99053968e-02 9.99552732e-01 5.94808623e-05 6.50721675e-02] [ 1.69035680e-02 -5.65233074e-04 9.99856965e-01 1.05029879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.755336195 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:15.90, Y:0.06, Z:0.11 [[ 9.99383410e-01 -3.14411866e-02 -1.56285331e-02 1.58959365e+01] [ 3.14459049e-02 9.99505454e-01 5.61925711e-05 6.40302572e-02] [ 1.56190373e-02 -5.47611289e-04 9.99877865e-01 1.07260767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.785336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:15.93, Y:0.06, Z:0.11 [[ 9.99372176e-01 -3.17674083e-02 -1.56871176e-02 1.59291348e+01] [ 3.17722175e-02 9.99495134e-01 5.73807429e-05 6.48058485e-02] [ 1.56773749e-02 -5.55759232e-04 9.99876948e-01 1.09805724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.815336194999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:15.96, Y:0.07, Z:0.11 [[ 9.99434066e-01 -3.04160015e-02 -1.43671276e-02 1.59623704e+01] [ 3.04199091e-02 9.99537206e-01 5.34779361e-05 6.62771959e-02] [ 1.43588520e-02 -4.90494386e-04 9.99896786e-01 1.11402769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.845336195 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:16.00, Y:0.06, Z:0.11 [[ 9.99474145e-01 -2.92351021e-02 -1.40264508e-02 1.59955383e+01] [ 2.92387237e-02 9.99572456e-01 5.31513437e-05 6.46061114e-02] [ 1.40189000e-02 -4.63238913e-04 9.99901623e-01 1.10006921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.875336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:16.03, Y:0.06, Z:0.11 [[ 9.99556228e-01 -2.67676695e-02 -1.30705072e-02 1.60279060e+01] [ 2.67706182e-02 9.99641601e-01 5.06586704e-05 6.17810969e-02] [ 1.30644667e-02 -4.00541747e-04 9.99914576e-01 1.07428351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.905336194999999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:16.06, Y:0.06, Z:0.11 [[ 9.99638620e-01 -2.43639236e-02 -1.13590717e-02 1.60601915e+01] [ 2.43660062e-02 9.99703104e-01 4.49608766e-05 6.14774413e-02] [ 1.13546038e-02 -3.21719840e-04 9.99935483e-01 1.07277164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.935336195 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:16.09, Y:0.06, Z:0.11 [[ 9.99659534e-01 -2.34044682e-02 -1.15345879e-02 1.60936619e+01] [ 2.34065598e-02 9.99726028e-01 4.63568057e-05 5.98330137e-02] [ 1.15303428e-02 -3.16326045e-04 9.99933473e-01 1.05630573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.965336194999999 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:16.13, Y:0.06, Z:0.10 [[ 9.99677430e-01 -2.18927041e-02 -1.28742410e-02 1.61256055e+01] [ 2.18951998e-02 9.99760270e-01 5.29187952e-05 5.72420533e-02] [ 1.28699961e-02 -3.34785804e-04 9.99917122e-01 1.04905755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.995336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:16.16, Y:0.06, Z:0.11 [[ 9.99661730e-01 -2.21846198e-02 -1.35745119e-02 1.61582084e+01] [ 2.21874386e-02 9.99753827e-01 5.70695950e-05 5.71052186e-02] [ 1.35699041e-02 -3.58233939e-04 9.99907860e-01 1.07788994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.025336195 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:16.19, Y:0.06, Z:0.11 [[ 9.99633912e-01 -2.28937429e-02 -1.44193585e-02 1.61916610e+01] [ 2.28970119e-02 9.99737827e-01 6.16376597e-05 5.61045221e-02] [ 1.44141670e-02 -3.91775318e-04 9.99896034e-01 1.08423916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.055336195000002 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:16.22, Y:0.05, Z:0.11 [[ 9.99560967e-01 -2.51004745e-02 -1.57429118e-02 1.62233380e+01] [ 2.51046609e-02 9.99684826e-01 6.83246101e-05 5.38815848e-02] [ 1.57362351e-02 -4.63515076e-04 9.99876070e-01 1.10637721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.085336195 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:16.26, Y:0.05, Z:0.11 [[ 9.99558031e-01 -2.57305840e-02 -1.48889234e-02 1.62551032e+01] [ 2.57344106e-02 9.99668813e-01 6.54431005e-05 5.44798500e-02] [ 1.48823085e-02 -4.48571845e-04 9.99889152e-01 1.12816151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.115336195 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:16.29, Y:0.05, Z:0.11 [[ 9.99595924e-01 -2.46885133e-02 -1.40877896e-02 1.62885459e+01] [ 2.46918478e-02 9.99695108e-01 6.27767059e-05 5.13547186e-02] [ 1.40819445e-02 -4.10604896e-04 9.99900760e-01 1.11065582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.145336195000002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:16.32, Y:0.05, Z:0.11 [[ 9.99624043e-01 -2.34831327e-02 -1.41532742e-02 1.63213535e+01] [ 2.34863911e-02 9.99724155e-01 6.40329467e-05 4.55491980e-02] [ 1.41478664e-02 -3.96418206e-04 9.99899835e-01 1.06409150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.175336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:16.35, Y:0.05, Z:0.11 [[ 9.99625365e-01 -2.34267907e-02 -1.41532702e-02 1.63540686e+01] [ 2.34300559e-02 9.99725476e-01 6.49122464e-05 4.53239569e-02] [ 1.41478641e-02 -3.96499839e-04 9.99899835e-01 1.06640354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.205336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:16.39, Y:0.04, Z:0.10 [[ 9.99685679e-01 -2.05006738e-02 -1.44314039e-02 1.63857353e+01] [ 2.05037758e-02 9.99789773e-01 6.70085733e-05 4.24881272e-02] [ 1.44269963e-02 -3.62885780e-04 9.99895860e-01 1.04200329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.235336195000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:16.42, Y:0.05, Z:0.11 [[ 9.99745992e-01 -1.80070079e-02 -1.35535668e-02 1.64164688e+01] [ 1.80095228e-02 9.99837813e-01 6.35175960e-05 4.65861655e-02] [ 1.35502248e-02 -3.07594733e-04 9.99908144e-01 1.08568053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.265336195 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:16.45, Y:0.05, Z:0.11 [[ 9.99760998e-01 -1.73253086e-02 -1.33334203e-02 1.64482460e+01] [ 1.73276887e-02 9.99849862e-01 6.29932438e-05 4.77865742e-02] [ 1.33303271e-02 -2.94015544e-04 9.99911104e-01 1.10658361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.295336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:16.48, Y:0.05, Z:0.11 [[ 9.99747383e-01 -1.73620035e-02 -1.42734311e-02 1.64802578e+01] [ 1.73647443e-02 9.99849219e-01 6.81011228e-05 4.98045343e-02] [ 1.42700966e-02 -3.15938401e-04 9.99898127e-01 1.13054072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.325336195000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:16.51, Y:0.05, Z:0.11 [[ 9.99723801e-01 -1.79670155e-02 -1.51495322e-02 1.65118304e+01] [ 1.79701819e-02 9.99838521e-01 7.28972869e-05 5.07284689e-02] [ 1.51457761e-02 -3.45117002e-04 9.99885237e-01 1.13239383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.355336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:16.54, Y:0.05, Z:0.11 [[ 9.99714260e-01 -1.90133616e-02 -1.44875869e-02 1.65437405e+01] [ 1.90163754e-02 9.99819170e-01 7.02818344e-05 4.68246798e-02] [ 1.44836308e-02 -3.45763142e-04 9.99895047e-01 1.08347725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.385336195 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:16.58, Y:0.04, Z:0.11 [[ 9.99724020e-01 -1.92266326e-02 -1.34988741e-02 1.65750419e+01] [ 1.92292755e-02 9.99815098e-01 6.60063293e-05 4.43649164e-02] [ 1.34951091e-02 -3.25561682e-04 9.99908884e-01 1.07245712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.415336195000002 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:16.61, Y:0.05, Z:0.11 [[ 9.99718550e-01 -1.91709067e-02 -1.39748929e-02 1.66074064e+01] [ 1.91737417e-02 9.99816165e-01 6.88978738e-05 4.61338162e-02] [ 1.39710030e-02 -3.36829470e-04 9.99902344e-01 1.08819745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.445336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:16.64, Y:0.05, Z:0.11 [[ 9.99692825e-01 -1.97080173e-02 -1.50283173e-02 1.66395952e+01] [ 1.97113673e-02 9.99805709e-01 7.48056318e-05 4.72414941e-02] [ 1.50239231e-02 -3.71011334e-04 9.99887066e-01 1.09360125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.475336195 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:16.67, Y:0.05, Z:0.11 [[ 9.99651442e-01 -2.19332429e-02 -1.46944625e-02 1.66707294e+01] [ 2.19366944e-02 9.99759359e-01 7.37252716e-05 4.70865482e-02] [ 1.46893094e-02 -3.96047508e-04 9.99892028e-01 1.10517150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.505336195 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:16.70, Y:0.05, Z:0.11 [[ 9.99604456e-01 -2.30322805e-02 -1.61383545e-02 1.67023991e+01] [ 2.30365995e-02 9.99734619e-01 8.17478769e-05 4.75014047e-02] [ 1.61321888e-02 -4.53488350e-04 9.99869765e-01 1.11568129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.535336195000003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:16.73, Y:0.04, Z:0.11 [[ 9.99580104e-01 -2.34936170e-02 -1.69607050e-02 1.67345735e+01] [ 2.34984684e-02 9.99723869e-01 8.67770801e-05 4.47864416e-02] [ 1.69539830e-02 -4.85291234e-04 9.99856153e-01 1.09254070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.565336195 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:16.77, Y:0.04, Z:0.10 [[ 9.99536340e-01 -2.61417233e-02 -1.56113976e-02 1.67671173e+01] [ 2.61461748e-02 9.99658127e-01 8.10765661e-05 3.51156842e-02] [ 1.56039410e-02 -4.89217305e-04 9.99878131e-01 1.04940466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.595336195 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:16.80, Y:0.03, Z:0.11 [[ 9.99508281e-01 -2.77855036e-02 -1.45313815e-02 1.68002270e+01] [ 2.77895515e-02 9.99613793e-01 7.66794003e-05 3.36241044e-02] [ 1.45236388e-02 -4.80462270e-04 9.99894411e-01 1.06917928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.625336195000003 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:16.83, Y:0.03, Z:0.11 [[ 9.99396308e-01 -3.16314653e-02 -1.43690456e-02 1.68324039e+01] [ 3.16358330e-02 9.99499459e-01 7.67112535e-05 3.37062580e-02] [ 1.43594268e-02 -5.31241670e-04 9.99896757e-01 1.12285707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.655336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:16.87, Y:0.03, Z:0.11 [[ 9.99332128e-01 -3.34843706e-02 -1.46320022e-02 1.68656479e+01] [ 3.34891116e-02 9.99439079e-01 7.90471131e-05 3.15573795e-02] [ 1.46211479e-02 -5.69007073e-04 9.99892943e-01 1.13790911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.685336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:16.90, Y:0.02, Z:0.11 [[ 9.99309228e-01 -3.46620954e-02 -1.34017272e-02 1.68975864e+01] [ 3.46661989e-02 9.99398944e-01 7.39411686e-05 2.34302991e-02] [ 1.33911090e-02 -5.38477032e-04 9.99910190e-01 1.12772940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.715336195000003 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:16.93, Y:0.02, Z:0.11 [[ 9.99444259e-01 -3.06698992e-02 -1.30587234e-02 1.69293534e+01] [ 3.06734758e-02 9.99529456e-01 7.36414550e-05 1.82073522e-02] [ 1.30503201e-02 -4.74156966e-04 9.99914729e-01 1.11998004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.745336195 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:16.96, Y:0.02, Z:0.11 [[ 9.99541695e-01 -2.70474380e-02 -1.35954087e-02 1.69620005e+01] [ 2.70509927e-02 9.99634052e-01 7.76014309e-05 1.55793485e-02] [ 1.35883346e-02 -4.45335167e-04 9.99907575e-01 1.10768610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.775336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:16.99, Y:0.01, Z:0.11 [[ 9.99764741e-01 -1.65856559e-02 -1.39777586e-02 1.69945725e+01] [ 1.65884039e-02 9.99862400e-01 8.06735112e-05 1.29792796e-02] [ 1.39744973e-02 -3.12523238e-04 9.99902303e-01 1.10235003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.805336195000002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:17.03, Y:0.01, Z:0.11 [[ 9.99850862e-01 -1.07704694e-02 -1.35000443e-02 1.70259746e+01] [ 1.07725114e-02 9.99941972e-01 7.85435028e-05 1.41244281e-02] [ 1.34984150e-02 -2.23961170e-04 9.99908867e-01 1.11020972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.835336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:17.06, Y:0.02, Z:0.11 [[ 9.99904259e-01 -7.58606573e-05 -1.38371890e-02 1.70551403e+01] [ 7.69844657e-05 9.99999994e-01 8.06838933e-05 1.52907931e-02] [ 1.38371828e-02 -8.17414171e-05 9.99904258e-01 1.11810118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.865336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:17.08, Y:0.02, Z:0.11 [[ 9.99873780e-01 3.94710541e-03 -1.53897400e-02 1.70820033e+01] [-3.94620329e-03 9.99992210e-01 8.89856184e-05 1.55899294e-02] [ 1.53899714e-02 -2.82433439e-05 9.99881567e-01 1.11084206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.895336195000002 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:17.11, Y:0.02, Z:0.11 [[ 9.99843111e-01 7.54862522e-03 -1.60240801e-02 1.71097323e+01] [-7.54814545e-03 9.99971508e-01 9.04214714e-05 1.60806975e-02] [ 1.60243061e-02 3.05448021e-05 9.99871602e-01 1.09281162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.925336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:17.14, Y:0.02, Z:0.11 [[ 9.99856386e-01 7.72950623e-03 -1.50818626e-02 1.71366670e+01] [-7.72912994e-03 9.99970126e-01 8.32387502e-05 1.59123001e-02] [ 1.50820555e-02 3.33428799e-05 9.99886259e-01 1.09242224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.955336195 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:17.16, Y:0.02, Z:0.11 [[ 9.99877910e-01 6.32268129e-03 -1.42894733e-02 1.71645605e+01] [-6.32221458e-03 9.99980012e-01 7.78335944e-05 1.60822181e-02] [ 1.42896798e-02 1.25170249e-05 9.99897897e-01 1.10418970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.985336195000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:17.19, Y:0.02, Z:0.11 [[ 9.99877112e-01 5.09706913e-03 -1.48249790e-02 1.71924142e+01] [-5.09644762e-03 9.99987010e-01 7.97026385e-05 1.52995068e-02] [ 1.48251927e-02 -4.13811513e-06 9.99890101e-01 1.10750740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.015336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:17.22, Y:0.01, Z:0.11 [[ 9.99876720e-01 1.60888148e-03 -1.56191132e-02 1.72189033e+01] [-1.60778508e-03 9.99998704e-01 8.27524276e-05 1.43522968e-02] [ 1.56192261e-02 -5.76300486e-05 9.99878011e-01 1.10002778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.045336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.25, Y:0.02, Z:0.11 [[ 9.99874544e-01 -5.57644252e-04 -1.58298900e-02 1.72459185e+01] [ 5.59021604e-04 9.99999840e-01 8.25848166e-05 1.61168038e-02] [ 1.58298414e-02 -9.14237064e-05 9.99874696e-01 1.11505312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.075336195000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.27, Y:0.02, Z:0.11 [[ 9.99844594e-01 -6.53027175e-03 -1.63751001e-02 1.72737269e+01] [ 6.53252621e-03 9.99978659e-01 8.41904521e-05 1.99439247e-02] [ 1.63742009e-02 -1.91148139e-04 9.99865916e-01 1.14626035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.105336195 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:17.30, Y:0.02, Z:0.12 [[ 9.99803032e-01 -1.10627721e-02 -1.64776512e-02 1.73009933e+01] [ 1.10656494e-02 9.99938770e-01 8.34505874e-05 1.94936715e-02] [ 1.64757191e-02 -2.65770061e-04 9.99864231e-01 1.15153441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.135336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:17.33, Y:0.01, Z:0.11 [[ 9.99649252e-01 -2.12739720e-02 -1.57730874e-02 1.73282966e+01] [ 2.12778622e-02 9.99773598e-01 7.88355960e-05 1.08525123e-02] [ 1.57678392e-02 -4.14425525e-04 9.99875594e-01 1.10643641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.165336195000002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:17.36, Y:0.00, Z:0.11 [[ 9.99351707e-01 -3.16409796e-02 -1.71759843e-02 1.73618817e+01] [ 3.16471451e-02 9.99499100e-01 8.72091632e-05 2.48755046e-03] [ 1.71646215e-02 -6.30723494e-04 9.99852478e-01 1.08739665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.195336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.39, Y:-0.00, Z:0.11 [[ 9.99224461e-01 -3.54126066e-02 -1.72169810e-02 1.73945001e+01] [ 3.54193942e-02 9.99372532e-01 8.93755115e-05 -5.46872592e-04] [ 1.72030129e-02 -6.99121235e-04 9.99851773e-01 1.09314618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.225336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.01, Z:0.11 [[ 9.99133455e-01 -3.86432075e-02 -1.54609587e-02 1.74277091e+01] [ 3.86490826e-02 9.99252842e-01 8.12718288e-05 -6.52740184e-03] [ 1.54462663e-02 -6.78753273e-04 9.99880469e-01 1.12988285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.255336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.01, Z:0.11 [[ 9.99134008e-01 -3.88620639e-02 -1.48651708e-02 1.74595185e+01] [ 3.88675456e-02 9.99244368e-01 7.99324348e-05 -1.01447991e-02] [ 1.48508319e-02 -6.57635919e-04 9.99889504e-01 1.14763673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.285336195000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.02, Z:0.11 [[ 9.99220629e-01 -3.60690125e-02 -1.60362508e-02 1.74922075e+01] [ 3.60750636e-02 9.99349079e-01 8.81342710e-05 -1.96714648e-02] [ 1.60226335e-02 -6.66574349e-04 9.99871407e-01 1.14005843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.315336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.03, Z:0.11 [[ 9.99339517e-01 -3.27183325e-02 -1.58126863e-02 1.75237900e+01] [ 3.27238125e-02 9.99464429e-01 8.78696473e-05 -2.55337402e-02] [ 1.58013425e-02 -6.05262992e-04 9.99874968e-01 1.12132495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.345336195 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.04, Z:0.11 [[ 9.99583650e-01 -2.50014152e-02 -1.44033282e-02 1.75557049e+01] [ 2.50051724e-02 9.99687319e-01 8.08038487e-05 -3.72136451e-02] [ 1.43968043e-02 -4.40927911e-04 9.99896263e-01 1.10706062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.375336195000003 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:17.59, Y:-0.04, Z:0.11 [[ 9.99676935e-01 -2.07053984e-02 -1.47415003e-02 1.75883230e+01] [ 2.07088785e-02 9.99785545e-01 8.34458392e-05 -4.01729211e-02] [ 1.47366111e-02 -3.88698818e-04 9.99891335e-01 1.12754591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.405336195 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.05, Z:0.11 [[ 9.99797722e-01 -1.10872954e-02 -1.67805392e-02 1.76191123e+01] [ 1.10904624e-02 9.99938494e-01 9.56803449e-05 -4.57198929e-02] [ 1.67784463e-02 -2.81764929e-04 9.99859192e-01 1.12869182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.435336195 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:17.65, Y:-0.05, Z:0.11 [[ 9.99854215e-01 -2.63015994e-03 -1.68710041e-02 1.76456201e+01] [ 2.63213211e-03 9.99996531e-01 9.46926252e-05 -5.34796439e-02] [ 1.68706965e-02 -1.39085532e-04 9.99857670e-01 1.11286824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.465336195000003 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.06, Z:0.11 [[ 9.99873725e-01 5.82154760e-04 -1.58806355e-02 1.76735399e+01] [-5.80856613e-04 9.99999828e-01 8.63564084e-05 -5.56469151e-02] [ 1.58806830e-02 -7.71211317e-05 9.99873891e-01 1.11987345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.495336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:17.70, Y:-0.06, Z:0.11 [[ 9.99875269e-01 5.25556687e-03 -1.48938279e-02 1.77015799e+01] [-5.25498253e-03 9.99986189e-01 7.83691443e-05 -5.66999088e-02] [ 1.48940341e-02 -9.25639379e-08 9.99889078e-01 1.14380071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.525336195 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.06, Z:0.12 [[ 9.99890921e-01 6.57286291e-03 -1.32266047e-02 1.77288383e+01] [-6.57253888e-03 9.99978398e-01 6.79666621e-05 -5.67435922e-02] [ 1.32267657e-02 1.89731254e-05 9.99912522e-01 1.15783072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.555336195000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:17.76, Y:-0.06, Z:0.12 [[ 9.99894407e-01 8.53529283e-03 -1.17610792e-02 1.77561954e+01] [-8.53518834e-03 9.99963573e-01 5.90792875e-05 -5.74177536e-02] [ 1.17611551e-02 4.13099770e-05 9.99930834e-01 1.16217169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.585336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.07, Z:0.11 [[ 9.99871497e-01 7.13865389e-03 -1.43536902e-02 1.77827781e+01] [-7.13838540e-03 9.99974519e-01 6.99401658e-05 -6.52445430e-02] [ 1.43538238e-02 3.25309943e-05 9.99896978e-01 1.09357252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.07, Z:0.11 [[ 9.99885426e-01 5.53936275e-03 -1.40872647e-02 1.78093276e+01] [-5.53896549e-03 9.99984658e-01 6.72167992e-05 -6.72603517e-02] [ 1.40874209e-02 1.08197752e-05 9.99900767e-01 1.09428734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.645336195000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.84, Y:-0.07, Z:0.11 [[ 9.99901385e-01 3.37469518e-03 -1.36320218e-02 1.78373278e+01] [-3.37413972e-03 9.99994306e-01 6.37458642e-05 -6.53582215e-02] [ 1.36321593e-02 -1.77432318e-05 9.99907078e-01 1.12025694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.675336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.06, Z:0.12 [[ 9.99891614e-01 -1.81850146e-03 -1.46100650e-02 1.78648013e+01] [ 1.81967856e-03 9.99998342e-01 6.72745494e-05 -6.14323481e-02] [ 1.46099184e-02 -9.38528797e-05 9.99893265e-01 1.15884669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.705336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.06, Z:0.12 [[ 9.99870047e-01 -4.19280403e-03 -1.55663253e-02 1.78916641e+01] [ 4.19440371e-03 9.99991201e-01 7.01185951e-05 -6.10436051e-02] [ 1.55658943e-02 -1.35400935e-04 9.99878835e-01 1.16423568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.735336195000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:17.92, Y:-0.07, Z:0.11 [[ 9.99812116e-01 -7.89385022e-03 -1.77036703e-02 1.79199060e+01] [ 7.89646947e-03 9.99968819e-01 7.80495019e-05 -6.60247099e-02] [ 1.77025022e-02 -2.17831330e-04 9.99843275e-01 1.12101980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.765336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:17.95, Y:-0.07, Z:0.11 [[ 9.99806242e-01 -9.26163148e-03 -1.73695567e-02 1.79475164e+01] [ 9.26431792e-03 9.99957083e-01 7.42038103e-05 -6.99629634e-02] [ 1.73681240e-02 -2.35106528e-04 9.99849135e-01 1.09868520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.795336195 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.07, Z:0.11 [[ 9.99830937e-01 -9.82724487e-03 -1.55409845e-02 1.79743879e+01] [ 9.82943490e-03 9.99951688e-01 6.45401167e-05 -7.35088364e-02] [ 1.55395994e-02 -2.17288301e-04 9.99879230e-01 1.09106108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.825336195000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:18.00, Y:-0.07, Z:0.11 [[ 9.99837268e-01 -8.93599701e-03 -1.56711984e-02 1.80014548e+01] [ 8.93809481e-03 9.99960052e-01 6.38274588e-05 -6.82264293e-02] [ 1.56700021e-02 -2.03887729e-04 9.99877197e-01 1.13546840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.855336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.06, Z:0.12 [[ 9.99849311e-01 -7.00170028e-03 -1.58849330e-02 1.80289231e+01] [ 7.00357736e-03 9.99975473e-01 6.25400589e-05 -6.38629298e-02] [ 1.58841055e-02 -1.73781992e-04 9.99873825e-01 1.15766728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.885336195 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.06, Z:0.11 [[ 9.99857227e-01 -1.70768833e-03 -1.68109944e-02 1.80555400e+01] [ 1.70900691e-03 9.99998538e-01 6.40696696e-05 -5.80484297e-02] [ 1.68108604e-02 -9.27906277e-05 9.99858683e-01 1.14680977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.915336195000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:18.08, Y:-0.06, Z:0.11 [[ 9.99845250e-01 -1.01082372e-04 -1.75916515e-02 1.80836198e+01] [ 1.02233998e-04 9.99999993e-01 6.45650163e-05 -5.77279891e-02] [ 1.75916448e-02 -6.63534897e-05 9.99845253e-01 1.11891536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.945336195 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:18.11, Y:-0.06, Z:0.11 [[ 9.99861591e-01 2.55306509e-03 -1.64402125e-02 1.81110095e+01] [-2.55246567e-03 9.99996741e-01 5.74439253e-05 -5.67919025e-02] [ 1.64403056e-02 -1.54728966e-05 9.99864849e-01 1.08756508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.975336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:18.14, Y:-0.05, Z:0.11 [[ 9.99859080e-01 3.86604204e-03 -1.63362791e-02 1.81383762e+01] [-3.86567441e-03 9.99992527e-01 5.40817596e-05 -5.40369661e-02] [ 1.63363661e-02 9.07659750e-06 9.99866553e-01 1.08947789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.005336195 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.05, Z:0.11 [[ 9.99866194e-01 3.71202362e-03 -1.59315639e-02 1.81656082e+01] [-3.71168634e-03 9.99993110e-01 5.07394403e-05 -4.75460263e-02] [ 1.59316425e-02 8.40031690e-06 9.99873083e-01 1.09583818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.035336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.04, Z:0.11 [[ 9.99885706e-01 2.56096096e-03 -1.49002245e-02 1.81931456e+01] [-2.56056730e-03 9.99996721e-01 4.54969664e-05 -4.45942142e-02] [ 1.49002921e-02 -7.33873889e-06 9.99888984e-01 1.10500421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.065336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.22, Y:-0.04, Z:0.11 [[ 9.99886127e-01 2.39087267e-03 -1.49002321e-02 1.82215078e+01] [-2.39049911e-03 9.99997142e-01 4.28811920e-05 -4.45328924e-02] [ 1.49002920e-02 -7.25731738e-06 9.99888984e-01 1.10702107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.095336195 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.04, Z:0.11 [[ 9.99905701e-01 -3.37129061e-03 -1.33125546e-02 1.82498518e+01] [ 3.37207946e-03 9.99994314e-01 3.68100044e-05 -3.69161483e-02] [ 1.33123548e-02 -8.16975252e-05 9.99911383e-01 1.13588241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.125336195000003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:18.28, Y:-0.03, Z:0.11 [[ 9.99825194e-01 -1.23693914e-02 -1.40206790e-02 1.82773631e+01] [ 1.23711383e-02 9.99923474e-01 3.78658164e-05 -3.37061332e-02] [ 1.40191377e-02 -2.11310956e-04 9.99901705e-01 1.13380164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.155336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.03, Z:0.11 [[ 9.99761381e-01 -1.65596678e-02 -1.42463232e-02 1.83072203e+01] [ 1.65618885e-02 9.99862842e-01 3.79056444e-05 -3.28636198e-02] [ 1.42437415e-02 -2.73842616e-04 9.99898515e-01 1.12919821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.185336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:18.34, Y:-0.03, Z:0.11 [[ 9.99588502e-01 -2.51881557e-02 -1.37252963e-02 1.83382470e+01] [ 2.51910409e-02 9.99682655e-01 3.73377727e-05 -3.39588996e-02] [ 1.37200002e-02 -3.83076909e-04 9.99905803e-01 1.10552033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.215336195000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.04, Z:0.11 [[ 9.99475405e-01 -2.87579428e-02 -1.48961765e-02 1.83701967e+01] [ 2.87617606e-02 9.99586294e-01 4.20841206e-05 -3.56882692e-02] [ 1.48888036e-02 -4.70502307e-04 9.99889045e-01 1.09110437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.245336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.03, Z:0.11 [[ 9.99297467e-01 -3.35052805e-02 -1.67919250e-02 1.84034285e+01] [ 3.35108198e-02 9.99438354e-01 4.85328585e-05 -3.49292079e-02] [ 1.67808678e-02 -6.11209936e-04 9.99859005e-01 1.10421215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.275336195 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.03, Z:0.11 [[ 9.99237731e-01 -3.46206570e-02 -1.80379354e-02 1.84367852e+01] [ 3.46272528e-02 9.99400295e-01 5.33711807e-05 -3.05131084e-02] [ 1.80252702e-02 -6.77934646e-04 9.99837302e-01 1.13666712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.305336195000002 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:18.47, Y:-0.03, Z:0.11 [[ 9.99233934e-01 -3.42339194e-02 -1.89627187e-02 1.84699066e+01] [ 3.42411640e-02 9.99413598e-01 5.73978682e-05 -3.18838061e-02] [ 1.89496340e-02 -7.06659459e-04 9.99820190e-01 1.12291120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.335336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.04, Z:0.11 [[ 9.99260522e-01 -3.46018671e-02 -1.67666434e-02 1.85017197e+01] [ 3.46075983e-02 9.99400976e-01 5.17083179e-05 -3.93520235e-02] [ 1.67548106e-02 -6.31923340e-04 9.99859429e-01 1.08852187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.365336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.04, Z:0.11 [[ 9.99281336e-01 -3.53201563e-02 -1.37585670e-02 1.85349200e+01] [ 3.53240939e-02 9.99375909e-01 4.32057807e-05 -4.06250205e-02] [ 1.37484544e-02 -5.29183644e-04 9.99905346e-01 1.11659367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.395336195000002 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:18.57, Y:-0.04, Z:0.11 [[ 9.99272175e-01 -3.54318310e-02 -1.41317152e-02 1.85683551e+01] [ 3.54360099e-02 9.99371946e-01 4.53438923e-05 -3.87403703e-02] [ 1.41212331e-02 -5.46082491e-04 9.99900141e-01 1.14009639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.425336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:18.60, Y:-0.04, Z:0.11 [[ 9.99272133e-01 -3.53270068e-02 -1.43946662e-02 1.86015686e+01] [ 3.53313459e-02 9.99375652e-01 4.71629681e-05 -3.81414671e-02] [ 1.43840127e-02 -5.55711568e-04 9.99896390e-01 1.14902555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.455336195 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:18.63, Y:-0.04, Z:0.11 [[ 9.99344232e-01 -3.28153125e-02 -1.53056103e-02 1.86335759e+01] [ 3.28199388e-02 9.99461279e-01 5.11091929e-05 -4.41808053e-02] [ 1.52956877e-02 -5.53404869e-04 9.99882861e-01 1.12064762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.485336195000002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.06, Z:0.11 [[ 9.99407352e-01 -2.87526139e-02 -1.89270291e-02 1.86670153e+01] [ 2.87589855e-02 9.99586373e-01 6.44886804e-05 -5.51248446e-02] [ 1.89173462e-02 -6.08772618e-04 9.99820866e-01 1.05829223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.515336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:18.70, Y:-0.06, Z:0.10 [[ 9.99468965e-01 -2.66927077e-02 -1.86892532e-02 1.86995990e+01] [ 2.66985790e-02 9.99643527e-01 6.46708954e-05 -6.10060703e-02] [ 1.86808648e-02 -5.63613058e-04 9.99825339e-01 1.04903045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.545336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.07, Z:0.11 [[ 9.99543210e-01 -2.45953854e-02 -1.75624304e-02 1.87319563e+01] [ 2.46002600e-02 9.99697366e-01 6.15416036e-05 -6.53135048e-02] [ 1.75556018e-02 -4.93553845e-04 9.99845767e-01 1.06652298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.575336195000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.07, Z:0.11 [[ 9.99586421e-01 -2.28238722e-02 -1.74944940e-02 1.87626564e+01] [ 2.28284517e-02 9.99739395e-01 6.20859984e-05 -6.92490330e-02] [ 1.74885178e-02 -4.61432532e-04 9.99846958e-01 1.12540441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.605336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:18.80, Y:-0.08, Z:0.11 [[ 9.99552077e-01 -2.36227271e-02 -1.83742127e-02 1.87952051e+01] [ 2.36279296e-02 9.99720819e-01 6.60692171e-05 -7.73149228e-02] [ 1.83675223e-02 -5.00184228e-04 9.99831178e-01 1.12759296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.08, Z:0.11 [[ 9.99543356e-01 -2.41653974e-02 -1.81414562e-02 1.88259089e+01] [ 2.41705711e-02 9.99707847e-01 6.59470703e-05 -8.47188788e-02] [ 1.81345624e-02 -5.04406312e-04 9.99835428e-01 1.10718354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.665336195000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:18.86, Y:-0.10, Z:0.11 [[ 9.99550472e-01 -2.25756189e-02 -1.97280461e-02 1.88571296e+01] [ 2.25814388e-02 9.99745004e-01 7.22635387e-05 -9.60342246e-02] [ 1.97213841e-02 -5.17718719e-04 9.99805381e-01 1.08104463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.695336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.10, Z:0.11 [[ 9.99606251e-01 -2.01282298e-02 -1.95498613e-02 1.88874683e+01] [ 2.01334803e-02 9.99797298e-01 7.17657594e-05 -9.97697417e-02] [ 1.95444540e-02 -4.65344249e-04 9.99808881e-01 1.08160282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.725336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.11, Z:0.11 [[ 9.99741007e-01 -1.16980939e-02 -1.95211283e-02 1.89174315e+01] [ 1.17017170e-02 9.99931530e-01 7.13810038e-05 -1.06405006e-01] [ 1.95189566e-02 -2.99793236e-04 9.99809442e-01 1.07565058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.755336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.11, Z:0.11 [[ 9.99807677e-01 -2.54157460e-04 -1.96098070e-02 1.89438878e+01] [ 2.55565501e-04 9.99999965e-01 6.92969260e-05 -1.09605198e-01] [ 1.96097887e-02 -7.42951888e-05 9.99807707e-01 1.08994259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.785336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.97, Y:-0.11, Z:0.11 [[ 9.99782653e-01 5.68696364e-03 -2.00575271e-02 1.89718796e+01] [-5.68675690e-03 9.99983828e-01 6.73444879e-05 -1.07648015e-01] [ 2.00575858e-02 4.67324301e-05 9.99798825e-01 1.11283657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.00, Y:-0.10, Z:0.11 [[ 9.99651960e-01 1.57527823e-02 -2.11615121e-02 1.89984058e+01] [-1.57548580e-02 9.99875882e-01 6.86341246e-05 -1.01230951e-01] [ 2.11599667e-02 2.64786381e-04 9.99776068e-01 1.13053737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.845336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.10, Z:0.11 [[ 9.99607329e-01 1.85916035e-02 -2.09652109e-02 1.90262618e+01] [-1.85943323e-02 9.99827108e-01 6.47910530e-05 -9.88908858e-02] [ 2.09627908e-02 3.25068486e-04 9.99780204e-01 1.13046811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.875336195000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.10, Z:0.11 [[ 9.99604959e-01 2.09159325e-02 -1.87736402e-02 1.90528927e+01] [-2.09185813e-02 9.99781181e-01 5.52924494e-05 -9.97273125e-02] [ 1.87706886e-02 3.37447312e-04 9.99823758e-01 1.09797551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.905336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.10, Z:0.11 [[ 9.99646353e-01 1.99422328e-02 -1.75919464e-02 1.90801955e+01] [-1.99444382e-02 9.99801089e-01 5.00900802e-05 -1.00960201e-01] [ 1.75894461e-02 3.00789121e-04 9.99845248e-01 1.08249154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.935336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.10, Z:0.11 [[ 9.99761986e-01 1.39553168e-02 -1.67696193e-02 1.91069655e+01] [-1.39565011e-02 9.99902602e-01 4.64099923e-05 -9.84523250e-02] [ 1.67686336e-02 1.87646264e-04 9.99859379e-01 1.08253815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.965336195000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.09, Z:0.11 [[ 9.99811927e-01 9.74219866e-03 -1.67690426e-02 1.91351856e+01] [-9.74283059e-03 9.99952537e-01 4.40120214e-05 -9.47426554e-02] [ 1.67686754e-02 1.19374197e-04 9.99859389e-01 1.09579767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.995336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:19.16, Y:-0.09, Z:0.11 [[ 9.99829765e-01 1.09034295e-03 -1.84187841e-02 1.91618354e+01] [-1.08968133e-03 9.99999405e-01 4.59568788e-05 -9.12361921e-02] [ 1.84188233e-02 -2.58784501e-05 9.99830359e-01 1.08965379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.025336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:19.19, Y:-0.09, Z:0.11 [[ 9.99801822e-01 -2.69158021e-03 -1.97249103e-02 1.91899483e+01] [ 2.69304561e-03 9.99996373e-01 4.77299685e-05 -9.04147394e-02] [ 1.97247103e-02 -1.00840593e-04 9.99805444e-01 1.08766494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.055336195000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:19.22, Y:-0.09, Z:0.11 [[ 9.99737226e-01 -9.52588883e-03 -2.08503314e-02 1.92176365e+01] [ 9.52898201e-03 9.99954597e-01 4.90023135e-05 -8.77386010e-02] [ 2.08489179e-02 -2.47671869e-04 9.99782607e-01 1.08654261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.085336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.09, Z:0.11 [[ 9.99645181e-01 -1.53079349e-02 -2.17985853e-02 1.92447437e+01] [ 1.53126538e-02 9.99882753e-01 4.95680260e-05 -8.68469160e-02] [ 2.17952708e-02 -3.83344630e-04 9.99762381e-01 1.07645894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.115336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.09, Z:0.11 [[ 9.99610329e-01 -1.77120614e-02 -2.15748253e-02 1.92728661e+01] [ 1.77171754e-02 9.99843037e-01 4.59020588e-05 -8.72394772e-02] [ 2.15706258e-02 -4.28129137e-04 9.99767235e-01 1.07216615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.145336195000002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.09, Z:0.11 [[ 9.99505241e-01 -2.32261926e-02 -2.12088834e-02 1.93006202e+01] [ 2.32322942e-02 9.99730093e-01 4.13087644e-05 -8.78920197e-02] [ 2.12021995e-02 -5.34019345e-04 9.99775065e-01 1.07057275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.175336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.09, Z:0.11 [[ 9.99435073e-01 -2.61863678e-02 -2.10667979e-02 1.93309434e+01] [ 2.61930213e-02 9.99656903e-01 3.99138054e-05 -8.53064489e-02] [ 2.10585247e-02 -5.91694344e-04 9.99778070e-01 1.09132328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.205336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.08, Z:0.12 [[ 9.99354504e-01 -3.06156113e-02 -1.87951849e-02 1.93634355e+01] [ 3.06217006e-02 9.99531045e-01 3.62020230e-05 -7.94810614e-02] [ 1.87852624e-02 -6.11719179e-04 9.99823354e-01 1.15000701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.235336195000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:19.40, Y:-0.08, Z:0.12 [[ 9.99350996e-01 -3.13416684e-02 -1.77562841e-02 1.93957542e+01] [ 3.13472312e-02 9.99508554e-01 3.49806713e-05 -7.89506674e-02] [ 1.77464615e-02 -5.91568314e-04 9.99842344e-01 1.16352692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.265336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.09, Z:0.11 [[ 9.99453464e-01 -2.81364761e-02 -1.73525846e-02 1.94277644e+01] [ 2.81413219e-02 9.99603954e-01 3.50892754e-05 -8.59144087e-02] [ 1.73447249e-02 -5.23394769e-04 9.99849432e-01 1.12592077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.295336195 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.09, Z:0.11 [[ 9.99642444e-01 -2.07677117e-02 -1.68429846e-02 1.94596818e+01] [ 2.07712461e-02 9.99784254e-01 3.49098233e-05 -9.15490632e-02] [ 1.68386258e-02 -3.84747118e-04 9.99858146e-01 1.08675506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.325336195000002 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.09, Z:0.11 [[ 9.99722299e-01 -1.69037463e-02 -1.64191515e-02 1.94898150e+01] [ 1.69065911e-02 9.99857073e-01 3.44615188e-05 -8.91117106e-02] [ 1.64162222e-02 -3.12043829e-04 9.99865196e-01 1.11097578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.355336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.08, Z:0.11 [[ 9.99789501e-01 -1.25171839e-02 -1.62565269e-02 1.95188514e+01] [ 1.25193946e-02 9.99921629e-01 3.42247525e-05 -8.26637451e-02] [ 1.62548245e-02 -2.37739423e-04 9.99867853e-01 1.13750487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.385336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.07, Z:0.12 [[ 9.99868975e-01 -5.06429594e-03 -1.53748400e-02 1.95469288e+01] [ 5.06536921e-03 9.99987170e-01 3.08655699e-05 -7.46594733e-02] [ 1.53744864e-02 -1.08740767e-04 9.99881800e-01 1.15360241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.415336195000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:19.57, Y:-0.08, Z:0.11 [[ 9.99877811e-01 -2.77850997e-03 -1.53832322e-02 1.95745252e+01] [ 2.77926983e-03 9.99996137e-01 2.80169740e-05 -7.71952197e-02] [ 1.53830949e-02 -7.07677038e-05 9.99881671e-01 1.12250802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.445336195 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:19.60, Y:-0.08, Z:0.11 [[ 9.99853271e-01 -1.34893174e-03 -1.70767730e-02 1.96018486e+01] [ 1.34962024e-03 9.99999089e-01 2.87932813e-05 -8.25341655e-02] [ 1.70767186e-02 -5.18362150e-05 9.99854181e-01 1.08354426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.475336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:19.63, Y:-0.08, Z:0.11 [[ 9.99782728e-01 -2.03344925e-03 -2.07451630e-02 1.96293104e+01] [ 2.03454541e-03 9.99997930e-01 3.17335751e-05 -7.94899252e-02] [ 2.07450555e-02 -7.39336563e-05 9.99784795e-01 1.09426085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.505336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.08, Z:0.11 [[ 9.99735194e-01 -2.48608722e-03 -2.28770825e-02 1.96566015e+01] [ 2.48747652e-03 9.99996906e-01 3.22722679e-05 -7.94983074e-02] [ 2.28769314e-02 -8.91699274e-05 9.99738285e-01 1.08766883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.535336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.08, Z:0.11 [[ 9.99717957e-01 -1.46647735e-03 -2.37035175e-02 1.96846080e+01] [ 1.46760044e-03 9.99998923e-01 2.99844865e-05 -7.75644471e-02] [ 2.37034480e-02 -6.47633221e-05 9.99719032e-01 1.09179120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.565336195 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.08, Z:0.11 [[ 9.99733096e-01 -1.22811234e-03 -2.30700677e-02 1.97111365e+01] [ 1.22905575e-03 9.99999244e-01 2.67141913e-05 -7.53888380e-02] [ 2.30700174e-02 -5.50614605e-05 9.99733850e-01 1.10671376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.595336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.74, Y:-0.07, Z:0.11 [[ 9.99782342e-01 -4.11462372e-04 -2.08590448e-02 1.97383611e+01] [ 4.12009678e-04 9.99999915e-01 2.19407780e-05 -7.37571105e-02] [ 2.08590340e-02 -3.05301307e-05 9.99782426e-01 1.10170213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.625336195000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:19.77, Y:-0.07, Z:0.11 [[ 9.99805267e-01 1.13852530e-04 -1.97336284e-02 1.97665695e+01] [-1.13527448e-04 9.99999993e-01 1.75937474e-05 -7.39174771e-02] [ 1.97336303e-02 -1.53500128e-05 9.99805273e-01 1.09306891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.655336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:19.79, Y:-0.07, Z:0.11 [[ 9.99810788e-01 2.30118312e-03 -1.93156191e-02 1.97931218e+01] [-2.30132360e-03 9.99997352e-01 1.49550387e-05 -6.97440321e-02] [ 1.93156024e-02 2.94992811e-05 9.99813436e-01 1.09030123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.685336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.06, Z:0.11 [[ 9.99788407e-01 3.33181145e-03 -2.02987748e-02 1.98206056e+01] [-3.33224097e-03 9.99994448e-01 1.26636446e-05 -6.39351033e-02] [ 2.02987043e-02 5.49794440e-05 9.99793959e-01 1.10754436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.715336195000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:19.85, Y:-0.06, Z:0.11 [[ 9.99766348e-01 4.12902347e-03 -2.12179419e-02 1.98474858e+01] [-4.12972567e-03 9.99991473e-01 1.07222215e-05 -5.79176111e-02] [ 2.12178052e-02 7.69045632e-05 9.99774874e-01 1.08475723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.745336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:19.87, Y:-0.06, Z:0.11 [[ 9.99773802e-01 3.47566889e-03 -2.09824768e-02 1.98745056e+01] [-3.47624699e-03 9.99993958e-01 8.92261797e-06 -5.86341898e-02] [ 2.09823810e-02 6.40196721e-05 9.99779844e-01 1.06141099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.775336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.06, Z:0.10 [[ 9.99684770e-01 -1.95908283e-04 -2.51062217e-02 1.99018622e+01] [ 1.96164749e-04 9.99999981e-01 7.75238829e-06 -5.56914428e-02] [ 2.51062197e-02 -1.26749002e-05 9.99684789e-01 1.04978628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.805336195000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:19.93, Y:-0.05, Z:0.11 [[ 9.99623158e-01 -2.88040572e-03 -2.72991764e-02 1.99299379e+01] [ 2.88158125e-03 9.99995848e-01 3.72126686e-06 -5.16112903e-02] [ 2.72990523e-02 -8.23846593e-05 9.99627308e-01 1.06016549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.835336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.05, Z:0.11 [[ 9.99564932e-01 -9.42358302e-03 -2.79489184e-02 1.99580016e+01] [ 9.42722703e-03 9.99955563e-01 -1.38534056e-06 -4.50406558e-02] [ 2.79476895e-02 -2.62096061e-04 9.99609353e-01 1.07137245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.98, Y:-0.04, Z:0.11 [[ 9.99551208e-01 -1.25758708e-02 -2.71887889e-02 1.99847178e+01] [ 1.25804067e-02 9.99920864e-01 -4.22598253e-06 -4.40673599e-02] [ 2.71866904e-02 -3.37821935e-04 9.99630317e-01 1.06964147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.895336195000002 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:20.01, Y:-0.05, Z:0.10 [[ 9.99472491e-01 -1.97179246e-02 -2.58058760e-02 2.00117770e+01] [ 1.97243378e-02 9.99805456e-01 -6.02742755e-06 -4.55677556e-02] [ 2.58009745e-02 -5.02979568e-04 9.99666973e-01 1.04247120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.925336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:20.04, Y:-0.05, Z:0.10 [[ 9.99353076e-01 -2.69563739e-02 -2.38072024e-02 2.00391065e+01] [ 2.69638407e-02 9.99636410e-01 -7.37905835e-06 -4.72331867e-02] [ 2.37987453e-02 -6.34559328e-04 9.99716568e-01 1.02952837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.955336195 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:20.07, Y:-0.04, Z:0.11 [[ 9.99249011e-01 -3.10510974e-02 -2.31785191e-02 2.00709184e+01] [ 3.10592712e-02 9.99517544e-01 -7.36224534e-06 -4.47184940e-02] [ 2.31675651e-02 -7.12551194e-04 9.99731342e-01 1.05272592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.985336195000002 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:20.10, Y:-0.04, Z:0.11 [[ 9.99008074e-01 -3.74278242e-02 -2.41252323e-02 2.01028770e+01] [ 3.74385591e-02 9.99298931e-01 -6.71055691e-06 -4.10266794e-02] [ 2.41085700e-02 -8.96510033e-04 9.99708944e-01 1.09245223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.015336195 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:20.14, Y:-0.04, Z:0.11 [[ 9.99011871e-01 -3.73263305e-02 -2.41252327e-02 2.01364584e+01] [ 3.73370855e-02 9.99302728e-01 -4.65177020e-06 -4.11326669e-02] [ 2.41085845e-02 -8.96118703e-04 9.99708944e-01 1.09482701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.045336195 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:20.17, Y:-0.04, Z:0.11 [[ 9.98948663e-01 -3.88554975e-02 -2.43273490e-02 2.01684229e+01] [ 3.88669521e-02 9.99244395e-01 -1.98473458e-06 -4.20277998e-02] [ 2.43090443e-02 -9.43547261e-04 9.99704046e-01 1.09726777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.075336195000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:20.20, Y:-0.05, Z:0.11 [[ 9.98854065e-01 -4.02504079e-02 -2.58932677e-02 2.02015678e+01] [ 4.02639088e-02 9.99189080e-01 3.93271643e-08 -4.82369795e-02] [ 2.58722688e-02 -1.04260345e-03 9.99664713e-01 1.07472316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.105336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:20.23, Y:-0.05, Z:0.11 [[ 9.98854665e-01 -3.99369797e-02 -2.63513800e-02 2.02332595e+01] [ 3.99509217e-02 9.99201643e-01 2.60957812e-06 -5.26315815e-02] [ 2.63302380e-02 -1.05536851e-03 9.99652742e-01 1.05807169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.135336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.05, Z:0.11 [[ 9.99002114e-01 -3.71319179e-02 -2.48193024e-02 2.02650835e+01] [ 3.71434577e-02 9.99309944e-01 3.94454233e-06 -5.45814893e-02] [ 2.48020292e-02 -9.25815316e-04 9.99691954e-01 1.07885135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.165336195000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:20.30, Y:-0.05, Z:0.11 [[ 9.99117149e-01 -3.36096354e-02 -2.52054683e-02 2.02967866e+01] [ 3.36204463e-02 9.99434673e-01 5.13663845e-06 -5.32597933e-02] [ 2.51910463e-02 -8.52551196e-04 9.99682292e-01 1.11223061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.195336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:20.33, Y:-0.05, Z:0.11 [[ 9.99200383e-01 -3.14186056e-02 -2.47278442e-02 2.03276943e+01] [ 3.14283628e-02 9.99506007e-01 5.95003393e-06 -5.26230946e-02] [ 2.47154419e-02 -7.83100937e-04 9.99694220e-01 1.12435627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.225336195 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:20.36, Y:-0.05, Z:0.11 [[ 9.99454585e-01 -2.53619875e-02 -2.11494981e-02 2.03597360e+01] [ 2.53677874e-02 9.99678186e-01 5.94577085e-06 -5.26103250e-02] [ 2.11425411e-02 -5.42458498e-04 9.99776324e-01 1.13088509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.255336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:20.39, Y:-0.06, Z:0.11 [[ 9.99543928e-01 -2.16382724e-02 -2.10647056e-02 2.03898188e+01] [ 2.16432176e-02 9.99765758e-01 6.78438543e-06 -5.60497346e-02] [ 2.10596246e-02 -4.62689298e-04 9.99778114e-01 1.10229696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.285336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:20.42, Y:-0.06, Z:0.11 [[ 9.99573775e-01 -1.77144877e-02 -2.32048474e-02 2.04199072e+01] [ 1.77194310e-02 9.99842999e-01 7.41460552e-06 -5.92434081e-02] [ 2.32010729e-02 -4.18588138e-04 9.99730731e-01 1.07405833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.315336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:20.45, Y:-0.06, Z:0.11 [[ 9.99612669e-01 -8.62486183e-03 -2.64598410e-02 2.04482572e+01] [ 8.62800879e-03 9.99962778e-01 4.76562910e-06 -5.76213117e-02] [ 2.64588151e-02 -2.33059524e-04 9.99649877e-01 1.06094986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.345336195 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:20.48, Y:-0.05, Z:0.11 [[ 9.99644170e-01 -4.88214777e-03 -2.62239888e-02 2.04753874e+01] [ 4.88385516e-03 9.99988074e-01 1.05989226e-06 -5.39548371e-02] [ 2.62236708e-02 -1.29133678e-04 9.99656092e-01 1.07484390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.375336195000003 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:20.50, Y:-0.05, Z:0.11 [[ 9.99640599e-01 5.55437349e-04 -2.68023364e-02 2.05031769e+01] [-5.55728573e-04 9.99999846e-01 -3.41689307e-06 -4.89143458e-02] [ 2.68023303e-02 1.83104892e-05 9.99640753e-01 1.09417167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.405336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:20.53, Y:-0.05, Z:0.11 [[ 9.99593810e-01 3.21399017e-03 -2.83175639e-02 2.05314850e+01] [-3.21553230e-03 9.99994830e-01 -8.92123807e-06 -5.00569359e-02] [ 2.83173888e-02 9.99736557e-05 9.99598977e-01 1.05919895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.435336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.05, Z:0.11 [[ 9.99589037e-01 3.96847970e-03 -2.83902686e-02 2.05586496e+01] [-3.97044840e-03 9.99992118e-01 -1.29717334e-05 -4.90182466e-02] [ 2.83899933e-02 1.25688499e-04 9.99596915e-01 1.05305469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.465336195000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.59, Y:-0.04, Z:0.11 [[ 9.99593789e-01 4.21895527e-03 -2.81861285e-02 2.05857560e+01] [-4.22106842e-03 9.99991091e-01 -1.54719990e-05 -4.32111852e-02] [ 2.81858121e-02 1.34441291e-04 9.99602692e-01 1.06784177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.495336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:20.61, Y:-0.04, Z:0.11 [[ 9.99634997e-01 3.26774483e-03 -2.68178143e-02 2.06135146e+01] [-3.26942707e-03 9.99994655e-01 -1.88811661e-05 -4.30435199e-02] [ 2.68176092e-02 1.06553162e-04 9.99640338e-01 1.05914687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.525336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.04, Z:0.10 [[ 9.99656280e-01 1.32869461e-03 -2.61831304e-02 2.06417135e+01] [-1.32975798e-03 9.99999116e-01 -2.32010011e-05 -4.42707157e-02] [ 2.61830764e-02 5.80102528e-05 9.99657163e-01 1.04818082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.555336195000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:20.67, Y:-0.04, Z:0.11 [[ 9.99591413e-01 -2.78856098e-03 -2.84469739e-02 2.06698533e+01] [ 2.78882096e-03 9.99996111e-01 -3.05355989e-05 -3.91693804e-02] [ 2.84469485e-02 -4.88103947e-05 9.99595302e-01 1.07042103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.585336195 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.04, Z:0.11 [[ 9.99565550e-01 -6.22414740e-03 -2.88092256e-02 2.06977248e+01] [ 6.22568842e-03 9.99980620e-01 -3.62074013e-05 -3.76931506e-02] [ 2.88088926e-02 -1.43165591e-04 9.99584927e-01 1.06964091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.615336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:20.73, Y:-0.04, Z:0.11 [[ 9.99538270e-01 -9.20724329e-03 -2.89564158e-02 2.07257235e+01] [ 9.20989788e-03 9.99957587e-01 -4.16968993e-05 -3.67268940e-02] [ 2.89555716e-02 -2.25007986e-04 9.99580674e-01 1.06979913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.645336195000002 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:20.75, Y:-0.04, Z:0.11 [[ 9.99461619e-01 -1.46461040e-02 -2.93592043e-02 2.07526707e+01] [ 1.46510880e-02 9.99892666e-01 -4.53642834e-05 -3.75408048e-02] [ 2.93567175e-02 -3.84804425e-04 9.99568925e-01 1.06905760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.675336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:20.78, Y:-0.04, Z:0.11 [[ 9.99403609e-01 -1.72099202e-02 -2.99373363e-02 2.07806355e+01] [ 1.72161082e-02 9.99851791e-01 -5.10660894e-05 -3.96026175e-02] [ 2.99337782e-02 -4.64368788e-04 9.99551776e-01 1.07006963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.705336195 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:20.81, Y:-0.04, Z:0.11 [[ 9.99364694e-01 -2.14330068e-02 -2.84751441e-02 2.08076612e+01] [ 2.14402334e-02 9.99770130e-01 -5.15439827e-05 -3.88428276e-02] [ 2.84697033e-02 -5.59002498e-04 9.99594500e-01 1.09884011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.735336195000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.04, Z:0.11 [[ 9.99347520e-01 -2.32055645e-02 -2.76773486e-02 2.08349600e+01] [ 2.32130106e-02 9.99730540e-01 -5.22769799e-05 -3.79013570e-02] [ 2.76711037e-02 -5.90231716e-04 9.99616907e-01 1.11700788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.765336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:20.86, Y:-0.04, Z:0.11 [[ 9.99277681e-01 -2.41416909e-02 -2.93478321e-02 2.08630279e+01] [ 2.41503320e-02 9.99708336e-01 -6.00345897e-05 -4.25494878e-02] [ 2.93407217e-02 -6.48768662e-04 9.99569258e-01 1.09105586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.795336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.05, Z:0.11 [[ 9.99415453e-01 -2.04575305e-02 -2.73905346e-02 2.08909381e+01] [ 2.04635388e-02 9.99790598e-01 -6.09595061e-05 -4.93633790e-02] [ 2.73860461e-02 -4.99583395e-04 9.99624807e-01 1.05607818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.825336195000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:20.92, Y:-0.05, Z:0.11 [[ 9.99481817e-01 -1.75696325e-02 -2.69704637e-02 2.09178253e+01] [ 1.75743293e-02 9.99845558e-01 -6.28997261e-05 -5.18122822e-02] [ 2.69674034e-02 -4.11120677e-04 9.99636229e-01 1.05411077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.855336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.94, Y:-0.05, Z:0.11 [[ 9.99462226e-01 -1.22179019e-02 -3.04299512e-02 2.09448663e+01] [ 1.22212539e-02 9.99925315e-01 -7.58374562e-05 -5.18351585e-02] [ 3.04286051e-02 -2.96095487e-04 9.99536899e-01 1.06049813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.885336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:20.97, Y:-0.05, Z:0.11 [[ 9.99461957e-01 -1.06941429e-02 -3.10069604e-02 2.09724593e+01] [ 1.06967137e-02 9.99942785e-01 -8.29691427e-05 -4.93066216e-02] [ 3.10060736e-02 -2.48748076e-04 9.99519165e-01 1.09054984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.915336195000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.00, Y:-0.04, Z:0.12 [[ 9.99546908e-01 -8.81374051e-03 -2.87801418e-02 2.10000108e+01] [ 8.81502697e-03 9.99961144e-01 -8.21778380e-05 -4.39248719e-02] [ 2.87797478e-02 -1.71557122e-04 9.99585763e-01 1.15347440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.945336195 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:21.03, Y:-0.05, Z:0.11 [[ 9.99578394e-01 -8.48588471e-03 -2.77673295e-02 2.10281987e+01] [ 8.48681536e-03 9.99963983e-01 -8.43366434e-05 -4.54240894e-02] [ 2.77670450e-02 -1.51355112e-04 9.99614410e-01 1.14638233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.06, Y:-0.06, Z:0.11 [[ 9.99618718e-01 -7.85805740e-03 -2.64701508e-02 2.10562795e+01] [ 7.85855577e-03 9.99969117e-01 -8.52006150e-05 -5.79769817e-02] [ 2.64700029e-02 -1.22849027e-04 9.99649601e-01 1.08205287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.005336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.08, Y:-0.06, Z:0.11 [[ 9.99619547e-01 -7.56040182e-03 -2.65254858e-02 2.10840747e+01] [ 7.56066788e-03 9.99971414e-01 -9.02638303e-05 -6.02852128e-02] [ 2.65254100e-02 -1.10320900e-04 9.99648133e-01 1.08647829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.035336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:21.11, Y:-0.06, Z:0.11 [[ 9.99609248e-01 -6.22296605e-03 -2.72511829e-02 2.11106955e+01] [ 6.22261263e-03 9.99980635e-01 -9.77723803e-05 -5.69717955e-02] [ 2.72512636e-02 -7.18393795e-05 9.99628613e-01 1.12102227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.065336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:21.14, Y:-0.06, Z:0.11 [[ 9.99612144e-01 -5.57952454e-03 -2.72842544e-02 2.11389905e+01] [ 5.57879526e-03 9.99984433e-01 -1.02850527e-04 -5.61262154e-02] [ 2.72844036e-02 -4.94026332e-05 9.99627710e-01 1.12646329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.095336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.17, Y:-0.06, Z:0.11 [[ 9.99602837e-01 -3.27531360e-03 -2.79900016e-02 2.11668194e+01] [ 3.27349621e-03 9.99994636e-01 -1.10751367e-04 -5.83039559e-02] [ 2.79902142e-02 1.90822168e-05 9.99608197e-01 1.11483735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.125336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.06, Z:0.11 [[ 9.99602339e-01 -2.64437687e-03 -2.80743807e-02 2.11941376e+01] [ 2.64221402e-03 9.99996503e-01 -1.14136419e-04 -5.94678244e-02] [ 2.80745844e-02 3.99125090e-05 9.99605830e-01 1.11730791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.155336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:21.22, Y:-0.06, Z:0.11 [[ 9.99566472e-01 -2.83415239e-03 -2.93059049e-02 2.12217778e+01] [ 2.83174262e-03 9.99995983e-01 -1.23729966e-04 -6.36744014e-02] [ 2.93061379e-02 4.06895451e-05 9.99570482e-01 1.10592845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.185336195 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:21.25, Y:-0.07, Z:0.11 [[ 9.99514629e-01 -4.18325564e-03 -3.08708185e-02 2.12486611e+01] [ 4.18112619e-03 9.99991250e-01 -1.33532147e-04 -6.67328857e-02] [ 3.08711070e-02 4.39254669e-06 9.99523374e-01 1.10127337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.215336195000003 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:21.28, Y:-0.07, Z:0.11 [[ 9.99514183e-01 -4.15150676e-03 -3.08895133e-02 2.12768433e+01] [ 4.14920855e-03 9.99991382e-01 -1.38499632e-04 -6.60254923e-02] [ 3.08898221e-02 1.02653133e-05 9.99522796e-01 1.11461009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.31, Y:-0.07, Z:0.11 [[ 9.99541087e-01 -4.27554611e-03 -2.99889177e-02 2.13051492e+01] [ 4.27327281e-03 9.99990860e-01 -1.39894287e-04 -6.62676292e-02] [ 2.99892417e-02 1.16792611e-05 9.99550221e-01 1.11152765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.275336195 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:21.33, Y:-0.07, Z:0.11 [[ 9.99583363e-01 -4.91915953e-03 -2.84412227e-02 2.13334330e+01] [ 4.91722452e-03 9.99987901e-01 -1.37975619e-04 -6.79878149e-02] [ 2.84415573e-02 -1.93374401e-06 9.99595457e-01 1.10507282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.305336195000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.36, Y:-0.07, Z:0.11 [[ 9.99615871e-01 -4.45225887e-03 -2.73548336e-02 2.13604072e+01] [ 4.45021251e-03 9.99990089e-01 -1.35686768e-04 -6.76917663e-02] [ 2.73551666e-02 1.38998237e-05 9.99625777e-01 1.11205699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.335336195 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:21.39, Y:-0.06, Z:0.11 [[ 9.99612766e-01 -3.52952246e-03 -2.76018311e-02 2.13878921e+01] [ 3.52696637e-03 9.99993770e-01 -1.41290287e-04 -6.17006257e-02] [ 2.76021578e-02 4.38848453e-05 9.99618987e-01 1.12817264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.365336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:21.42, Y:-0.06, Z:0.11 [[ 9.99599305e-01 -2.67979522e-03 -2.81788736e-02 2.14150620e+01] [ 2.67670813e-03 9.99996407e-01 -1.47273744e-04 -6.01457510e-02] [ 2.81791670e-02 7.17881120e-05 9.99602886e-01 1.12041019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.395336195000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.44, Y:-0.06, Z:0.11 [[ 9.99564973e-01 -2.43016344e-03 -2.93931932e-02 2.14429325e+01] [ 2.42656048e-03 9.99997043e-01 -1.58247438e-04 -6.32217415e-02] [ 2.93934908e-02 8.68542347e-05 9.99567914e-01 1.07393322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.425336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.47, Y:-0.06, Z:0.11 [[ 9.99548174e-01 -4.56526578e-03 -2.97087044e-02 2.14707104e+01] [ 4.56236263e-03 9.99989579e-01 -1.65506225e-04 -5.97721278e-02] [ 2.97091504e-02 2.98895619e-05 9.99558585e-01 1.09793393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.455336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:21.50, Y:-0.06, Z:0.11 [[ 9.99511528e-01 -6.96619324e-03 -3.04660216e-02 2.14973525e+01] [ 6.96415506e-03 9.99975735e-01 -1.73010548e-04 -5.64569413e-02] [ 3.04664876e-02 -3.92440620e-05 9.99535788e-01 1.11781334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.485336195000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:21.52, Y:-0.05, Z:0.11 [[ 9.99461811e-01 -1.04198888e-02 -3.11048957e-02 2.15245920e+01] [ 1.04193585e-02 9.99945701e-01 -1.79138548e-04 -5.26241384e-02] [ 3.11050734e-02 -1.45050922e-04 9.99516110e-01 1.13184822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.515336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.55, Y:-0.05, Z:0.11 [[ 9.99474112e-01 -1.18574894e-02 -3.01810963e-02 2.15529251e+01] [ 1.18575010e-02 9.99929681e-01 -1.78597167e-04 -5.18053007e-02] [ 3.01810917e-02 -1.79369135e-04 9.99544431e-01 1.12982696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.545336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:21.58, Y:-0.05, Z:0.11 [[ 9.99519948e-01 -1.32557843e-02 -2.80028209e-02 2.15807963e+01] [ 1.32562016e-02 9.99912118e-01 -1.70748878e-04 -5.18367682e-02] [ 2.80026234e-02 -2.00544128e-04 9.99607830e-01 1.11553795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.575336195000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.61, Y:-0.05, Z:0.11 [[ 9.99527523e-01 -1.35886788e-02 -2.75695269e-02 2.16086391e+01] [ 1.35890716e-02 9.99907649e-01 -1.73120462e-04 -5.19149204e-02] [ 2.75693333e-02 -2.01605608e-04 9.99619873e-01 1.10361333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.605336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:21.64, Y:-0.05, Z:0.11 [[ 9.99566505e-01 -1.23465822e-02 -2.67276029e-02 2.16353779e+01] [ 1.23464321e-02 9.99923765e-01 -1.70647771e-04 -4.61488139e-02] [ 2.67276722e-02 -1.59416737e-04 9.99642739e-01 1.12382407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.635336195 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:21.66, Y:-0.03, Z:0.12 [[ 9.99591633e-01 -9.36087681e-03 -2.69989008e-02 2.16629932e+01] [ 9.35952197e-03 9.99956183e-01 -1.76555140e-04 -3.32381632e-02] [ 2.69993705e-02 -7.62137644e-05 9.99635448e-01 1.17296131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.665336195000002 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:21.69, Y:-0.03, Z:0.12 [[ 9.99582369e-01 -8.42653740e-03 -2.76420289e-02 2.16911836e+01] [ 8.42462109e-03 9.99964495e-01 -1.85786274e-04 -2.92691738e-02] [ 2.76426130e-02 -4.71649358e-05 9.99617869e-01 1.17746310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.695336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:21.72, Y:-0.03, Z:0.11 [[ 9.99541494e-01 -7.88874706e-03 -2.92330257e-02 2.17179475e+01] [ 8.01072384e-03 9.99959680e-01 4.05780412e-03 -3.08393207e-02] [ 2.91998360e-02 -4.29012129e-03 9.99564387e-01 1.14597234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.725336195 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:21.75, Y:-0.03, Z:0.12 [[ 9.99508257e-01 -9.41533482e-03 -2.99097810e-02 2.17471524e+01] [ 9.28435947e-03 9.99946707e-01 -4.51488065e-03 -2.51157472e-02] [ 2.99506962e-02 4.23496734e-03 9.99542406e-01 1.15668337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.755336195 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:21.77, Y:-0.02, Z:0.11 [[ 9.99487456e-01 -1.14753884e-02 -2.98854676e-02 2.17748457e+01] [ 1.14741222e-02 9.99934147e-01 -2.13869666e-04 -2.39803756e-02] [ 2.98859538e-02 -1.29149457e-04 9.99553307e-01 1.14257910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.785336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:21.80, Y:-0.01, Z:0.12 [[ 9.99480771e-01 -1.67807743e-02 -2.75062535e-02 2.18012675e+01] [ 1.67816028e-02 9.99859159e-01 -2.00741662e-04 -1.29695779e-02] [ 2.75057481e-02 -2.60961589e-04 9.99621611e-01 1.20107243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.83, Y:-0.01, Z:0.12 [[ 9.99444394e-01 -2.01760374e-02 -2.65297973e-02 2.18292588e+01] [ 2.01778823e-02 9.99796386e-01 -1.98189523e-04 -9.34216066e-03] [ 2.65283942e-02 -3.37235721e-04 9.99648003e-01 1.20570945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.845336195 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:21.86, Y:-0.01, Z:0.11 [[ 9.99323187e-01 -2.62799996e-02 -2.57396334e-02 2.18564265e+01] [ 2.62836868e-02 9.99654505e-01 -1.95121765e-04 -1.28939454e-02] [ 2.57358683e-02 -4.81542760e-04 9.99668662e-01 1.14212637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.875336195 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:21.89, Y:-0.01, Z:0.11 [[ 9.99323470e-01 -2.62692596e-02 -2.57396305e-02 2.18874338e+01] [ 2.62729334e-02 9.99654788e-01 -1.95503052e-04 -1.26610311e-02] [ 2.57358806e-02 -4.80884810e-04 9.99668662e-01 1.14432664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.905336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:21.92, Y:-0.02, Z:0.11 [[ 9.99213017e-01 -2.92166973e-02 -2.68278216e-02 2.19183323e+01] [ 2.92217523e-02 9.99572933e-01 -2.03688985e-04 -1.81542469e-02] [ 2.68223154e-02 -5.80427271e-04 9.99640048e-01 1.09331502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.935336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:21.95, Y:-0.02, Z:0.11 [[ 9.98962974e-01 -3.36932397e-02 -3.06225702e-02 2.19496780e+01] [ 3.37019449e-02 9.99431901e-01 -2.31967875e-04 -2.36205842e-02] [ 3.06129893e-02 -8.00312856e-04 9.99530992e-01 1.07066218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.965336195000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.02, Z:0.11 [[ 9.98858004e-01 -3.50348675e-02 -3.24845376e-02 2.19797689e+01] [ 3.50454098e-02 9.99385691e-01 -2.44951798e-04 -2.06456467e-02] [ 3.24731639e-02 -8.93761868e-04 9.99472208e-01 1.10822850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.995336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.01, Z:0.12 [[ 9.98719320e-01 -3.55062826e-02 -3.60419670e-02 2.20100750e+01] [ 3.55195922e-02 9.99368943e-01 -2.71159447e-04 -1.44269612e-02] [ 3.60288503e-02 -1.00938379e-03 9.99350240e-01 1.17869496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.025336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.01, Z:0.12 [[ 9.98717712e-01 -3.37355445e-02 -3.77471281e-02 2.20383108e+01] [ 3.37487048e-02 9.99430309e-01 -2.88670939e-04 -1.32277090e-02] [ 3.77353624e-02 -9.85615902e-04 9.99287282e-01 1.19091388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.055336195000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:22.07, Y:-0.02, Z:0.12 [[ 9.98905987e-01 -3.07113648e-02 -3.52653028e-02 2.20662384e+01] [ 3.07207473e-02 9.99527968e-01 -2.75898351e-04 -1.80821382e-02] [ 3.52571296e-02 -8.07779939e-04 9.99377948e-01 1.17040123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.085336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:22.09, Y:-0.02, Z:0.12 [[ 9.99014718e-01 -2.89734375e-02 -3.36174388e-02 2.20935988e+01] [ 2.89807749e-02 9.99579933e-01 -2.69086713e-04 -2.21896843e-02] [ 3.36111136e-02 -7.05437842e-04 9.99434738e-01 1.15803002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.115336195 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:22.12, Y:-0.03, Z:0.12 [[ 9.99125010e-01 -2.68769932e-02 -3.20443779e-02 2.21213951e+01] [ 2.68823970e-02 9.99638569e-01 -2.62255172e-04 -2.55125148e-02] [ 3.20398446e-02 -5.99403985e-04 9.99486413e-01 1.15034596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.145336195000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:22.15, Y:-0.03, Z:0.12 [[ 9.99304783e-01 -2.29033966e-02 -2.94174185e-02 2.21492678e+01] [ 2.29060708e-02 9.99737591e-01 -2.46126579e-04 -2.78468958e-02] [ 2.94153363e-02 -4.27882004e-04 9.99567184e-01 1.16398989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.175336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:22.18, Y:-0.02, Z:0.12 [[ 9.99401646e-01 -1.87848835e-02 -2.90426997e-02 2.21759129e+01] [ 1.87855935e-02 9.99823504e-01 -2.48427489e-04 -2.35865544e-02] [ 2.90422404e-02 -2.97305508e-04 9.99578141e-01 1.21745486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.205336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:22.20, Y:-0.02, Z:0.12 [[ 9.99431168e-01 -1.63110456e-02 -2.95176110e-02 2.22024504e+01] [ 1.63105767e-02 9.99866941e-01 -2.56676853e-04 -1.95041643e-02] [ 2.95178701e-02 -2.24918412e-04 9.99564227e-01 1.24747825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.235336195000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.02, Z:0.13 [[ 9.99457582e-01 -1.32147664e-02 -3.01647414e-02 2.22301640e+01] [ 1.32127131e-02 9.99912673e-01 -2.67401318e-04 -1.79287740e-02] [ 3.01656408e-02 -1.31301798e-04 9.99544905e-01 1.25034396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.265336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.02, Z:0.12 [[ 9.99514225e-01 -6.86521586e-03 -3.04003908e-02 2.22580840e+01] [ 6.86002418e-03 9.99976432e-01 -2.75072377e-04 -2.36744360e-02] [ 3.04015628e-02 6.63913378e-05 9.99537763e-01 1.18492395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.295336195 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.03, Z:0.12 [[ 9.99532132e-01 -5.31467877e-03 -3.01209573e-02 2.22861543e+01] [ 5.30871174e-03 9.99985870e-01 -2.78069317e-04 -2.69204166e-02] [ 3.01220095e-02 1.18035738e-04 9.99546222e-01 1.16678717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.325336195000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:22.31, Y:-0.02, Z:0.12 [[ 9.99582593e-01 -3.99612679e-03 -2.86124253e-02 2.23142111e+01] [ 3.99004984e-03 9.99992003e-01 -2.69479920e-04 -2.44375724e-02] [ 2.86132734e-02 1.55202434e-04 9.99590544e-01 1.20684588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.355336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:22.34, Y:-0.02, Z:0.13 [[ 9.99599566e-01 -4.66532162e-03 -2.79095529e-02 2.23408975e+01] [ 4.65968835e-03 9.99989108e-01 -2.66874872e-04 -1.86413122e-02] [ 2.79104940e-02 1.36718187e-04 9.99610417e-01 1.25063183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.385336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.37, Y:-0.02, Z:0.13 [[ 9.99576212e-01 -7.54477122e-03 -2.81153662e-02 2.23692072e+01] [ 7.54005910e-03 9.99971536e-01 -2.73614126e-04 -1.50025755e-02] [ 2.81166303e-02 6.15066488e-05 9.99604648e-01 1.25325304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.415336195000002 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:22.40, Y:-0.02, Z:0.12 [[ 9.99558484e-01 -9.24933990e-03 -2.82362813e-02 2.23960514e+01] [ 9.24518300e-03 9.99957224e-01 -2.77768695e-04 -1.70444459e-02] [ 2.82376427e-02 1.65964670e-05 9.99601238e-01 1.22782770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.445336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.02, Z:0.12 [[ 9.99492719e-01 -1.34370261e-02 -2.88747604e-02 2.24238704e+01] [ 1.34342905e-02 9.99909714e-01 -2.88741870e-04 -2.16060336e-02] [ 2.88760332e-02 -9.93165233e-05 9.99582995e-01 1.18395017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.45, Y:-0.02, Z:0.12 [[ 9.99466492e-01 -1.57097404e-02 -2.86345305e-02 2.24503616e+01] [ 1.57078942e-02 9.99876582e-01 -2.89426664e-04 -2.29389218e-02] [ 2.86355433e-02 -1.60515924e-04 9.99589906e-01 1.18059200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.505336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.02, Z:0.12 [[ 9.99416255e-01 -1.94903961e-02 -2.80584035e-02 2.24777415e+01] [ 1.94899891e-02 9.99810011e-01 -2.88014462e-04 -2.33564348e-02] [ 2.80586862e-02 -2.59011644e-04 9.99606244e-01 1.19846352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.535336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:22.50, Y:-0.02, Z:0.12 [[ 9.99393984e-01 -2.12300090e-02 -2.75853668e-02 2.25045076e+01] [ 2.12301979e-02 9.99774573e-01 -2.86063135e-04 -2.36775162e-02] [ 2.75852214e-02 -2.99753019e-04 9.99619410e-01 1.20709492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.565336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.53, Y:-0.02, Z:0.12 [[ 9.99249461e-01 -2.45759076e-02 -2.99422685e-02 2.25318717e+01] [ 2.45774862e-02 9.99697878e-01 -3.15370293e-04 -2.39535525e-02] [ 2.99409728e-02 -4.20772095e-04 9.99551580e-01 1.23854061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.595336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:22.56, Y:-0.02, Z:0.12 [[ 9.99208144e-01 -2.54466599e-02 -3.05868057e-02 2.25584603e+01] [ 2.54486160e-02 9.99676079e-01 -3.25397981e-04 -2.32334236e-02] [ 3.05851783e-02 -4.53251560e-04 9.99532061e-01 1.23938054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.625336195 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:22.59, Y:-0.03, Z:0.12 [[ 9.99132453e-01 -2.77986234e-02 -3.10093230e-02 2.25865297e+01] [ 2.78016111e-02 9.99613404e-01 -3.34887903e-04 -2.51374895e-02] [ 3.10066444e-02 -5.27511768e-04 9.99519039e-01 1.22153921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.655336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:22.61, Y:-0.03, Z:0.12 [[ 9.99078270e-01 -2.90369487e-02 -3.16143398e-02 2.26147424e+01] [ 2.90405644e-02 9.99578174e-01 -3.44885652e-04 -2.73677555e-02] [ 3.16110185e-02 -5.73530513e-04 9.99500082e-01 1.21867015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.685336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:22.64, Y:-0.03, Z:0.12 [[ 9.99125176e-01 -2.75492716e-02 -3.14630017e-02 2.26426184e+01] [ 2.75520526e-02 9.99620311e-01 -3.45232968e-04 -2.88907281e-02] [ 3.14605665e-02 -5.21939330e-04 9.99504858e-01 1.22862068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.715336195000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.67, Y:-0.03, Z:0.12 [[ 9.99171680e-01 -2.66315115e-02 -3.07687606e-02 2.26706196e+01] [ 2.66335875e-02 9.99645204e-01 -3.42437899e-04 -2.82880111e-02] [ 3.07669636e-02 -4.77328228e-04 9.99526471e-01 1.24094722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.745336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:22.70, Y:-0.03, Z:0.12 [[ 9.99289667e-01 -2.35312040e-02 -2.94354236e-02 2.26980432e+01] [ 2.35316683e-02 9.99723037e-01 -3.30682078e-04 -2.79240836e-02] [ 2.94350525e-02 -3.62217443e-04 9.99566629e-01 1.24611164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.775336195 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:22.72, Y:-0.03, Z:0.12 [[ 9.99373119e-01 -2.14439241e-02 -2.81696204e-02 2.27247929e+01] [ 2.14434576e-02 9.99770012e-01 -3.18682426e-04 -2.80209243e-02] [ 2.81699755e-02 -2.85571411e-04 9.99603107e-01 1.23946799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.805336195000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.75, Y:-0.03, Z:0.12 [[ 9.99476175e-01 -1.72284349e-02 -2.73962717e-02 2.27514834e+01] [ 1.72263515e-02 9.99851567e-01 -3.12074927e-04 -3.10265983e-02] [ 2.73975817e-02 -1.60026353e-04 9.99624603e-01 1.21452977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.835336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.03, Z:0.12 [[ 9.99453379e-01 -1.69729535e-02 -2.83700889e-02 2.27790809e+01] [ 1.69704921e-02 9.99855937e-01 -3.27550476e-04 -2.95065302e-02] [ 2.83715613e-02 -1.54082941e-04 9.99597434e-01 1.21971125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.865336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:22.81, Y:-0.03, Z:0.12 [[ 9.99366175e-01 -1.65479173e-02 -3.15184666e-02 2.28073526e+01] [ 1.65444797e-02 9.99863062e-01 -3.69874243e-04 -2.67462803e-02] [ 3.15202712e-02 -1.51816824e-04 9.99503101e-01 1.23797746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.895336195000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:22.83, Y:-0.02, Z:0.13 [[ 9.99356628e-01 -1.60387194e-02 -3.20794401e-02 2.28343563e+01] [ 1.60347876e-02 9.99871362e-01 -3.79838485e-04 -2.47579839e-02] [ 3.20814056e-02 -1.34792900e-04 9.99485250e-01 1.25271500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.925336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.86, Y:-0.02, Z:0.13 [[ 9.99411888e-01 -1.61629874e-02 -3.02429481e-02 2.28625307e+01] [ 1.61594045e-02 9.99869362e-01 -3.62895106e-04 -2.40604069e-02] [ 3.02448627e-02 -1.26026347e-04 9.99542512e-01 1.26968378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.955336195 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:22.89, Y:-0.03, Z:0.13 [[ 9.99408230e-01 -1.74921620e-02 -2.96178127e-02 2.28895628e+01] [ 1.74891878e-02 9.99846988e-01 -3.59490435e-04 -2.59776836e-02] [ 2.96195690e-02 -1.58713787e-04 9.99561232e-01 1.25879080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.985336195000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.03, Z:0.12 [[ 9.99349864e-01 -2.01956735e-02 -2.98661167e-02 2.29178725e+01] [ 2.01937058e-02 9.99796019e-01 -3.67535898e-04 -3.24645897e-02] [ 2.98674472e-02 -2.35810624e-04 9.99553840e-01 1.21702367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.015336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.03, Z:0.12 [[ 9.99312143e-01 -2.22879326e-02 -2.96393220e-02 2.29460584e+01] [ 2.22867558e-02 9.99751551e-01 -3.70100988e-04 -3.23462827e-02] [ 2.96402069e-02 -2.90717919e-04 9.99560590e-01 1.22707679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.045336195 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:22.97, Y:-0.03, Z:0.13 [[ 9.99270484e-01 -2.41105414e-02 -2.96172470e-02 2.29737971e+01] [ 2.41100086e-02 9.99709241e-01 -3.75153769e-04 -2.83801136e-02] [ 2.96176807e-02 -3.39191993e-04 9.99561243e-01 1.25866453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.075336195000002 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:23.00, Y:-0.02, Z:0.13 [[ 9.99221671e-01 -2.53576941e-02 -3.02165371e-02 2.30020237e+01] [ 2.53575416e-02 9.99678370e-01 -3.88303705e-04 -2.38055480e-02] [ 3.02166651e-02 -3.78215620e-04 9.99543301e-01 1.29517924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.105336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:23.03, Y:-0.03, Z:0.12 [[ 9.99241415e-01 -2.47226153e-02 -3.00896346e-02 2.30290633e+01] [ 2.47220816e-02 9.99694287e-01 -3.89817694e-04 -3.21027471e-02] [ 3.00900731e-02 -3.54356418e-04 9.99547128e-01 1.24256641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.135336195 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:23.06, Y:-0.03, Z:0.12 [[ 9.99237264e-01 -2.49308569e-02 -3.00556607e-02 2.30562589e+01] [ 2.49303154e-02 9.99689114e-01 -3.92805716e-04 -3.47152835e-02] [ 3.00561098e-02 -3.56790992e-04 9.99548149e-01 1.23049069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.165336195000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:23.08, Y:-0.03, Z:0.13 [[ 9.99177614e-01 -2.62183139e-02 -3.09304900e-02 2.30845253e+01] [ 2.62181958e-02 9.99656160e-01 -4.09457076e-04 -3.16278506e-02] [ 3.09305902e-02 -4.01821299e-04 9.99521454e-01 1.26845181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.195336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:23.11, Y:-0.03, Z:0.13 [[ 9.99158140e-01 -2.69013258e-02 -3.09730460e-02 2.31128037e+01] [ 2.69013610e-02 9.99638006e-01 -4.15650298e-04 -2.88345523e-02] [ 3.09730155e-02 -4.17916711e-04 9.99520134e-01 1.29360979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.14, Y:-0.03, Z:0.13 [[ 9.99196848e-01 -2.76530294e-02 -2.89994737e-02 2.31408747e+01] [ 2.76532244e-02 9.99617499e-01 -3.94402539e-04 -3.00203361e-02] [ 2.89992878e-02 -4.07843180e-04 9.99579349e-01 1.30042699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.255336195 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:23.17, Y:-0.03, Z:0.13 [[ 9.99213713e-01 -2.76484917e-02 -2.84168513e-02 2.31695504e+01] [ 2.76485435e-02 9.99617629e-01 -3.91171776e-04 -3.17418729e-02] [ 2.84168008e-02 -3.94820347e-04 9.99596083e-01 1.29045493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.285336195 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:23.20, Y:-0.04, Z:0.13 [[ 9.99266168e-01 -2.49398894e-02 -2.90710813e-02 2.31996333e+01] [ 2.49387492e-02 9.99688900e-01 -4.01851954e-04 -3.51941966e-02] [ 2.90720595e-02 -3.23439345e-04 9.99577266e-01 1.26549097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.315336195 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.04, Z:0.13 [[ 9.99337426e-01 -2.33535142e-02 -2.79163463e-02 2.32269504e+01] [ 2.33517920e-02 9.99727235e-01 -3.87745817e-04 -3.56546934e-02] [ 2.79177869e-02 -2.64407806e-04 9.99610188e-01 1.27116158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.345336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:23.26, Y:-0.03, Z:0.13 [[ 9.99497819e-01 -1.84878302e-02 -2.57353890e-02 2.32551172e+01] [ 1.84846505e-02 9.99829079e-01 -3.61463025e-04 -3.30675935e-02] [ 2.57376730e-02 -1.14428166e-04 9.99668725e-01 1.29779849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.375336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.28, Y:-0.03, Z:0.13 [[ 9.99523221e-01 -1.58999049e-02 -2.64674014e-02 2.32822943e+01] [ 1.58955322e-02 9.99873587e-01 -3.75606517e-04 -3.20109900e-02] [ 2.64700277e-02 -4.52859957e-05 9.99649606e-01 1.29766582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.405336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:23.31, Y:-0.03, Z:0.13 [[ 9.99485029e-01 -1.41406269e-02 -2.88048421e-02 2.33094941e+01] [ 1.41346391e-02 9.99900016e-01 -4.11488006e-04 -3.07528944e-02] [ 2.88077808e-02 4.13005252e-06 9.99584970e-01 1.29386335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.435336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:23.34, Y:-0.03, Z:0.13 [[ 9.99468768e-01 -1.24293449e-02 -3.01279404e-02 2.33373716e+01] [ 1.24218709e-02 9.99922751e-01 -4.35237381e-04 -3.15556842e-02] [ 3.01310227e-02 6.07607844e-05 9.99545956e-01 1.27244202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.465336195000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:23.37, Y:-0.04, Z:0.13 [[ 9.99459056e-01 -1.49095441e-02 -2.93138248e-02 2.33655551e+01] [ 1.49033779e-02 9.99888847e-01 -4.28838736e-04 -3.71067945e-02] [ 2.93169603e-02 -8.26824895e-06 9.99570166e-01 1.25794568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.495336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.39, Y:-0.04, Z:0.13 [[ 9.99420439e-01 -1.76492416e-02 -2.91082656e-02 2.33937416e+01] [ 1.76441638e-02 9.99844237e-01 -4.31305810e-04 -3.59165988e-02] [ 2.91113439e-02 -8.25351659e-05 9.99576172e-01 1.28353596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.525336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.42, Y:-0.03, Z:0.13 [[ 9.99321373e-01 -2.33558727e-02 -2.84832851e-02 2.34204722e+01] [ 2.33532403e-02 9.99727186e-01 -4.25118519e-04 -3.26369831e-02] [ 2.84854434e-02 -2.40346978e-04 9.99594179e-01 1.31532124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.555336195000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:23.45, Y:-0.04, Z:0.13 [[ 9.99267156e-01 -2.60693864e-02 -2.80274563e-02 2.34475325e+01] [ 2.60678413e-02 9.99660088e-01 -4.20568548e-04 -3.50930112e-02] [ 2.80288934e-02 -3.10354947e-04 9.99607065e-01 1.30536913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.585336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.48, Y:-0.04, Z:0.13 [[ 9.99250657e-01 -2.79294013e-02 -2.67968738e-02 2.34756747e+01] [ 2.79286127e-02 9.99609839e-01 -4.03771059e-04 -4.11966542e-02] [ 2.67976958e-02 -3.44931013e-04 9.99640818e-01 1.28098763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.615336195 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:23.51, Y:-0.04, Z:0.13 [[ 9.99217810e-01 -2.85604177e-02 -2.73508666e-02 2.35055545e+01] [ 2.85598084e-02 9.99592000e-01 -4.12997194e-04 -4.24074823e-02] [ 2.73515029e-02 -3.68461358e-04 9.99625810e-01 1.27590078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.645336195000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.54, Y:-0.04, Z:0.13 [[ 9.99232279e-01 -2.73902952e-02 -2.80111616e-02 2.35350204e+01] [ 2.73891783e-02 9.99624756e-01 -4.23620169e-04 -4.30845688e-02] [ 2.80122536e-02 -3.43907752e-04 9.99607521e-01 1.29751031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.675336195 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:23.56, Y:-0.04, Z:0.13 [[ 9.99260806e-01 -2.62885107e-02 -2.80491808e-02 2.35645173e+01] [ 2.62869383e-02 9.99654348e-01 -4.24856658e-04 -3.92487530e-02] [ 2.80506544e-02 -3.12784479e-04 9.99606454e-01 1.32744787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.705336195 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:23.59, Y:-0.04, Z:0.13 [[ 9.99316610e-01 -2.33496634e-02 -2.86549378e-02 2.35922972e+01] [ 2.33467072e-02 9.99727333e-01 -4.37775693e-04 -3.61149020e-02] [ 2.86573465e-02 -2.31521921e-04 9.99589267e-01 1.32589245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.735336195000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.62, Y:-0.04, Z:0.13 [[ 9.99342939e-01 -2.14891775e-02 -2.91874300e-02 2.36197429e+01] [ 2.14852308e-02 9.99769065e-01 -4.48864558e-04 -3.85431440e-02] [ 2.91903353e-02 -1.78529044e-04 9.99573855e-01 1.29998374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.765336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:23.65, Y:-0.04, Z:0.13 [[ 9.99342941e-01 -2.06895243e-02 -2.97595351e-02 2.36462870e+01] [ 2.06849963e-02 9.99785937e-01 -4.60034403e-04 -4.13334839e-02] [ 2.97626825e-02 -1.55843739e-04 9.99556981e-01 1.27456049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.795336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:23.67, Y:-0.04, Z:0.13 [[ 9.99339448e-01 -2.08576524e-02 -2.97594670e-02 2.36746502e+01] [ 2.08530686e-02 9.99782443e-01 -4.64409313e-04 -4.07416980e-02] [ 2.97626792e-02 -1.56473662e-04 9.99556981e-01 1.27657338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.825336195000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.70, Y:-0.04, Z:0.13 [[ 9.99309664e-01 -2.11949203e-02 -3.05118063e-02 2.37029950e+01] [ 2.11900854e-02 9.99775349e-01 -4.81835346e-04 -4.26875701e-02] [ 3.05151642e-02 -1.65045064e-04 9.99534290e-01 1.27352856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.855336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.04, Z:0.13 [[ 9.99200131e-01 -2.35268041e-02 -3.23355576e-02 2.37294177e+01] [ 2.35224805e-02 9.99723176e-01 -5.14160398e-04 -3.87893931e-02] [ 3.23387029e-02 -2.46863386e-04 9.99476937e-01 1.30548245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.885336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:23.76, Y:-0.04, Z:0.13 [[ 9.99180473e-01 -2.46420680e-02 -3.21115432e-02 2.37562462e+01] [ 2.46382949e-02 9.99696299e-01 -5.13244115e-04 -3.58078331e-02] [ 3.21144383e-02 -2.78350172e-04 9.99484160e-01 1.32758184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.915336195000002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:23.78, Y:-0.04, Z:0.13 [[ 9.99208357e-01 -2.60585290e-02 -3.00601501e-02 2.37840833e+01] [ 2.60557206e-02 9.99660374e-01 -4.85197736e-04 -3.54694380e-02] [ 3.00625845e-02 -2.98425239e-04 9.99547974e-01 1.33055281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.945336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:23.81, Y:-0.04, Z:0.13 [[ 9.99266609e-01 -2.59861481e-02 -2.81240901e-02 2.38113774e+01] [ 2.59835799e-02 9.99662265e-01 -4.56829945e-04 -3.81079479e-02] [ 2.81264628e-02 -2.74269632e-04 9.99604335e-01 1.30699563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.975336195 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:23.84, Y:-0.04, Z:0.13 [[ 9.99337690e-01 -2.60516369e-02 -2.54065626e-02 2.38388296e+01] [ 2.60494639e-02 9.99660568e-01 -4.16548112e-04 -4.11266500e-02] [ 2.54087906e-02 -2.45555107e-04 9.99677114e-01 1.28181474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.005336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.87, Y:-0.04, Z:0.13 [[ 9.99361768e-01 -2.58852772e-02 -2.46172445e-02 2.38682921e+01] [ 2.58831456e-02 9.99664893e-01 -4.05271250e-04 -4.12818487e-02] [ 2.46194856e-02 -2.32159130e-04 9.99696868e-01 1.29158101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.035336195 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:23.90, Y:-0.03, Z:0.13 [[ 9.99274786e-01 -2.70427653e-02 -2.68065281e-02 2.38974015e+01] [ 2.70406433e-02 9.99634237e-01 -4.41721618e-04 -3.43171380e-02] [ 2.68086687e-02 -2.83464489e-04 9.99640543e-01 1.32262527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.065336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.93, Y:-0.03, Z:0.14 [[ 9.99210916e-01 -2.85184891e-02 -2.76449155e-02 2.39264532e+01] [ 2.85167817e-02 9.99593210e-01 -4.56086459e-04 -2.59611276e-02] [ 2.76466767e-02 -3.32617453e-04 9.99617702e-01 1.35415274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.095336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:23.96, Y:-0.03, Z:0.13 [[ 9.99022742e-01 -3.10333072e-02 -3.14721117e-02 2.39559167e+01] [ 3.10323191e-02 9.99518246e-01 -5.19961064e-04 -3.23000024e-02] [ 3.14730860e-02 -4.57199684e-04 9.99504495e-01 1.30565857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.125336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.99, Y:-0.03, Z:0.13 [[ 9.98963017e-01 -3.14764003e-02 -3.28956995e-02 2.39850618e+01] [ 3.14754169e-02 9.99504376e-01 -5.47864156e-04 -3.37199318e-02] [ 3.28966404e-02 -4.88109825e-04 9.99458640e-01 1.29605866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.155336195 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:24.01, Y:-0.03, Z:0.13 [[ 9.98971846e-01 -3.10755439e-02 -3.30085207e-02 2.40131130e+01] [ 3.10742243e-02 9.99516927e-01 -5.53099237e-04 -3.21656748e-02] [ 3.30097630e-02 -4.73183609e-04 9.99454917e-01 1.30310687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.185336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:24.04, Y:-0.03, Z:0.13 [[ 9.98978382e-01 -3.09725122e-02 -3.29073758e-02 2.40400294e+01] [ 3.09710180e-02 9.99520129e-01 -5.55254156e-04 -3.04795692e-02] [ 3.29087821e-02 -4.64488028e-04 9.99458251e-01 1.31122181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.215336195000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:24.07, Y:-0.03, Z:0.13 [[ 9.99151571e-01 -2.89830134e-02 -2.92595975e-02 2.40673226e+01] [ 2.89808350e-02 9.99579843e-01 -4.98614299e-04 -2.55836657e-02] [ 2.92617552e-02 -3.49776305e-04 9.99571722e-01 1.33573535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.245336195 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:24.10, Y:-0.02, Z:0.14 [[ 9.99228509e-01 -2.82242474e-02 -2.73089493e-02 2.40962956e+01] [ 2.82220136e-02 9.99601570e-01 -4.67300813e-04 -2.10430802e-02] [ 2.73112578e-02 -3.03773242e-04 9.99626932e-01 1.35973913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.13, Y:-0.02, Z:0.13 [[ 9.99274273e-01 -2.76977484e-02 -2.61488421e-02 2.41259959e+01] [ 2.76955025e-02 9.99616306e-01 -4.48120724e-04 -2.26289260e-02] [ 2.61512209e-02 -2.76409811e-04 9.99657960e-01 1.31911382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.305336195000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.16, Y:-0.03, Z:0.13 [[ 9.99313685e-01 -2.73444761e-02 -2.49887785e-02 2.41558228e+01] [ 2.73423056e-02 9.99626037e-01 -4.28598700e-04 -2.50636196e-02] [ 2.49911534e-02 -2.54946271e-04 9.99687640e-01 1.30031118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.19, Y:-0.02, Z:0.13 [[ 9.99358055e-01 -2.50363644e-02 -2.56253403e-02 2.41858712e+01] [ 2.50333212e-02 9.99686521e-01 -4.39599297e-04 -1.92938413e-02] [ 2.56283133e-02 -2.02170276e-04 9.99671520e-01 1.34137495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.365336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:24.21, Y:-0.01, Z:0.13 [[ 9.99317839e-01 -2.43927758e-02 -2.77281466e-02 2.42146937e+01] [ 2.43889447e-02 9.99702432e-01 -4.76402237e-04 -1.41725857e-02] [ 2.77315164e-02 -2.00182981e-04 9.99615388e-01 1.34939422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.395336195000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:24.24, Y:-0.01, Z:0.14 [[ 9.99207592e-01 -2.51969930e-02 -3.08107177e-02 2.42428415e+01] [ 2.51924978e-02 9.99682476e-01 -5.34139637e-04 -6.32169328e-03] [ 3.08143933e-02 -2.42482560e-04 9.99525094e-01 1.36495589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.425336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:24.27, Y:-0.00, Z:0.14 [[ 9.99205193e-01 -2.54354301e-02 -3.06923642e-02 2.42696539e+01] [ 2.54309476e-02 9.99676437e-01 -5.36460229e-04 -2.82112897e-03] [ 3.06960784e-02 -2.44502059e-04 9.99528734e-01 1.37271099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.455336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:24.30, Y:-0.00, Z:0.14 [[ 9.99226529e-01 -2.57718153e-02 -2.97011194e-02 2.42966175e+01] [ 2.57676872e-02 9.99667822e-01 -5.21792020e-04 -2.26750560e-04] [ 2.97047008e-02 -2.43940724e-04 9.99558688e-01 1.35572237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.485336195000002 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:24.32, Y:0.00, Z:0.13 [[ 9.99242750e-01 -2.52594697e-02 -2.95953830e-02 2.43247320e+01] [ 2.52550093e-02 9.99680904e-01 -5.24558585e-04 2.60815722e-04] [ 2.95991893e-02 -2.23270310e-04 9.99561823e-01 1.33920619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.515336195 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:24.35, Y:0.00, Z:0.13 [[ 9.99269654e-01 -2.47390842e-02 -2.91227837e-02 2.43516996e+01] [ 2.47343923e-02 9.99693922e-01 -5.21395950e-04 3.51530764e-03] [ 2.91267687e-02 -1.99319207e-04 9.99575706e-01 1.31775422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.545336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:24.38, Y:0.01, Z:0.13 [[ 9.99328731e-01 -2.46503622e-02 -2.71006771e-02 2.43789675e+01] [ 2.46461325e-02 9.99696118e-01 -4.90137894e-04 8.22920334e-03] [ 2.71045238e-02 -1.78118000e-04 9.99632589e-01 1.34256543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.575336195000002 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:24.41, Y:0.01, Z:0.14 [[ 9.99377567e-01 -2.46769433e-02 -2.52096618e-02 2.44072956e+01] [ 2.46731860e-02 9.99695465e-01 -4.60129031e-04 1.31255326e-02] [ 2.52133392e-02 -1.62160045e-04 9.99682080e-01 1.36212858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.605336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:24.44, Y:0.02, Z:0.14 [[ 9.99420022e-01 -2.36498843e-02 -2.45010703e-02 2.44365097e+01] [ 2.36459943e-02 9.99720294e-01 -4.48518166e-04 1.84274258e-02] [ 2.45048246e-02 -1.31094134e-04 9.99699703e-01 1.35833811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.635336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:24.47, Y:0.02, Z:0.14 [[ 9.99394635e-01 -2.46544194e-02 -2.45463462e-02 2.44659295e+01] [ 2.46508110e-02 9.99696021e-01 -4.49625937e-04 2.37301249e-02] [ 2.45499699e-02 -1.55733592e-04 9.99698592e-01 1.35846572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.665336195000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:24.50, Y:0.02, Z:0.13 [[ 9.99371343e-01 -2.56142400e-02 -2.45118211e-02 2.44954037e+01] [ 2.56109237e-02 9.99671886e-01 -4.49268663e-04 2.47122897e-02] [ 2.45152861e-02 -1.78784155e-04 9.99699439e-01 1.34097769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.695336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:24.53, Y:0.03, Z:0.13 [[ 9.99229912e-01 -2.98321067e-02 -2.54878170e-02 2.45267431e+01] [ 2.98299015e-02 9.99554880e-01 -4.66810850e-04 2.53232017e-02] [ 2.54903978e-02 -2.93847706e-04 9.99675024e-01 1.32342710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.725336195 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:24.56, Y:0.03, Z:0.13 [[ 9.99082661e-01 -3.31119892e-02 -2.71557098e-02 2.45574421e+01] [ 3.31107209e-02 9.99451566e-01 -4.96483180e-04 2.68112419e-02] [ 2.71572563e-02 -4.03117391e-04 9.99631092e-01 1.32931529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.59, Y:0.03, Z:0.14 [[ 9.98761571e-01 -4.01473072e-02 -2.93856918e-02 2.45891310e+01] [ 4.01489022e-02 9.99193564e-01 -5.35989787e-04 3.08465810e-02] [ 2.93835127e-02 -6.44477265e-04 9.99568004e-01 1.36430277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.785336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:24.62, Y:0.03, Z:0.14 [[ 9.98626970e-01 -4.31971894e-02 -2.96340524e-02 2.46208799e+01] [ 4.32001944e-02 9.99066290e-01 -5.39125490e-04 3.39297592e-02] [ 2.96296715e-02 -7.41811570e-04 9.99560670e-01 1.39042739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.815336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:24.65, Y:0.03, Z:0.14 [[ 9.98511929e-01 -4.71758790e-02 -2.73562585e-02 2.46533797e+01] [ 4.71799722e-02 9.98886282e-01 -4.96170591e-04 3.31469093e-02] [ 2.73491986e-02 -7.95235261e-04 9.99625624e-01 1.38690786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.845336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.69, Y:0.03, Z:0.13 [[ 9.98433938e-01 -4.99871633e-02 -2.51188155e-02 2.46865445e+01] [ 4.99915439e-02 9.98749538e-01 -4.53929691e-04 2.52811624e-02] [ 2.51100960e-02 -8.02509559e-04 9.99684370e-01 1.33988461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.875336195 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:24.72, Y:0.02, Z:0.13 [[ 9.98434580e-01 -4.99068484e-02 -2.52526541e-02 2.47199213e+01] [ 4.99112956e-02 9.98753551e-01 -4.54549612e-04 2.42599879e-02] [ 2.52438631e-02 -8.06554632e-04 9.99680998e-01 1.33707399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.905336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.75, Y:0.02, Z:0.13 [[ 9.98469581e-01 -4.89754506e-02 -2.56885399e-02 2.47522683e+01] [ 4.89797863e-02 9.98799664e-01 -4.60782582e-04 2.42173086e-02] [ 2.56802720e-02 -7.98141801e-04 9.99669889e-01 1.34354067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.935336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:24.78, Y:0.03, Z:0.14 [[ 9.98527948e-01 -4.74917175e-02 -2.62006591e-02 2.47846839e+01] [ 4.74957583e-02 9.98871330e-01 -4.68418547e-04 2.82814509e-02] [ 2.61933332e-02 -7.76691164e-04 9.99656594e-01 1.39454103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.965336195000003 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:24.82, Y:0.03, Z:0.14 [[ 9.98547612e-01 -4.63058988e-02 -2.75396094e-02 2.48181233e+01] [ 4.63099651e-02 9.98926998e-01 -4.90471711e-04 3.15008366e-02] [ 2.75327711e-02 -7.85598996e-04 9.99620593e-01 1.41587654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.995336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:24.85, Y:0.03, Z:0.14 [[ 9.98643724e-01 -4.37540790e-02 -2.82186499e-02 2.48504889e+01] [ 4.37573803e-02 9.99042062e-01 -5.00807013e-04 2.90827251e-02] [ 2.82135305e-02 -7.34646413e-04 9.99601649e-01 1.39911781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.025336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.88, Y:0.02, Z:0.14 [[ 9.98858981e-01 -4.04876025e-02 -2.53276749e-02 2.48840647e+01] [ 4.04892538e-02 9.99179874e-01 -4.47840449e-04 2.09790172e-02] [ 2.53250350e-02 -5.78169204e-04 9.99679103e-01 1.36307743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.055336195000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.92, Y:0.02, Z:0.14 [[ 9.98893976e-01 -3.92853502e-02 -2.58357466e-02 2.49158849e+01] [ 3.92867081e-02 9.99227876e-01 -4.55218395e-04 2.05142929e-02] [ 2.58336816e-02 -5.60286522e-04 9.99666098e-01 1.36373241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.085336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:24.95, Y:0.03, Z:0.14 [[ 9.98941957e-01 -3.69226279e-02 -2.74169017e-02 2.49488098e+01] [ 3.69233202e-02 9.99317986e-01 -4.81178683e-04 2.66270233e-02] [ 2.74159693e-02 -5.31653464e-04 9.99623970e-01 1.39788082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.115336195 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:24.98, Y:0.03, Z:0.14 [[ 9.98998864e-01 -3.54304613e-02 -2.73121406e-02 2.49798270e+01] [ 3.54306245e-02 9.99372024e-01 -4.78111341e-04 2.94570027e-02] [ 2.73119290e-02 -4.90053511e-04 9.99626840e-01 1.41503456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.145336195000002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:25.01, Y:0.03, Z:0.14 [[ 9.99065109e-01 -3.31590912e-02 -2.77377624e-02 2.50107468e+01] [ 3.31584359e-02 9.99449991e-01 -4.83712733e-04 2.67788908e-02] [ 2.77385458e-02 -4.36480300e-04 9.99615117e-01 1.39745706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.175336195 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:25.04, Y:0.02, Z:0.14 [[ 9.99060959e-01 -3.28971314e-02 -2.81953737e-02 2.50423470e+01] [ 3.28963791e-02 9.99458647e-01 -4.90660939e-04 2.25188531e-02] [ 2.81962514e-02 -4.37325514e-04 9.99602311e-01 1.36663588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.205336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:25.07, Y:0.02, Z:0.14 [[ 9.99013934e-01 -3.26797756e-02 -3.00531468e-02 2.50736790e+01] [ 3.26788439e-02 9.99465767e-01 -5.22293051e-04 1.76733835e-02] [ 3.00541598e-02 -4.60324058e-04 9.99548166e-01 1.36623683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.235336195000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:25.10, Y:0.02, Z:0.14 [[ 9.98994255e-01 -3.23813935e-02 -3.10149022e-02 2.51039378e+01] [ 3.23802714e-02 9.99475476e-01 -5.38565848e-04 1.99690729e-02] [ 3.10160736e-02 -4.66246763e-04 9.99518777e-01 1.39408818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.13, Y:0.02, Z:0.14 [[ 9.98988894e-01 -3.25388895e-02 -3.10227253e-02 2.51347969e+01] [ 3.25378453e-02 9.99470359e-01 -5.38620624e-04 2.15343767e-02] [ 3.10238205e-02 -4.71336615e-04 9.99518534e-01 1.42115671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.295336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.17, Y:0.02, Z:0.14 [[ 9.98973145e-01 -3.31318423e-02 -3.09020336e-02 2.51656768e+01] [ 3.31310897e-02 9.99450871e-01 -5.36525158e-04 1.98995404e-02] [ 3.09028404e-02 -4.87843821e-04 9.99522274e-01 1.42569137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.325336195000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:25.19, Y:0.01, Z:0.14 [[ 9.98935536e-01 -3.54155392e-02 -2.95556319e-02 2.51949461e+01] [ 3.54158417e-02 9.99372530e-01 -5.13412692e-04 1.15974382e-02] [ 2.95552694e-02 -5.33871397e-04 9.99563005e-01 1.39767833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.355336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:25.22, Y:0.01, Z:0.14 [[ 9.98899094e-01 -3.70613611e-02 -2.87585619e-02 2.52249037e+01] [ 3.70623338e-02 9.99312831e-01 -4.99401909e-04 7.24630363e-03] [ 2.87573084e-02 -5.67007305e-04 9.99586262e-01 1.39132201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.385336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:25.26, Y:0.00, Z:0.14 [[ 9.98814805e-01 -3.94864806e-02 -2.84570431e-02 2.52568814e+01] [ 3.94884471e-02 9.99219905e-01 -4.93087113e-04 2.44857408e-03] [ 2.84543142e-02 -6.31221733e-04 9.99594895e-01 1.40413491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.415336195000002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:25.29, Y:0.00, Z:0.14 [[ 9.98786915e-01 -4.02187014e-02 -2.84104744e-02 2.52893683e+01] [ 4.02209950e-02 9.99190688e-01 -4.90960419e-04 1.16153503e-04] [ 2.84072273e-02 -6.52332706e-04 9.99596220e-01 1.40467847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.445336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:25.32, Y:-0.01, Z:0.14 [[ 9.98765853e-01 -4.06687882e-02 -2.85100061e-02 2.53211019e+01] [ 4.06713118e-02 9.99172459e-01 -4.91606983e-04 -7.05595252e-03] [ 2.85064060e-02 -6.68539081e-04 9.99593386e-01 1.40559014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.475336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:25.35, Y:-0.01, Z:0.14 [[ 9.98739682e-01 -4.05152717e-02 -2.96236299e-02 2.53531923e+01] [ 4.05179669e-02 9.99178680e-01 -5.09536297e-04 -8.34506881e-03] [ 2.96199434e-02 -6.91395136e-04 9.99560994e-01 1.41551874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.505336195 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:25.38, Y:-0.01, Z:0.14 [[ 9.98772872e-01 -3.88493969e-02 -3.07160300e-02 2.53842026e+01] [ 3.88515425e-02 9.99244855e-01 -5.27195454e-04 -1.20364164e-02] [ 3.07133162e-02 -6.66816628e-04 9.99528012e-01 1.42502595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.42, Y:-0.02, Z:0.14 [[ 9.98845302e-01 -3.74188025e-02 -3.01313220e-02 2.54157601e+01] [ 3.74202397e-02 9.99299484e-01 -5.16387046e-04 -1.75455540e-02] [ 3.01295371e-02 -6.11730515e-04 9.99545815e-01 1.40679144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.565336195 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:25.45, Y:-0.03, Z:0.14 [[ 9.98921371e-01 -3.48988009e-02 -3.06295188e-02 2.54472132e+01] [ 3.48991243e-02 9.99390703e-01 -5.24200724e-04 -2.75184217e-02] [ 3.06291503e-02 -5.45308079e-04 9.99530669e-01 1.39299909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.595336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.48, Y:-0.03, Z:0.14 [[ 9.99023770e-01 -3.30137695e-02 -2.93529878e-02 2.54771335e+01] [ 3.30132499e-02 9.99454788e-01 -5.02456092e-04 -2.73138052e-02] [ 2.93535721e-02 -4.67071942e-04 9.99568982e-01 1.44259889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.625336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:25.51, Y:-0.03, Z:0.15 [[ 9.99055544e-01 -3.25015564e-02 -2.88386716e-02 2.55064538e+01] [ 3.25008321e-02 9.99471586e-01 -4.93978895e-04 -2.81087112e-02] [ 2.88394879e-02 -4.43768469e-04 9.99583957e-01 1.45846974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.655336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:25.54, Y:-0.03, Z:0.15 [[ 9.99097241e-01 -3.16387618e-02 -2.83494415e-02 2.55361821e+01] [ 3.16377054e-02 9.99499284e-01 -4.85922804e-04 -2.90543540e-02] [ 2.83506205e-02 -4.11427146e-04 9.99597956e-01 1.46635392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.685336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:25.57, Y:-0.03, Z:0.14 [[ 9.99203397e-01 -2.75350123e-02 -2.88858828e-02 2.55655001e+01] [ 2.75321915e-02 9.99620795e-01 -4.95452972e-04 -3.35367716e-02] [ 2.88885714e-02 -3.00233363e-04 9.99582593e-01 1.44873910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.715336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:25.59, Y:-0.03, Z:0.15 [[ 9.99198763e-01 -2.77027285e-02 -2.88858183e-02 2.55938671e+01] [ 2.76998696e-02 9.99616160e-01 -4.99193675e-04 -3.28983421e-02] [ 2.88885598e-02 -3.01339699e-04 9.99582593e-01 1.45074905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.745336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.62, Y:-0.04, Z:0.14 [[ 9.99241155e-01 -2.49976451e-02 -2.98702355e-02 2.56213447e+01] [ 2.49932150e-02 9.99687485e-01 -5.21720892e-04 -3.55187471e-02] [ 2.98739424e-02 -2.25228233e-04 9.99553649e-01 1.42835820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.775336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:25.65, Y:-0.04, Z:0.14 [[ 9.99367915e-01 -1.80595533e-02 -3.06206237e-02 2.56488264e+01] [ 1.80514622e-02 9.99836913e-01 -5.40676643e-04 -3.85291030e-02] [ 3.06253943e-02 -1.24121413e-05 9.99530933e-01 1.41591739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.805336195000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:25.68, Y:-0.04, Z:0.14 [[ 9.99419656e-01 -1.41461899e-02 -3.09876854e-02 2.56752513e+01] [ 1.41359189e-02 9.99899931e-01 -5.50511706e-04 -3.67948641e-02] [ 3.09923722e-02 1.12152813e-04 9.99519615e-01 1.42907916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.835336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:25.70, Y:-0.03, Z:0.15 [[ 9.99528767e-01 -8.56197301e-03 -2.94777213e-02 2.57015377e+01] [ 8.55015175e-03 9.99963308e-01 -5.27049365e-04 -2.92502716e-02] [ 2.94811522e-02 2.74762012e-04 9.99565299e-01 1.46597263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.865336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.73, Y:-0.02, Z:0.15 [[ 9.99535296e-01 -6.60601634e-03 -2.97582271e-02 2.57297202e+01] [ 6.59294460e-03 9.99978122e-01 -5.37363300e-04 -2.15082565e-02] [ 2.97611259e-02 3.40919242e-04 9.99556981e-01 1.48696575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.895336195000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:25.76, Y:-0.02, Z:0.15 [[ 9.99490459e-01 -6.20550537e-03 -3.13099806e-02 2.57578992e+01] [ 6.19064495e-03 9.99980674e-01 -5.71539343e-04 -1.91181291e-02] [ 3.13129222e-02 3.77419147e-04 9.99509559e-01 1.47618421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.78, Y:-0.02, Z:0.14 [[ 9.99477801e-01 -5.99283975e-03 -3.17523420e-02 2.57848489e+01] [ 5.97733847e-03 9.99981966e-01 -5.83092904e-04 -1.88455402e-02] [ 3.17552638e-02 3.92993918e-04 9.99495597e-01 1.44349065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.955336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.81, Y:-0.02, Z:0.14 [[ 9.99498667e-01 -6.03984165e-03 -3.10794814e-02 2.58127611e+01] [ 6.02485110e-03 9.99981685e-01 -5.75954749e-04 -2.10187217e-02] [ 3.10823908e-02 3.88416756e-04 9.99516750e-01 1.40411806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.985336195000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:25.84, Y:-0.02, Z:0.14 [[ 9.99489904e-01 -6.31348604e-03 -3.13060857e-02 2.58410011e+01] [ 6.29822044e-03 9.99979994e-01 -5.86211583e-04 -1.92230982e-02] [ 3.13091604e-02 3.88739930e-04 9.99509672e-01 1.40420424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.015336195 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:25.87, Y:-0.01, Z:0.15 [[ 9.99493845e-01 -7.21462124e-03 -3.09839055e-02 2.58686597e+01] [ 7.19991371e-03 9.99973908e-01 -5.86225558e-04 -7.32870766e-03] [ 3.09873264e-02 3.62847392e-04 9.99519712e-01 1.46469048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.045336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.90, Y:-0.00, Z:0.15 [[ 9.99511838e-01 -7.36231062e-03 -3.03625168e-02 2.58957517e+01] [ 7.34815388e-03 9.99972835e-01 -5.77812157e-04 -1.89471320e-04] [ 3.03659461e-02 3.54421645e-04 9.99538785e-01 1.49829117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.075336195000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:25.92, Y:0.00, Z:0.15 [[ 9.99540112e-01 -8.43232562e-03 -2.91283275e-02 2.59222267e+01] [ 8.41964890e-03 9.99964399e-01 -5.57828433e-04 3.65399218e-03] [ 2.91319943e-02 3.12321604e-04 9.99575525e-01 1.48628239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.105336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.95, Y:0.00, Z:0.15 [[ 9.99523022e-01 -1.02643665e-02 -2.91268094e-02 2.59489841e+01] [ 1.02523570e-02 9.99947285e-01 -5.61632314e-04 2.89398768e-03] [ 2.91310388e-02 2.62745978e-04 9.99575567e-01 1.46010935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.135336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:25.98, Y:0.01, Z:0.15 [[ 9.99387802e-01 -1.72548224e-02 -3.04350582e-02 2.59762552e+01] [ 1.72447838e-02 9.99851122e-01 -5.92309077e-04 7.82301318e-03] [ 3.04407472e-02 6.71004698e-05 9.99536571e-01 1.46954175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.165336195000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.00, Y:0.01, Z:0.15 [[ 9.99285576e-01 -2.14372992e-02 -3.11252326e-02 2.60026983e+01] [ 2.14287227e-02 9.99770193e-01 -6.09129510e-04 1.35512479e-02] [ 3.11311379e-02 -5.82796454e-05 9.99515307e-01 1.50445990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.195336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:26.03, Y:0.02, Z:0.15 [[ 9.99034436e-01 -2.90016267e-02 -3.30015230e-02 2.60299492e+01] [ 2.89959320e-02 9.99579317e-01 -6.51231346e-04 1.90718516e-02] [ 3.30065266e-02 -3.06307374e-04 9.99455089e-01 1.51876949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.225336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:26.06, Y:0.01, Z:0.15 [[ 9.98872998e-01 -3.57575204e-02 -3.12110980e-02 2.60576841e+01] [ 3.57555412e-02 9.99360373e-01 -6.21712323e-04 1.30684438e-02] [ 3.12133654e-02 -4.94958047e-04 9.99512622e-01 1.47708686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.255336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.09, Y:0.01, Z:0.15 [[ 9.98823532e-01 -3.80853720e-02 -3.00176059e-02 2.60886100e+01] [ 3.80845689e-02 9.99274340e-01 -5.98693743e-04 1.10935403e-02] [ 3.00186248e-02 -5.45218183e-04 9.99549191e-01 1.48501886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.285336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:26.12, Y:0.01, Z:0.15 [[ 9.98699685e-01 -4.13631220e-02 -2.97998407e-02 2.61208749e+01] [ 4.13638252e-02 9.99143975e-01 -5.93120210e-04 1.36337357e-02] [ 2.97988646e-02 -6.40286435e-04 9.99555710e-01 1.52162893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.315336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:26.15, Y:0.02, Z:0.15 [[ 9.98628805e-01 -4.23811827e-02 -3.07302054e-02 2.61532645e+01] [ 4.23824571e-02 9.99101274e-01 -6.10188241e-04 1.66626606e-02] [ 3.07284478e-02 -6.93070056e-04 9.99527529e-01 1.53716926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.345336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:26.19, Y:0.02, Z:0.15 [[ 9.98588188e-01 -4.27401011e-02 -3.15422818e-02 2.61858173e+01] [ 4.27416703e-02 9.99085962e-01 -6.24812197e-04 1.68812496e-02] [ 3.15401555e-02 -7.24239730e-04 9.99502223e-01 1.52898335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.375336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:26.22, Y:0.01, Z:0.15 [[ 9.98610823e-01 -4.25966966e-02 -3.10152495e-02 2.62166063e+01] [ 4.25981808e-02 9.99092097e-01 -6.13198185e-04 1.34609903e-02] [ 3.10132109e-02 -7.08846862e-04 9.99518723e-01 1.50966451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.405336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.25, Y:0.01, Z:0.15 [[ 9.98679620e-01 -4.31402145e-02 -2.78915471e-02 2.62486871e+01] [ 4.31416596e-02 9.99068814e-01 -5.50227667e-04 7.85716966e-03] [ 2.78893118e-02 -6.53786473e-04 9.99610804e-01 1.52329575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.435336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:26.28, Y:0.01, Z:0.16 [[ 9.98682462e-01 -4.32803797e-02 -2.75707916e-02 2.62810102e+01] [ 4.32819180e-02 9.99062752e-01 -5.41255817e-04 9.06156710e-03] [ 2.75683767e-02 -6.52774049e-04 9.99619707e-01 1.55157485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.465336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.31, Y:0.01, Z:0.16 [[ 9.98675973e-01 -4.17914911e-02 -2.99962168e-02 2.63138303e+01] [ 4.17927159e-02 9.99126131e-01 -5.86393126e-04 1.14786564e-02] [ 2.99945103e-02 -6.68006643e-04 9.99549840e-01 1.58083585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.495336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:26.35, Y:0.01, Z:0.16 [[ 9.98823189e-01 -3.83270670e-02 -2.97199235e-02 2.63464077e+01] [ 3.83267827e-02 9.99265091e-01 -5.79436275e-04 8.24456294e-03] [ 2.97202901e-02 -5.60314661e-04 9.99558098e-01 1.56370230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.525336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:26.38, Y:0.00, Z:0.16 [[ 9.98909252e-01 -3.61162403e-02 -2.95960007e-02 2.63788796e+01] [ 3.61150296e-02 9.99347474e-01 -5.75628707e-04 4.86320640e-03] [ 2.95974781e-02 -4.93859599e-04 9.99561777e-01 1.55215508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.555336195000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.41, Y:-0.00, Z:0.15 [[ 9.99009466e-01 -3.19705375e-02 -3.09511197e-02 2.64095318e+01] [ 3.19672441e-02 9.99488736e-01 -6.01356888e-04 -1.27252310e-03] [ 3.09545212e-02 -3.88660776e-04 9.99520718e-01 1.52857489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.585336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:26.44, Y:-0.00, Z:0.15 [[ 9.99050875e-01 -2.97910145e-02 -3.17780516e-02 2.64391496e+01] [ 2.97864249e-02 9.99556095e-01 -6.17917634e-04 -1.96800071e-03] [ 3.17823536e-02 -3.29223396e-04 9.99494759e-01 1.53475412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.615336195 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:26.47, Y:0.00, Z:0.16 [[ 9.99135935e-01 -2.48779953e-02 -3.32936877e-02 2.64672916e+01] [ 2.48701477e-02 9.99690479e-01 -6.49876623e-04 1.36192584e-03] [ 3.32995502e-02 -1.78703843e-04 9.99445400e-01 1.59341537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.645336195000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:26.50, Y:0.00, Z:0.16 [[ 9.99221924e-01 -2.27369608e-02 -3.22269491e-02 2.64953033e+01] [ 2.27283230e-02 9.99741477e-01 -6.34379083e-04 3.37499547e-03] [ 3.22330415e-02 -9.85790201e-05 9.99480376e-01 1.62097263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.675336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:26.52, Y:-0.00, Z:0.16 [[ 9.99424718e-01 -1.84433034e-02 -2.84618520e-02 2.65234019e+01] [ 1.84346746e-02 9.99829907e-01 -5.65561458e-04 -6.87032941e-04] [ 2.84674416e-02 4.05511230e-05 9.99594719e-01 1.60642543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.55, Y:-0.01, Z:0.16 [[ 9.99562701e-01 -1.31105989e-02 -2.65050562e-02 2.65509575e+01] [ 1.31011645e-02 9.99914036e-01 -5.29577208e-04 -8.66078452e-03] [ 2.65097208e-02 1.82098524e-04 9.99648539e-01 1.56590466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.735336195000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:26.58, Y:-0.01, Z:0.16 [[ 9.99586915e-01 -1.08009503e-02 -2.66333977e-02 2.65788242e+01] [ 1.07904904e-02 9.99941637e-01 -5.36427386e-04 -8.06570313e-03] [ 2.66376373e-02 2.48818373e-04 9.99645124e-01 1.58178977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.61, Y:-0.00, Z:0.16 [[ 9.99540447e-01 -8.94500811e-03 -2.89634697e-02 2.66065988e+01] [ 8.93169409e-03 9.99959938e-01 -5.89026742e-04 -1.45910319e-03] [ 2.89675782e-02 3.30063201e-04 9.99580297e-01 1.63325488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.795336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:26.63, Y:0.00, Z:0.17 [[ 9.99504714e-01 -9.66692644e-03 -2.99478934e-02 2.66340312e+01] [ 9.65284091e-03 9.99953221e-01 -6.14875987e-04 2.30527888e-03] [ 2.99524364e-02 3.25489197e-04 9.99551272e-01 1.65127045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.825336195000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.66, Y:0.00, Z:0.17 [[ 9.99447043e-01 -1.35213383e-02 -3.03773095e-02 2.66605887e+01] [ 1.35085239e-02 9.99908559e-01 -6.27033939e-04 1.60438631e-03] [ 3.03830101e-02 2.16334606e-04 9.99538306e-01 1.65464230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.855336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.69, Y:-0.00, Z:0.16 [[ 9.99431998e-01 -1.62431690e-02 -2.95269444e-02 2.66881269e+01] [ 1.62321051e-02 9.99868062e-01 -6.14377391e-04 -2.07879326e-03] [ 2.95330281e-02 1.34743959e-04 9.99563796e-01 1.63741610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.72, Y:-0.01, Z:0.16 [[ 9.99377200e-01 -2.12767820e-02 -2.81515586e-02 2.67152556e+01] [ 2.12686354e-02 9.99773624e-01 -5.88815472e-04 -1.05194002e-02] [ 2.81577138e-02 -1.02964793e-05 9.99603493e-01 1.59865462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.915336195000002 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:26.74, Y:-0.01, Z:0.16 [[ 9.99312775e-01 -2.41540830e-02 -2.81168536e-02 2.67423593e+01] [ 2.41470305e-02 9.99708244e-01 -5.90387471e-04 -1.30825233e-02] [ 2.81229106e-02 -8.89567800e-05 9.99604469e-01 1.58800904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.77, Y:-0.01, Z:0.16 [[ 9.99211238e-01 -2.79796530e-02 -2.81787329e-02 2.67698623e+01] [ 2.79739622e-02 9.99608474e-01 -5.96226051e-04 -1.09918678e-02] [ 2.81843824e-02 -1.92515037e-04 9.99602723e-01 1.64068903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.975336195 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:26.80, Y:-0.00, Z:0.17 [[ 9.99208610e-01 -2.93837903e-02 -2.68094564e-02 2.67983740e+01] [ 2.93790225e-02 9.99568180e-01 -5.71795322e-04 -4.73313581e-03] [ 2.68146811e-02 -2.16292815e-04 9.99640398e-01 1.70024379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.005336195 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:26.83, Y:-0.00, Z:0.17 [[ 9.99190631e-01 -3.00296766e-02 -2.67638005e-02 2.68290818e+01] [ 3.00251253e-02 9.99548981e-01 -5.71995059e-04 -3.76792332e-03] [ 2.67689064e-02 -2.32054361e-04 9.99641622e-01 1.71165405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.035336195 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:26.86, Y:-0.01, Z:0.17 [[ 9.99173643e-01 -2.98708538e-02 -2.75637918e-02 2.68594977e+01] [ 2.98659659e-02 9.99553739e-01 -5.89092445e-04 -8.88409344e-03] [ 2.75690878e-02 -2.34613621e-04 9.99619873e-01 1.67360440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.065336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.89, Y:-0.01, Z:0.17 [[ 9.99194471e-01 -2.93131778e-02 -2.74070724e-02 2.68880071e+01] [ 2.93081100e-02 9.99570253e-01 -5.86674412e-04 -1.20942032e-02] [ 2.74124915e-02 -2.17047664e-04 9.99624183e-01 1.65048641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.095336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.92, Y:-0.02, Z:0.16 [[ 9.99239036e-01 -2.89169287e-02 -2.61755764e-02 2.69163893e+01] [ 2.89121445e-02 9.99581799e-01 -5.61295058e-04 -1.51433432e-02] [ 2.61808607e-02 -1.95924115e-04 9.99657203e-01 1.64077736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.125336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:26.95, Y:-0.01, Z:0.17 [[ 9.99225063e-01 -2.91702605e-02 -2.64266706e-02 2.69466552e+01] [ 2.91654660e-02 9.99574437e-01 -5.66930968e-04 -1.14334004e-02] [ 2.64319619e-02 -2.04254532e-04 9.99650594e-01 1.67176093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.155336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.98, Y:-0.00, Z:0.17 [[ 9.99129244e-01 -2.93872014e-02 -2.96166557e-02 2.69772548e+01] [ 2.93812748e-02 9.99568075e-01 -6.35365671e-04 -2.62574588e-03] [ 2.96225352e-02 -2.35362680e-04 9.99561129e-01 1.71695651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.185336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:27.01, Y:-0.00, Z:0.17 [[ 9.99099742e-01 -2.93838234e-02 -3.05989623e-02 2.70058532e+01] [ 2.93773747e-02 9.99568174e-01 -6.60387860e-04 -3.11081471e-03] [ 3.06051536e-02 -2.39123841e-04 9.99531524e-01 1.68954074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.215336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:27.03, Y:-0.01, Z:0.17 [[ 9.99104336e-01 -2.93766410e-02 -3.04555150e-02 2.70336946e+01] [ 2.93701708e-02 9.99568386e-01 -6.59867432e-04 -6.24090566e-03] [ 3.04617546e-02 -2.35207264e-04 9.99535905e-01 1.66777401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.245336195 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:27.06, Y:-0.01, Z:0.17 [[ 9.99054866e-01 -2.96373536e-02 -3.17962488e-02 2.70620623e+01] [ 2.96302701e-02 9.99560686e-01 -6.94042592e-04 -6.45719558e-03] [ 3.18028498e-02 -2.48744810e-04 9.99494130e-01 1.65620714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.09, Y:-0.00, Z:0.17 [[ 9.99026527e-01 -2.95948314e-02 -3.27130480e-02 2.70891981e+01] [ 2.95871963e-02 9.99561946e-01 -7.17549990e-04 -3.83909713e-03] [ 3.27199537e-02 -2.51035899e-04 9.99464527e-01 1.66240149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.305336195000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:27.12, Y:-0.00, Z:0.17 [[ 9.98981986e-01 -3.00268235e-02 -3.36657282e-02 2.71172544e+01] [ 3.00187908e-02 9.99549058e-01 -7.44135749e-04 -9.73045910e-04] [ 3.36728909e-02 -2.67226244e-04 9.99432872e-01 1.66845775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.14, Y:0.00, Z:0.17 [[ 9.98955910e-01 -3.13724917e-02 -3.32092717e-02 2.71438015e+01] [ 3.13652599e-02 9.99507716e-01 -7.38820838e-04 1.60043038e-03] [ 3.32161020e-02 -3.03567997e-04 9.99448147e-01 1.68263437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.17, Y:0.00, Z:0.17 [[ 9.98940951e-01 -3.28030793e-02 -3.22635023e-02 2.71718441e+01] [ 3.27968162e-02 9.99461778e-01 -7.23454057e-04 3.21322058e-03] [ 3.22698689e-02 -3.35452273e-04 9.99479136e-01 1.69408836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.395336195000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:27.20, Y:0.00, Z:0.17 [[ 9.98866577e-01 -3.63326811e-02 -3.07489450e-02 2.72001924e+01] [ 3.63285028e-02 9.99339661e-01 -6.94720723e-04 4.64317475e-03] [ 3.07538813e-02 -4.23129822e-04 9.99526898e-01 1.71123732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.425336195 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:27.23, Y:0.01, Z:0.17 [[ 9.98818392e-01 -3.94927526e-02 -2.83221092e-02 2.72305299e+01] [ 3.94904536e-02 9.99219742e-01 -6.40726414e-04 6.68118633e-03] [ 2.83253147e-02 -4.78483611e-04 9.99598643e-01 1.73178371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.455336195 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:27.26, Y:0.01, Z:0.17 [[ 9.98808438e-01 -3.99123072e-02 -2.80840271e-02 2.72622660e+01] [ 3.99102425e-02 9.99203068e-01 -6.34269167e-04 1.34845187e-02] [ 2.80869612e-02 -4.87326936e-04 9.99605365e-01 1.74918517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.485336195000002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:27.29, Y:0.01, Z:0.17 [[ 9.98782744e-01 -3.91915100e-02 -2.99508738e-02 2.72933810e+01] [ 3.91889025e-02 9.99231592e-01 -6.74281510e-04 1.38257202e-02] [ 2.99542854e-02 -5.00281135e-04 9.99551145e-01 1.73294979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.32, Y:0.01, Z:0.17 [[ 9.98736107e-01 -3.92363004e-02 -3.14117920e-02 2.73248210e+01] [ 3.92334999e-02 9.99229821e-01 -7.05737089e-04 1.18844771e-02] [ 3.14152898e-02 -5.27549425e-04 9.99506279e-01 1.70723148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.545336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:27.36, Y:0.01, Z:0.17 [[ 9.98687401e-01 -4.07824799e-02 -3.09881459e-02 2.73564031e+01] [ 4.07805231e-02 9.99167886e-01 -6.95413621e-04 1.28017845e-02] [ 3.09907210e-02 -5.69211982e-04 9.99519510e-01 1.71698130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.575336195000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.39, Y:0.02, Z:0.18 [[ 9.98633045e-01 -4.15693775e-02 -3.16864095e-02 2.73883585e+01] [ 4.15677713e-02 9.99135435e-01 -7.09704685e-04 1.85993754e-02] [ 3.16885165e-02 -6.08398873e-04 9.99497608e-01 1.75633911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.42, Y:0.02, Z:0.18 [[ 9.98635591e-01 -4.15081282e-02 -3.16864510e-02 2.74210636e+01] [ 4.15065501e-02 9.99137981e-01 -7.07848539e-04 1.92573628e-02] [ 3.16885182e-02 -6.08312523e-04 9.99497608e-01 1.75865342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.635336195 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:27.45, Y:0.02, Z:0.17 [[ 9.98609467e-01 -4.14063653e-02 -3.26289052e-02 2.74521212e+01] [ 4.14046831e-02 9.99142194e-01 -7.27518306e-04 1.91933087e-02] [ 3.26310398e-02 -6.24482809e-04 9.99467271e-01 1.74816977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.665336195000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:27.48, Y:0.02, Z:0.17 [[ 9.98578698e-01 -4.15536500e-02 -3.33748192e-02 2.74840079e+01] [ 4.15520231e-02 9.99136066e-01 -7.42633110e-04 1.76175305e-02] [ 3.33768447e-02 -6.45213655e-04 9.99442630e-01 1.73378097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.695336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:27.52, Y:0.02, Z:0.18 [[ 9.98670144e-01 -4.04694657e-02 -3.19400320e-02 2.75150390e+01] [ 4.04674596e-02 9.99180605e-01 -7.09502524e-04 1.89446698e-02] [ 3.19425737e-02 -5.83972967e-04 9.99489535e-01 1.76734676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.725336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:27.55, Y:0.02, Z:0.18 [[ 9.98692267e-01 -3.96008083e-02 -3.23346694e-02 2.75476971e+01] [ 3.95983437e-02 9.99215421e-01 -7.16833844e-04 2.00450962e-02] [ 3.23376875e-02 -5.64502938e-04 9.99476841e-01 1.77456043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.755336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:27.58, Y:0.02, Z:0.18 [[ 9.98745258e-01 -3.81929392e-02 -3.23915089e-02 2.75775481e+01] [ 3.81897463e-02 9.99270248e-01 -7.17468299e-04 2.04250621e-02] [ 3.23952733e-02 -5.20455445e-04 9.99475000e-01 1.77042603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.785336195 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:27.61, Y:0.02, Z:0.18 [[ 9.98975311e-01 -3.34560122e-02 -3.04798880e-02 2.76071130e+01] [ 3.34509746e-02 9.99440131e-01 -6.75314644e-04 1.77353133e-02] [ 3.04854166e-02 -3.44959301e-04 9.99535152e-01 1.75271319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.64, Y:0.01, Z:0.17 [[ 9.99189767e-01 -2.81332518e-02 -2.87807331e-02 2.76372078e+01] [ 2.81265149e-02 9.99604167e-01 -6.38962832e-04 1.41866160e-02] [ 2.87873169e-02 -1.71056597e-04 9.99585545e-01 1.73387691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.845336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:27.67, Y:0.02, Z:0.17 [[ 9.99265347e-01 -2.54718552e-02 -2.86347814e-02 2.76662585e+01] [ 2.54639763e-02 9.99675536e-01 -6.39827752e-04 1.56711767e-02] [ 2.86417880e-02 -8.97976945e-05 9.99589736e-01 1.74402531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.875336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:27.69, Y:0.02, Z:0.18 [[ 9.99390048e-01 -2.03537383e-02 -2.83770383e-02 2.76931643e+01] [ 2.03438518e-02 9.99792839e-01 -6.37092111e-04 2.30503327e-02] [ 2.83841269e-02 5.94052546e-05 9.99597088e-01 1.78174997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.905336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:27.72, Y:0.03, Z:0.18 [[ 9.99427766e-01 -1.85150084e-02 -2.83078497e-02 2.77198770e+01] [ 1.85043651e-02 9.99828576e-01 -6.37921523e-04 2.63778423e-02] [ 2.83148081e-02 1.13737697e-04 9.99599049e-01 1.79999923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.935336195 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:27.75, Y:0.03, Z:0.18 [[ 9.99436868e-01 -1.47082838e-02 -3.01597849e-02 2.77480279e+01] [ 1.46943207e-02 9.99891798e-01 -6.84569694e-04 3.10822607e-02] [ 3.01665904e-02 2.41006639e-04 9.99544856e-01 1.79313111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.965336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.78, Y:0.03, Z:0.17 [[ 9.99353391e-01 -1.09153030e-02 -3.42586727e-02 2.77761753e+01] [ 1.08948280e-02 9.99940342e-01 -7.84280974e-04 2.96115343e-02] [ 3.42651896e-02 4.10531502e-04 9.99412692e-01 1.72894957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.995336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:27.80, Y:0.03, Z:0.17 [[ 9.99334019e-01 -1.02048060e-02 -3.50339854e-02 2.78030152e+01] [ 1.01828269e-02 9.99947829e-01 -8.05738664e-04 3.01337381e-02] [ 3.50403800e-02 4.48457048e-04 9.99385797e-01 1.71687393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.025336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:27.83, Y:0.04, Z:0.18 [[ 9.99368754e-01 -1.04710362e-02 -3.39477535e-02 2.78304024e+01] [ 1.04503583e-02 9.99945084e-01 -7.86491099e-04 3.78046568e-02] [ 3.39541246e-02 4.31228442e-04 9.99423299e-01 1.75178277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.055336195000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:27.86, Y:0.04, Z:0.18 [[ 9.99376857e-01 -1.13752148e-02 -3.34141088e-02 2.78586416e+01] [ 1.13554733e-02 9.99935220e-01 -7.80529649e-04 4.14010150e-02] [ 3.34208230e-02 4.00610246e-04 9.99441288e-01 1.76270984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.085336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.89, Y:0.05, Z:0.18 [[ 9.99373862e-01 -1.41250314e-02 -3.24402113e-02 2.78859257e+01] [ 1.41076698e-02 9.99900190e-01 -7.64022330e-04 4.94889766e-02] [ 3.24477653e-02 3.05888155e-04 9.99473386e-01 1.79315077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.115336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:27.91, Y:0.06, Z:0.18 [[ 9.99343556e-01 -1.61811831e-02 -3.24133824e-02 2.79123685e+01] [ 1.61648176e-02 9.99869047e-01 -7.66898730e-04 5.70854592e-02] [ 3.24215471e-02 2.42438888e-04 9.99474254e-01 1.82024516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.145336195000002 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:27.94, Y:0.06, Z:0.18 [[ 9.99285746e-01 -2.15241667e-02 -3.10597391e-02 2.79396414e+01] [ 2.15116405e-02 9.99768326e-01 -7.37429549e-04 6.19986080e-02] [ 3.10684159e-02 6.87568948e-05 9.99517258e-01 1.80078669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.175336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:27.97, Y:0.06, Z:0.18 [[ 9.99206877e-01 -2.67206725e-02 -2.95232700e-02 2.79671381e+01] [ 2.67114786e-02 9.99642936e-01 -7.05829896e-04 6.04225227e-02] [ 2.95315886e-02 -8.33401111e-05 9.99563844e-01 1.77089588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.99, Y:0.06, Z:0.18 [[ 9.99130178e-01 -2.90935316e-02 -2.98739801e-02 2.79946373e+01] [ 2.90850758e-02 9.99576682e-01 -7.17640578e-04 6.29597508e-02] [ 2.98822126e-02 -1.51870618e-04 9.99553415e-01 1.77563507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.235336195000002 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:28.02, Y:0.07, Z:0.18 [[ 9.98859023e-01 -3.58620224e-02 -3.15367675e-02 2.80242833e+01] [ 3.58559314e-02 9.99356681e-01 -7.58832353e-04 6.59089155e-02] [ 3.15436926e-02 -3.72813631e-04 9.99502304e-01 1.77554471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.265336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:28.05, Y:0.07, Z:0.18 [[ 9.98743045e-01 -3.87952383e-02 -3.17373549e-02 2.80547874e+01] [ 3.87905535e-02 9.99247072e-01 -7.63539495e-04 6.62353824e-02] [ 3.17430806e-02 -4.68529804e-04 9.99495952e-01 1.78745160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.295336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:28.09, Y:0.07, Z:0.18 [[ 9.98482607e-01 -4.45274517e-02 -3.24004674e-02 2.80873772e+01] [ 4.45256256e-02 9.99007939e-01 -7.78233025e-04 6.70371469e-02] [ 3.24029769e-02 -6.65598941e-04 9.99474664e-01 1.80692200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.325336195000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:28.12, Y:0.07, Z:0.18 [[ 9.98252312e-01 -5.01749602e-02 -3.12217120e-02 2.81182532e+01] [ 5.01760903e-02 9.98740107e-01 -7.47777160e-04 6.76309873e-02] [ 3.12198956e-02 -8.20113161e-04 9.99512204e-01 1.82523718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.15, Y:0.07, Z:0.18 [[ 9.98173546e-01 -5.25343410e-02 -2.98280998e-02 2.81513519e+01] [ 5.25364850e-02 9.98618751e-01 -7.12362646e-04 6.68894341e-02] [ 2.98243233e-02 -8.56001973e-04 9.99554789e-01 1.83253119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.385336195 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:28.18, Y:0.06, Z:0.18 [[ 9.98012266e-01 -5.60669041e-02 -2.87753114e-02 2.81840562e+01] [ 5.60704226e-02 9.98426581e-01 -6.85233793e-04 6.32982103e-02] [ 2.87684547e-02 -9.29572140e-04 9.99585670e-01 1.83031878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.415336195000002 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:28.22, Y:0.06, Z:0.18 [[ 9.97964551e-01 -5.67450663e-02 -2.90990225e-02 2.82171978e+01] [ 5.67490126e-02 9.98388237e-01 -6.90879000e-04 6.24018146e-02] [ 2.90913257e-02 -9.61868042e-04 9.99576295e-01 1.82930376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.445336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:28.25, Y:0.06, Z:0.18 [[ 9.97939438e-01 -5.61204933e-02 -3.11025441e-02 2.82493119e+01] [ 5.61247604e-02 9.98423492e-01 -7.36500901e-04 5.69120654e-02] [ 3.10948435e-02 -1.01063954e-03 9.99515927e-01 1.79915223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.475336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:28.28, Y:0.05, Z:0.18 [[ 9.97950387e-01 -5.52036876e-02 -3.23663001e-02 2.82811730e+01] [ 5.52078888e-02 9.98474589e-01 -7.64539062e-04 5.35315338e-02] [ 3.23591335e-02 -1.02390304e-03 9.99475782e-01 1.78437591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.505336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:28.31, Y:0.05, Z:0.18 [[ 9.98139565e-01 -5.22821785e-02 -3.13685126e-02 2.83145147e+01] [ 5.22847462e-02 9.98631944e-01 -7.38950968e-04 5.44533918e-02] [ 3.13642327e-02 -9.02518524e-04 9.99507614e-01 1.82538149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.535336195 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:28.35, Y:0.06, Z:0.19 [[ 9.98281969e-01 -5.04419762e-02 -2.98113764e-02 2.83468220e+01] [ 5.04435258e-02 9.98726669e-01 -7.00559305e-04 5.87379318e-02] [ 2.98087543e-02 -8.04435213e-04 9.99555297e-01 1.87267098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.565336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:28.38, Y:0.06, Z:0.19 [[ 9.98476263e-01 -4.74485767e-02 -2.81741802e-02 2.83799881e+01] [ 4.74488204e-02 9.98873452e-01 -6.60274349e-04 6.11428443e-02] [ 2.81737697e-02 -6.77563349e-04 9.99602811e-01 1.89895014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.595336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.41, Y:0.05, Z:0.18 [[ 9.98680691e-01 -4.39932144e-02 -2.64853749e-02 2.84120936e+01] [ 4.39922513e-02 9.99031680e-01 -6.19322804e-04 5.05357092e-02] [ 2.64869745e-02 -5.46645540e-04 9.99649009e-01 1.81669159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.625336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:28.44, Y:0.05, Z:0.18 [[ 9.98770710e-01 -4.21596074e-02 -2.60698326e-02 2.84440399e+01] [ 4.21580878e-02 9.99110768e-01 -6.08152404e-04 4.55304762e-02] [ 2.60722899e-02 -4.91649481e-04 9.99659939e-01 1.78227549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.655336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:28.48, Y:0.05, Z:0.18 [[ 9.98926123e-01 -3.80903132e-02 -2.63766543e-02 2.84760009e+01] [ 3.80873746e-02 9.99274224e-01 -6.13978680e-04 4.57526769e-02] [ 2.63808974e-02 -3.91298169e-04 9.99651887e-01 1.79959197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.685336195 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:28.51, Y:0.05, Z:0.18 [[ 9.98966810e-01 -3.59278583e-02 -2.78298841e-02 2.85073096e+01] [ 3.59237783e-02 9.99354324e-01 -6.46726985e-04 5.24231331e-02] [ 2.78351505e-02 -3.53695794e-04 9.99612465e-01 1.84882087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.715336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.54, Y:0.06, Z:0.19 [[ 9.98893757e-01 -3.47674279e-02 -3.16620840e-02 2.85388142e+01] [ 3.47616105e-02 9.99395363e-01 -7.34334138e-04 6.09873316e-02] [ 3.16684708e-02 -3.67103244e-04 9.99498361e-01 1.88902662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.745336195 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:28.57, Y:0.06, Z:0.19 [[ 9.98821089e-01 -3.52411508e-02 -3.33840297e-02 2.85688482e+01] [ 3.52349495e-02 9.99378756e-01 -7.74226682e-04 5.82435361e-02] [ 3.33905748e-02 -4.02970663e-04 9.99442298e-01 1.86255803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.775336195 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:28.60, Y:0.05, Z:0.18 [[ 9.98767541e-01 -3.56727407e-02 -3.45087495e-02 2.85983470e+01] [ 3.56663461e-02 9.99363432e-01 -8.01066280e-04 4.78617846e-02] [ 3.45153586e-02 -4.30722006e-04 9.99404075e-01 1.81300468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.805336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:28.63, Y:0.04, Z:0.18 [[ 9.98797098e-01 -3.61928021e-02 -3.30822951e-02 2.86273854e+01] [ 3.61871734e-02 9.99344734e-01 -7.69065001e-04 4.45843248e-02] [ 3.30884520e-02 -4.29014859e-04 9.99452335e-01 1.80810058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.835336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:28.66, Y:0.05, Z:0.19 [[ 9.98853071e-01 -3.79980909e-02 -2.91322557e-02 2.86572214e+01] [ 3.79944712e-02 9.99277719e-01 -6.77989024e-04 4.61171080e-02] [ 2.91369764e-02 -4.29653233e-04 9.99575336e-01 1.86931530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.865336195 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:28.69, Y:0.05, Z:0.19 [[ 9.98868157e-01 -3.85461515e-02 -2.78675291e-02 2.86888960e+01] [ 3.85430754e-02 9.99256730e-01 -6.47731106e-04 4.89765206e-02] [ 2.78717835e-02 -4.27102297e-04 9.99611415e-01 1.90340501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.895336195000002 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:28.72, Y:0.05, Z:0.19 [[ 9.98989133e-01 -3.73945116e-02 -2.49472153e-02 2.87212685e+01] [ 3.73917157e-02 9.99300518e-01 -5.78707997e-04 4.75835494e-02] [ 2.49514057e-02 -3.54696183e-04 9.99688602e-01 1.91719024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.925336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.75, Y:0.04, Z:0.19 [[ 9.99089104e-01 -3.54952102e-02 -2.36865517e-02 2.87541225e+01] [ 3.54921822e-02 9.99369804e-01 -5.48361950e-04 3.83684237e-02] [ 2.36910888e-02 -2.92824960e-04 9.99719284e-01 1.87144913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.955336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:28.79, Y:0.04, Z:0.19 [[ 9.99078204e-01 -3.52091593e-02 -2.45572368e-02 2.87858496e+01] [ 3.52058418e-02 9.99379921e-01 -5.67555953e-04 3.68690551e-02] [ 2.45619925e-02 -2.97525411e-04 9.99698264e-01 1.87103997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.985336195000002 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:28.82, Y:0.04, Z:0.19 [[ 9.99013600e-01 -3.44934383e-02 -2.79647976e-02 2.88182044e+01] [ 3.44888919e-02 9.99404873e-01 -6.45037772e-04 4.04375167e-02] [ 2.79704046e-02 -3.20073375e-04 9.99608700e-01 1.89715670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.015336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:28.85, Y:0.04, Z:0.19 [[ 9.99015010e-01 -3.41612868e-02 -2.83198860e-02 2.88485375e+01] [ 3.41565074e-02 9.99416283e-01 -6.52638955e-04 4.16362588e-02] [ 2.83256502e-02 -3.15312286e-04 9.99598699e-01 1.89618038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.045336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:28.88, Y:0.04, Z:0.19 [[ 9.99001933e-01 -3.46666020e-02 -2.81667256e-02 2.88795320e+01] [ 3.46620915e-02 9.99398879e-01 -6.48522425e-04 3.72007205e-02] [ 2.81722760e-02 -3.28442463e-04 9.99603029e-01 1.87912273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.075336195000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.91, Y:0.03, Z:0.19 [[ 9.99014761e-01 -3.43348675e-02 -2.81180284e-02 2.89100536e+01] [ 3.42983356e-02 9.99410053e-01 -1.78064344e-03 3.40840862e-02] [ 2.81625784e-02 8.14487502e-04 9.99603024e-01 1.87627557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.105336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:28.94, Y:0.03, Z:0.19 [[ 9.98985752e-01 -3.57724621e-02 -2.73458834e-02 2.89410721e+01] [ 3.57970478e-02 9.99358996e-01 4.09891115e-04 3.00090453e-02] [ 2.73136917e-02 -1.38837728e-03 9.99625947e-01 1.86193275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.135336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:28.97, Y:0.03, Z:0.19 [[ 9.98940225e-01 -3.70951238e-02 -2.72466336e-02 2.89721254e+01] [ 3.70918481e-02 9.99311665e-01 -6.25796221e-04 2.98958674e-02] [ 2.72510928e-02 -3.85494979e-04 9.99628546e-01 1.89457786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.165336195000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.00, Y:0.03, Z:0.19 [[ 9.98926907e-01 -3.73496954e-02 -2.73867535e-02 2.90038632e+01] [ 3.73465143e-02 9.99302178e-01 -6.27817971e-04 3.33656635e-02] [ 2.73910912e-02 -3.95655517e-04 9.99624715e-01 1.92034493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.195336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.04, Y:0.03, Z:0.19 [[ 9.98948544e-01 -3.75684303e-02 -2.62758251e-02 2.90361225e+01] [ 3.75656099e-02 9.99293983e-01 -6.01122928e-04 3.19604982e-02] [ 2.62798571e-02 -3.86576521e-04 9.99654550e-01 1.91468433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.225336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.07, Y:0.02, Z:0.19 [[ 9.98908949e-01 -3.80285298e-02 -2.71061176e-02 2.90687995e+01] [ 3.80257329e-02 9.99276569e-01 -6.18819633e-04 2.39321049e-02] [ 2.71100410e-02 -4.12585519e-04 9.99632370e-01 1.87899086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.255336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:29.10, Y:0.02, Z:0.19 [[ 9.98846884e-01 -3.87616750e-02 -2.83272810e-02 2.91010090e+01] [ 3.87589546e-02 9.99248381e-01 -6.45312559e-04 1.91958802e-02] [ 2.83310030e-02 -4.53367359e-04 9.99598494e-01 1.86119005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.285336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.13, Y:0.02, Z:0.19 [[ 9.98658554e-01 -4.20069435e-02 -3.02738922e-02 2.91322039e+01] [ 4.20053636e-02 9.99117148e-01 -6.88444643e-04 1.61998221e-02] [ 3.02760843e-02 -5.84144719e-04 9.99541404e-01 1.87310503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.315336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:29.16, Y:0.02, Z:0.19 [[ 9.98528770e-01 -4.42856174e-02 -3.12902467e-02 2.91642327e+01] [ 4.42850925e-02 9.99018682e-01 -7.10131528e-04 1.73794890e-02] [ 3.12909897e-02 -6.76604709e-04 9.99510088e-01 1.89203000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.345336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:29.20, Y:0.01, Z:0.19 [[ 9.98319372e-01 -4.85488681e-02 -3.16455044e-02 2.91953910e+01] [ 4.85505097e-02 9.98820471e-01 -7.16972248e-04 1.04276544e-02] [ 3.16429858e-02 -8.20638085e-04 9.99498898e-01 1.89476423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.375336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.23, Y:0.01, Z:0.19 [[ 9.98289452e-01 -4.99203444e-02 -3.04323625e-02 2.92275706e+01] [ 4.99225396e-02 9.98752856e-01 -6.88143300e-04 6.00541740e-03] [ 3.04287613e-02 -8.32294622e-04 9.99536592e-01 1.89394945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.405336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.26, Y:0.00, Z:0.19 [[ 9.98396668e-01 -4.92132951e-02 -2.79668660e-02 2.92599458e+01] [ 4.92149076e-02 9.98788013e-01 -6.31084443e-04 2.62537243e-03] [ 2.79640283e-02 -7.46314123e-04 9.99608651e-01 1.92718503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.435336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:29.29, Y:0.00, Z:0.19 [[ 9.98499586e-01 -4.73570373e-02 -2.74934225e-02 2.92915527e+01] [ 4.73579353e-02 9.98877792e-01 -6.18842891e-04 1.77150527e-03] [ 2.74918758e-02 -6.84117354e-04 9.99621793e-01 1.93224987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.465336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.32, Y:-0.00, Z:0.19 [[ 9.98832710e-01 -4.07595270e-02 -2.59206074e-02 2.93237892e+01] [ 4.07581370e-02 9.99168872e-01 -5.82169864e-04 -4.71880948e-04] [ 2.59227930e-02 -4.74985362e-04 9.99663835e-01 1.92463962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.495336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.36, Y:0.00, Z:0.19 [[ 9.98835063e-01 -4.07018105e-02 -2.59206391e-02 2.93564884e+01] [ 4.07004378e-02 9.99171225e-01 -5.80754510e-04 1.81702205e-04] [ 2.59227945e-02 -4.74903391e-04 9.99663835e-01 1.92695382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.525336195 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:29.39, Y:0.00, Z:0.19 [[ 9.99003346e-01 -3.69274284e-02 -2.50735051e-02 2.93888334e+01] [ 3.69249863e-02 9.99317883e-01 -5.60540446e-04 2.17849082e-03] [ 2.50771013e-02 -3.65857050e-04 9.99685453e-01 1.94319542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.555336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:29.42, Y:0.00, Z:0.19 [[ 9.99224475e-01 -2.92730262e-02 -2.63351189e-02 2.94199219e+01] [ 2.92677012e-02 9.99571436e-01 -5.87712245e-04 3.34159627e-03] [ 2.63410367e-02 -1.83511932e-04 9.99652998e-01 1.91679679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.45, Y:-0.00, Z:0.19 [[ 9.99274710e-01 -2.53698923e-02 -2.83975803e-02 2.94483823e+01] [ 2.53621108e-02 9.99678129e-01 -6.34227923e-04 -3.11069215e-03] [ 2.84045302e-02 -8.64546543e-05 9.99596506e-01 1.87609951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.615336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:29.48, Y:-0.00, Z:0.19 [[ 9.99324377e-01 -2.44660605e-02 -2.74262966e-02 2.94763076e+01] [ 2.44583480e-02 9.99700660e-01 -6.16687433e-04 -2.09189185e-03] [ 2.74331748e-02 -5.45311217e-05 9.99623638e-01 1.89280118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.645336195000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.50, Y:-0.00, Z:0.19 [[ 9.99290511e-01 -2.43490920e-02 -2.87331948e-02 2.95030593e+01] [ 2.43404854e-02 9.99703516e-01 -6.49309553e-04 -2.28021971e-03] [ 2.87404860e-02 -5.05310346e-05 9.99586906e-01 1.92561450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.675336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:29.53, Y:-0.00, Z:0.19 [[ 9.99259085e-01 -2.49989133e-02 -2.92632078e-02 2.95299232e+01] [ 2.49901627e-02 9.99687476e-01 -6.64775676e-04 -2.85022002e-03] [ 2.92706811e-02 -6.70091909e-05 9.99571520e-01 1.93431728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.56, Y:-0.00, Z:0.20 [[ 9.99319579e-01 -2.61968785e-02 -2.59634967e-02 2.95575406e+01] [ 2.61902802e-02 9.99656799e-01 -5.94216608e-04 -2.24245897e-03] [ 2.59701526e-02 -8.61789645e-05 9.99662715e-01 1.95740398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.735336195000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.58, Y:-0.00, Z:0.20 [[ 9.99339470e-01 -2.68534696e-02 -2.44850027e-02 2.95849730e+01] [ 2.68476848e-02 9.99639376e-01 -5.65016852e-04 -2.84162560e-03] [ 2.44913455e-02 -9.27219938e-05 9.99700038e-01 1.95480942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.61, Y:-0.01, Z:0.20 [[ 9.99406816e-01 -2.66703677e-02 -2.17877644e-02 2.96141919e+01] [ 2.66657056e-02 9.99644280e-01 -5.04527787e-04 -8.27695150e-03] [ 2.17934700e-02 -7.67576018e-05 9.99762491e-01 1.95188874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.795336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:29.64, Y:-0.01, Z:0.20 [[ 9.99480960e-01 -2.46389427e-02 -2.07541268e-02 2.96444495e+01] [ 2.46342695e-02 9.99696415e-01 -4.80836545e-04 -5.75257278e-03] [ 2.07596735e-02 -3.06757823e-05 9.99784494e-01 1.98037363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.825336195000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.67, Y:-0.00, Z:0.20 [[ 9.99466816e-01 -2.39146121e-02 -2.22300277e-02 2.96734295e+01] [ 2.39090673e-02 9.99714005e-01 -5.15214001e-04 -3.16427345e-03] [ 2.22359911e-02 -1.65599313e-05 9.99752750e-01 1.98077410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.855336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.70, Y:-0.01, Z:0.19 [[ 9.99414544e-01 -2.11682068e-02 -2.68789138e-02 2.97023735e+01] [ 2.11590155e-02 9.99775927e-01 -6.26355777e-04 -5.63948567e-03] [ 2.68861498e-02 5.72577197e-05 9.99638500e-01 1.92930869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.73, Y:-0.01, Z:0.19 [[ 9.99414391e-01 -2.00603629e-02 -2.77210653e-02 2.97302329e+01] [ 2.00500174e-02 9.99798766e-01 -6.51134256e-04 -8.22651864e-03] [ 2.77285489e-02 9.49451049e-05 9.99615485e-01 1.90098771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.915336195000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:29.76, Y:-0.01, Z:0.19 [[ 9.99450767e-01 -1.93286641e-02 -2.69177832e-02 2.97583820e+01] [ 1.93185065e-02 9.99813177e-01 -6.37382309e-04 -8.09286903e-03] [ 2.69250740e-02 1.17020868e-04 9.99637448e-01 1.88998410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.945336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:29.79, Y:-0.00, Z:0.19 [[ 9.99438908e-01 -1.95227747e-02 -2.72163646e-02 2.97856616e+01] [ 1.95123197e-02 9.99809405e-01 -6.49692276e-04 -3.67831722e-03] [ 2.72238611e-02 1.18273332e-04 9.99629355e-01 1.91155332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.975336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:29.81, Y:0.01, Z:0.20 [[ 9.99394723e-01 -2.06016293e-02 -2.80314254e-02 2.98132725e+01] [ 2.05908091e-02 9.99787759e-01 -6.74631580e-04 6.05388012e-03] [ 2.80393745e-02 9.70335130e-05 9.99606815e-01 1.96852948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.005336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.84, Y:0.01, Z:0.20 [[ 9.99367370e-01 -2.19284735e-02 -2.80000397e-02 2.98400000e+01] [ 2.19181100e-02 9.99759540e-01 -6.77019430e-04 1.10323132e-02] [ 2.80081528e-02 6.28831766e-05 9.99607693e-01 1.98534338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.035336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:29.87, Y:0.02, Z:0.20 [[ 9.99385943e-01 -2.39688820e-02 -2.55583462e-02 2.98666339e+01] [ 2.39608612e-02 9.99712705e-01 -6.20072707e-04 1.51043383e-02] [ 2.55658659e-02 7.29196111e-06 9.99673140e-01 1.97892076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.065336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:29.89, Y:0.01, Z:0.19 [[ 9.99400563e-01 -2.54559469e-02 -2.34629199e-02 2.98948460e+01] [ 2.54495109e-02 9.99675945e-01 -5.72911993e-04 1.12376248e-02] [ 2.34699007e-02 -2.45512677e-05 9.99724544e-01 1.94080214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.095336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:29.92, Y:0.01, Z:0.19 [[ 9.99376559e-01 -2.57777987e-02 -2.41246442e-02 2.99239348e+01] [ 2.57710363e-02 9.99667697e-01 -5.91224950e-04 1.30358705e-02] [ 2.41318680e-02 -3.08607263e-05 9.99708784e-01 1.93215636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.125336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.95, Y:0.02, Z:0.20 [[ 9.99275045e-01 -2.86952817e-02 -2.50192996e-02 2.99527947e+01] [ 2.86888986e-02 9.99588200e-01 -6.14109260e-04 2.22236561e-02] [ 2.50266187e-02 -1.04112090e-04 9.99686780e-01 1.95290381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.155336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:29.98, Y:0.03, Z:0.20 [[ 9.99209487e-01 -3.11750497e-02 -2.46681565e-02 2.99836468e+01] [ 3.11695940e-02 9.99513927e-01 -6.05735427e-04 2.68772045e-02] [ 2.46750498e-02 -1.63639837e-04 9.99695511e-01 1.96796545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.185336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.01, Y:0.03, Z:0.20 [[ 9.98978381e-01 -3.67207138e-02 -2.63397852e-02 3.00145624e+01] [ 3.67164323e-02 9.99325515e-01 -6.46330251e-04 3.37487566e-02] [ 2.63457531e-02 -3.21432992e-04 9.99652839e-01 1.99015076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.215336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:30.05, Y:0.04, Z:0.20 [[ 9.98840502e-01 -4.02622242e-02 -2.63932682e-02 3.00468762e+01] [ 4.02591896e-02 9.99189061e-01 -6.46559871e-04 3.65556164e-02] [ 2.63978968e-02 -4.16761401e-04 9.99651428e-01 1.98943701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.245336195 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:30.08, Y:0.04, Z:0.20 [[ 9.98538099e-01 -4.67216323e-02 -2.71800303e-02 3.00789335e+01] [ 4.67208404e-02 9.98907764e-01 -6.64536493e-04 3.71543569e-02] [ 2.71813916e-02 -6.06308854e-04 9.99630334e-01 1.96433749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.11, Y:0.03, Z:0.19 [[ 9.98240035e-01 -5.25893340e-02 -2.74079295e-02 3.01114267e+01] [ 5.25907735e-02 9.98615924e-01 -6.68812126e-04 3.47255814e-02] [ 2.74051672e-02 -7.73769170e-04 9.99624108e-01 1.94381337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.305336195 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:30.14, Y:0.04, Z:0.19 [[ 9.98117545e-01 -5.54191871e-02 -2.62693787e-02 3.01436258e+01] [ 5.54215260e-02 9.98462841e-01 -6.39586345e-04 3.56226511e-02] [ 2.62644439e-02 -8.17506705e-04 9.99654696e-01 1.94921375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.335336195 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:30.18, Y:0.04, Z:0.20 [[ 9.98014362e-01 -5.76496560e-02 -2.53741901e-02 3.01761110e+01] [ 5.76526201e-02 9.98336515e-01 -6.15338894e-04 3.69284306e-02] [ 2.53674546e-02 -8.48771486e-04 9.99677834e-01 1.96202490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.21, Y:0.04, Z:0.20 [[ 9.97783986e-01 -6.07751836e-02 -2.70831091e-02 3.02087484e+01] [ 6.07797717e-02 9.98150986e-01 -6.54523564e-04 4.11449444e-02] [ 2.70728108e-02 -9.93032058e-04 9.99632971e-01 1.99959706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.395336195000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:30.24, Y:0.04, Z:0.20 [[ 9.97724324e-01 -6.16689471e-02 -2.72601103e-02 3.02408060e+01] [ 6.16739745e-02 9.98096132e-01 -6.57113977e-04 4.30917504e-02] [ 2.72487341e-02 -1.02562075e-03 9.99628158e-01 2.00802589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.425336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.27, Y:0.04, Z:0.20 [[ 9.97768260e-01 -6.12723216e-02 -2.65367889e-02 3.02736526e+01] [ 6.12769921e-02 9.98120596e-01 -6.37918833e-04 3.93416288e-02] [ 2.65260023e-02 -9.89599443e-04 9.99647634e-01 1.98212050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.455336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.31, Y:0.04, Z:0.20 [[ 9.97852645e-01 -5.99787756e-02 -2.63181423e-02 3.03052957e+01] [ 5.99829622e-02 9.98199202e-01 -6.31061655e-04 3.64713133e-02] [ 2.63085989e-02 -9.48933594e-04 9.99653419e-01 1.96577402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.485336195000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.34, Y:0.04, Z:0.20 [[ 9.98165702e-01 -5.46561418e-02 -2.60372375e-02 3.03386466e+01] [ 5.46584755e-02 9.98504914e-01 -6.22591148e-04 3.63474757e-02] [ 2.60323380e-02 -8.01706578e-04 9.99660780e-01 1.97857747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.515336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:30.37, Y:0.04, Z:0.20 [[ 9.98499089e-01 -4.80205555e-02 -2.63362195e-02 3.03702796e+01] [ 4.80206854e-02 9.98846144e-01 -6.27883369e-04 4.24013688e-02] [ 2.63359826e-02 -6.37742339e-04 9.99652944e-01 2.02289341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.545336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:30.40, Y:0.04, Z:0.20 [[ 9.98651239e-01 -4.45121807e-02 -2.67276919e-02 3.04022799e+01] [ 4.45110966e-02 9.99008688e-01 -6.35797777e-04 4.45468989e-02] [ 2.67294972e-02 -5.54738640e-04 9.99642549e-01 2.02910452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.575336195000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:30.43, Y:0.04, Z:0.20 [[ 9.98888477e-01 -3.90866687e-02 -2.63447118e-02 3.04343073e+01] [ 3.90837611e-02 9.99235742e-01 -6.25469061e-04 4.27047890e-02] [ 2.63490252e-02 -4.04876586e-04 9.99652722e-01 1.98459507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.605336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:30.47, Y:0.04, Z:0.20 [[ 9.98954387e-01 -3.75233628e-02 -2.61176246e-02 3.04663722e+01] [ 3.75200029e-02 9.99295685e-01 -6.18856046e-04 4.11134132e-02] [ 2.61224511e-02 -3.61724386e-04 9.99658685e-01 1.97496731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.635336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:30.50, Y:0.04, Z:0.20 [[ 9.98999350e-01 -3.62973703e-02 -2.61304495e-02 3.04989032e+01] [ 3.62936199e-02 9.99340979e-01 -6.17932814e-04 4.18169713e-02] [ 2.61356583e-02 -3.31054122e-04 9.99658351e-01 1.97355331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.665336195000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:30.53, Y:0.04, Z:0.20 [[ 9.98977983e-01 -3.64539863e-02 -2.67225794e-02 3.05301887e+01] [ 3.64501476e-02 9.99335273e-01 -6.30906454e-04 4.40342476e-02] [ 2.67278153e-02 -3.43780307e-04 9.99642689e-01 1.98352947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.695336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:30.56, Y:0.05, Z:0.20 [[ 9.98917751e-01 -3.73980616e-02 -2.76534166e-02 3.05612229e+01] [ 3.73943328e-02 9.99300375e-01 -6.52151580e-04 4.62354020e-02] [ 2.76584588e-02 -3.82635273e-04 9.99617358e-01 2.00231838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.59, Y:0.05, Z:0.20 [[ 9.98905198e-01 -3.99884055e-02 -2.42761969e-02 3.05922806e+01] [ 3.99863319e-02 9.99200064e-01 -5.71030835e-04 4.55798596e-02] [ 2.42796121e-02 -4.00310397e-04 9.99705127e-01 2.01964373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.62, Y:0.05, Z:0.20 [[ 9.98927264e-01 -4.03382724e-02 -2.27408385e-02 3.06231107e+01] [ 4.03365672e-02 9.99186007e-01 -5.33868875e-04 4.58108935e-02] [ 2.27438629e-02 -3.83991186e-04 9.99741251e-01 2.02622927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.785336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:30.65, Y:0.05, Z:0.20 [[ 9.98962233e-01 -4.01447936e-02 -2.15140315e-02 3.06548904e+01] [ 4.01432414e-02 9.99193808e-01 -5.04191347e-04 4.59339513e-02] [ 2.15169277e-02 -3.59974846e-04 9.99768419e-01 2.01958297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.815336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:30.69, Y:0.05, Z:0.20 [[ 9.98980103e-01 -3.97263600e-02 -2.14608761e-02 3.06879811e+01] [ 3.97247476e-02 9.99210535e-01 -5.01610531e-04 4.61240222e-02] [ 2.14638607e-02 -3.51428946e-04 9.99769563e-01 2.00375038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.845336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:30.72, Y:0.05, Z:0.20 [[ 9.98944095e-01 -4.01220876e-02 -2.23810749e-02 3.07203433e+01] [ 4.01204650e-02 9.99194714e-01 -5.21699817e-04 4.53863616e-02] [ 2.23839834e-02 -3.76790181e-04 9.99749376e-01 1.98585374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.875336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.75, Y:0.04, Z:0.20 [[ 9.98730781e-01 -4.27355231e-02 -2.66552491e-02 3.07521435e+01] [ 4.27341899e-02 9.99086285e-01 -6.19919564e-04 4.35701536e-02] [ 2.66573864e-02 -5.19957729e-04 9.99644494e-01 1.97408119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.905336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:30.78, Y:0.05, Z:0.20 [[ 9.98400079e-01 -4.74729588e-02 -3.07180821e-02 3.07831442e+01] [ 4.74734950e-02 9.98872244e-01 -7.12274647e-04 4.66626928e-02] [ 3.07172534e-02 -7.47159654e-04 9.99527835e-01 1.99791004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.935336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:30.82, Y:0.05, Z:0.20 [[ 9.98300086e-01 -4.96379828e-02 -3.05452015e-02 3.08154082e+01] [ 4.96395751e-02 9.98766946e-01 -7.06640060e-04 4.67191826e-02] [ 3.05426138e-02 -8.10811988e-04 9.99533137e-01 2.01587054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.965336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:30.85, Y:0.04, Z:0.20 [[ 9.98290796e-01 -5.11632091e-02 -2.82455660e-02 3.08464073e+01] [ 5.11652352e-02 9.98689989e-01 -6.51476494e-04 4.06583311e-02] [ 2.82418956e-02 -7.94828041e-04 9.99600802e-01 2.01606560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.995336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:30.88, Y:0.04, Z:0.20 [[ 9.98338704e-01 -5.07733640e-02 -2.72378115e-02 3.08791420e+01] [ 5.07751432e-02 9.98709914e-01 -6.26749690e-04 3.59566072e-02] [ 2.72344946e-02 -7.57295309e-04 9.99628786e-01 2.00420418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.025336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:30.91, Y:0.03, Z:0.20 [[ 9.98588147e-01 -4.69268156e-02 -2.48914911e-02 3.09110076e+01] [ 4.69271661e-02 9.98898151e-01 -5.70377681e-04 2.99274704e-02] [ 2.48908305e-02 -5.98514746e-04 9.99689996e-01 1.99521450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.055336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.94, Y:0.03, Z:0.20 [[ 9.98753725e-01 -4.40413137e-02 -2.34810576e-02 3.09431721e+01] [ 4.40408648e-02 9.99029586e-01 -5.36501177e-04 3.15934366e-02] [ 2.34818995e-02 -4.98293536e-04 9.99724138e-01 2.02183712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.97, Y:0.04, Z:0.21 [[ 9.99084752e-01 -3.72002557e-02 -2.11139415e-02 3.09745148e+01] [ 3.71983820e-02 9.99307785e-01 -4.81616286e-04 3.75777723e-02] [ 2.11172424e-02 -3.04228975e-04 9.99776960e-01 2.06092833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.115336195 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:31.01, Y:0.04, Z:0.20 [[ 9.99315545e-01 -2.96067147e-02 -2.21784574e-02 3.10065742e+01] [ 2.96028027e-02 9.99561614e-01 -5.04751360e-04 3.53958780e-02] [ 2.21836787e-02 -1.52138618e-04 9.99753900e-01 2.03800647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.145336195000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.04, Y:0.03, Z:0.20 [[ 9.99375346e-01 -2.62160466e-02 -2.36988964e-02 3.10374563e+01] [ 2.62106416e-02 9.99656297e-01 -5.38718092e-04 3.20069177e-02] [ 2.37048741e-02 -8.27817021e-05 9.99718997e-01 2.01256563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.175336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:31.07, Y:0.03, Z:0.20 [[ 9.99336465e-01 -2.22521764e-02 -2.88352123e-02 3.10675669e+01] [ 2.22425122e-02 9.99752390e-01 -6.55901204e-04 2.94040704e-02] [ 2.88426676e-02 1.40984294e-05 9.99583964e-01 1.99070473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.09, Y:0.03, Z:0.20 [[ 9.99307319e-01 -2.08388855e-02 -3.08321725e-02 3.10941369e+01] [ 2.08270958e-02 9.99782845e-01 -7.03516377e-04 3.49962496e-02] [ 3.08401377e-02 6.08844535e-05 9.99524328e-01 2.01862484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.235336195000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:31.12, Y:0.04, Z:0.20 [[ 9.99311986e-01 -1.94983431e-02 -3.15494599e-02 3.11221025e+01] [ 1.94851655e-02 9.99809883e-01 -7.25106285e-04 4.18429790e-02] [ 3.15576002e-02 1.09860954e-04 9.99501929e-01 2.04717943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.265336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.15, Y:0.04, Z:0.20 [[ 9.99334923e-01 -1.69702320e-02 -3.22757354e-02 3.11498119e+01] [ 1.69549221e-02 9.99855975e-01 -7.47997327e-04 4.36472316e-02] [ 3.22837806e-02 2.00267273e-04 9.99478723e-01 2.02199042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.18, Y:0.04, Z:0.20 [[ 9.99429319e-01 -1.51045107e-02 -3.02140781e-02 3.11778794e+01] [ 1.50900699e-02 9.99885889e-01 -7.05924960e-04 3.57917115e-02] [ 3.02212930e-02 2.49589551e-04 9.99543201e-01 1.96450931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.325336195000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.21, Y:0.03, Z:0.19 [[ 9.99458798e-01 -1.50747465e-02 -2.92380459e-02 3.12052161e+01] [ 1.50611185e-02 9.99886339e-01 -6.86287534e-04 3.25602618e-02] [ 2.92450683e-02 2.45558439e-04 9.99572241e-01 1.94987807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.355336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.23, Y:0.03, Z:0.20 [[ 9.99519350e-01 -1.69415905e-02 -2.59624980e-02 3.12315700e+01] [ 1.69313993e-02 9.99856466e-01 -6.12327686e-04 3.43413300e-02] [ 2.59691454e-02 1.72451949e-04 9.99662730e-01 1.98914149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.26, Y:0.04, Z:0.20 [[ 9.99532230e-01 -1.88157339e-02 -2.41099420e-02 3.12596035e+01] [ 1.88073925e-02 9.99822961e-01 -5.72703078e-04 4.00847268e-02] [ 2.41164494e-02 1.18990042e-04 9.99709149e-01 2.03813959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.415336195000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.29, Y:0.04, Z:0.21 [[ 9.99461955e-01 -2.39649414e-02 -2.23937840e-02 3.12868213e+01] [ 2.39589813e-02 9.99712800e-01 -5.34451876e-04 4.49587138e-02] [ 2.24001606e-02 -2.36793473e-06 9.99749085e-01 2.07207131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.445336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.32, Y:0.05, Z:0.21 [[ 9.99458396e-01 -2.41129973e-02 -2.23937157e-02 3.13160395e+01] [ 2.41070104e-02 9.99709239e-01 -5.37304912e-04 4.57741058e-02] [ 2.24001605e-02 -2.83163220e-06 9.99749085e-01 2.07414483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.35, Y:0.04, Z:0.21 [[ 9.99364404e-01 -2.76879086e-02 -2.24536703e-02 3.13455678e+01] [ 2.76827597e-02 9.99616613e-01 -5.40166362e-04 4.32056918e-02] [ 2.24600179e-02 -8.17565252e-05 9.99747739e-01 2.05252751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.38, Y:0.04, Z:0.20 [[ 9.99159169e-01 -3.37709725e-02 -2.32481648e-02 3.13765083e+01] [ 3.37670992e-02 9.99429572e-01 -5.59263196e-04 3.65304695e-02] [ 2.32537903e-02 -2.26230139e-04 9.99729568e-01 2.01544923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.535336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:31.41, Y:0.03, Z:0.20 [[ 9.99116059e-01 -3.56019795e-02 -2.23517304e-02 3.14068407e+01] [ 3.57622315e-02 9.99337116e-01 6.81111826e-03 2.99815524e-02] [ 2.20944245e-02 -7.60444539e-03 9.99726967e-01 1.95735492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.565336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.44, Y:0.04, Z:0.21 [[ 9.98888271e-01 -3.80952940e-02 -2.77663554e-02 3.14397921e+01] [ 3.78935214e-02 9.99251673e-01 -7.75730712e-03 4.15456805e-02] [ 2.80410940e-02 6.69651811e-03 9.99584340e-01 2.05114620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.595336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.47, Y:0.04, Z:0.20 [[ 9.98963443e-01 -3.51207561e-02 -2.89580944e-02 3.14700041e+01] [ 3.51154579e-02 9.99383023e-01 -6.91644423e-04 4.37867861e-02] [ 2.89645190e-02 -3.25949248e-04 9.99580387e-01 2.04744197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.625336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.50, Y:0.04, Z:0.20 [[ 9.99036931e-01 -3.27721474e-02 -2.91752710e-02 3.14998516e+01] [ 3.27657548e-02 9.99462815e-01 -6.97291376e-04 4.47361679e-02] [ 2.91824503e-02 -2.59329939e-04 9.99574068e-01 2.04120129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.655336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:31.53, Y:0.04, Z:0.20 [[ 9.99109472e-01 -3.03828706e-02 -2.92770183e-02 3.15300413e+01] [ 3.03753869e-02 9.99538316e-01 -7.00430554e-04 4.35675152e-02] [ 2.92847827e-02 -1.89493959e-04 9.99571091e-01 2.01503542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.685336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:31.56, Y:0.04, Z:0.20 [[ 9.99236728e-01 -2.62585400e-02 -2.89214468e-02 3.15577798e+01] [ 2.62494666e-02 9.99655183e-01 -6.93414594e-04 4.00467779e-02] [ 2.89296823e-02 -6.62872202e-05 9.99581447e-01 1.99201069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.715336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.59, Y:0.04, Z:0.20 [[ 9.99302080e-01 -2.58758114e-02 -2.69405765e-02 3.15853505e+01] [ 2.58676847e-02 9.99665164e-01 -6.50176268e-04 4.32271917e-02] [ 2.69483797e-02 -4.71678400e-05 9.99636825e-01 2.01487432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.745336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:31.61, Y:0.05, Z:0.21 [[ 9.99340448e-01 -2.64325928e-02 -2.48995410e-02 3.16131618e+01] [ 2.64257073e-02 9.99650597e-01 -6.05595263e-04 5.45519053e-02] [ 2.49068485e-02 -5.27921410e-05 9.99689775e-01 2.07062847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.775336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:31.64, Y:0.06, Z:0.21 [[ 9.99250074e-01 -2.92644406e-02 -2.53551324e-02 3.16415807e+01] [ 2.92581618e-02 9.99571697e-01 -6.18658614e-04 5.83029353e-02] [ 2.53623774e-02 -1.23649900e-04 9.99678316e-01 2.07184373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.805336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.67, Y:0.06, Z:0.21 [[ 9.99239193e-01 -3.01851116e-02 -2.46960279e-02 3.16718647e+01] [ 3.01794304e-02 9.99544315e-01 -6.02811253e-04 6.01395107e-02] [ 2.47029703e-02 -1.42959425e-04 9.99694825e-01 2.05892647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.835336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:31.70, Y:0.06, Z:0.20 [[ 9.99133392e-01 -3.33382882e-02 -2.49203406e-02 3.17026009e+01] [ 3.33334837e-02 9.99444100e-01 -6.08286555e-04 5.97056613e-02] [ 2.49267667e-02 -2.22922361e-04 9.99689255e-01 2.00774587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.865336195 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:31.73, Y:0.06, Z:0.20 [[ 9.99027873e-01 -3.58029075e-02 -2.57188608e-02 3.17326878e+01] [ 3.57986267e-02 9.99358827e-01 -6.27001186e-04 5.80824191e-02] [ 2.57248191e-02 -2.94308236e-04 9.99669019e-01 1.98367151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.895336195000002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:31.76, Y:0.06, Z:0.20 [[ 9.98844819e-01 -3.89073667e-02 -2.82000925e-02 3.17637625e+01] [ 3.89034797e-02 9.99242737e-01 -6.86678837e-04 6.15379907e-02] [ 2.82054545e-02 -4.11196129e-04 9.99602062e-01 2.00599061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.925336195 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:31.80, Y:0.07, Z:0.20 [[ 9.98739354e-01 -4.13980911e-02 -2.83883968e-02 3.17952475e+01] [ 4.13951768e-02 9.99142614e-01 -6.90591796e-04 6.83763589e-02] [ 2.83926461e-02 -4.85421500e-04 9.99596730e-01 2.03868530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.955336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.83, Y:0.08, Z:0.21 [[ 9.98524487e-01 -4.66004413e-02 -2.78791636e-02 3.18270346e+01] [ 4.65996892e-02 9.98913415e-01 -6.77034484e-04 7.55480168e-02] [ 2.78804206e-02 -6.23124849e-04 9.99611071e-01 2.07368449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.985336195000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.86, Y:0.07, Z:0.21 [[ 9.98460727e-01 -4.80261093e-02 -2.77429223e-02 3.18591640e+01] [ 4.80259582e-02 9.98845862e-01 -6.72152258e-04 7.35706306e-02] [ 2.77431840e-02 -6.61262794e-04 9.99614865e-01 2.05451149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.015336194999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.89, Y:0.07, Z:0.20 [[ 9.98292601e-01 -5.22776595e-02 -2.60562645e-02 3.18914619e+01] [ 5.22790118e-02 9.98632319e-01 -6.29778229e-04 6.67555293e-02] [ 2.60535512e-02 -7.33492815e-04 9.99660280e-01 2.01328613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.045336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:31.92, Y:0.07, Z:0.20 [[ 9.98257790e-01 -5.31454384e-02 -2.56309693e-02 3.19242444e+01] [ 5.31470771e-02 9.98586504e-01 -6.17760031e-04 6.88478734e-02] [ 2.56275711e-02 -7.45527337e-04 9.99671282e-01 2.03349904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.075336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:31.96, Y:0.08, Z:0.21 [[ 9.98338431e-01 -5.08412835e-02 -2.71208693e-02 3.19558706e+01] [ 5.08423158e-02 9.98706480e-01 -6.51952886e-04 8.07004395e-02] [ 2.71189341e-02 -7.28018182e-04 9.99631949e-01 2.07626064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.105336195 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:31.99, Y:0.09, Z:0.21 [[ 9.98388600e-01 -4.95492130e-02 -2.76600540e-02 3.19873996e+01] [ 4.95498367e-02 9.98771432e-01 -6.63276674e-04 8.57286605e-02] [ 2.76589366e-02 -7.08343289e-04 9.99617167e-01 2.09260208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.135336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.02, Y:0.09, Z:0.21 [[ 9.98669629e-01 -4.48142905e-02 -2.55078871e-02 3.20192100e+01] [ 4.48133084e-02 9.98995193e-01 -6.10425627e-04 9.12448104e-02] [ 2.55096124e-02 -5.33479277e-04 9.99674435e-01 2.08993269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.165336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.05, Y:0.09, Z:0.21 [[ 9.98749195e-01 -4.28437502e-02 -2.57770933e-02 3.20508197e+01] [ 4.28421282e-02 9.99081665e-01 -6.15438867e-04 9.04250729e-02] [ 2.57797890e-02 -4.89676465e-04 9.99667526e-01 2.06901170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.195336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.08, Y:0.09, Z:0.20 [[ 9.98738224e-01 -4.22591063e-02 -2.71316780e-02 3.20822944e+01] [ 4.22571241e-02 9.99106560e-01 -6.46668931e-04 8.86608091e-02] [ 2.71347651e-02 -5.00653706e-04 9.99631659e-01 2.04976073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.225336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.11, Y:0.09, Z:0.21 [[ 9.98737868e-01 -4.28440127e-02 -2.62118422e-02 3.21134191e+01] [ 4.28423870e-02 9.99081649e-01 -6.23862148e-04 9.25841525e-02] [ 2.62144993e-02 -4.99903136e-04 9.99656216e-01 2.06803731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.255336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:32.15, Y:0.10, Z:0.21 [[ 9.98735133e-01 -4.42560672e-02 -2.38649212e-02 3.21458995e+01] [ 4.42551464e-02 9.99020100e-01 -5.66989831e-04 1.00110126e-01] [ 2.38666287e-02 -4.89872917e-04 9.99715031e-01 2.10499222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.285336195 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:32.18, Y:0.10, Z:0.21 [[ 9.98712722e-01 -4.50700356e-02 -2.32721003e-02 3.21789022e+01] [ 4.50694152e-02 9.98983705e-01 -5.51425623e-04 1.00923036e-01] [ 2.32733017e-02 -4.98144166e-04 9.99729016e-01 2.10708837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.315336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.21, Y:0.10, Z:0.21 [[ 9.98604511e-01 -4.77506944e-02 -2.25588345e-02 3.22122117e+01] [ 4.77508310e-02 9.98859136e-01 -5.32925496e-04 1.00386879e-01] [ 2.25585455e-02 -5.45021287e-04 9.99745375e-01 2.09775464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.345336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.24, Y:0.10, Z:0.21 [[ 9.98379184e-01 -5.18678522e-02 -2.34250194e-02 3.22440242e+01] [ 5.18691667e-02 9.98653736e-01 -5.51892800e-04 9.84596274e-02] [ 2.34221086e-02 -6.64037950e-04 9.99725444e-01 2.07021524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.375336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.28, Y:0.10, Z:0.21 [[ 9.98303074e-01 -5.27169492e-02 -2.47365244e-02 3.22757851e+01] [ 5.27187122e-02 9.98609233e-01 -5.81315071e-04 9.76318309e-02] [ 2.47327668e-02 -7.23749086e-04 9.99693836e-01 2.06391211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.405336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:32.31, Y:0.10, Z:0.21 [[ 9.98293537e-01 -5.20150680e-02 -2.65414204e-02 3.23084695e+01] [ 5.20168984e-02 9.98646011e-01 -6.21924093e-04 1.04319335e-01] [ 2.65378330e-02 -7.59739565e-04 9.99647521e-01 2.10028748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.435336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:32.34, Y:0.11, Z:0.21 [[ 9.98356500e-01 -5.06701401e-02 -2.67738083e-02 3.23401201e+01] [ 5.06715633e-02 9.98715175e-01 -6.25731640e-04 1.08783171e-01] [ 2.67711146e-02 -7.31967475e-04 9.99641321e-01 2.11206726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.465336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.37, Y:0.11, Z:0.21 [[ 9.98482582e-01 -4.81323827e-02 -2.67545617e-02 3.23733393e+01] [ 4.81329420e-02 9.98840744e-01 -6.23470070e-04 1.08401105e-01] [ 2.67535554e-02 -6.65251761e-04 9.99641838e-01 2.07523940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.495336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.41, Y:0.11, Z:0.21 [[ 9.98525417e-01 -4.70669339e-02 -2.70498755e-02 3.24053949e+01] [ 4.70671606e-02 9.98891529e-01 -6.28670635e-04 1.07830593e-01] [ 2.70494812e-02 -6.45417228e-04 9.99633887e-01 2.06243837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.525336194999994 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:32.44, Y:0.11, Z:0.21 [[ 9.98554436e-01 -4.59367003e-02 -2.79080329e-02 3.24375796e+01] [ 4.59365465e-02 9.98944150e-01 -6.46972794e-04 1.11329507e-01] [ 2.79082860e-02 -6.35961098e-04 9.99610286e-01 2.07340343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.555336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.47, Y:0.11, Z:0.21 [[ 9.98569309e-01 -4.58378562e-02 -2.75359121e-02 3.24708135e+01] [ 4.58377194e-02 9.98948697e-01 -6.36511763e-04 1.12666377e-01] [ 2.75361398e-02 -6.26582299e-04 9.99620612e-01 2.07506939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.585336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:32.50, Y:0.11, Z:0.21 [[ 9.98573241e-01 -4.62294947e-02 -2.67266898e-02 3.25032283e+01] [ 4.62295488e-02 9.98930653e-01 -6.16197435e-04 1.14257716e-01] [ 2.67265962e-02 -6.20244542e-04 9.99642588e-01 2.08993377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.615336195 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:32.54, Y:0.12, Z:0.21 [[ 9.98666931e-01 -4.60578987e-02 -2.33030356e-02 3.25356786e+01] [ 4.60579270e-02 9.98938627e-01 -5.35790166e-04 1.18136489e-01] [ 2.33029797e-02 -5.38213590e-04 9.99728304e-01 2.12538858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.645336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.57, Y:0.12, Z:0.21 [[ 9.98708211e-01 -4.61802496e-02 -2.11965552e-02 3.25682873e+01] [ 4.61803437e-02 9.98933001e-01 -4.85306533e-04 1.16643397e-01] [ 2.11963501e-02 -4.94184587e-04 9.99775210e-01 2.12367862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.675336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:32.60, Y:0.12, Z:0.21 [[ 9.98721744e-01 -4.57775527e-02 -2.14311491e-02 3.26010722e+01] [ 4.57775990e-02 9.98951537e-01 -4.88686089e-04 1.15522602e-01] [ 2.14310502e-02 -4.93005129e-04 9.99770207e-01 2.11531802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.705336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.63, Y:0.12, Z:0.21 [[ 9.98734444e-01 -4.38314146e-02 -2.46640904e-02 3.26332204e+01] [ 4.38309256e-02 9.99038806e-01 -5.60693251e-04 1.18885693e-01] [ 2.46649594e-02 -5.21066249e-04 9.99695638e-01 2.12713346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.735336194999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:32.67, Y:0.12, Z:0.21 [[ 9.98790561e-01 -4.24383684e-02 -2.48274150e-02 3.26660760e+01] [ 4.24374842e-02 9.99098966e-01 -5.62737404e-04 1.23671533e-01] [ 2.48289263e-02 -4.91556224e-04 9.99691594e-01 2.14160007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.765336194999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.70, Y:0.12, Z:0.21 [[ 9.98927214e-01 -3.94220834e-02 -2.42965120e-02 3.26962507e+01] [ 3.96727325e-02 9.99163466e-01 9.92186484e-03 1.17065099e-01] [ 2.38850466e-02 -1.08751298e-02 9.99655559e-01 2.07753887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.73, Y:0.13, Z:0.22 [[ 9.98893299e-01 -3.81523140e-02 -2.75059586e-02 3.27300693e+01] [ 3.78557206e-02 9.99220175e-01 -1.12243417e-02 1.26307527e-01] [ 2.79127434e-02 1.01706618e-02 9.99558621e-01 2.16010440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.825336195 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:32.76, Y:0.11, Z:0.21 [[ 9.98843694e-01 -3.75980775e-02 -2.99609642e-02 3.27627865e+01] [ 3.75947842e-02 9.99292839e-01 -6.73425773e-04 1.13696158e-01] [ 2.99650965e-02 -4.53728897e-04 9.99550843e-01 2.06265525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.855336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:32.79, Y:0.12, Z:0.21 [[ 9.98859683e-01 -3.75035296e-02 -2.95434961e-02 3.27931649e+01] [ 3.75003032e-02 9.99296396e-01 -6.63461815e-04 1.15091603e-01] [ 2.95475914e-02 -4.45184805e-04 9.99563275e-01 2.08388076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.885336194999994 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:32.82, Y:0.12, Z:0.21 [[ 9.98930022e-01 -3.62970236e-02 -2.86589981e-02 3.28221808e+01] [ 3.65524093e-02 9.99296113e-01 8.43799249e-03 1.15934664e-01] [ 2.83325514e-02 -9.47651945e-03 9.99553631e-01 2.09810648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.915336194999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:32.85, Y:0.13, Z:0.22 [[ 9.98949833e-01 -3.53723283e-02 -2.91209508e-02 3.28540987e+01] [ 3.50984681e-02 9.99335194e-01 -9.86244357e-03 1.28802615e-01] [ 2.94504486e-02 8.82998559e-03 9.99527239e-01 2.21222062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.945336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.89, Y:0.12, Z:0.21 [[ 9.99038417e-01 -3.30946336e-02 -2.87573796e-02 3.28852968e+01] [ 3.30898044e-02 9.99452175e-01 -6.43926989e-04 1.19039980e-01] [ 2.87629361e-02 -3.08268267e-04 9.99586214e-01 2.13806357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.975336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.91, Y:0.12, Z:0.21 [[ 9.99099549e-01 -3.15358197e-02 -2.83827826e-02 3.29146615e+01] [ 3.15304839e-02 9.99502589e-01 -6.35637693e-04 1.15722083e-01] [ 2.83887100e-02 -2.59857537e-04 9.99596926e-01 2.11645921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.94, Y:0.11, Z:0.21 [[ 9.99229352e-01 -2.86043278e-02 -2.68792489e-02 3.29440768e+01] [ 2.85984670e-02 9.99590799e-01 -6.02519225e-04 1.12184252e-01] [ 2.68854846e-02 -1.66650418e-04 9.99638506e-01 2.10920442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.035336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:32.97, Y:0.12, Z:0.21 [[ 9.99290327e-01 -2.61498972e-02 -2.71113624e-02 3.29739796e+01] [ 2.61430139e-02 9.99658028e-01 -6.08370990e-04 1.17161865e-01] [ 2.71179999e-02 -1.00833478e-04 9.99632234e-01 2.13605371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.065336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.00, Y:0.12, Z:0.22 [[ 9.99314300e-01 -2.49316274e-02 -2.73741392e-02 3.30017762e+01] [ 2.49240996e-02 9.99689156e-01 -6.16214927e-04 1.21561678e-01] [ 2.73809933e-02 -6.64833832e-05 9.99625068e-01 2.15083221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.095336194999994 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:33.03, Y:0.13, Z:0.22 [[ 9.99399986e-01 -2.13726051e-02 -2.72558200e-02 3.30297596e+01] [ 2.13636959e-02 9.99771579e-01 -6.18060624e-04 1.27100913e-01] [ 2.72628037e-02 3.54047291e-05 9.99628300e-01 2.15973732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.125336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.06, Y:0.12, Z:0.21 [[ 9.99490240e-01 -1.94131474e-02 -2.53454000e-02 3.30555123e+01] [ 1.96325345e-02 9.99771673e-01 8.43592084e-03 1.21533615e-01] [ 2.51758452e-02 -8.92921499e-03 9.99643159e-01 2.10278401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.155336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:33.09, Y:0.13, Z:0.22 [[ 9.99479483e-01 -1.87328637e-02 -2.62648521e-02 3.30855473e+01] [ 1.84841146e-02 9.99782276e-01 -9.68182762e-03 1.34061384e-01] [ 2.64405019e-02 9.19130553e-03 9.99608133e-01 2.19237253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.185336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.11, Y:0.13, Z:0.21 [[ 9.99467976e-01 -1.91636176e-02 -2.63916925e-02 3.31134046e+01] [ 1.91541794e-02 9.99816356e-01 -6.10395270e-04 1.31780902e-01] [ 2.63985432e-02 1.04559311e-04 9.99651492e-01 2.14234011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.215336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:33.14, Y:0.14, Z:0.22 [[ 9.99436707e-01 -2.11912301e-02 -2.60230683e-02 3.31399432e+01] [ 2.11826663e-02 9.99775439e-01 -6.04736766e-04 1.41282282e-01] [ 2.60300396e-02 5.31581505e-05 9.99661160e-01 2.16079946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.245336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:33.17, Y:0.15, Z:0.22 [[ 9.99434525e-01 -2.26737574e-02 -2.48300559e-02 3.31680393e+01] [ 2.26663199e-02 9.99742917e-01 -5.80978725e-04 1.45489845e-01] [ 2.48368455e-02 1.78442078e-05 9.99691518e-01 2.16836154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.275336194999994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:33.20, Y:0.14, Z:0.21 [[ 9.99415753e-01 -2.59641426e-02 -2.22264621e-02 3.31957083e+01] [ 2.61642211e-02 9.99619286e-01 8.75879540e-03 1.43744970e-01] [ 2.19905855e-02 -9.33521617e-03 9.99714593e-01 2.11085100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.305336194999995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:33.23, Y:0.15, Z:0.22 [[ 9.99422864e-01 -2.59658775e-02 -2.19023239e-02 3.32263233e+01] [ 2.59594410e-02 9.99662830e-01 -5.78188985e-04 1.50712001e-01] [ 2.19099523e-02 9.28320592e-06 9.99759948e-01 2.17340672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.335336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:33.26, Y:0.16, Z:0.22 [[ 9.99356267e-01 -2.80008152e-02 -2.24277797e-02 3.32581990e+01] [ 2.77835450e-02 9.99564528e-01 -9.94132235e-03 1.58054425e-01] [ 2.26963781e-02 9.31179957e-03 9.99699037e-01 2.20287720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.365336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.29, Y:0.16, Z:0.22 [[ 9.99196859e-01 -3.24609289e-02 -2.34930767e-02 3.32902943e+01] [ 3.24569187e-02 9.99472983e-01 -5.52084285e-04 1.60133842e-01] [ 2.34986166e-02 -2.10871997e-04 9.99723847e-01 2.16906313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.395336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.32, Y:0.17, Z:0.22 [[ 9.99122776e-01 -3.44818971e-02 -2.37629357e-02 3.33218402e+01] [ 3.44783882e-02 9.99405288e-01 -5.57478942e-04 1.65718660e-01] [ 2.37680265e-02 -2.62317814e-04 9.99717466e-01 2.18537718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.425336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.35, Y:0.17, Z:0.22 [[ 9.99005013e-01 -3.76595819e-02 -2.38901792e-02 3.33531182e+01] [ 3.76569637e-02 9.99290568e-01 -5.59624078e-04 1.73604279e-01] [ 2.38943060e-02 -3.40564353e-04 9.99714432e-01 2.17705727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.455336194999994 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:33.39, Y:0.17, Z:0.21 [[ 9.98857189e-01 -4.05427707e-02 -2.53100839e-02 3.33857116e+01] [ 4.05407850e-02 9.99177709e-01 -5.91789798e-04 1.74034008e-01] [ 2.53132644e-02 -4.34977175e-04 9.99679473e-01 2.13026623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.485336194999995 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:33.42, Y:0.18, Z:0.21 [[ 9.98762780e-01 -4.19267466e-02 -2.67405702e-02 3.34176439e+01] [ 4.19250651e-02 9.99120563e-01 -6.23776654e-04 1.76310645e-01] [ 2.67432065e-02 -4.98095243e-04 9.99642212e-01 2.12407979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.515336194999996 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:33.45, Y:0.19, Z:0.22 [[ 9.98593428e-01 -4.38940338e-02 -2.97401894e-02 3.34504913e+01] [ 4.38928870e-02 9.99036003e-01 -6.91708331e-04 1.88164622e-01] [ 2.97418819e-02 -6.14647381e-04 9.99557423e-01 2.16483734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.545336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:33.48, Y:0.19, Z:0.22 [[ 9.98528163e-01 -4.49180678e-02 -3.03952959e-02 3.34824179e+01] [ 4.49174010e-02 9.98990455e-01 -7.05080674e-04 1.94180777e-01] [ 3.03962814e-02 -6.61234784e-04 9.99537708e-01 2.18800385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.575336195 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:33.52, Y:0.20, Z:0.22 [[ 9.98485444e-01 -4.67494741e-02 -2.90052518e-02 3.35154393e+01] [ 4.67496955e-02 9.98906410e-01 -6.70873686e-04 2.00008549e-01] [ 2.90048949e-02 -6.86129078e-04 9.99579034e-01 2.20209551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.605336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.55, Y:0.20, Z:0.22 [[ 9.98494838e-01 -4.73787125e-02 -2.76281680e-02 3.35474932e+01] [ 4.73792004e-02 9.98876772e-01 -6.37333571e-04 2.01347232e-01] [ 2.76273313e-02 -6.72626227e-04 9.99618066e-01 2.19499678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.635336194999994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:33.58, Y:0.20, Z:0.22 [[ 9.98512771e-01 -4.78260765e-02 -2.61708207e-02 3.35804449e+01] [ 4.78267133e-02 9.98855467e-01 -6.01965042e-04 2.01748590e-01] [ 2.61696570e-02 -6.50594557e-04 9.99657304e-01 2.15149768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.665336194999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.61, Y:0.20, Z:0.21 [[ 9.98509977e-01 -4.80165978e-02 -2.59274313e-02 3.36131015e+01] [ 4.80173346e-02 9.98846326e-01 -5.94531243e-04 2.02385426e-01] [ 2.59260668e-02 -6.51320763e-04 9.99663651e-01 2.13547892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.695336194999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:33.64, Y:0.21, Z:0.22 [[ 9.98565734e-01 -4.77702097e-02 -2.41760687e-02 3.36448346e+01] [ 4.77708135e-02 9.98858170e-01 -5.52896097e-04 2.11382913e-01] [ 2.41748757e-02 -6.02807371e-04 9.99707563e-01 2.18502013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.725336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:33.68, Y:0.22, Z:0.22 [[ 9.98566306e-01 -4.76105741e-02 -2.44656062e-02 3.36766341e+01] [ 4.76111797e-02 9.98865789e-01 -5.58079121e-04 2.18017383e-01] [ 2.44644275e-02 -6.07557368e-04 9.99700516e-01 2.20740386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.755336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.71, Y:0.22, Z:0.22 [[ 9.98533444e-01 -4.76956098e-02 -2.56142547e-02 3.37092445e+01] [ 4.76963459e-02 9.98861712e-01 -5.82565206e-04 2.23613474e-01] [ 2.56128841e-02 -6.39995507e-04 9.99671731e-01 2.22523522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.785336195 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:33.74, Y:0.23, Z:0.22 [[ 9.98471769e-01 -4.85365493e-02 -2.64259403e-02 3.37427027e+01] [ 4.85376769e-02 9.98821173e-01 -5.99146498e-04 2.27105841e-01] [ 2.64238692e-02 -6.84422888e-04 9.99650594e-01 2.21865884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.815336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:33.77, Y:0.22, Z:0.22 [[ 9.98440617e-01 -4.89633235e-02 -2.68128334e-02 3.37747513e+01] [ 4.89646829e-02 9.98800327e-01 -6.06248999e-04 2.24956444e-01] [ 2.68103507e-02 -7.07578263e-04 9.99640288e-01 2.18483811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.845336194999994 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:33.81, Y:0.22, Z:0.21 [[ 9.98307536e-01 -5.11564703e-02 -2.76600532e-02 3.38073100e+01] [ 5.11588031e-02 9.98690336e-01 -6.23783080e-04 2.19602395e-01] [ 2.76557384e-02 -7.92327867e-04 9.99617193e-01 2.13996749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.875336194999996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:33.84, Y:0.22, Z:0.22 [[ 9.98131424e-01 -5.33475715e-02 -2.97942458e-02 3.38402459e+01] [ 5.33513148e-02 9.98575580e-01 -6.69873991e-04 2.24663759e-01] [ 2.97875425e-02 -9.20939907e-04 9.99555828e-01 2.18076683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.905336195 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:33.87, Y:0.23, Z:0.22 [[ 9.98156948e-01 -5.33235233e-02 -2.89708345e-02 3.38723025e+01] [ 5.33271405e-02 9.98576885e-01 -6.48308655e-04 2.27863644e-01] [ 2.89641758e-02 -8.97817974e-04 9.99580047e-01 2.20771666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.935336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:33.91, Y:0.23, Z:0.22 [[ 9.98403873e-01 -4.99753326e-02 -2.63091578e-02 3.39052919e+01] [ 4.99772077e-02 9.98750186e-01 -5.86675014e-04 2.27394207e-01] [ 2.63055955e-02 -7.29119638e-04 9.99653682e-01 2.21349718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.965336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:33.94, Y:0.23, Z:0.22 [[ 9.98490342e-01 -4.79306266e-02 -2.68270905e-02 3.39384863e+01] [ 4.79318896e-02 9.98850428e-01 -5.96343074e-04 2.26704074e-01] [ 2.68248339e-02 -6.90430337e-04 9.99639911e-01 2.20991219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.995336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.97, Y:0.23, Z:0.22 [[ 9.98622452e-01 -4.53000893e-02 -2.64783052e-02 3.39714727e+01] [ 4.53004443e-02 9.98973236e-01 -5.86745785e-04 2.27728198e-01] [ 2.64776978e-02 -6.13541474e-04 9.99649216e-01 2.21785752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.025336194999994 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:34.00, Y:0.23, Z:0.22 [[ 9.98859001e-01 -3.97922415e-02 -2.64059444e-02 3.40030108e+01] [ 3.97907131e-02 9.99207866e-01 -5.83533631e-04 2.33865934e-01] [ 2.64082475e-02 -4.67843539e-04 9.99651132e-01 2.23862066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.055336194999995 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:34.04, Y:0.24, Z:0.22 [[ 9.99048329e-01 -3.42166948e-02 -2.70491143e-02 3.40353207e+01] [ 3.42130845e-02 9.99414383e-01 -5.96398199e-04 2.35685262e-01] [ 2.70536806e-02 -3.29603009e-04 9.99633928e-01 2.21538320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.085336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:34.07, Y:0.24, Z:0.22 [[ 9.99161494e-01 -3.15139882e-02 -2.61376464e-02 3.40668583e+01] [ 3.15097182e-02 9.99503280e-01 -5.75317576e-04 2.35954685e-01] [ 2.61427938e-02 -2.48754703e-04 9.99658188e-01 2.20144549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.115336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:34.10, Y:0.24, Z:0.22 [[ 9.99228298e-01 -2.98132507e-02 -2.55729868e-02 3.40992205e+01] [ 2.98086347e-02 9.99555466e-01 -5.61781126e-04 2.37572375e-01] [ 2.55783673e-02 -2.00948222e-04 9.99672800e-01 2.20267926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.145336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:34.13, Y:0.24, Z:0.22 [[ 9.99288072e-01 -2.92240554e-02 -2.38600671e-02 3.41299491e+01] [ 2.92198902e-02 9.99572871e-01 -5.23268722e-04 2.40918437e-01] [ 2.38651678e-02 -1.74292349e-04 9.99715171e-01 2.20617860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.175336195 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:34.16, Y:0.24, Z:0.22 [[ 9.99169122e-01 -3.15695882e-02 -2.57764959e-02 3.41625321e+01] [ 3.15655369e-02 9.99501525e-01 -5.64147581e-04 2.44872259e-01] [ 2.57814569e-02 -2.49970091e-04 9.99667572e-01 2.22256681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.205336194999994 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:34.19, Y:0.25, Z:0.22 [[ 9.99068501e-01 -3.39806576e-02 -2.65978311e-02 3.41940997e+01] [ 3.39772254e-02 9.99422438e-01 -5.81098378e-04 2.46368798e-01] [ 2.66022154e-02 -3.23163419e-04 9.99646046e-01 2.22223610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.235336194999995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:34.23, Y:0.24, Z:0.22 [[ 9.98918190e-01 -3.92125286e-02 -2.49965415e-02 3.42251539e+01] [ 3.92111555e-02 9.99230798e-01 -5.45267128e-04 2.44996639e-01] [ 2.49986954e-02 -4.35466024e-04 9.99687389e-01 2.21219135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.265336194999996 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:34.26, Y:0.24, Z:0.22 [[ 9.98837932e-01 -4.19140597e-02 -2.37906892e-02 3.42579068e+01] [ 4.19136146e-02 9.99121104e-01 -5.17572245e-04 2.43397593e-01] [ 2.37914733e-02 -4.80182991e-04 9.99716828e-01 2.20883589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.295336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:34.29, Y:0.24, Z:0.22 [[ 9.98741678e-01 -4.40143743e-02 -2.40373898e-02 3.42907654e+01] [ 4.40145681e-02 9.99030753e-01 -5.21269171e-04 2.41604722e-01] [ 2.40370349e-02 -5.37382083e-04 9.99710924e-01 2.21860279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.325336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:34.32, Y:0.24, Z:0.22 [[ 9.98497882e-01 -4.77150285e-02 -2.69305683e-02 3.43224380e+01] [ 4.77166625e-02 9.98860742e-01 -5.82322079e-04 2.38892617e-01] [ 2.69276730e-02 -7.03589478e-04 9.99637137e-01 2.21568829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.355336195 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:34.36, Y:0.24, Z:0.22 [[ 9.98432911e-01 -4.91030996e-02 -2.68441431e-02 3.43555470e+01] [ 4.91052730e-02 9.98793441e-01 -5.78642324e-04 2.40051004e-01] [ 2.68401671e-02 -7.40453433e-04 9.99639464e-01 2.23005736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.385336194999994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:34.39, Y:0.24, Z:0.23 [[ 9.98476814e-01 -4.84235839e-02 -2.64425334e-02 3.43871485e+01] [ 4.84254975e-02 9.98826636e-01 -5.68360834e-04 2.44647671e-01] [ 2.64390288e-02 -7.12997722e-04 9.99650174e-01 2.27361275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.415336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.42, Y:0.24, Z:0.23 [[ 9.98593577e-01 -4.49740917e-02 -2.80748935e-02 3.44202828e+01] [ 4.49749415e-02 9.98987934e-01 -6.01508808e-04 2.44182108e-01] [ 2.80735321e-02 -6.62003858e-04 9.99605642e-01 2.26804097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.445336194999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.45, Y:0.24, Z:0.22 [[ 9.98703801e-01 -4.29234707e-02 -2.73549425e-02 3.44527456e+01] [ 4.29235546e-02 9.99078189e-01 -5.84398715e-04 2.42430337e-01] [ 2.73548108e-02 -5.90530148e-04 9.99625613e-01 2.24996538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.475336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:34.48, Y:0.24, Z:0.22 [[ 9.98785335e-01 -4.14989027e-02 -2.65649257e-02 3.44848183e+01] [ 4.14985189e-02 9.99138405e-01 -5.65985755e-04 2.40335711e-01] [ 2.65655253e-02 -5.37106798e-04 9.99646930e-01 2.23599930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.52, Y:0.24, Z:0.23 [[ 9.98874146e-01 -3.86319999e-02 -2.75319804e-02 3.45180944e+01] [ 3.86305507e-02 9.99253391e-01 -5.84724753e-04 2.42176912e-01] [ 2.75340139e-02 -4.79509127e-04 9.99620752e-01 2.25935959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.535336195 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:34.55, Y:0.25, Z:0.23 [[ 9.99005325e-01 -3.59955780e-02 -2.63187904e-02 3.45505846e+01] [ 3.59933876e-02 9.99351873e-01 -5.57106352e-04 2.50460443e-01] [ 2.63217858e-02 -3.90750211e-04 9.99653445e-01 2.30502128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.565336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:34.58, Y:0.25, Z:0.23 [[ 9.99080626e-01 -3.42924736e-02 -2.57279700e-02 3.45826090e+01] [ 3.42898511e-02 9.99411783e-01 -5.43232192e-04 2.52584036e-01] [ 2.57314652e-02 -3.39475504e-04 9.99668833e-01 2.30724502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.595336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.61, Y:0.25, Z:0.23 [[ 9.99135744e-01 -3.22099123e-02 -2.62733237e-02 3.46137638e+01] [ 3.22064903e-02 9.99481083e-01 -5.53501466e-04 2.52721835e-01] [ 2.62775182e-02 -2.93148445e-04 9.99654643e-01 2.28979857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.625336194999996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.64, Y:0.25, Z:0.22 [[ 9.99239986e-01 -2.76450448e-02 -2.74809296e-02 3.46446200e+01] [ 2.76396292e-02 9.99617786e-01 -5.76975637e-04 2.51289691e-01] [ 2.74863765e-02 -1.83025574e-04 9.99622161e-01 2.23841541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.655336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:34.67, Y:0.25, Z:0.22 [[ 9.99324668e-01 -2.35529515e-02 -2.82040120e-02 3.46747312e+01] [ 2.35456327e-02 9.99722588e-01 -5.91619285e-04 2.53878025e-01] [ 2.82101222e-02 -7.28615622e-05 9.99602013e-01 2.22476470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.685336195 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:34.70, Y:0.26, Z:0.22 [[ 9.99353506e-01 -2.20733379e-02 -2.83784635e-02 3.47029857e+01] [ 2.20652282e-02 9.99756354e-01 -5.98925993e-04 2.56545488e-01] [ 2.83847695e-02 -2.76384828e-05 9.99597071e-01 2.22101159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.715336195 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:34.73, Y:0.26, Z:0.23 [[ 9.99393426e-01 -2.08929070e-02 -2.78615711e-02 3.47299389e+01] [ 2.08845515e-02 9.99781719e-01 -5.90886053e-04 2.61128028e-01] [ 2.78678348e-02 8.65121990e-06 9.99611616e-01 2.25344408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.745336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:34.76, Y:0.27, Z:0.23 [[ 9.99387401e-01 -1.96340653e-02 -2.89711419e-02 3.47563335e+01] [ 1.96244322e-02 9.99807232e-01 -6.16825001e-04 2.68340631e-01] [ 2.89776680e-02 4.79049227e-05 9.99580058e-01 2.27638805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.775336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.78, Y:0.27, Z:0.23 [[ 9.99318702e-01 -1.95332831e-02 -3.13142641e-02 3.47845420e+01] [ 1.95218164e-02 9.99809205e-01 -6.71899456e-04 2.70355000e-01] [ 3.13214139e-02 6.01303768e-05 9.99509362e-01 2.26374040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.805336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.81, Y:0.27, Z:0.23 [[ 9.99318790e-01 -2.02482717e-02 -3.08538980e-02 3.48124147e+01] [ 2.02372978e-02 9.99794982e-01 -6.67938293e-04 2.71191843e-01] [ 3.08610970e-02 4.30837640e-05 9.99523682e-01 2.25826126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.835336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.84, Y:0.27, Z:0.23 [[ 9.99391934e-01 -2.23327479e-02 -2.67770650e-02 3.48388748e+01] [ 2.23251556e-02 9.99750593e-01 -5.82496278e-04 2.74833179e-01] [ 2.67833953e-02 -1.56600594e-05 9.99641260e-01 2.26793739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.87, Y:0.28, Z:0.23 [[ 9.99385687e-01 -2.36477101e-02 -2.58657169e-02 3.48673035e+01] [ 2.36409694e-02 9.99720353e-01 -5.66410984e-04 2.79444565e-01] [ 2.58718779e-02 -4.54275917e-05 9.99665266e-01 2.28747758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.895336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:34.90, Y:0.29, Z:0.23 [[ 9.99298292e-01 -2.69267432e-02 -2.60360014e-02 3.48975425e+01] [ 2.69209970e-02 9.99637401e-01 -5.71256104e-04 2.85157187e-01] [ 2.60419429e-02 -1.30059867e-04 9.99660843e-01 2.28121041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.93, Y:0.29, Z:0.23 [[ 9.99255242e-01 -2.85517633e-02 -2.59568476e-02 3.49289570e+01] [ 2.85466182e-02 9.99592300e-01 -5.68825655e-04 2.87732949e-01] [ 2.59625060e-02 -1.72578199e-04 9.99662902e-01 2.28002535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.955336194999994 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:34.96, Y:0.30, Z:0.23 [[ 9.99171032e-01 -3.09864160e-02 -2.64024815e-02 3.49604210e+01] [ 3.09819674e-02 9.99519777e-01 -5.77645008e-04 2.96508060e-01] [ 2.64077016e-02 -2.40834663e-04 9.99651227e-01 2.29369795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.985336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.99, Y:0.30, Z:0.23 [[ 9.99112002e-01 -3.22062958e-02 -2.71654640e-02 3.49913155e+01] [ 3.22020633e-02 9.99481203e-01 -5.93375611e-04 3.00240521e-01] [ 2.71704811e-02 -2.81935298e-04 9.99630775e-01 2.28852239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.015336194999996 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:35.02, Y:0.31, Z:0.23 [[ 9.98872035e-01 -3.67996267e-02 -3.00074166e-02 3.50221807e+01] [ 3.67965662e-02 9.99322563e-01 -6.54382862e-04 3.06816909e-01] [ 3.00111695e-02 -4.50525149e-04 9.99549462e-01 2.27245037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.045336195 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:35.05, Y:0.31, Z:0.23 [[ 9.98733396e-01 -4.00336367e-02 -3.04780514e-02 3.50548121e+01] [ 4.00320252e-02 9.99198177e-01 -6.63310693e-04 3.10431473e-01] [ 3.04801682e-02 -5.57627580e-04 9.99535216e-01 2.27232660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.075336195 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:35.09, Y:0.31, Z:0.23 [[ 9.98411252e-01 -4.83180587e-02 -2.89885660e-02 3.50874158e+01] [ 4.83201426e-02 9.98831702e-01 -6.29030666e-04 3.14065278e-01] [ 2.89850922e-02 -7.72700348e-04 9.99579545e-01 2.26346046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.105336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:35.12, Y:0.31, Z:0.23 [[ 9.98229566e-01 -5.20297505e-02 -2.88207909e-02 3.51200585e+01] [ 5.20334144e-02 9.98645150e-01 -6.23342356e-04 3.13769692e-01] [ 2.88141754e-02 -8.77405389e-04 9.99584400e-01 2.25305006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.135336194999994 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:35.15, Y:0.32, Z:0.23 [[ 9.97846760e-01 -5.84360815e-02 -2.97836934e-02 3.51518718e+01] [ 5.84429800e-02 9.98290543e-01 -6.39588983e-04 3.15525916e-01] [ 2.97701546e-02 -1.10243600e-03 9.99556163e-01 2.26267368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.165336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.19, Y:0.32, Z:0.23 [[ 9.97765254e-01 -6.01680174e-02 -2.90569718e-02 3.51852138e+01] [ 6.01754722e-02 9.98187623e-01 -6.18609120e-04 3.18666752e-01] [ 2.90415300e-02 -1.13129031e-03 9.99577566e-01 2.28504650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.195336194999996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:35.22, Y:0.32, Z:0.23 [[ 9.97667757e-01 -6.29827409e-02 -2.63100813e-02 3.52173146e+01] [ 6.29899495e-02 9.98014007e-01 -5.55527720e-04 3.20004583e-01] [ 2.62928183e-02 -1.10303860e-03 9.99653676e-01 2.27973062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.225336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:35.25, Y:0.32, Z:0.23 [[ 9.97672749e-01 -6.29035899e-02 -2.63101388e-02 3.52508791e+01] [ 6.29108429e-02 9.98018998e-01 -5.52795962e-04 3.20598242e-01] [ 2.62927912e-02 -1.10368354e-03 9.99653676e-01 2.28195785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.255336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.28, Y:0.32, Z:0.23 [[ 9.97663667e-01 -6.31339051e-02 -2.61020534e-02 3.52835524e+01] [ 6.31412300e-02 9.98004453e-01 -5.44302582e-04 3.21243582e-01] [ 2.60843295e-02 -1.10508485e-03 9.99659135e-01 2.28951793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.285336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.32, Y:0.32, Z:0.23 [[ 9.97676262e-01 -6.23537615e-02 -2.74605883e-02 3.53153040e+01] [ 6.23616759e-02 9.98053454e-01 -5.68939333e-04 3.23431205e-01] [ 2.74426105e-02 -1.14487104e-03 9.99622725e-01 2.30227501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31533619499999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:35.35, Y:0.32, Z:0.23 [[ 9.97668095e-01 -6.18737205e-02 -2.88099692e-02 3.53482997e+01] [ 6.18823763e-02 9.98083274e-01 -5.91912089e-04 3.24244233e-01] [ 2.87913722e-02 -1.19229755e-03 9.99584731e-01 2.29569405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.345336194999994 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:35.38, Y:0.32, Z:0.23 [[ 9.97745314e-01 -5.93363946e-02 -3.13604942e-02 3.53805176e+01] [ 5.93455812e-02 9.98237294e-01 -6.38586501e-04 3.23568500e-01] [ 3.13431063e-02 -1.22396007e-03 9.99507935e-01 2.29154760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.375336194999996 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:35.41, Y:0.32, Z:0.23 [[ 9.97843301e-01 -5.70655408e-02 -3.24387342e-02 3.54132814e+01] [ 5.70743695e-02 9.98369715e-01 -6.54481047e-04 3.23922983e-01] [ 3.24231982e-02 -1.19835077e-03 9.99473511e-01 2.28947414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.405336195 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:35.45, Y:0.33, Z:0.23 [[ 9.98058406e-01 -5.22719604e-02 -3.38682900e-02 3.54454287e+01] [ 5.22789817e-02 9.98632288e-01 -6.78817581e-04 3.26773078e-01] [ 3.38574510e-02 -1.09310012e-03 9.99426074e-01 2.29285043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.435336195 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:35.48, Y:0.33, Z:0.23 [[ 9.98172152e-01 -4.94966790e-02 -3.46761278e-02 3.54786837e+01] [ 4.95024608e-02 9.98773762e-01 -6.92305037e-04 3.26506652e-01] [ 3.46678734e-02 -1.02551405e-03 9.99398362e-01 2.28071311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.465336195 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:35.51, Y:0.33, Z:0.23 [[ 9.98471124e-01 -4.40567157e-02 -3.33829321e-02 3.55119244e+01] [ 4.40591116e-02 9.99028705e-01 -6.64200596e-04 3.25188019e-01] [ 3.33797700e-02 -8.07637219e-04 9.99442414e-01 2.27652848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.495336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:35.54, Y:0.33, Z:0.23 [[ 9.98618319e-01 -4.16242915e-02 -3.20760138e-02 3.55448475e+01] [ 4.16253222e-02 9.99133088e-01 -6.35915300e-04 3.27572755e-01] [ 3.20746762e-02 -7.00137740e-04 9.99485230e-01 2.30457899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.525336194999994 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:35.58, Y:0.33, Z:0.23 [[ 9.98690890e-01 -3.97785386e-02 -3.21585912e-02 3.55767641e+01] [ 3.97787278e-02 9.99208312e-01 -6.34150002e-04 3.30814503e-01] [ 3.21583572e-02 -6.45908016e-04 9.99482578e-01 2.32743418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.555336194999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:35.61, Y:0.33, Z:0.23 [[ 9.98760776e-01 -3.72479547e-02 -3.30076100e-02 3.56101895e+01] [ 3.72468611e-02 9.99305885e-01 -6.48225252e-04 3.33031424e-01] [ 3.30088440e-02 -5.82007910e-04 9.99454890e-01 2.32743238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.585336195 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:35.64, Y:0.33, Z:0.23 [[ 9.98879313e-01 -3.59621926e-02 -3.07707363e-02 3.56412883e+01] [ 3.59606719e-02 9.99353024e-01 -6.02996329e-04 3.34672372e-01] [ 3.07725134e-02 -5.04215791e-04 9.99526287e-01 2.32968884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.615336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:35.67, Y:0.33, Z:0.23 [[ 9.98936057e-01 -3.52894378e-02 -2.96885538e-02 3.56735232e+01] [ 3.52877645e-02 9.99377024e-01 -5.80458091e-04 3.33971768e-01] [ 2.96905426e-02 -4.67802180e-04 9.99559029e-01 2.31572243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.645336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.71, Y:0.33, Z:0.23 [[ 9.98968475e-01 -3.48299715e-02 -2.91351938e-02 3.57054616e+01] [ 3.48282051e-02 9.99393152e-01 -5.68252774e-04 3.32181971e-01] [ 2.91373055e-02 -4.47059899e-04 9.99575319e-01 2.28981434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.675336195 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:35.74, Y:0.33, Z:0.23 [[ 9.98965908e-01 -3.50929189e-02 -2.89067850e-02 3.57364440e+01] [ 3.50913220e-02 9.99383951e-01 -5.62690016e-04 3.30767314e-01] [ 2.89087235e-02 -4.52269159e-04 9.99581953e-01 2.26725639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.705336194999994 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:35.77, Y:0.33, Z:0.23 [[ 9.98970854e-01 -3.57866456e-02 -2.78666379e-02 3.57678689e+01] [ 3.57854583e-02 9.99359349e-01 -5.41473828e-04 3.32894594e-01] [ 2.78681627e-02 -4.56303837e-04 9.99611503e-01 2.28577000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.735336194999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:35.80, Y:0.34, Z:0.23 [[ 9.98933038e-01 -3.80129938e-02 -2.62259178e-02 3.58012347e+01] [ 3.80127501e-02 9.99277125e-01 -5.08018107e-04 3.37010288e-01] [ 2.62262710e-02 -4.89443187e-04 9.99655912e-01 2.33334686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.765336194999996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:35.83, Y:0.34, Z:0.23 [[ 9.98806098e-01 -4.00733649e-02 -2.79375030e-02 3.58347964e+01] [ 4.00739498e-02 9.99196571e-01 -5.39181150e-04 3.35984029e-01] [ 2.79366640e-02 -5.81028672e-04 9.99609526e-01 2.33396795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.795336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:35.87, Y:0.33, Z:0.23 [[ 9.98782188e-01 -4.03427094e-02 -2.84008287e-02 3.58680132e+01] [ 4.03434808e-02 9.99185721e-01 -5.46084703e-04 3.32784168e-01] [ 2.83997331e-02 -6.00368614e-04 9.99596466e-01 2.31164419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.825336195 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:35.90, Y:0.33, Z:0.23 [[ 9.98759468e-01 -4.11306328e-02 -2.80677016e-02 3.58998526e+01] [ 4.11317800e-02 9.99153586e-01 -5.36721897e-04 3.31665108e-01] [ 2.80660204e-02 -6.18418451e-04 9.99605880e-01 2.30947005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.855336195 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:35.93, Y:0.34, Z:0.24 [[ 9.98752704e-01 -4.16148891e-02 -2.75905288e-02 3.59313685e+01] [ 4.16162370e-02 9.99133531e-01 -5.25610091e-04 3.37599833e-01] [ 2.75884956e-02 -6.23259483e-04 9.99619171e-01 2.37460668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.885336194999994 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:35.96, Y:0.34, Z:0.24 [[ 9.98755298e-01 -4.11776900e-02 -2.81469763e-02 3.59647339e+01] [ 4.11789742e-02 9.99151643e-01 -5.34264258e-04 3.41092738e-01] [ 2.81450974e-02 -6.25464355e-04 9.99603653e-01 2.39644496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.915336194999995 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:36.00, Y:0.34, Z:0.24 [[ 9.98837763e-01 -3.88838218e-02 -2.84810888e-02 3.59972171e+01] [ 3.88842557e-02 9.99243576e-01 -5.38821041e-04 3.41606041e-01] [ 2.84804965e-02 -5.69271136e-04 9.99594186e-01 2.36946364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.945336194999996 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:36.03, Y:0.34, Z:0.23 [[ 9.98876711e-01 -3.76182668e-02 -2.88128688e-02 3.60306033e+01] [ 3.76182412e-02 9.99292036e-01 -5.43138631e-04 3.39501421e-01] [ 2.88129022e-02 -5.41360917e-04 9.99584676e-01 2.34243288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.975336195 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:36.06, Y:0.33, Z:0.23 [[ 9.98911986e-01 -3.71462737e-02 -2.81957082e-02 3.60624451e+01] [ 3.71461095e-02 9.99309705e-01 -5.29789405e-04 3.34621118e-01] [ 2.81959246e-02 -5.18147878e-04 9.99602282e-01 2.30263768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.005336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:36.09, Y:0.34, Z:0.23 [[ 9.98944388e-01 -3.75574706e-02 -2.64489254e-02 3.60949261e+01] [ 3.75575389e-02 9.99294344e-01 -4.94357540e-04 3.35904386e-01] [ 2.64488284e-02 -4.99520854e-04 9.99650044e-01 2.32314410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.13, Y:0.34, Z:0.24 [[ 9.98898087e-01 -4.00213633e-02 -2.45133030e-02 3.61281586e+01] [ 4.00222102e-02 9.99198686e-01 -4.56258395e-04 3.43917259e-01] [ 2.45119202e-02 -5.25320925e-04 9.99699400e-01 2.40169792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06533619499999 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:36.16, Y:0.35, Z:0.24 [[ 9.98788781e-01 -4.30844593e-02 -2.37634267e-02 3.61611896e+01] [ 4.30861596e-02 9.99071263e-01 -4.40691728e-04 3.45904456e-01] [ 2.37603437e-02 -5.83716842e-04 9.99717513e-01 2.42534011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.095336194999994 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:36.19, Y:0.34, Z:0.24 [[ 9.98794917e-01 -4.34641192e-02 -2.27943855e-02 3.61945334e+01] [ 4.34658186e-02 9.99054826e-01 -4.21128781e-04 3.44075252e-01] [ 2.27911449e-02 -5.70155341e-04 9.99740086e-01 2.41848211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.125336194999996 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:36.23, Y:0.34, Z:0.24 [[ 9.98823669e-01 -4.32498519e-02 -2.19255207e-02 3.62264183e+01] [ 4.32514420e-02 9.99064138e-01 -4.01907910e-04 3.41990335e-01] [ 2.19223839e-02 -5.46875253e-04 9.99759526e-01 2.39433286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.155336195 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:36.26, Y:0.34, Z:0.24 [[ 9.98841124e-01 -4.13926761e-02 -2.45571672e-02 3.62584951e+01] [ 4.13942188e-02 9.99142793e-01 -4.45735978e-04 3.42112773e-01] [ 2.45545668e-02 -5.71305324e-04 9.99698328e-01 2.36695274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.185336195 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:36.29, Y:0.34, Z:0.24 [[ 9.98869722e-01 -3.97268540e-02 -2.60970410e-02 3.62913958e+01] [ 3.97280954e-02 9.99210417e-01 -4.71113515e-04 3.43281961e-01] [ 2.60951511e-02 -5.66204710e-04 9.99659303e-01 2.36033345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.215336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:36.32, Y:0.35, Z:0.24 [[ 9.99001501e-01 -3.52849040e-02 -2.74039667e-02 3.63242988e+01] [ 3.52846633e-02 9.99377181e-01 -4.92496037e-04 3.47121143e-01] [ 2.74042767e-02 -4.74935459e-04 9.99624319e-01 2.36638835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.245336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.36, Y:0.35, Z:0.24 [[ 9.99044359e-01 -3.32114885e-02 -2.84141809e-02 3.63562246e+01] [ 3.32104448e-02 9.99448252e-01 -5.08782847e-04 3.50310604e-01] [ 2.84154009e-02 -4.35350953e-04 9.99596106e-01 2.38088098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.275336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.39, Y:0.35, Z:0.24 [[ 9.99107599e-01 -3.06987349e-02 -2.90102394e-02 3.63874343e+01] [ 3.06966509e-02 9.99528613e-01 -5.17291393e-04 3.53818707e-01] [ 2.90124445e-02 -3.73687429e-04 9.99578981e-01 2.39471396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.305336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.42, Y:0.36, Z:0.24 [[ 9.99115544e-01 -3.06581545e-02 -2.87785894e-02 3.64194587e+01] [ 3.06561309e-02 9.99529859e-01 -5.11628190e-04 3.56056037e-01] [ 2.87807450e-02 -3.71064529e-04 9.99585680e-01 2.41445918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.335336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:36.45, Y:0.36, Z:0.24 [[ 9.99065235e-01 -3.34148820e-02 -2.74244766e-02 3.64520593e+01] [ 3.34141165e-02 9.99441474e-01 -4.86309027e-04 3.59376182e-01] [ 2.74254093e-02 -4.30510214e-04 9.99623760e-01 2.43325569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.365336195 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:36.48, Y:0.36, Z:0.24 [[ 9.99011887e-01 -3.56696766e-02 -2.65127050e-02 3.64840858e+01] [ 3.56697868e-02 9.99363521e-01 -4.68925616e-04 3.60436156e-01] [ 2.65125567e-02 -4.77240272e-04 9.99648366e-01 2.42986245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.395336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:36.52, Y:0.36, Z:0.24 [[ 9.98888648e-01 -3.97985185e-02 -2.52497007e-02 3.65164885e+01] [ 3.97999709e-02 9.99207568e-01 -4.45222695e-04 3.58005674e-01] [ 2.52474112e-02 -5.60209458e-04 9.99681076e-01 2.39763571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.425336195 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:36.55, Y:0.36, Z:0.24 [[ 9.98804692e-01 -4.16988957e-02 -2.55027348e-02 3.65490952e+01] [ 4.17010392e-02 9.99130033e-01 -4.48009190e-04 3.57156696e-01] [ 2.54992297e-02 -6.16016862e-04 9.99674652e-01 2.38793468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.455336194999994 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:36.58, Y:0.36, Z:0.24 [[ 9.98633223e-01 -4.45881653e-02 -2.72686842e-02 3.65821944e+01] [ 4.45917459e-02 9.99005179e-01 -4.77072528e-04 3.55975744e-01] [ 2.72628286e-02 -7.39537761e-04 9.99628026e-01 2.37824209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.485336194999995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:36.61, Y:0.36, Z:0.24 [[ 9.98556680e-01 -4.58327579e-02 -2.79984988e-02 3.66144033e+01] [ 4.58371061e-02 9.98948809e-01 -4.86825342e-04 3.56780357e-01] [ 2.79913796e-02 -7.97247466e-04 9.99607847e-01 2.39415556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.515336194999996 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:36.65, Y:0.36, Z:0.24 [[ 9.98451660e-01 -4.73093253e-02 -2.92593511e-02 3.66469374e+01] [ 4.73147773e-02 9.98879900e-01 -5.06374441e-04 3.60136881e-01] [ 2.92505340e-02 -8.78809279e-04 9.99571725e-01 2.43752515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.545336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:36.68, Y:0.36, Z:0.24 [[ 9.98406658e-01 -4.78002314e-02 -2.99880614e-02 3.66800806e+01] [ 4.78062432e-02 9.98856494e-01 -5.16873229e-04 3.60071120e-01] [ 2.99784766e-02 -9.17566887e-04 9.99550123e-01 2.43792099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.575336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:36.71, Y:0.36, Z:0.24 [[ 9.98480632e-01 -4.67209519e-02 -2.92160789e-02 3.67125269e+01] [ 4.67262482e-02 9.98907606e-01 -5.01789893e-04 3.58160902e-01] [ 2.92076076e-02 -8.64130267e-04 9.99572993e-01 2.42963006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.605336195 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:36.75, Y:0.36, Z:0.24 [[ 9.98497686e-01 -4.64973987e-02 -2.89890256e-02 3.67459239e+01] [ 4.65025742e-02 9.98918047e-01 -4.95980036e-04 3.57132736e-01] [ 2.89807227e-02 -8.52829397e-04 9.99579607e-01 2.42069590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.635336194999994 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:36.78, Y:0.35, Z:0.24 [[ 9.98510147e-01 -4.72324168e-02 -2.73237210e-02 3.67787221e+01] [ 4.72373396e-02 9.98883585e-01 -4.65640094e-04 3.52139220e-01] [ 2.73152097e-02 -8.25753531e-04 9.99626529e-01 2.39112836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.665336194999995 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:36.81, Y:0.35, Z:0.24 [[ 9.98484062e-01 -4.79462113e-02 -2.70321970e-02 3.68119373e+01] [ 4.79513419e-02 9.98849567e-01 -4.58780750e-04 3.48784090e-01] [ 2.70230950e-02 -8.38144851e-04 9.99634458e-01 2.37957623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.695336194999996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:36.84, Y:0.35, Z:0.24 [[ 9.98407502e-01 -4.83723131e-02 -2.90272006e-02 3.68436407e+01] [ 4.83785383e-02 9.98828954e-01 -4.88205506e-04 3.47891325e-01] [ 2.90168241e-02 -9.16865499e-04 9.99578503e-01 2.41315260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.725336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:36.88, Y:0.35, Z:0.24 [[ 9.98408027e-01 -4.83120881e-02 -2.91093467e-02 3.68767455e+01] [ 4.83184037e-02 9.98831865e-01 -4.86817240e-04 3.49477121e-01] [ 2.90988622e-02 -9.20474925e-04 9.99576115e-01 2.44118745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.755336195 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:36.91, Y:0.35, Z:0.24 [[ 9.98448434e-01 -4.63146749e-02 -3.09140079e-02 3.69098810e+01] [ 4.63209129e-02 9.98926478e-01 -5.14722628e-04 3.47346489e-01] [ 3.09046602e-02 -9.18041065e-04 9.99521915e-01 2.44161736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.785336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.94, Y:0.34, Z:0.24 [[ 9.98557856e-01 -4.36635679e-02 -3.12362176e-02 3.69416496e+01] [ 4.36687028e-02 9.99045933e-01 -5.18105942e-04 3.43653983e-01] [ 3.12290385e-02 -8.46686344e-04 9.99511896e-01 2.41915998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81533619499999 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:36.98, Y:0.34, Z:0.24 [[ 9.98901706e-01 -3.73218194e-02 -2.83277766e-02 3.69752767e+01] [ 3.73235467e-02 9.99303124e-01 -4.67958132e-04 3.40049024e-01] [ 2.83255007e-02 -5.89848915e-04 9.99598578e-01 2.41832516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.845336194999994 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:37.01, Y:0.34, Z:0.24 [[ 9.99037975e-01 -3.35908063e-02 -2.81918705e-02 3.70082280e+01] [ 3.35910888e-02 9.99435553e-01 -4.63704794e-04 3.40039909e-01] [ 2.81915339e-02 -4.83736925e-04 9.99602423e-01 2.42663484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.875336194999996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:37.04, Y:0.34, Z:0.24 [[ 9.99158435e-01 -2.85450235e-02 -2.94551162e-02 3.70407241e+01] [ 2.85431867e-02 9.99592444e-01 -4.82904066e-04 3.41158401e-01] [ 2.94568961e-02 -3.58245211e-04 9.99565987e-01 2.43997543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.905336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:37.07, Y:0.34, Z:0.25 [[ 9.99209534e-01 -2.73357893e-02 -2.88628161e-02 3.70721149e+01] [ 2.73335455e-02 9.99626257e-01 -4.72355441e-04 3.41559328e-01] [ 2.88649410e-02 -3.16941037e-04 9.99583271e-01 2.45395836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.935336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:37.10, Y:0.34, Z:0.25 [[ 9.99285428e-01 -2.53740685e-02 -2.80140941e-02 3.71024815e+01] [ 2.53711953e-02 9.99677994e-01 -4.58058408e-04 3.44729693e-01] [ 2.80166962e-02 -2.53019961e-04 9.99607423e-01 2.49968483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.965336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:37.13, Y:0.35, Z:0.25 [[ 9.99279759e-01 -2.52144590e-02 -2.83583074e-02 3.71334200e+01] [ 2.52114528e-02 9.99682033e-01 -4.63606630e-04 3.45356900e-01] [ 2.83609800e-02 -2.51681408e-04 9.99597715e-01 2.50845036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.995336195 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:37.16, Y:0.34, Z:0.24 [[ 9.99255279e-01 -2.53504929e-02 -2.90902095e-02 3.71640087e+01] [ 2.53473872e-02 9.99678590e-01 -4.75571895e-04 3.37850356e-01] [ 2.90929156e-02 -2.62143078e-04 9.99576677e-01 2.44167387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.025336194999994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:37.19, Y:0.33, Z:0.24 [[ 9.99268891e-01 -2.55907403e-02 -2.84041668e-02 3.71934132e+01] [ 2.55878693e-02 9.99672469e-01 -4.64605637e-04 3.33989771e-01] [ 2.84067532e-02 -2.62536147e-04 9.99596412e-01 2.41037784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.055336194999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:37.22, Y:0.33, Z:0.24 [[ 9.99351098e-01 -2.57561001e-02 -2.51794942e-02 3.72235954e+01] [ 2.57538946e-02 9.99668229e-01 -4.11927502e-04 3.33939368e-01] [ 2.51817500e-02 -2.36809839e-04 9.99682861e-01 2.43526159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.085336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.26, Y:0.34, Z:0.25 [[ 9.99363485e-01 -2.54835352e-02 -2.49642784e-02 3.72551974e+01] [ 2.54813167e-02 9.99675216e-01 -4.07024998e-04 3.37647886e-01] [ 2.49665428e-02 -2.29356765e-04 9.99688261e-01 2.47318409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.115336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.29, Y:0.34, Z:0.25 [[ 9.99364361e-01 -2.54491154e-02 -2.49642968e-02 3.72870563e+01] [ 2.54469145e-02 9.99676092e-01 -4.05892195e-04 3.38125846e-01] [ 2.49665403e-02 -2.29630133e-04 9.99688261e-01 2.47530299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.145336195 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:37.32, Y:0.34, Z:0.25 [[ 9.99266254e-01 -2.62000381e-02 -2.79376428e-02 3.73182736e+01] [ 2.61976029e-02 9.99656681e-01 -4.53247365e-04 3.40756330e-01] [ 2.79399264e-02 -2.78984475e-04 9.99609565e-01 2.47026175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.175336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:37.35, Y:0.34, Z:0.25 [[ 9.99225463e-01 -2.71612610e-02 -2.84734866e-02 3.73486755e+01] [ 2.71591283e-02 9.99631016e-01 -4.61707296e-04 3.38571711e-01] [ 2.84755209e-02 -3.11965389e-04 9.99594441e-01 2.45225107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.205336194999994 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:37.38, Y:0.34, Z:0.25 [[ 9.99147588e-01 -3.13934907e-02 -2.68057157e-02 3.73801901e+01] [ 3.13931353e-02 9.99507020e-01 -4.34196017e-04 3.37566795e-01] [ 2.68061319e-02 -4.07689557e-04 9.99640568e-01 2.45896231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.235336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.41, Y:0.34, Z:0.25 [[ 9.99058442e-01 -3.36626559e-02 -2.73688533e-02 3.74118841e+01] [ 3.36631673e-02 9.99433137e-01 -4.42194496e-04 3.38390091e-01] [ 2.73682244e-02 -4.79544143e-04 9.99625305e-01 2.47648840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.265336194999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:37.44, Y:0.34, Z:0.25 [[ 9.98920899e-01 -3.70015585e-02 -2.80699616e-02 3.74425815e+01] [ 3.70034437e-02 9.99315036e-01 -4.52458183e-04 3.39651198e-01] [ 2.80674763e-02 -5.86715308e-04 9.99605859e-01 2.48847027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.295336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.48, Y:0.34, Z:0.25 [[ 9.98910215e-01 -3.75699890e-02 -2.76925751e-02 3.74758871e+01] [ 3.75720883e-02 9.99293821e-01 -4.44708086e-04 3.39240460e-01] [ 2.76897269e-02 -5.96244426e-04 9.99616388e-01 2.47443565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.325336195 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:37.51, Y:0.34, Z:0.25 [[ 9.98851002e-01 -3.91623815e-02 -2.76221638e-02 3.75092908e+01] [ 3.91651321e-02 9.99232654e-01 -4.41636277e-04 3.37812502e-01] [ 2.76182636e-02 -6.40696858e-04 9.99618338e-01 2.45731391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.355336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:37.54, Y:0.34, Z:0.25 [[ 9.98866736e-01 -3.88952641e-02 -2.74299622e-02 3.75423512e+01] [ 3.88979291e-02 9.99243094e-01 -4.36621257e-04 3.38754438e-01] [ 2.74261828e-02 -6.30842277e-04 9.99623632e-01 2.46101775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.385336194999994 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:37.57, Y:0.34, Z:0.25 [[ 9.98907447e-01 -3.85082443e-02 -2.64769340e-02 3.75745764e+01] [ 3.85106341e-02 9.99258102e-01 -4.19834933e-04 3.39543347e-01] [ 2.64734579e-02 -6.00267277e-04 9.99649336e-01 2.46051952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.415336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.61, Y:0.34, Z:0.25 [[ 9.98964917e-01 -3.67318799e-02 -2.68302591e-02 3.76077826e+01] [ 3.67337425e-02 9.99324999e-01 -4.23618823e-04 3.43871777e-01] [ 2.68277090e-02 -5.62395487e-04 9.99639914e-01 2.48933422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.445336194999996 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:37.64, Y:0.35, Z:0.25 [[ 9.98892080e-01 -3.63328187e-02 -2.99088491e-02 3.76395506e+01] [ 3.63350120e-02 9.99339555e-01 -4.70333956e-04 3.51358515e-01] [ 2.99061845e-02 -6.16925528e-04 9.99552520e-01 2.50853940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.475336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:37.67, Y:0.35, Z:0.25 [[ 9.98909067e-01 -3.64077550e-02 -2.92429575e-02 3.76712889e+01] [ 3.64099253e-02 9.99336834e-01 -4.58440466e-04 3.51606107e-01] [ 2.92402553e-02 -6.06793558e-04 9.99572228e-01 2.48702658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.505336195 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:37.70, Y:0.35, Z:0.25 [[ 9.98929059e-01 -3.65951646e-02 -2.83112999e-02 3.77032265e+01] [ 3.65973112e-02 9.99329996e-01 -4.42509309e-04 3.48992081e-01] [ 2.83085249e-02 -5.94082045e-04 9.99599057e-01 2.45034638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.535336195 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:37.74, Y:0.35, Z:0.24 [[ 9.98927628e-01 -3.64277860e-02 -2.85764015e-02 3.77357379e+01] [ 3.64299511e-02 9.99336110e-01 -4.45029820e-04 3.48362922e-01] [ 2.85736414e-02 -5.96484327e-04 9.99591512e-01 2.43449695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56533619499999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:37.77, Y:0.35, Z:0.25 [[ 9.98901797e-01 -3.57543141e-02 -3.02791940e-02 3.77681647e+01] [ 3.57564833e-02 9.99360422e-01 -4.69992988e-04 3.52672765e-01] [ 3.02766323e-02 -6.13200654e-04 9.99541370e-01 2.45355655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.595336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:37.80, Y:0.36, Z:0.25 [[ 9.98963731e-01 -3.38616626e-02 -3.04113869e-02 3.77987711e+01] [ 3.38630100e-02 9.99426373e-01 -4.70871053e-04 3.58455826e-01] [ 3.04098866e-02 -5.59437995e-04 9.99537356e-01 2.47650495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.625336194999996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:37.83, Y:0.36, Z:0.25 [[ 9.99028504e-01 -3.36091683e-02 -2.85038976e-02 3.78304811e+01] [ 3.36102850e-02 9.99434918e-01 -4.40067559e-04 3.61144780e-01] [ 2.85025809e-02 -5.18384087e-04 9.99593584e-01 2.49741982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.655336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:37.86, Y:0.37, Z:0.25 [[ 9.99105551e-01 -3.39518851e-02 -2.52064806e-02 3.78613947e+01] [ 3.39528906e-02 9.99423359e-01 -3.88216129e-04 3.66836574e-01] [ 2.52051261e-02 -4.67963987e-04 9.99682191e-01 2.54428209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.685336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:37.89, Y:0.37, Z:0.25 [[ 9.99102699e-01 -3.43321259e-02 -2.48012612e-02 3.78936535e+01] [ 3.43332754e-02 9.99410367e-01 -3.79597341e-04 3.67643722e-01] [ 2.47996699e-02 -4.72251802e-04 9.99692329e-01 2.53176735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.715336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:37.93, Y:0.36, Z:0.25 [[ 9.99037143e-01 -3.62908066e-02 -2.46528775e-02 3.79259266e+01] [ 3.62925837e-02 9.99341137e-01 -3.75487011e-04 3.60705959e-01] [ 2.46502614e-02 -5.19591150e-04 9.99696001e-01 2.45477635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.745336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.96, Y:0.36, Z:0.25 [[ 9.99014622e-01 -3.58955602e-02 -2.61015985e-02 3.79581839e+01] [ 3.58974577e-02 9.99355400e-01 -3.96021199e-04 3.64153088e-01] [ 2.60989888e-02 -5.41350059e-04 9.99659217e-01 2.48760193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.775336194999994 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:37.99, Y:0.37, Z:0.25 [[ 9.99021495e-01 -3.44305282e-02 -2.77595374e-02 3.79909382e+01] [ 3.44321616e-02 9.99406949e-01 -4.19300546e-04 3.68829124e-01] [ 2.77575113e-02 -5.36930620e-04 9.99614542e-01 2.52079766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.805336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.02, Y:0.37, Z:0.25 [[ 9.99065068e-01 -3.24872509e-02 -2.85231105e-02 3.80218166e+01] [ 3.24882191e-02 9.99472026e-01 -4.29604545e-04 3.71185063e-01] [ 2.85220077e-02 -4.97462167e-04 9.99593041e-01 2.53290097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.835336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:38.05, Y:0.37, Z:0.25 [[ 9.99202861e-01 -2.69473803e-02 -2.94530400e-02 3.80536308e+01] [ 2.69460451e-02 9.99636792e-01 -4.42312993e-04 3.70801828e-01] [ 2.94542616e-02 -3.51682536e-04 9.99566067e-01 2.50806669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.865336195 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:38.08, Y:0.37, Z:0.25 [[ 9.99230023e-01 -2.48781339e-02 -3.03387330e-02 3.80834387e+01] [ 2.48757652e-02 9.99690446e-01 -4.55568985e-04 3.71566706e-01] [ 3.03406753e-02 -2.99480990e-04 9.99539571e-01 2.49903586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.895336195 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:38.11, Y:0.38, Z:0.25 [[ 9.99309913e-01 -2.15610740e-02 -3.02459420e-02 3.81121452e+01] [ 2.15571738e-02 9.99767514e-01 -4.55063949e-04 3.77658594e-01] [ 3.02487219e-02 -1.97267112e-04 9.99542383e-01 2.50905851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.925336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.14, Y:0.38, Z:0.25 [[ 9.99351774e-01 -2.01851337e-02 -2.98092684e-02 3.81400905e+01] [ 2.01805968e-02 9.99796248e-01 -4.53073079e-04 3.81458916e-01] [ 2.98123400e-02 -1.48789439e-04 9.99555502e-01 2.51837026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.955336194999994 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:38.17, Y:0.39, Z:0.25 [[ 9.99437890e-01 -1.85464845e-02 -2.79272783e-02 3.81673038e+01] [ 1.85417174e-02 9.99827995e-01 -4.29670178e-04 3.88575635e-01] [ 2.79304436e-02 -8.83910458e-05 9.99609865e-01 2.54716138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.985336194999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:38.19, Y:0.39, Z:0.26 [[ 9.99465299e-01 -1.86425219e-02 -2.68621056e-02 3.81945044e+01] [ 1.86380427e-02 9.99826210e-01 -4.17131157e-04 3.91817801e-01] [ 2.68652136e-02 -8.37489547e-05 9.99639062e-01 2.55758178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.015336194999996 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:38.22, Y:0.39, Z:0.25 [[ 9.99434246e-01 -2.05602248e-02 -2.66170007e-02 3.82219455e+01] [ 2.05563868e-02 9.99788608e-01 -4.17837934e-04 3.93409422e-01] [ 2.66199649e-02 -1.29547821e-04 9.99645618e-01 2.54094783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.045336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:38.25, Y:0.40, Z:0.25 [[ 9.99385862e-01 -2.16791988e-02 -2.75301843e-02 3.82506122e+01] [ 2.16753870e-02 9.99764966e-01 -4.36905043e-04 3.95028235e-01] [ 2.75331855e-02 -1.60090676e-04 9.99620877e-01 2.53740804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.075336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:38.28, Y:0.40, Z:0.25 [[ 9.99340192e-01 -2.41523073e-02 -2.71265128e-02 3.82792434e+01] [ 2.41494681e-02 9.99708266e-01 -4.32315964e-04 3.97290959e-01] [ 2.71290405e-02 -2.23060137e-04 9.99631915e-01 2.53224243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.105336195 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:38.31, Y:0.40, Z:0.25 [[ 9.99311198e-01 -2.65732118e-02 -2.59035400e-02 3.83106474e+01] [ 2.65714415e-02 9.99646832e-01 -4.12605562e-04 3.98259188e-01] [ 2.59053559e-02 -2.75973038e-04 9.99664362e-01 2.53175921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.135336194999994 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:38.34, Y:0.40, Z:0.26 [[ 9.99172381e-01 -3.18375721e-02 -2.53164249e-02 3.83432615e+01] [ 3.18375965e-02 9.99492974e-01 -4.02211547e-04 4.01633439e-01] [ 2.53163943e-02 -4.04135451e-04 9.99679407e-01 2.55507210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.165336194999995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:38.38, Y:0.40, Z:0.26 [[ 9.99093035e-01 -3.41492693e-02 -2.54349308e-02 3.83758953e+01] [ 3.41500735e-02 9.99416635e-01 -4.02878154e-04 4.03111180e-01] [ 2.54338509e-02 -4.66091999e-04 9.99676399e-01 2.55531279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.195336194999996 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:38.41, Y:0.40, Z:0.25 [[ 9.98969675e-01 -3.73375376e-02 -2.57972340e-02 3.84083981e+01] [ 3.73394651e-02 9.99302556e-01 -4.07154666e-04 4.03061266e-01] [ 2.57944441e-02 -5.56519754e-04 9.99667113e-01 2.53015997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.225336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:38.44, Y:0.40, Z:0.25 [[ 9.98919827e-01 -3.82374695e-02 -2.64021721e-02 3.84403613e+01] [ 3.82398745e-02 9.99268503e-01 -4.13983832e-04 4.02391525e-01] [ 2.63986887e-02 -5.96079090e-04 9.99651316e-01 2.52865569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.255336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:38.47, Y:0.41, Z:0.26 [[ 9.98769616e-01 -4.15354927e-02 -2.70934870e-02 3.84721698e+01] [ 4.15392914e-02 9.99136782e-01 -4.22848918e-04 4.05272177e-01] [ 2.70876626e-02 -7.03115600e-04 9.99632815e-01 2.55135344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.285336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:38.51, Y:0.41, Z:0.26 [[ 9.98706604e-01 -4.28674639e-02 -2.73404366e-02 3.85054189e+01] [ 4.28718812e-02 9.99080488e-01 -4.24859172e-04 4.07581661e-01] [ 2.73335094e-02 -7.47826290e-04 9.99626090e-01 2.56347452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:38.54, Y:0.41, Z:0.25 [[ 9.98636722e-01 -4.39250494e-02 -2.82008383e-02 3.85389473e+01] [ 4.39302269e-02 9.99034506e-01 -4.36236327e-04 4.05937258e-01] [ 2.81927723e-02 -8.03227608e-04 9.99602182e-01 2.54008026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.345336194999994 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:38.57, Y:0.40, Z:0.25 [[ 9.98643269e-01 -4.41658151e-02 -2.75862723e-02 3.85707563e+01] [ 4.41709071e-02 9.99023899e-01 -4.25057040e-04 4.03686070e-01] [ 2.75781183e-02 -7.94030318e-04 9.99619336e-01 2.52278904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.375336194999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:38.60, Y:0.40, Z:0.25 [[ 9.98645923e-01 -4.56604277e-02 -2.49288168e-02 3.86035433e+01] [ 4.56650905e-02 9.98956732e-01 -3.82496957e-04 4.02255334e-01] [ 2.49202743e-02 -7.56397647e-04 9.99689156e-01 2.52868122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.405336195 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:38.64, Y:0.40, Z:0.25 [[ 9.98636263e-01 -4.60930457e-02 -2.45162243e-02 3.86368215e+01] [ 4.60977277e-02 9.98936865e-01 -3.74448667e-04 4.03352872e-01] [ 2.45074197e-02 -7.56204215e-04 9.99699362e-01 2.54617908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.435336195 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:38.67, Y:0.40, Z:0.26 [[ 9.98624916e-01 -4.64470315e-02 -2.43094886e-02 3.86689934e+01] [ 4.64518262e-02 9.98920464e-01 -3.67726349e-04 4.04538159e-01] [ 2.43003254e-02 -7.61999445e-04 9.99704413e-01 2.56224262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.465336195 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:38.70, Y:0.40, Z:0.26 [[ 9.98644473e-01 -4.56263072e-02 -2.50490703e-02 3.87014754e+01] [ 4.56312507e-02 9.98958282e-01 -3.74509550e-04 4.02814258e-01] [ 2.50400637e-02 -7.69018514e-04 9.99686153e-01 2.55498615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.495336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:38.73, Y:0.40, Z:0.26 [[ 9.98753240e-01 -4.27855556e-02 -2.57169610e-02 3.87348008e+01] [ 4.27898902e-02 9.99084020e-01 -3.81982274e-04 4.00220693e-01] [ 2.57097481e-02 -7.18919901e-04 9.99669191e-01 2.55781307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.525336194999994 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:38.77, Y:0.40, Z:0.26 [[ 9.98829189e-01 -4.05048908e-02 -2.64500623e-02 3.87672910e+01] [ 4.05087201e-02 9.99179108e-01 -3.91254234e-04 3.98923894e-01] [ 2.64441974e-02 -6.80662021e-04 9.99650059e-01 2.55241157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.555336194999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:38.80, Y:0.40, Z:0.25 [[ 9.98902954e-01 -3.79823218e-02 -2.73903499e-02 3.88000962e+01] [ 3.79855322e-02 9.99278208e-01 -4.03286984e-04 3.97854019e-01] [ 2.73858976e-02 -6.37592459e-04 9.99624733e-01 2.54518673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.585336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:38.83, Y:0.40, Z:0.26 [[ 9.99124773e-01 -3.19512505e-02 -2.69963951e-02 3.88319675e+01] [ 3.19522136e-02 9.99489319e-01 -3.95810285e-04 4.00366831e-01] [ 2.69952552e-02 -4.67130724e-04 9.99635453e-01 2.58160807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.615336195 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:38.86, Y:0.40, Z:0.26 [[ 9.99221776e-01 -2.88542885e-02 -2.68937360e-02 3.88637767e+01] [ 2.88541596e-02 9.99583555e-01 -3.92940279e-04 4.02800477e-01] [ 2.68938743e-02 -3.83361669e-04 9.99638221e-01 2.59973723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.645336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:38.90, Y:0.40, Z:0.26 [[ 9.99358886e-01 -2.30561401e-02 -2.73903458e-02 3.88952148e+01] [ 2.30538584e-02 9.99734145e-01 -3.99127741e-04 4.02453953e-01] [ 2.73922663e-02 -2.32581299e-04 9.99624734e-01 2.58012973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.675336195 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:38.93, Y:0.40, Z:0.26 [[ 9.99380179e-01 -2.14105277e-02 -2.79436413e-02 3.89260082e+01] [ 2.14075166e-02 9.99770750e-01 -4.06946740e-04 4.01630969e-01] [ 2.79459482e-02 -1.91509460e-04 9.99609417e-01 2.56768461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.705336194999994 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:38.95, Y:0.40, Z:0.26 [[ 9.99424195e-01 -2.07122360e-02 -2.68753124e-02 3.89548793e+01] [ 2.07091740e-02 9.99785465e-01 -3.92293553e-04 4.01604030e-01] [ 2.68776720e-02 -1.64497853e-04 9.99638717e-01 2.56390522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.735336194999995 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:38.98, Y:0.40, Z:0.26 [[ 9.99422413e-01 -2.18808086e-02 -2.60013688e-02 3.89836267e+01] [ 2.18782461e-02 9.99760569e-01 -3.83060630e-04 3.99539681e-01] [ 2.60035250e-02 -1.86024968e-04 9.99661834e-01 2.56091081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.765336194999996 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:39.01, Y:0.40, Z:0.26 [[ 9.99393146e-01 -2.47581289e-02 -2.45025378e-02 3.90128289e+01] [ 2.47566870e-02 9.99693441e-01 -3.62240417e-04 3.96281987e-01] [ 2.45039947e-02 -2.44581068e-04 9.99699702e-01 2.57304959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.795336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:39.04, Y:0.40, Z:0.26 [[ 9.99352037e-01 -2.61429860e-02 -2.47396709e-02 3.90443698e+01] [ 2.61419728e-02 9.99658174e-01 -3.64430001e-04 3.97202929e-01] [ 2.47407415e-02 -2.82549941e-04 9.99693861e-01 2.59710210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.825336195 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:39.08, Y:0.40, Z:0.26 [[ 9.99275889e-01 -2.91754483e-02 -2.44231796e-02 3.90762395e+01] [ 2.91753985e-02 9.99574243e-01 -3.58447357e-04 3.96501090e-01] [ 2.44232391e-02 -3.54368195e-04 9.99701645e-01 2.61626348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.855336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:39.11, Y:0.39, Z:0.26 [[ 9.99281555e-01 -2.98598698e-02 -2.33401427e-02 3.91088576e+01] [ 2.98600355e-02 9.99554031e-01 -3.41492785e-04 3.94747142e-01] [ 2.33399306e-02 -3.55690049e-04 9.99727523e-01 2.61695840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.885336194999994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:39.14, Y:0.39, Z:0.26 [[ 9.99320094e-01 -2.92828033e-02 -2.24023762e-02 3.91403624e+01] [ 2.92828296e-02 9.99571113e-01 -3.26937937e-04 3.89639290e-01] [ 2.24023417e-02 -3.29289315e-04 9.99748982e-01 2.59146939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.915336194999995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:39.17, Y:0.39, Z:0.26 [[ 9.99315452e-01 -2.86344458e-02 -2.34242472e-02 3.91722433e+01] [ 2.86343209e-02 9.99589896e-01 -3.40817115e-04 3.87107150e-01] [ 2.34244000e-02 -3.30153602e-04 9.99725557e-01 2.57942082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.945336194999996 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:39.20, Y:0.39, Z:0.26 [[ 9.99308068e-01 -2.79590826e-02 -2.45290533e-02 3.92033818e+01] [ 2.79587660e-02 9.99609014e-01 -3.55927131e-04 3.86685971e-01] [ 2.45294142e-02 -3.30121207e-04 9.99699054e-01 2.58800842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.975336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:39.23, Y:0.39, Z:0.26 [[ 9.99397189e-01 -2.54244288e-02 -2.36401536e-02 3.92346093e+01] [ 2.54234448e-02 9.99676713e-01 -3.42220300e-04 3.88052609e-01] [ 2.36412118e-02 -2.59000134e-04 9.99720474e-01 2.60885269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.005336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:39.27, Y:0.38, Z:0.26 [[ 9.99387566e-01 -2.43053444e-02 -2.51742661e-02 3.92669101e+01] [ 2.43039012e-02 9.99704551e-01 -3.63335577e-04 3.84778356e-01] [ 2.51756594e-02 -2.48719818e-04 9.99683012e-01 2.57214942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.035336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:39.30, Y:0.39, Z:0.26 [[ 9.99387844e-01 -2.42939024e-02 -2.51742736e-02 3.92979163e+01] [ 2.42924687e-02 9.99704829e-01 -3.62817883e-04 3.85222824e-01] [ 2.51756571e-02 -2.48949471e-04 9.99683012e-01 2.57421296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06533619499999 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:39.33, Y:0.38, Z:0.26 [[ 9.99336921e-01 -2.43545361e-02 -2.70661072e-02 3.93296320e+01] [ 2.43529160e-02 9.99703348e-01 -3.89532690e-04 3.84737399e-01] [ 2.70675648e-02 -2.69864236e-04 9.99633570e-01 2.56701670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.095336194999994 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:39.36, Y:0.38, Z:0.26 [[ 9.99329448e-01 -2.50114659e-02 -2.67410073e-02 3.93586831e+01] [ 2.50101175e-02 9.99687124e-01 -3.84932775e-04 3.82812238e-01] [ 2.67422684e-02 -2.84121076e-04 9.99642321e-01 2.55656199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.125336194999996 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:39.39, Y:0.38, Z:0.26 [[ 9.99326511e-01 -2.62862454e-02 -2.56038423e-02 3.93892364e+01] [ 2.62854256e-02 9.99654411e-01 -3.68636519e-04 3.81265465e-01] [ 2.56046840e-02 -3.04619647e-04 9.99672100e-01 2.55400759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.155336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.42, Y:0.38, Z:0.26 [[ 9.99187888e-01 -3.08114335e-02 -2.59657363e-02 3.94209834e+01] [ 3.08121406e-02 9.99525124e-01 -3.72962907e-04 3.80771482e-01] [ 2.59648973e-02 -4.27399897e-04 9.99662764e-01 2.58569910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.185336195 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:39.45, Y:0.38, Z:0.26 [[ 9.99024331e-01 -3.44296062e-02 -2.76584092e-02 3.94535707e+01] [ 3.44318303e-02 9.99406970e-01 -3.95979553e-04 3.82383990e-01] [ 2.76556403e-02 -5.56736443e-04 9.99617355e-01 2.61376158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.215336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:39.48, Y:0.38, Z:0.26 [[ 9.98907505e-01 -3.75104271e-02 -2.78704786e-02 3.94842936e+01] [ 3.75139128e-02 9.99296026e-01 -3.97971392e-04 3.82343410e-01] [ 2.78657866e-02 -6.47994095e-04 9.99611464e-01 2.61644358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.245336195 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:39.52, Y:0.38, Z:0.26 [[ 9.98714174e-01 -4.23185710e-02 -2.79130363e-02 3.95176893e+01] [ 4.23239913e-02 9.99103860e-01 -3.96863606e-04 3.77776030e-01] [ 2.79048170e-02 -7.85037795e-04 9.99610277e-01 2.60409673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.275336194999994 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:39.55, Y:0.38, Z:0.26 [[ 9.98676987e-01 -4.31275595e-02 -2.80051496e-02 3.95510490e+01] [ 4.31333891e-02 9.99069244e-01 -3.96181839e-04 3.75423090e-01] [ 2.79961700e-02 -8.12299329e-04 9.99607700e-01 2.60326157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.305336194999995 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:39.58, Y:0.37, Z:0.26 [[ 9.98691403e-01 -4.30693782e-02 -2.75773353e-02 3.95836546e+01] [ 4.30750897e-02 9.99071763e-01 -3.87197899e-04 3.73151443e-01] [ 2.75684134e-02 -8.01204979e-04 9.99619598e-01 2.61409533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.335336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:39.62, Y:0.37, Z:0.26 [[ 9.98755772e-01 -4.14727641e-02 -2.76932811e-02 3.96167477e+01] [ 4.14779722e-02 9.99139344e-01 -3.86596664e-04 3.72524518e-01] [ 2.76854799e-02 -7.62545494e-04 9.99616393e-01 2.60511311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.365336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:39.65, Y:0.37, Z:0.26 [[ 9.98859778e-01 -3.85618428e-02 -2.81447730e-02 3.96488040e+01] [ 3.85661153e-02 9.99255974e-01 -3.91207191e-04 3.68047864e-01] [ 2.81389183e-02 -6.94673432e-04 9.99603781e-01 2.56791788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.395336195 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:39.68, Y:0.37, Z:0.26 [[ 9.98966074e-01 -3.60032847e-02 -2.77587049e-02 3.96822862e+01] [ 3.60065037e-02 9.99351482e-01 -3.84032712e-04 3.65754029e-01] [ 2.77545293e-02 -6.15858260e-04 9.99614579e-01 2.56333597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.425336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.71, Y:0.37, Z:0.26 [[ 9.99021255e-01 -3.40916031e-02 -2.81832479e-02 3.97140331e+01] [ 3.40942018e-02 9.99418548e-01 -3.88468218e-04 3.66162002e-01] [ 2.81801042e-02 -5.72797334e-04 9.99602698e-01 2.57364997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.455336194999994 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:39.74, Y:0.37, Z:0.26 [[ 9.99060515e-01 -3.25995691e-02 -2.85544158e-02 3.97447453e+01] [ 3.26016576e-02 9.99468348e-01 -3.92535365e-04 3.67753384e-01] [ 2.85520312e-02 -5.38754701e-04 9.99592162e-01 2.59497802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.485336194999995 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:39.78, Y:0.37, Z:0.26 [[ 9.99152690e-01 -3.00593301e-02 -2.81129654e-02 3.97767418e+01] [ 3.00603832e-02 9.99548010e-01 -3.85260780e-04 3.67894582e-01] [ 2.81118393e-02 -4.60152168e-04 9.99604678e-01 2.62486864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.515336194999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:39.81, Y:0.37, Z:0.26 [[ 9.99188867e-01 -2.90110619e-02 -2.79278806e-02 3.98083057e+01] [ 2.90117142e-02 9.99578999e-01 -3.81925691e-04 3.66410223e-01] [ 2.79272030e-02 -4.28619791e-04 9.99609868e-01 2.62729912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.545336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:39.84, Y:0.37, Z:0.26 [[ 9.99252193e-01 -2.56962401e-02 -2.88921934e-02 3.98383336e+01] [ 2.56955825e-02 9.99669736e-01 -3.94098128e-04 3.66098606e-01] [ 2.88927782e-02 -3.48598322e-04 9.99582456e-01 2.63884439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.575336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.87, Y:0.37, Z:0.26 [[ 9.99279929e-01 -2.43286786e-02 -2.91159656e-02 3.98688120e+01] [ 2.43274380e-02 9.99703965e-01 -3.96892484e-04 3.67141772e-01] [ 2.91170021e-02 -3.11710155e-04 9.99575962e-01 2.64107979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.605336195 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:39.90, Y:0.37, Z:0.26 [[ 9.99307876e-01 -2.27129682e-02 -2.94599602e-02 3.98979190e+01] [ 2.27109729e-02 9.99741992e-01 -4.02375471e-04 3.66566854e-01] [ 2.94614985e-02 -2.66967381e-04 9.99565880e-01 2.61850501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.635336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:39.93, Y:0.37, Z:0.26 [[ 9.99329009e-01 -2.13431959e-02 -2.97657351e-02 3.99257333e+01] [ 2.13404202e-02 9.99772183e-01 -4.10961685e-04 3.65544725e-01] [ 2.97677252e-02 -2.24527361e-04 9.99556818e-01 2.60538798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.665336194999995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:39.95, Y:0.37, Z:0.26 [[ 9.99372410e-01 -1.90100983e-02 -2.98898250e-02 3.99539455e+01] [ 1.90060888e-02 9.99819280e-01 -4.18271452e-04 3.65441151e-01] [ 2.98923748e-02 -1.50079721e-04 9.99553112e-01 2.60070854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.695336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.98, Y:0.37, Z:0.26 [[ 9.99386999e-01 -1.81015755e-02 -2.99659511e-02 3.99807117e+01] [ 1.80970419e-02 9.99836146e-01 -4.22513434e-04 3.67664405e-01] [ 2.99686892e-02 -1.20040641e-04 9.99550831e-01 2.61613550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.725336195 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:40.01, Y:0.37, Z:0.26 [[ 9.99396026e-01 -1.74070347e-02 -3.00762181e-02 4.00084835e+01] [ 1.74020119e-02 9.99848482e-01 -4.28767183e-04 3.70035209e-01] [ 3.00791246e-02 -9.48784859e-05 9.99547516e-01 2.62919324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.755336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:40.04, Y:0.37, Z:0.26 [[ 9.99429154e-01 -1.65686672e-02 -2.94422549e-02 4.00361473e+01] [ 1.65633291e-02 9.99862728e-01 -4.25198416e-04 3.68112817e-01] [ 2.94452583e-02 -6.27060658e-05 9.99566392e-01 2.61992064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.785336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:40.06, Y:0.37, Z:0.26 [[ 9.99472412e-01 -1.67320690e-02 -2.78376699e-02 4.00633958e+01] [ 1.67272786e-02 9.99860007e-01 -4.04957736e-04 3.66126965e-01] [ 2.78405486e-02 -6.09043754e-05 9.99612375e-01 2.62753874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.09, Y:0.37, Z:0.26 [[ 9.99445131e-01 -1.80852876e-02 -2.79705687e-02 4.00903348e+01] [ 1.80809181e-02 9.99836443e-01 -4.09147978e-04 3.66385319e-01] [ 2.79733934e-02 -9.68126077e-05 9.99608663e-01 2.63617676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.845336194999994 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:40.12, Y:0.37, Z:0.26 [[ 9.99412116e-01 -1.98326256e-02 -2.79658528e-02 4.01177577e+01] [ 1.98288131e-02 9.99803304e-01 -4.13666927e-04 3.66627781e-01] [ 2.79685561e-02 -1.41105929e-04 9.99608793e-01 2.64217696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.875336194999996 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:40.15, Y:0.37, Z:0.26 [[ 9.99396524e-01 -2.14794614e-02 -2.72987331e-02 4.01451870e+01] [ 2.14763624e-02 9.99769274e-01 -4.06743177e-04 3.65019958e-01] [ 2.73011712e-02 -1.79779768e-04 9.99627237e-01 2.63653862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.905336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:40.17, Y:0.36, Z:0.26 [[ 9.99401232e-01 -2.17364421e-02 -2.69203508e-02 4.01728310e+01] [ 2.17334027e-02 9.99763719e-01 -4.05519171e-04 3.61591636e-01] [ 2.69228046e-02 -1.79794467e-04 9.99637499e-01 2.62474476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.935336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:40.20, Y:0.36, Z:0.26 [[ 9.99367498e-01 -2.19129241e-02 -2.80076254e-02 4.02012705e+01] [ 2.19095662e-02 9.99759866e-01 -4.26802186e-04 3.61473769e-01] [ 2.80102523e-02 -1.87102688e-04 9.99607618e-01 2.63006203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.965336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.23, Y:0.36, Z:0.26 [[ 9.99325765e-01 -2.13819368e-02 -2.98467346e-02 4.02292041e+01] [ 2.13777179e-02 9.99771364e-01 -4.60480823e-04 3.63805959e-01] [ 2.98497565e-02 -1.77884720e-04 9.99554381e-01 2.64477471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.995336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:40.26, Y:0.36, Z:0.26 [[ 9.99299891e-01 -2.14784800e-02 -3.06333646e-02 4.02565176e+01] [ 2.14739431e-02 9.99769294e-01 -4.77120209e-04 3.62949882e-01] [ 3.06365452e-02 -1.81032958e-04 9.99530574e-01 2.62820451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.025336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.28, Y:0.36, Z:0.26 [[ 9.99291172e-01 -2.13721440e-02 -3.09900928e-02 4.02833375e+01] [ 2.13673612e-02 9.99771574e-01 -4.85529889e-04 3.59496962e-01] [ 3.09933907e-02 -1.76990776e-04 9.99519574e-01 2.60104512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.055336194999995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:40.31, Y:0.36, Z:0.26 [[ 9.99313137e-01 -2.07298144e-02 -3.07169109e-02 4.03113873e+01] [ 2.07246578e-02 9.99785103e-01 -4.86272119e-04 3.57632693e-01] [ 3.07203903e-02 -1.50659351e-04 9.99528006e-01 2.60438836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.085336195 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:40.34, Y:0.36, Z:0.26 [[ 9.99321076e-01 -2.13739087e-02 -3.00090538e-02 4.03395159e+01] [ 2.13691105e-02 9.99771539e-01 -4.80622852e-04 3.62057873e-01] [ 3.00124707e-02 -1.60970242e-04 9.99549511e-01 2.63752320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.115336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:40.37, Y:0.36, Z:0.26 [[ 9.99319385e-01 -2.20140148e-02 -2.95998219e-02 4.03677374e+01] [ 2.20094616e-02 9.99757647e-01 -4.79665626e-04 3.62149292e-01] [ 2.96032077e-02 -1.72136986e-04 9.99561714e-01 2.63840883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.145336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:40.39, Y:0.36, Z:0.27 [[ 9.99286099e-01 -2.36177474e-02 -2.94871803e-02 4.03948123e+01] [ 2.36138338e-02 9.99721039e-01 -4.80992215e-04 3.62999754e-01] [ 2.94903145e-02 -2.15656541e-04 9.99565043e-01 2.65296604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.175336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:40.42, Y:0.36, Z:0.27 [[ 9.99291734e-01 -2.48622036e-02 -2.82471567e-02 4.04228526e+01] [ 2.48589839e-02 9.99690859e-01 -4.65201708e-04 3.63152487e-01] [ 2.82499903e-02 -2.37323390e-04 9.99600861e-01 2.65758540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.205336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:40.45, Y:0.36, Z:0.27 [[ 9.99295701e-01 -2.64212139e-02 -2.66462337e-02 4.04523277e+01] [ 2.64188599e-02 9.99650864e-01 -4.40445337e-04 3.61200472e-01] [ 2.66485677e-02 -2.63827984e-04 9.99644829e-01 2.65615672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.235336194999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:40.48, Y:0.36, Z:0.26 [[ 9.99186789e-01 -3.02156345e-02 -2.66978786e-02 4.04835051e+01] [ 3.02146338e-02 9.99543336e-01 -4.40981573e-04 3.55771605e-01] [ 2.66990112e-02 -3.66043662e-04 9.99643451e-01 2.63999754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.265336194999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.51, Y:0.36, Z:0.27 [[ 9.99051293e-01 -3.41592869e-02 -2.70121722e-02 4.05145768e+01] [ 3.41597270e-02 9.99416287e-01 -4.45290381e-04 3.55701056e-01] [ 2.70116156e-02 -4.77860496e-04 9.99635006e-01 2.66540066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.295336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:40.55, Y:0.36, Z:0.27 [[ 9.99021610e-01 -3.54333224e-02 -2.64632294e-02 4.05453254e+01] [ 3.54342159e-02 9.99371916e-01 -4.35316728e-04 3.57503870e-01] [ 2.64620330e-02 -5.02812965e-04 9.99649693e-01 2.68795884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.325336195 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:40.58, Y:0.36, Z:0.27 [[ 9.98981043e-01 -3.58202793e-02 -2.74551276e-02 4.05768926e+01] [ 3.58214136e-02 9.99358106e-01 -4.50673377e-04 3.56671720e-01] [ 2.74536475e-02 -5.33267320e-04 9.99622935e-01 2.69253011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.61, Y:0.35, Z:0.27 [[ 9.99010450e-01 -3.50383790e-02 -2.73940357e-02 4.06094432e+01] [ 3.50392469e-02 9.99385836e-01 -4.48490162e-04 3.53295554e-01] [ 2.73929257e-02 -5.11820023e-04 9.99624612e-01 2.66698764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.385336194999994 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:40.64, Y:0.35, Z:0.27 [[ 9.99070915e-01 -3.39029305e-02 -2.66063441e-02 4.06407945e+01] [ 3.39033726e-02 9.99425021e-01 -4.34615058e-04 3.50630443e-01] [ 2.66057807e-02 -4.67833534e-04 9.99645894e-01 2.65428559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.415336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.67, Y:0.35, Z:0.27 [[ 9.99172359e-01 -3.03610271e-02 -2.70703734e-02 4.06731736e+01] [ 3.03602176e-02 9.99538925e-01 -4.41002962e-04 3.49114722e-01] [ 2.70712812e-02 -3.81224457e-04 9.99633433e-01 2.66999861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.445336194999996 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:40.70, Y:0.35, Z:0.27 [[ 9.99168484e-01 -2.87483915e-02 -2.89114181e-02 4.07045234e+01] [ 2.87468260e-02 9.99586614e-01 -4.69877548e-04 3.50574574e-01] [ 2.89129747e-02 -3.61624667e-04 9.99581867e-01 2.68357284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.475336195 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:40.73, Y:0.35, Z:0.27 [[ 9.99230663e-01 -2.62801437e-02 -2.91107490e-02 4.07347450e+01] [ 2.62775162e-02 9.99654575e-01 -4.72881107e-04 3.52227144e-01] [ 2.91131208e-02 -2.92440876e-04 9.99576080e-01 2.68560144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.505336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.76, Y:0.35, Z:0.27 [[ 9.99219108e-01 -2.52396757e-02 -3.03995485e-02 4.07642618e+01] [ 2.52363122e-02 9.99681391e-01 -4.94374275e-04 3.49888298e-01] [ 3.04023408e-02 -2.73184273e-04 9.99537705e-01 2.65832180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.79, Y:0.35, Z:0.27 [[ 9.99228219e-01 -2.52674709e-02 -3.00752542e-02 4.07922741e+01] [ 2.52641456e-02 9.99680690e-01 -4.90622518e-04 3.49092455e-01] [ 3.00780477e-02 -2.69581736e-04 9.99547517e-01 2.66436958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56533619499999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:40.82, Y:0.35, Z:0.27 [[ 9.99275094e-01 -2.54957451e-02 -2.82710686e-02 4.08211460e+01] [ 2.54927846e-02 9.99674898e-01 -4.65198016e-04 3.49599596e-01] [ 2.82737382e-02 -2.55847470e-04 9.99600185e-01 2.68497856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.595336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.85, Y:0.35, Z:0.27 [[ 9.99310094e-01 -2.44979772e-02 -2.79138857e-02 4.08506246e+01] [ 2.44946725e-02 9.99699854e-01 -4.60372602e-04 3.47876449e-01] [ 2.79167857e-02 -2.23686500e-04 9.99610226e-01 2.69277006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.625336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.88, Y:0.35, Z:0.27 [[ 9.99271969e-01 -2.44375725e-02 -2.92973871e-02 4.08790706e+01] [ 2.44337965e-02 9.99701332e-01 -4.86933573e-04 3.45560272e-01] [ 2.93005364e-02 -2.29267323e-04 9.99570621e-01 2.67547217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.655336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:40.91, Y:0.34, Z:0.27 [[ 9.99327719e-01 -2.46787099e-02 -2.71122130e-02 4.09069197e+01] [ 2.46755041e-02 9.99695411e-01 -4.52849815e-04 3.44370641e-01] [ 2.71151306e-02 -2.16462150e-04 9.99632294e-01 2.69094457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.685336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.94, Y:0.34, Z:0.27 [[ 9.99349474e-01 -2.53374432e-02 -2.56640231e-02 4.09370790e+01] [ 2.53347673e-02 9.99678931e-01 -4.29464941e-04 3.42413615e-01] [ 2.56666647e-02 -2.21006490e-04 9.99670532e-01 2.70098230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.715336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:40.97, Y:0.34, Z:0.27 [[ 9.99323199e-01 -2.55275564e-02 -2.64856249e-02 4.09679814e+01] [ 2.55247691e-02 9.99674092e-01 -4.43369549e-04 3.41348865e-01] [ 2.64883112e-02 -2.32969984e-04 9.99649096e-01 2.69773865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.00, Y:0.34, Z:0.27 [[ 9.99303958e-01 -2.55286317e-02 -2.72008921e-02 4.09989574e+01] [ 2.55256921e-02 9.99674063e-01 -4.55343127e-04 3.39564580e-01] [ 2.72036506e-02 -2.39295409e-04 9.99629884e-01 2.68493672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.775336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:41.03, Y:0.34, Z:0.27 [[ 9.99303440e-01 -2.47377037e-02 -2.79406819e-02 4.10288298e+01] [ 2.47342791e-02 9.99693951e-01 -4.68228134e-04 3.37714706e-01] [ 2.79437136e-02 -2.23190640e-04 9.99609473e-01 2.69407384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.805336194999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:41.06, Y:0.34, Z:0.27 [[ 9.99304404e-01 -2.41384305e-02 -2.84261298e-02 4.10567480e+01] [ 2.41345371e-02 9.99708604e-01 -4.80100929e-04 3.39238470e-01] [ 2.84294354e-02 -2.06284512e-04 9.99595781e-01 2.71052249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.09, Y:0.34, Z:0.27 [[ 9.99293681e-01 -2.20033819e-02 -3.04629428e-02 4.10854648e+01] [ 2.19977643e-02 9.99757885e-01 -5.19573915e-04 3.42200194e-01] [ 3.04669996e-02 -1.50909706e-04 9.99535762e-01 2.72649611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.865336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:41.11, Y:0.34, Z:0.27 [[ 9.99309704e-01 -2.06520182e-02 -3.08805557e-02 4.11137901e+01] [ 2.06454263e-02 9.99786719e-01 -5.32329915e-04 3.42250310e-01] [ 3.08849631e-02 -1.05579787e-04 9.99522940e-01 2.71734055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.895336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:41.14, Y:0.34, Z:0.27 [[ 9.99452997e-01 -1.74599879e-02 -2.80865854e-02 4.11405884e+01] [ 1.74531942e-02 9.99847563e-01 -4.87033964e-04 3.39004602e-01] [ 2.80908076e-02 -3.43307488e-06 9.99605375e-01 2.68198158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.925336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:41.17, Y:0.34, Z:0.27 [[ 9.99450001e-01 -1.76307593e-02 -2.80865122e-02 4.11689413e+01] [ 1.76239150e-02 9.99844566e-01 -4.91232900e-04 3.39642966e-01] [ 2.80908074e-02 -4.03158104e-06 9.99605375e-01 2.68387494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.955336194999994 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:41.20, Y:0.34, Z:0.27 [[ 9.99478836e-01 -1.69955437e-02 -2.74446318e-02 4.11963746e+01] [ 1.69886343e-02 9.99855565e-01 -4.84919514e-04 3.40283440e-01] [ 2.74489093e-02 1.84199774e-05 9.99623208e-01 2.68704387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.985336194999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:41.22, Y:0.35, Z:0.27 [[ 9.99487101e-01 -1.65625956e-02 -2.74082954e-02 4.12244434e+01] [ 1.65554003e-02 9.99862830e-01 -4.89437821e-04 3.49081662e-01] [ 2.74126422e-02 3.54314857e-05 9.99624202e-01 2.74623956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.015336194999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:41.25, Y:0.35, Z:0.28 [[ 9.99496841e-01 -1.72171158e-02 -2.66390027e-02 4.12512999e+01] [ 1.72104747e-02 9.99851774e-01 -4.78573092e-04 3.53646914e-01] [ 2.66432938e-02 1.98624114e-05 9.99645004e-01 2.76367227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.045336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.28, Y:0.35, Z:0.27 [[ 9.99455921e-01 -1.91012106e-02 -2.68887703e-02 4.12790237e+01] [ 1.90950116e-02 9.99817555e-01 -4.87314823e-04 3.53911997e-01] [ 2.68931729e-02 -2.63916948e-05 9.99638313e-01 2.73366490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.075336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.31, Y:0.35, Z:0.27 [[ 9.99392746e-01 -2.02933303e-02 -2.83252503e-02 4.13066175e+01] [ 2.02867788e-02 9.99794068e-01 -5.18676865e-04 3.52709167e-01] [ 2.83299428e-02 -5.62661890e-05 9.99598625e-01 2.70013123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.33, Y:0.35, Z:0.27 [[ 9.99212861e-01 -2.34485281e-02 -3.19972738e-02 4.13341062e+01] [ 2.34415886e-02 9.99725033e-01 -5.92040889e-04 3.52763727e-01] [ 3.20023581e-02 -1.58492058e-04 9.99487781e-01 2.66644073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.135336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.36, Y:0.36, Z:0.27 [[ 9.99170785e-01 -2.49622314e-02 -3.21656617e-02 4.13614082e+01] [ 2.49558961e-02 9.99688374e-01 -5.98470405e-04 3.55766596e-01] [ 3.21705772e-02 -2.04748768e-04 9.99482372e-01 2.67530702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.165336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.39, Y:0.36, Z:0.27 [[ 9.99170310e-01 -2.75952347e-02 -2.99532052e-02 4.13876937e+01] [ 2.75908537e-02 9.99619143e-01 -5.59642986e-04 3.62792521e-01] [ 2.99572408e-02 -2.67255846e-04 9.99551145e-01 2.73309731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.195336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.42, Y:0.37, Z:0.27 [[ 9.99161149e-01 -2.88040334e-02 -2.91088499e-02 4.14169707e+01] [ 2.88003783e-02 9.99585035e-01 -5.44906290e-04 3.65275346e-01] [ 2.91124662e-02 -2.93896694e-04 9.99576099e-01 2.74829150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.225336195 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:41.45, Y:0.36, Z:0.27 [[ 9.99070279e-01 -3.04710375e-02 -3.04974356e-02 4.14461303e+01] [ 3.04677884e-02 9.99535586e-01 -5.71344045e-04 3.61048675e-01] [ 3.05006816e-02 -3.58376558e-04 9.99534682e-01 2.69428396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.48, Y:0.36, Z:0.27 [[ 9.99046268e-01 -3.10551209e-02 -3.06941836e-02 4.14768846e+01] [ 3.10521029e-02 9.99517602e-01 -5.75108522e-04 3.61059765e-01] [ 3.06972369e-02 -3.78558925e-04 9.99528657e-01 2.69130746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.285336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.51, Y:0.37, Z:0.28 [[ 9.99101169e-01 -3.12121590e-02 -2.86819686e-02 4.15073245e+01] [ 3.12096127e-02 9.99512717e-01 -5.36549058e-04 3.70214696e-01] [ 2.86847392e-02 -3.59086342e-04 9.99588444e-01 2.76004194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31533619499999 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:41.54, Y:0.37, Z:0.28 [[ 9.99129267e-01 -3.03099559e-02 -2.86708036e-02 4.15387109e+01] [ 3.03070625e-02 9.99540492e-01 -5.35565352e-04 3.73815007e-01] [ 2.86738621e-02 -3.33828817e-04 9.99588765e-01 2.77592221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.345336194999994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:41.57, Y:0.38, Z:0.28 [[ 9.99096745e-01 -2.87251028e-02 -3.13139470e-02 4.15685638e+01] [ 2.87209088e-02 9.99587299e-01 -5.83811493e-04 3.77493020e-01] [ 3.13177938e-02 -3.16080853e-04 9.99509428e-01 2.75212218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.375336194999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:41.60, Y:0.38, Z:0.27 [[ 9.99094751e-01 -2.81159785e-02 -3.19244578e-02 4.15974797e+01] [ 2.81112889e-02 9.99604622e-01 -5.95806924e-04 3.78837765e-01] [ 3.19285873e-02 -3.02170089e-04 9.99490107e-01 2.73288875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.405336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:41.63, Y:0.38, Z:0.27 [[ 9.99131392e-01 -2.76810551e-02 -3.11483803e-02 4.16261986e+01] [ 2.76762513e-02 9.99616768e-01 -5.85435077e-04 3.77980544e-01] [ 3.11526487e-02 -2.77143837e-04 9.99514600e-01 2.68329397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.435336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.66, Y:0.38, Z:0.27 [[ 9.99141641e-01 -2.79717266e-02 -3.05542636e-02 4.16557485e+01] [ 2.79671911e-02 9.99608676e-01 -5.75872271e-04 3.80089871e-01] [ 3.05584151e-02 -2.79138962e-04 9.99532944e-01 2.68890368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.465336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.68, Y:0.39, Z:0.28 [[ 9.99206173e-01 -2.87975629e-02 -2.75267803e-02 4.16846503e+01] [ 2.87941924e-02 9.99585227e-01 -5.18897188e-04 3.89458636e-01] [ 2.75303059e-02 -2.74126134e-04 9.99620932e-01 2.75546575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.495336195 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:41.72, Y:0.40, Z:0.28 [[ 9.99219303e-01 -2.92526618e-02 -2.65530677e-02 4.17160351e+01] [ 2.92497257e-02 9.99572011e-01 -4.99054598e-04 3.96470410e-01] [ 2.65563019e-02 -2.78004959e-04 9.99647281e-01 2.80625145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.525336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.75, Y:0.40, Z:0.28 [[ 9.99260931e-01 -2.86155325e-02 -2.56659914e-02 4.17479859e+01] [ 2.86126145e-02 9.99590460e-01 -4.81004954e-04 4.02390607e-01] [ 2.56692444e-02 -2.53721661e-04 9.99670458e-01 2.81829625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.555336194999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:41.78, Y:0.40, Z:0.28 [[ 9.99261477e-01 -2.81290277e-02 -2.61774556e-02 4.17791456e+01] [ 2.81258520e-02 9.99604270e-01 -4.89574699e-04 4.02572958e-01] [ 2.61808677e-02 -2.47050106e-04 9.99657192e-01 2.79073057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.585336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:41.81, Y:0.40, Z:0.27 [[ 9.99229305e-01 -2.85685858e-02 -2.69189810e-02 4.18110599e+01] [ 2.85654194e-02 9.99591799e-01 -5.02242981e-04 4.02699372e-01] [ 2.69223411e-02 -2.67096078e-04 9.99637492e-01 2.73427919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.615336195 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:41.84, Y:0.41, Z:0.27 [[ 9.99181547e-01 -2.95010503e-02 -2.76753218e-02 4.18422986e+01] [ 2.94980906e-02 9.99564704e-01 -5.15289612e-04 4.06583717e-01] [ 2.76784765e-02 -3.01501279e-04 9.99616832e-01 2.74661544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.645336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:41.87, Y:0.42, Z:0.28 [[ 9.99065863e-01 -3.21243363e-02 -2.89037668e-02 4.18746831e+01] [ 3.21222418e-02 9.99483803e-01 -5.36905362e-04 4.17800953e-01] [ 2.89060945e-02 -3.92049967e-04 9.99582055e-01 2.79922299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.675336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:41.91, Y:0.42, Z:0.28 [[ 9.99011886e-01 -3.34989930e-02 -2.92073414e-02 4.19072845e+01] [ 3.34974820e-02 9.99438655e-01 -5.41160940e-04 4.22293547e-01] [ 2.92090744e-02 -4.37746181e-04 9.99573228e-01 2.81401156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.705336194999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.94, Y:0.42, Z:0.28 [[ 9.98907802e-01 -3.55708157e-02 -3.02971975e-02 4.19384540e+01] [ 3.55701780e-02 9.99367024e-01 -5.60179987e-04 4.22551690e-01] [ 3.02979462e-02 -5.18108550e-04 9.99540778e-01 2.77443101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.735336194999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.97, Y:0.42, Z:0.27 [[ 9.98884684e-01 -3.65970386e-02 -2.98336058e-02 4.19694384e+01] [ 3.65969090e-02 9.99329957e-01 -5.50555590e-04 4.19633139e-01] [ 2.98337647e-02 -5.41876210e-04 9.99554727e-01 2.73301159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.765336194999996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:42.00, Y:0.42, Z:0.27 [[ 9.98841630e-01 -4.02006250e-02 -2.64444403e-02 4.20007080e+01] [ 4.02018081e-02 9.99191462e-01 -4.87122103e-04 4.18429749e-01] [ 2.64426416e-02 -5.76556479e-04 9.99650166e-01 2.72842997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.795336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.03, Y:0.42, Z:0.28 [[ 9.98746886e-01 -4.25124247e-02 -2.64074089e-02 4.20338531e+01] [ 4.25144546e-02 9.99095734e-01 -4.84825400e-04 4.24672995e-01] [ 2.64041407e-02 -6.38478730e-04 9.99651146e-01 2.80092290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.825336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.06, Y:0.43, Z:0.29 [[ 9.98693889e-01 -4.33861141e-02 -2.69844533e-02 4.20641849e+01] [ 4.31661519e-02 9.99030187e-01 -8.68150280e-03 4.31303256e-01] [ 2.73349401e-02 7.50534879e-03 9.99598155e-01 2.85760257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.855336195 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:42.10, Y:0.42, Z:0.28 [[ 9.98600812e-01 -4.55345456e-02 -2.68890948e-02 4.20988172e+01] [ 4.57542232e-02 9.98923729e-01 7.61150205e-03 4.20433545e-01] [ 2.65135686e-02 -8.83114178e-03 9.99609445e-01 2.76190009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.885336194999994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:42.13, Y:0.42, Z:0.28 [[ 9.98567325e-01 -4.62988194e-02 -2.68275251e-02 4.21306533e+01] [ 4.63024021e-02 9.98927349e-01 -4.87974595e-04 4.21815067e-01] [ 2.68213412e-02 -7.54903367e-04 9.99639958e-01 2.80511331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.915336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.16, Y:0.42, Z:0.28 [[ 9.98585010e-01 -4.58649662e-02 -2.69143745e-02 4.21634556e+01] [ 4.58684624e-02 9.98947369e-01 -4.87785052e-04 4.18227114e-01] [ 2.69084159e-02 -7.47426134e-04 9.99637624e-01 2.77984072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.945336194999996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:42.19, Y:0.41, Z:0.28 [[ 9.98705745e-01 -4.31923253e-02 -2.68562333e-02 4.21937470e+01] [ 4.31130511e-02 9.99063985e-01 -3.52412958e-03 4.13147346e-01] [ 2.69833108e-02 2.36171431e-03 9.99633094e-01 2.78072476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.975336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:42.23, Y:0.41, Z:0.28 [[ 9.98886561e-01 -4.02274012e-02 -2.46453858e-02 4.22280485e+01] [ 4.02982294e-02 9.99184853e-01 2.38380607e-03 4.10865646e-01] [ 2.45294019e-02 -3.37431726e-03 9.99693414e-01 2.79648636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.005336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:42.26, Y:0.42, Z:0.29 [[ 9.98983957e-01 -3.78883132e-02 -2.44034718e-02 4.22595215e+01] [ 3.78890174e-02 9.99281859e-01 -4.33689605e-04 4.16337203e-01] [ 2.44023784e-02 -4.91374609e-04 9.99702097e-01 2.85742177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.035336195 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:42.29, Y:0.42, Z:0.29 [[ 9.99066254e-01 -3.53121180e-02 -2.48932710e-02 4.22910697e+01] [ 3.53120926e-02 9.99376236e-01 -4.40743715e-04 4.17691705e-01] [ 2.48933070e-02 -4.38701316e-04 9.99690017e-01 2.86440610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06533619499999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:42.32, Y:0.41, Z:0.28 [[ 9.99256732e-01 -2.86010527e-02 -2.58449933e-02 4.23232321e+01] [ 2.85988160e-02 9.99590866e-01 -4.56242837e-04 4.12818286e-01] [ 2.58474683e-02 -2.83232482e-04 9.99665858e-01 2.80367027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.095336194999994 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:42.36, Y:0.41, Z:0.28 [[ 9.99340114e-01 -2.42296619e-02 -2.70603122e-02 4.23551069e+01] [ 2.42256416e-02 9.99706403e-01 -4.76442046e-04 4.11478276e-01] [ 2.70639114e-02 -1.79425776e-04 9.99633689e-01 2.79057920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.125336194999996 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:42.38, Y:0.41, Z:0.28 [[ 9.99475379e-01 -1.70898835e-02 -2.75118641e-02 4.23839543e+01] [ 1.70830189e-02 9.99853957e-01 -4.84548764e-04 4.10656489e-01] [ 2.75161271e-02 1.43088648e-05 9.99621360e-01 2.76476999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.155336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:42.41, Y:0.41, Z:0.28 [[ 9.99512215e-01 -1.52227467e-02 -2.72690408e-02 4.24115152e+01] [ 1.52152010e-02 9.99884125e-01 -4.84192639e-04 4.12053944e-01] [ 2.72732517e-02 6.90525191e-05 9.99628013e-01 2.76928352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.185336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:42.44, Y:0.42, Z:0.28 [[ 9.99572739e-01 -1.42238691e-02 -2.55346904e-02 4.24391827e+01] [ 1.42168093e-02 9.99898831e-01 -4.58003988e-04 4.15757248e-01] [ 2.55386217e-02 9.47864755e-05 9.99673832e-01 2.81428628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.215336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:42.47, Y:0.42, Z:0.29 [[ 9.99572693e-01 -1.54553496e-02 -2.48105574e-02 4.24671661e+01] [ 1.54489509e-02 9.99880557e-01 -4.49569123e-04 4.20199990e-01] [ 2.48145422e-02 6.60799344e-05 9.99692070e-01 2.85552918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24533619499999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:42.49, Y:0.42, Z:0.29 [[ 9.99539469e-01 -1.71701942e-02 -2.50206616e-02 4.24943046e+01] [ 1.71641338e-02 9.99852581e-01 -4.56974829e-04 4.24124345e-01] [ 2.50248194e-02 2.73063962e-05 9.99686830e-01 2.88078236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.275336194999994 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:42.52, Y:0.42, Z:0.29 [[ 9.99439791e-01 -2.12148295e-02 -2.58850301e-02 4.25218155e+01] [ 2.11316915e-02 9.99770640e-01 -3.48117362e-03 4.23714087e-01] [ 2.59529456e-02 2.93222896e-03 9.99658865e-01 2.86305516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.305336194999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:42.55, Y:0.42, Z:0.28 [[ 9.99386308e-01 -2.38973612e-02 -2.56110036e-02 4.25508289e+01] [ 2.39692390e-02 9.99709563e-01 2.50317256e-03 4.16586459e-01] [ 2.55437460e-02 -3.11551265e-03 9.99668850e-01 2.78015848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.335336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.58, Y:0.42, Z:0.28 [[ 9.99167031e-01 -2.87989273e-02 -2.89113358e-02 4.25817487e+01] [ 2.86391526e-02 9.99572253e-01 -5.92541000e-03 4.17242897e-01] [ 2.90696145e-02 5.09247816e-03 9.99564417e-01 2.79106340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.365336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:42.61, Y:0.41, Z:0.27 [[ 9.99096305e-01 -3.13929050e-02 -2.86541088e-02 4.26122117e+01] [ 3.15442801e-02 9.99490607e-01 4.84607845e-03 4.09236151e-01] [ 2.84873801e-02 -5.74557231e-03 9.99577640e-01 2.69211070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.395336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:42.64, Y:0.41, Z:0.28 [[ 9.98940152e-01 -3.62550973e-02 -2.83573846e-02 4.26435145e+01] [ 3.62548316e-02 9.99342440e-01 -5.23687127e-04 4.14477062e-01] [ 2.83577243e-02 -5.04960108e-04 9.99597711e-01 2.77439050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.425336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:42.68, Y:0.42, Z:0.28 [[ 9.98907279e-01 -3.74443447e-02 -2.79672935e-02 4.26757371e+01] [ 3.74445857e-02 9.99298573e-01 -5.15278274e-04 4.18523166e-01] [ 2.79669708e-02 -5.32508502e-04 9.99608706e-01 2.83480080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.455336194999994 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:42.71, Y:0.42, Z:0.29 [[ 9.98945542e-01 -3.74681922e-02 -2.65318280e-02 4.27072980e+01] [ 3.74684552e-02 9.99297692e-01 -4.87403834e-04 4.23188325e-01] [ 2.65314566e-02 -5.07216721e-04 9.99647850e-01 2.88199752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.485336194999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:42.74, Y:0.42, Z:0.29 [[ 9.99011314e-01 -3.64957331e-02 -2.53861411e-02 4.27408586e+01] [ 3.64957027e-02 9.99333702e-01 -4.64671371e-04 4.20872878e-01] [ 2.53861849e-02 -4.62273101e-04 9.99677612e-01 2.85033849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.515336194999996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:42.77, Y:0.42, Z:0.28 [[ 9.99077232e-01 -3.50812101e-02 -2.47788723e-02 4.27730638e+01] [ 3.50807839e-02 9.99384378e-01 -4.52031061e-04 4.18083965e-01] [ 2.47794757e-02 -4.17648323e-04 9.99692854e-01 2.82152524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.545336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:42.80, Y:0.42, Z:0.28 [[ 9.99216593e-01 -3.08691008e-02 -2.47648561e-02 4.28047722e+01] [ 3.08674174e-02 9.99523386e-01 -4.50337026e-04 4.18065170e-01] [ 2.47669544e-02 -3.14442922e-04 9.99693202e-01 2.80537325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.575336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:42.84, Y:0.42, Z:0.28 [[ 9.99275372e-01 -2.91833527e-02 -2.44348576e-02 4.28369771e+01] [ 2.91812389e-02 9.99574039e-01 -4.43151773e-04 4.20582220e-01] [ 2.44373819e-02 -2.70208762e-04 9.99701326e-01 2.81713779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.605336195 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:42.87, Y:0.42, Z:0.28 [[ 9.99379177e-01 -2.67808035e-02 -2.28921096e-02 4.28695702e+01] [ 2.67783416e-02 9.99641310e-01 -4.14138276e-04 4.24076638e-01] [ 2.28949894e-02 -1.99131563e-04 9.99737856e-01 2.84408582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.635336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.90, Y:0.43, Z:0.29 [[ 9.99388051e-01 -2.59484203e-02 -2.34564196e-02 4.29005921e+01] [ 2.59456275e-02 9.99663266e-01 -4.23443281e-04 4.27247473e-01] [ 2.34595087e-02 -1.85407371e-04 9.99724771e-01 2.86668135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.665336194999995 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:42.93, Y:0.43, Z:0.29 [[ 9.99277528e-01 -2.60494759e-02 -2.76739465e-02 4.29327298e+01] [ 2.60456619e-02 9.99660630e-01 -4.98332417e-04 4.32661946e-01] [ 2.76775361e-02 -2.22813869e-04 9.99616879e-01 2.86347974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.695336194999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.96, Y:0.43, Z:0.28 [[ 9.99245744e-01 -2.65696354e-02 -2.83195786e-02 4.29636128e+01] [ 2.65658594e-02 9.99646935e-01 -5.09634299e-04 4.32968365e-01] [ 2.83231208e-02 -2.43084040e-04 9.99598790e-01 2.83188549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.725336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.99, Y:0.43, Z:0.28 [[ 9.99221193e-01 -2.78720265e-02 -2.79313094e-02 4.29939157e+01] [ 2.78688691e-02 9.99611461e-01 -5.02395753e-04 4.34093314e-01] [ 2.79344598e-02 -2.76409522e-04 9.99609719e-01 2.80087200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.755336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:43.03, Y:0.44, Z:0.28 [[ 9.99203863e-01 -2.87146108e-02 -2.76967902e-02 4.30255545e+01] [ 2.87118455e-02 9.99587606e-01 -4.97609141e-04 4.35893087e-01] [ 2.76996568e-02 -2.98012983e-04 9.99616246e-01 2.79787634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.785336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:43.06, Y:0.44, Z:0.28 [[ 9.99195460e-01 -3.11513379e-02 -2.52591844e-02 4.30571217e+01] [ 3.11498361e-02 9.99514623e-01 -4.53023748e-04 4.36775383e-01] [ 2.52610365e-02 -3.34160181e-04 9.99680833e-01 2.78066120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:43.09, Y:0.44, Z:0.28 [[ 9.99148039e-01 -3.23248328e-02 -2.56573787e-02 4.30897550e+01] [ 3.23236983e-02 9.99477347e-01 -4.59062029e-04 4.37834506e-01] [ 2.56588079e-02 -3.70670445e-04 9.99670690e-01 2.79250781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.845336194999994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:43.12, Y:0.44, Z:0.28 [[ 9.99149887e-01 -3.22676537e-02 -2.56574035e-02 4.31224672e+01] [ 3.22665361e-02 9.99479195e-01 -4.57672883e-04 4.38340818e-01] [ 2.56588091e-02 -3.70591727e-04 9.99670690e-01 2.79474160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.875336194999996 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:43.15, Y:0.44, Z:0.28 [[ 9.99050900e-01 -3.43270672e-02 -2.68132625e-02 4.31548385e+01] [ 3.43266236e-02 9.99410554e-01 -4.76967446e-04 4.43496615e-01] [ 2.68138305e-02 -4.43894013e-04 9.99640346e-01 2.84750061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.905336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:43.19, Y:0.45, Z:0.29 [[ 9.99040190e-01 -3.55234575e-02 -2.56277753e-02 4.31870205e+01] [ 3.55234807e-02 9.99368739e-01 -4.54508501e-04 4.45784874e-01] [ 2.56277432e-02 -4.56315524e-04 9.99671451e-01 2.87285775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.935336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:43.22, Y:0.45, Z:0.29 [[ 9.98952222e-01 -3.80037364e-02 -2.54985153e-02 4.32196962e+01] [ 3.79150537e-02 9.99273149e-01 -3.95262836e-03 4.48619970e-01] [ 2.56301963e-02 2.98170931e-03 9.99667046e-01 2.90772378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.965336195 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:43.25, Y:0.44, Z:0.28 [[ 9.98917904e-01 -3.92389716e-02 -2.49664644e-02 4.32521509e+01] [ 3.93275718e-02 9.99221663e-01 3.06751907e-03 4.43438489e-01] [ 2.48266658e-02 -4.04607014e-03 9.99683583e-01 2.84678813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99533619499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.29, Y:0.45, Z:0.29 [[ 9.98957380e-01 -3.88601976e-02 -2.39590801e-02 4.32853407e+01] [ 3.88612753e-02 9.99244527e-01 -4.20801838e-04 4.46232972e-01] [ 2.39573321e-02 -5.10717306e-04 9.99712851e-01 2.88103446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.025336194999994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.32, Y:0.45, Z:0.29 [[ 9.98981978e-01 -3.84589574e-02 -2.35778835e-02 4.33175444e+01] [ 3.83939011e-02 9.99257540e-01 -3.20587827e-03 4.49136015e-01] [ 2.36836726e-02 2.29736769e-03 9.99716863e-01 2.90558385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.055336194999995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:43.35, Y:0.45, Z:0.29 [[ 9.99071121e-01 -3.60406644e-02 -2.36212843e-02 4.33499323e+01] [ 3.61083904e-02 9.99344884e-01 2.44679790e-03 4.47870975e-01] [ 2.35176254e-02 -3.29745168e-03 9.99717984e-01 2.86653576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.085336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:43.38, Y:0.45, Z:0.29 [[ 9.99117190e-01 -3.37453050e-02 -2.50218855e-02 4.33818075e+01] [ 3.37450649e-02 9.99430380e-01 -4.31961312e-04 4.50999426e-01] [ 2.50222092e-02 -4.12785179e-04 9.99686810e-01 2.87551492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.115336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:43.41, Y:0.45, Z:0.29 [[ 9.99217931e-01 -2.99330073e-02 -2.58368369e-02 4.34138190e+01] [ 2.99315153e-02 9.99551853e-01 -4.44560807e-04 4.50811629e-01] [ 2.58385652e-02 -3.29122550e-04 9.99666074e-01 2.85848107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.145336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:43.45, Y:0.45, Z:0.29 [[ 9.99203053e-01 -2.94306319e-02 -2.69647215e-02 4.34460609e+01] [ 2.93738005e-02 9.99565367e-01 -2.50139094e-03 4.53683702e-01] [ 2.70266192e-02 1.70734112e-03 9.99633256e-01 2.89423580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.175336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:43.48, Y:0.45, Z:0.29 [[ 9.99146114e-01 -3.06192828e-02 -2.77399180e-02 4.34777521e+01] [ 3.06731044e-02 9.99528319e-01 1.51668628e-03 4.50985982e-01] [ 2.76803937e-02 -2.36626061e-03 9.99614024e-01 2.86600417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.205336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:43.51, Y:0.45, Z:0.29 [[ 9.99119199e-01 -3.16743167e-02 -2.75238751e-02 4.35091472e+01] [ 3.16733091e-02 9.99498163e-01 -4.72687134e-04 4.50626162e-01] [ 2.75250346e-02 -3.99501411e-04 9.99621035e-01 2.86255837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.235336194999995 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:43.54, Y:0.45, Z:0.29 [[ 9.99103051e-01 -3.28852219e-02 -2.66768597e-02 4.35405527e+01] [ 3.28847385e-02 9.99459046e-01 -4.56948213e-04 4.47891963e-01] [ 2.66774556e-02 -4.20723201e-04 9.99644005e-01 2.85649455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.265336194999996 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:43.57, Y:0.45, Z:0.29 [[ 9.99112485e-01 -3.29476905e-02 -2.62429596e-02 4.35731392e+01] [ 3.28820970e-02 9.99454951e-01 -2.92721276e-03 4.50367233e-01] [ 2.63251008e-02 2.06169127e-03 9.99651308e-01 2.88544692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.295336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:43.60, Y:0.45, Z:0.29 [[ 9.99155698e-01 -3.25952263e-02 -2.50088350e-02 4.36041154e+01] [ 3.26569806e-02 9.99464486e-01 2.06475928e-03 4.47556437e-01] [ 2.49281411e-02 -2.87972904e-03 9.99685098e-01 2.85460797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.325336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.64, Y:0.45, Z:0.29 [[ 9.99213834e-01 -3.07411666e-02 -2.50338634e-02 4.36366286e+01] [ 3.07401579e-02 9.99527319e-01 -4.25217800e-04 4.49224537e-01] [ 2.50351021e-02 -3.44661405e-04 9.99686513e-01 2.86432214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.355336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:43.67, Y:0.45, Z:0.29 [[ 9.99254334e-01 -2.90394247e-02 -2.54457751e-02 4.36683330e+01] [ 2.90378630e-02 9.99578219e-01 -4.30956940e-04 4.51920117e-01] [ 2.54475573e-02 -3.08255340e-04 9.99676111e-01 2.88912609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.385336194999994 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:43.70, Y:0.46, Z:0.29 [[ 9.99240563e-01 -2.88740563e-02 -2.61646150e-02 4.37002890e+01] [ 2.87938348e-02 9.99579460e-01 -3.43769278e-03 4.56389852e-01] [ 2.62528719e-02 2.68170246e-03 9.99651737e-01 2.93077944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.415336194999995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:43.73, Y:0.45, Z:0.29 [[ 9.99269431e-01 -2.77671512e-02 -2.62600528e-02 4.37317950e+01] [ 2.78430699e-02 9.99609106e-01 2.52975204e-03 4.54109347e-01] [ 2.61795439e-02 -3.25906437e-03 9.99651944e-01 2.88168071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.445336194999996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:43.76, Y:0.46, Z:0.29 [[ 9.99169553e-01 -2.75316235e-02 -3.00368691e-02 4.37640320e+01] [ 2.74268508e-02 9.99616226e-01 -3.89465677e-03 4.55187658e-01] [ 3.01325680e-02 3.06760574e-03 9.99541204e-01 2.88236824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.79, Y:0.45, Z:0.28 [[ 9.99189478e-01 -2.67537224e-02 -3.00769996e-02 4.37933953e+01] [ 2.68548053e-02 9.99634957e-01 2.96182045e-03 4.48291545e-01] [ 2.99867805e-02 -3.76713180e-03 9.99543197e-01 2.80073202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.505336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.82, Y:0.45, Z:0.29 [[ 9.99159874e-01 -2.83093668e-02 -2.96331888e-02 4.38238235e+01] [ 2.83069175e-02 9.99599153e-01 -5.02237193e-04 4.53151763e-01] [ 2.96355284e-02 -3.37008980e-04 9.99560714e-01 2.86080832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.535336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.85, Y:0.46, Z:0.29 [[ 9.99133450e-01 -3.07953673e-02 -2.79998926e-02 4.38540175e+01] [ 3.07941633e-02 9.99525635e-01 -4.74302441e-04 4.59587874e-01] [ 2.80012168e-02 -3.88341831e-04 9.99607814e-01 2.93704094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56533619499999 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:43.89, Y:0.46, Z:0.29 [[ 9.99142375e-01 -3.16870365e-02 -2.66542141e-02 4.38865838e+01] [ 3.16862893e-02 9.99497762e-01 -4.50500304e-04 4.59656079e-01] [ 2.66551024e-02 -3.94459195e-04 9.99644612e-01 2.93305159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.595336194999994 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:43.92, Y:0.46, Z:0.29 [[ 9.99150962e-01 -3.22164335e-02 -2.56798821e-02 4.39179216e+01] [ 3.22159395e-02 9.99480838e-01 -4.33062314e-04 4.56374011e-01] [ 2.56805018e-02 -3.94606900e-04 9.99670124e-01 2.89523602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.625336194999996 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:43.95, Y:0.45, Z:0.28 [[ 9.99142842e-01 -3.25964292e-02 -2.55157527e-02 4.39505085e+01] [ 3.25960938e-02 9.99468514e-01 -4.29178787e-04 4.48257822e-01] [ 2.55161812e-02 -4.02902957e-04 9.99674328e-01 2.82721748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.655336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:43.98, Y:0.45, Z:0.28 [[ 9.99144375e-01 -3.26679125e-02 -2.53638715e-02 4.39825148e+01] [ 3.26676345e-02 9.99466180e-01 -4.25425289e-04 4.48632847e-01] [ 2.53642296e-02 -4.03516401e-04 9.99678195e-01 2.83960946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.685336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.01, Y:0.45, Z:0.29 [[ 9.99112419e-01 -3.39929050e-02 -2.48768392e-02 4.40135589e+01] [ 3.39930719e-02 9.99421982e-01 -4.16297481e-04 4.54038174e-01] [ 2.48766111e-02 -4.29712201e-04 9.99690437e-01 2.91169966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.715336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:44.05, Y:0.46, Z:0.29 [[ 9.99065397e-01 -3.48326164e-02 -2.55933936e-02 4.40459482e+01] [ 3.48331304e-02 9.99393052e-01 -4.25871376e-04 4.55524995e-01] [ 2.55926939e-02 -4.66024662e-04 9.99672345e-01 2.93607666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74533619499999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:44.08, Y:0.45, Z:0.29 [[ 9.98931325e-01 -3.65342641e-02 -2.83099764e-02 4.40789590e+01] [ 3.65356432e-02 9.99332241e-01 -4.68721694e-04 4.53398432e-01] [ 2.83081965e-02 -5.66102412e-04 9.99599082e-01 2.91608621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.775336194999994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:44.11, Y:0.45, Z:0.29 [[ 9.98852821e-01 -3.81052424e-02 -2.90005615e-02 4.41111999e+01] [ 3.81073946e-02 9.99273535e-01 -4.78669657e-04 4.51044775e-01] [ 2.89977334e-02 -6.27015304e-04 9.99579281e-01 2.90032075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.805336194999995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:44.14, Y:0.45, Z:0.29 [[ 9.98894256e-01 -3.87226393e-02 -2.66612435e-02 4.41448138e+01] [ 3.87247211e-02 9.99249820e-01 -4.38420361e-04 4.47219628e-01] [ 2.66582196e-02 -5.94513638e-04 9.99644430e-01 2.90750950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.18, Y:0.45, Z:0.29 [[ 9.98959834e-01 -3.75984666e-02 -2.57993127e-02 4.41779811e+01] [ 3.76000874e-02 9.99292777e-01 -4.22456493e-04 4.49237407e-01] [ 2.57969506e-02 -5.48039343e-04 9.99667053e-01 2.93748590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.865336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:44.21, Y:0.45, Z:0.30 [[ 9.99042721e-01 -3.49719007e-02 -2.62794325e-02 4.42094919e+01] [ 3.49727171e-02 9.99388175e-01 -4.28683902e-04 4.50899241e-01] [ 2.62783460e-02 -4.90789627e-04 9.99654544e-01 2.98937252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.895336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.24, Y:0.45, Z:0.30 [[ 9.99020387e-01 -3.52070480e-02 -2.68091499e-02 4.42434932e+01] [ 3.51514401e-02 9.99378762e-01 -2.54281534e-03 4.48497140e-01] [ 2.68820201e-02 1.59794413e-03 9.99637336e-01 2.95465989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.925336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:44.27, Y:0.44, Z:0.29 [[ 9.99121542e-01 -3.33524469e-02 -2.53724042e-02 4.42745109e+01] [ 3.34078740e-02 9.99440245e-01 1.76368265e-03 4.39957193e-01] [ 2.52993788e-02 -2.60977141e-03 9.99676513e-01 2.90155269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.955336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:44.31, Y:0.44, Z:0.29 [[ 9.99166095e-01 -3.24765523e-02 -2.47464824e-02 4.43068943e+01] [ 3.24765434e-02 9.99472417e-01 -4.02366700e-04 4.40655931e-01] [ 2.47464940e-02 -4.01649043e-04 9.99693678e-01 2.91806382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.985336194999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:44.34, Y:0.44, Z:0.29 [[ 9.99213984e-01 -3.11642462e-02 -2.44990413e-02 4.43389262e+01] [ 3.11638715e-02 9.99514210e-01 -3.97188450e-04 4.40544465e-01] [ 2.44995180e-02 -3.66608719e-04 9.99699775e-01 2.92754286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.015336194999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:44.37, Y:0.44, Z:0.30 [[ 9.99251472e-01 -2.84101177e-02 -2.62557003e-02 4.43712253e+01] [ 2.84087704e-02 9.99596299e-01 -4.24399383e-04 4.42926005e-01] [ 2.62571581e-02 -3.21810453e-04 9.99655170e-01 2.96560169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.045336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.40, Y:0.45, Z:0.30 [[ 9.99292142e-01 -2.69368769e-02 -2.62606271e-02 4.44024633e+01] [ 2.69350472e-02 9.99637096e-01 -4.23464296e-04 4.45924980e-01] [ 2.62625039e-02 -2.84166687e-04 9.99655041e-01 2.97721999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.075336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.43, Y:0.44, Z:0.29 [[ 9.99360365e-01 -2.29368651e-02 -2.74364798e-02 4.44324459e+01] [ 2.29333744e-02 9.99736898e-01 -4.41929523e-04 4.43988540e-01] [ 2.74393977e-02 -1.87564213e-04 9.99623451e-01 2.93540374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.105336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:44.46, Y:0.44, Z:0.29 [[ 9.99371234e-01 -2.09099821e-02 -2.86340503e-02 4.44611264e+01] [ 2.09052492e-02 9.99781353e-01 -4.64675958e-04 4.40488537e-01] [ 2.86375060e-02 -1.34218171e-04 9.99589854e-01 2.90067408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.135336194999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:44.49, Y:0.44, Z:0.29 [[ 9.99357038e-01 -1.87244806e-02 -3.05762091e-02 4.44886879e+01] [ 1.87178867e-02 9.99824679e-01 -5.01893593e-04 4.38837849e-01] [ 3.05802461e-02 -7.07511211e-05 9.99532312e-01 2.87931841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.165336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.52, Y:0.44, Z:0.29 [[ 9.99359421e-01 -1.79342076e-02 -3.09695349e-02 4.45159777e+01] [ 1.79269605e-02 9.99839168e-01 -5.11676043e-04 4.42379449e-01] [ 3.09737305e-02 -4.38413535e-05 9.99520198e-01 2.91606115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.195336194999996 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:44.54, Y:0.45, Z:0.30 [[ 9.99399354e-01 -1.72912206e-02 -3.00323874e-02 4.45434740e+01] [ 1.72839690e-02 9.99850496e-01 -5.01060212e-04 4.47060272e-01] [ 3.00365614e-02 -1.83195990e-05 9.99548801e-01 2.96457782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.225336195 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:44.57, Y:0.45, Z:0.30 [[ 9.99482770e-01 -1.65217265e-02 -2.75903210e-02 4.45716656e+01] [ 1.65151720e-02 9.99863507e-01 -4.65435583e-04 4.48032682e-01] [ 2.75942449e-02 9.53594874e-06 9.99619206e-01 2.98220082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.255336195 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:44.60, Y:0.44, Z:0.30 [[ 9.99435436e-01 -1.78529368e-02 -2.84619433e-02 4.45983017e+01] [ 1.78464118e-02 9.99840623e-01 -4.83278875e-04 4.43518093e-01] [ 2.84660351e-02 -2.49375281e-05 9.99594760e-01 2.96254908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.285336195 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:44.63, Y:0.44, Z:0.30 [[ 9.99384580e-01 -1.93997149e-02 -2.92252137e-02 4.46257426e+01] [ 1.93933545e-02 9.99811806e-01 -5.01093426e-04 4.42321266e-01] [ 2.92294348e-02 -6.59898869e-05 9.99572727e-01 2.96219132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:44.65, Y:0.44, Z:0.30 [[ 9.99255805e-01 -2.33902444e-02 -3.06713622e-02 4.46522845e+01] [ 2.33850148e-02 9.99726393e-01 -5.29252735e-04 4.44181800e-01] [ 3.06753497e-02 -1.88391391e-04 9.99529383e-01 2.99544645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.345336194999994 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:44.68, Y:0.45, Z:0.30 [[ 9.99209973e-01 -2.54016552e-02 -3.05644412e-02 4.46797055e+01] [ 2.53972492e-02 9.99677296e-01 -5.32425301e-04 4.45057436e-01] [ 3.05681024e-02 -2.44248059e-04 9.99532657e-01 3.00699891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.375336194999996 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:44.71, Y:0.44, Z:0.30 [[ 9.99190354e-01 -2.69676494e-02 -2.98560248e-02 4.47078175e+01] [ 2.69640457e-02 9.99636267e-01 -5.23378632e-04 4.37723355e-01] [ 2.98592795e-02 -2.82084336e-04 9.99554073e-01 2.95440349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.405336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:44.74, Y:0.43, Z:0.29 [[ 9.99226532e-01 -2.70397001e-02 -2.85515618e-02 4.47380389e+01] [ 2.70364032e-02 9.99634324e-01 -5.01582111e-04 4.32908103e-01] [ 2.85546838e-02 -2.70737383e-04 9.99592195e-01 2.92268091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.435336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:44.77, Y:0.43, Z:0.29 [[ 9.99301952e-01 -2.57486495e-02 -2.70668682e-02 4.47677337e+01] [ 2.57451967e-02 9.99668424e-01 -4.76098907e-04 4.31939612e-01] [ 2.70701524e-02 -2.21075280e-04 9.99633512e-01 2.93521543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.465336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:44.80, Y:0.43, Z:0.29 [[ 9.99355239e-01 -2.47387728e-02 -2.60211528e-02 4.47979666e+01] [ 2.47352355e-02 9.99693932e-01 -4.57854836e-04 4.33129086e-01] [ 2.60245153e-02 -1.86079713e-04 9.99661288e-01 2.94955798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49533619499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.83, Y:0.44, Z:0.30 [[ 9.99402858e-01 -2.35784116e-02 -2.52584029e-02 4.48279680e+01] [ 2.35747080e-02 9.99721979e-01 -4.44433882e-04 4.35256001e-01] [ 2.52618596e-02 -1.51290983e-04 9.99680857e-01 2.98700862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.525336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:44.86, Y:0.44, Z:0.30 [[ 9.99362399e-01 -2.36450321e-02 -2.67527146e-02 4.48571006e+01] [ 2.36408951e-02 9.99720404e-01 -4.70958819e-04 4.39325669e-01] [ 2.67563705e-02 -1.61799585e-04 9.99641971e-01 3.01708620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.555336194999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:44.89, Y:0.44, Z:0.30 [[ 9.99283125e-01 -2.37601267e-02 -2.94735966e-02 4.48863584e+01] [ 2.37551369e-02 9.99717672e-01 -5.19487182e-04 4.42594071e-01] [ 2.94776185e-02 -1.81034548e-04 9.99565424e-01 3.02817525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.585336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:44.91, Y:0.44, Z:0.29 [[ 9.99146951e-01 -2.55193114e-02 -3.24674442e-02 4.49144788e+01] [ 2.55141297e-02 9.99674297e-01 -5.73953884e-04 4.36058752e-01] [ 3.24715163e-02 -2.54914307e-04 9.99472629e-01 2.94420898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.615336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:44.94, Y:0.43, Z:0.29 [[ 9.99160919e-01 -2.60369239e-02 -3.16154506e-02 4.49420024e+01] [ 2.60321147e-02 9.99660948e-01 -5.63788194e-04 4.33702793e-01] [ 3.16194107e-02 -2.59701906e-04 9.99499948e-01 2.94808939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.645336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:44.97, Y:0.44, Z:0.30 [[ 9.99196444e-01 -2.52929430e-02 -3.10923397e-02 4.49698598e+01] [ 2.52878501e-02 9.99680056e-01 -5.57074925e-04 4.37566688e-01] [ 3.10964820e-02 -2.29631142e-04 9.99516361e-01 2.98851710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.675336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:45.00, Y:0.44, Z:0.30 [[ 9.99171901e-01 -2.41852056e-02 -3.27198429e-02 4.49973634e+01] [ 2.41787990e-02 9.99707475e-01 -5.91514910e-04 4.39238865e-01] [ 3.27245774e-02 -2.00101426e-04 9.99464388e-01 2.97994714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.705336194999994 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:45.02, Y:0.44, Z:0.30 [[ 9.99203646e-01 -2.41496816e-02 -3.17626727e-02 4.50240971e+01] [ 2.41434780e-02 9.99708336e-01 -5.78881135e-04 4.36808240e-01] [ 3.17673884e-02 -1.88441248e-04 9.99495271e-01 2.95137229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.735336194999995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:45.05, Y:0.44, Z:0.30 [[ 9.99199509e-01 -2.43203614e-02 -3.17625776e-02 4.50524442e+01] [ 2.43140790e-02 9.99704198e-01 -5.84068615e-04 4.37470897e-01] [ 3.17673869e-02 -1.88676749e-04 9.99495271e-01 2.95335026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.765336194999996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:45.08, Y:0.44, Z:0.30 [[ 9.99292988e-01 -2.47644023e-02 -2.82886755e-02 4.50801541e+01] [ 2.47594531e-02 9.99693300e-01 -5.25270396e-04 4.40527099e-01] [ 2.82930074e-02 -1.75513113e-04 9.99599657e-01 2.99103652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.11, Y:0.44, Z:0.30 [[ 9.99207323e-01 -2.83280495e-02 -2.79686945e-02 4.51095428e+01] [ 2.83245569e-02 9.99598643e-01 -5.21121730e-04 4.41991632e-01] [ 2.79722314e-02 -2.71492230e-04 9.99608664e-01 3.00447470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.825336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:45.14, Y:0.44, Z:0.30 [[ 9.99160365e-01 -3.03550797e-02 -2.75160622e-02 4.51402858e+01] [ 3.03524699e-02 9.99539126e-01 -5.12607593e-04 4.39478261e-01] [ 2.75189410e-02 -3.23003260e-04 9.99621230e-01 2.99350173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.17, Y:0.44, Z:0.30 [[ 9.99130002e-01 -3.21007585e-02 -2.66229169e-02 4.51719469e+01] [ 3.20989549e-02 9.99484573e-01 -4.95213391e-04 4.37833514e-01] [ 2.66250914e-02 -3.59785251e-04 9.99645425e-01 2.99445453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.885336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.20, Y:0.44, Z:0.30 [[ 9.98994798e-01 -3.52763726e-02 -2.76581106e-02 4.52038234e+01] [ 3.52756760e-02 9.99377488e-01 -5.13260664e-04 4.40725939e-01] [ 2.76589990e-02 -4.62913814e-04 9.99617310e-01 3.04041690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.915336194999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:45.23, Y:0.44, Z:0.30 [[ 9.98909165e-01 -3.64338320e-02 -2.92071183e-02 4.52348631e+01] [ 3.64335824e-02 9.99335930e-01 -5.40897709e-04 4.40720956e-01] [ 2.92074297e-02 -5.23812270e-04 9.99573235e-01 3.03583480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.945336194999996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:45.27, Y:0.43, Z:0.30 [[ 9.98818630e-01 -3.76843275e-02 -3.06795696e-02 4.52662124e+01] [ 3.76847059e-02 9.99289519e-01 -5.66080632e-04 4.33742266e-01] [ 3.06791047e-02 -5.90738678e-04 9.99529111e-01 2.98563135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.975336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:45.30, Y:0.43, Z:0.30 [[ 9.98842933e-01 -3.71635479e-02 -3.05231952e-02 4.52984770e+01] [ 3.71637296e-02 9.99309032e-01 -5.61553899e-04 4.30672355e-01] [ 3.05229740e-02 -5.73451629e-04 9.99533901e-01 2.97608772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.005336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:45.33, Y:0.43, Z:0.30 [[ 9.98881287e-01 -3.49967191e-02 -3.18025792e-02 4.53300804e+01] [ 3.49958576e-02 9.99387287e-01 -5.83879975e-04 4.26838378e-01] [ 3.18035272e-02 -5.29731750e-04 9.99494000e-01 3.00201143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.035336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:45.36, Y:0.43, Z:0.30 [[ 9.98908926e-01 -3.34303608e-02 -3.26093282e-02 4.53618657e+01] [ 3.34286490e-02 9.99440928e-01 -5.97832075e-04 4.28356064e-01] [ 3.26110830e-02 -4.92905991e-04 9.99467996e-01 3.02096862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:45.39, Y:0.43, Z:0.31 [[ 9.99111072e-01 -2.82047999e-02 -3.13297776e-02 4.53923728e+01] [ 2.82006651e-02 9.99602117e-01 -5.73926167e-04 4.31985384e-01] [ 3.13334995e-02 -3.10104576e-04 9.99508937e-01 3.07500575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.095336194999994 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:45.42, Y:0.43, Z:0.31 [[ 9.99223779e-01 -2.61890375e-02 -2.94274457e-02 4.54223092e+01] [ 2.61845022e-02 9.99656982e-01 -5.39529906e-04 4.32432913e-01] [ 2.94314814e-02 -2.31431907e-04 9.99566773e-01 3.08226413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.125336194999996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:45.45, Y:0.44, Z:0.31 [[ 9.99407946e-01 -2.35420627e-02 -2.50904272e-02 4.54522774e+01] [ 2.27956159e-02 9.99300902e-01 -2.96322081e-02 4.43951855e-01] [ 2.57704898e-02 2.90427125e-02 9.99245917e-01 3.08271787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.155336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.48, Y:0.41, Z:0.28 [[ 9.99269429e-01 -2.45780428e-02 -2.92664866e-02 4.54811068e+01] [ 2.54184324e-02 9.99264896e-01 2.86979103e-02 4.06153059e-01] [ 2.85396343e-02 -2.94208527e-02 9.99159598e-01 2.79430074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.185336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:45.51, Y:0.44, Z:0.31 [[ 9.99442439e-01 -2.45910549e-02 -2.25851858e-02 4.55104474e+01] [ 2.39494904e-02 9.99313926e-01 -2.82506650e-02 4.43395803e-01] [ 2.32644044e-02 2.76940099e-02 9.99345691e-01 3.09645670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.215336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.54, Y:0.41, Z:0.28 [[ 9.99266249e-01 -2.64677135e-02 -2.76843579e-02 4.55402112e+01] [ 2.72260302e-02 9.99254180e-01 2.73829603e-02 4.09943682e-01] [ 2.69389460e-02 -2.81166032e-02 9.99241587e-01 2.84336423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24533619499999 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:45.57, Y:0.45, Z:0.31 [[ 9.99281390e-01 -2.70640968e-02 -2.65374700e-02 4.55710611e+01] [ 2.63509371e-02 9.99291702e-01 -2.68648919e-02 4.45372448e-01] [ 2.72457476e-02 2.61462993e-02 9.99286766e-01 3.12988261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.275336194999994 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:45.60, Y:0.41, Z:0.29 [[ 9.99137517e-01 -2.89149823e-02 -2.98017791e-02 4.56008947e+01] [ 2.96891117e-02 9.99224368e-01 2.58692761e-02 4.11994441e-01] [ 2.90306542e-02 -2.67317526e-02 9.99221014e-01 2.86706811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.305336194999995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:45.63, Y:0.42, Z:0.30 [[ 9.99092827e-01 -3.01457893e-02 -3.00791304e-02 4.56318502e+01] [ 3.01425246e-02 9.99545453e-01 -5.62066943e-04 4.24822957e-01] [ 3.00824020e-02 -3.45103876e-04 9.99547363e-01 3.02333951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.335336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:45.66, Y:0.42, Z:0.30 [[ 9.99095337e-01 -3.00489924e-02 -3.00926241e-02 4.56613772e+01] [ 3.00456878e-02 9.99548368e-01 -5.62089771e-04 4.23640866e-01] [ 3.00959235e-02 -3.42572319e-04 9.99546956e-01 3.02492568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.365336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.69, Y:0.44, Z:0.31 [[ 9.99275958e-01 -2.83612321e-02 -2.53614001e-02 4.56921169e+01] [ 2.76695740e-02 9.99246467e-01 -2.72193539e-02 4.39336778e-01] [ 2.61142638e-02 2.64979068e-02 9.99307713e-01 3.09150582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.395336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:45.72, Y:0.42, Z:0.29 [[ 9.99269542e-01 -2.74413422e-02 -2.65961328e-02 4.57237072e+01] [ 2.73807231e-02 9.99621589e-01 -2.64081686e-03 4.22211045e-01] [ 2.66585361e-02 1.91066651e-03 9.99642772e-01 2.93111663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.75, Y:0.42, Z:0.29 [[ 9.99267622e-01 -2.70998620e-02 -2.70151127e-02 4.57539845e+01] [ 2.71133490e-02 9.99632357e-01 1.32992781e-04 4.18586797e-01] [ 2.70015767e-02 -8.65365558e-04 9.99635016e-01 2.90640960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.455336194999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:45.78, Y:0.40, Z:0.29 [[ 9.99128909e-01 -2.78876836e-02 -3.10435383e-02 4.57821830e+01] [ 2.86968699e-02 9.99251700e-01 2.59331624e-02 4.03924248e-01] [ 3.02970926e-02 -2.68014246e-02 9.99181550e-01 2.85898713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.485336194999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:45.81, Y:0.42, Z:0.31 [[ 9.99216992e-01 -2.63319186e-02 -2.95302022e-02 4.58108598e+01] [ 2.63269435e-02 9.99653231e-01 -5.57336920e-04 4.22243671e-01] [ 2.95346378e-02 -2.20539443e-04 9.99563733e-01 3.07059512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.515336194999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:45.84, Y:0.44, Z:0.31 [[ 9.99337023e-01 -2.53269724e-02 -2.61545063e-02 4.58419345e+01] [ 2.46067509e-02 9.99318860e-01 -2.75013398e-02 4.35561999e-01] [ 2.68332171e-02 2.68395296e-02 9.99279550e-01 3.10689448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.87, Y:0.40, Z:0.29 [[ 9.99206558e-01 -2.78097191e-02 -2.85109481e-02 4.58701746e+01] [ 2.85684895e-02 9.99238897e-01 2.65606410e-02 4.00815634e-01] [ 2.77506044e-02 -2.73540814e-02 9.99240541e-01 2.87619922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.575336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.90, Y:0.42, Z:0.31 [[ 9.99192873e-01 -2.89951090e-02 -2.78008346e-02 4.58996999e+01] [ 2.89915878e-02 9.99579515e-01 -5.29805954e-04 4.20525932e-01] [ 2.78045066e-02 -2.76612007e-04 9.99613342e-01 3.08984240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.93, Y:0.42, Z:0.31 [[ 9.99135638e-01 -3.03328144e-02 -2.84235166e-02 4.59306012e+01] [ 3.03296913e-02 9.99539803e-01 -5.41093331e-04 4.23709931e-01] [ 2.84268491e-02 -3.21450855e-04 9.99595824e-01 3.10884912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.635336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:45.96, Y:0.44, Z:0.31 [[ 9.99258078e-01 -2.98643556e-02 -2.43190070e-02 4.59633047e+01] [ 2.92192776e-02 9.99222682e-01 -2.64625256e-02 4.37013196e-01] [ 2.50903897e-02 2.57323087e-02 9.99353952e-01 3.14936014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.665336194999995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:45.99, Y:0.40, Z:0.29 [[ 9.99163528e-01 -3.11912810e-02 -2.64451977e-02 4.59918690e+01] [ 3.18703033e-02 9.99162673e-01 2.56561125e-02 4.03996097e-01] [ 2.56228074e-02 -2.64774684e-02 9.99320977e-01 2.89286452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.695336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.02, Y:0.42, Z:0.31 [[ 9.99167078e-01 -3.18683700e-02 -2.54864230e-02 4.60240594e+01] [ 3.18663508e-02 9.99492021e-01 -4.85469992e-04 4.21784019e-01] [ 2.54889476e-02 -3.27093664e-04 9.99675050e-01 3.07410799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.725336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:46.06, Y:0.42, Z:0.31 [[ 9.99067978e-01 -3.30759921e-02 -2.77336274e-02 4.60551830e+01] [ 3.30740960e-02 9.99452763e-01 -5.27212816e-04 4.24108977e-01] [ 2.77358887e-02 -3.90543215e-04 9.99615210e-01 3.08789673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.755336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:46.09, Y:0.43, Z:0.31 [[ 9.99043563e-01 -3.28742605e-02 -2.88312877e-02 4.60869976e+01] [ 3.28721631e-02 9.99459415e-01 -5.46845382e-04 4.26293137e-01] [ 2.88336790e-02 -4.01424431e-04 9.99584142e-01 3.10786230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.785336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:46.12, Y:0.44, Z:0.31 [[ 9.99090253e-01 -3.30897293e-02 -2.69023378e-02 4.61199219e+01] [ 3.24413065e-02 9.99180812e-01 -2.41922996e-02 4.40353746e-01] [ 2.76808164e-02 2.32975437e-02 9.99345284e-01 3.12057497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.15, Y:0.41, Z:0.29 [[ 9.98911387e-01 -3.50440460e-02 -3.07888851e-02 4.61497080e+01] [ 3.57630964e-02 9.99092767e-01 2.31223503e-02 4.09085452e-01] [ 2.99506518e-02 -2.41982849e-02 9.99258426e-01 2.87780704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.845336194999994 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:46.18, Y:0.42, Z:0.30 [[ 9.98707793e-01 -3.87442142e-02 -3.28881410e-02 4.61810704e+01] [ 3.87446697e-02 9.99248949e-01 -6.23680263e-04 4.19374103e-01] [ 3.28876044e-02 -6.51365824e-04 9.99458844e-01 3.01308558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.875336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.22, Y:0.44, Z:0.31 [[ 9.98731359e-01 -3.97235419e-02 -3.09469385e-02 4.62150778e+01] [ 3.88847391e-02 9.98872051e-01 -2.72507533e-02 4.35194308e-01] [ 3.19945284e-02 2.60128182e-02 9.99149480e-01 3.11285402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.905336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.24, Y:0.40, Z:0.29 [[ 9.98578306e-01 -4.33923379e-02 -3.09591827e-02 4.62420014e+01] [ 4.42127494e-02 9.98675202e-01 2.63262948e-02 4.02342276e-01] [ 2.97758085e-02 -2.76576574e-02 9.99173886e-01 2.89514240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.935336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.27, Y:0.42, Z:0.31 [[ 9.98586995e-01 -4.38487111e-02 -3.00217270e-02 4.62732050e+01] [ 4.38514656e-02 9.99037901e-01 -5.66958500e-04 4.19468139e-01] [ 3.00177035e-02 -7.50339342e-04 9.99549086e-01 3.10010584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.965336195 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:46.31, Y:0.42, Z:0.31 [[ 9.98650277e-01 -4.15483951e-02 -3.11665707e-02 4.63065742e+01] [ 4.15503109e-02 9.99136241e-01 -5.86455983e-04 4.15141705e-01] [ 3.11640166e-02 -7.09316273e-04 9.99514032e-01 3.11223793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.34, Y:0.41, Z:0.31 [[ 9.98731576e-01 -3.93718412e-02 -3.13862464e-02 4.63392680e+01] [ 3.93727622e-02 9.99224419e-01 -5.88931201e-04 4.14150409e-01] [ 3.13850911e-02 -6.47579027e-04 9.99507157e-01 3.12397702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.025336194999994 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:46.37, Y:0.41, Z:0.31 [[ 9.98862246e-01 -3.40721859e-02 -3.33661473e-02 4.63709046e+01] [ 3.40703148e-02 9.99419243e-01 -6.24794559e-04 4.11787612e-01] [ 3.33680578e-02 -5.12711447e-04 9.99443000e-01 3.10631351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.055336194999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:46.40, Y:0.41, Z:0.31 [[ 9.98932874e-01 -3.10493894e-02 -3.41913637e-02 4.64005208e+01] [ 3.10456428e-02 9.99517763e-01 -6.40602527e-04 4.10600981e-01] [ 3.41947657e-02 -4.21573943e-04 9.99415099e-01 3.09249669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.43, Y:0.41, Z:0.31 [[ 9.99019698e-01 -2.84921645e-02 -3.38797728e-02 4.64291280e+01] [ 2.84868611e-02 9.99593963e-01 -6.39326064e-04 4.10727424e-01] [ 3.38842321e-02 -3.26429050e-04 9.99425711e-01 3.09595938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.115336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:46.46, Y:0.41, Z:0.31 [[ 9.99141200e-01 -2.44995758e-02 -3.34160629e-02 4.64560138e+01] [ 2.44920707e-02 9.99699823e-01 -6.33966880e-04 4.09568116e-01] [ 3.34215641e-02 -1.85006148e-04 9.99441326e-01 3.08954679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.145336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:46.48, Y:0.41, Z:0.31 [[ 9.99145469e-01 -2.35482584e-02 -3.39677921e-02 4.64839684e+01] [ 2.35397612e-02 9.99722690e-01 -6.50102366e-04 4.08295480e-01] [ 3.39736813e-02 -1.50046880e-04 9.99422717e-01 3.09727470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.175336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.51, Y:0.41, Z:0.31 [[ 9.99165022e-01 -2.41383010e-02 -3.29636445e-02 4.65113328e+01] [ 2.41304143e-02 9.99708616e-01 -6.37111173e-04 4.08272147e-01] [ 3.29694182e-02 -1.58847199e-04 9.99456348e-01 3.10154659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.205336194999994 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:46.54, Y:0.40, Z:0.31 [[ 9.99178773e-01 -2.60904823e-02 -3.10010652e-02 4.65390130e+01] [ 2.60842631e-02 9.99659565e-01 -6.05083382e-04 4.00411143e-01] [ 3.10062982e-02 -2.04053469e-04 9.99519168e-01 3.06766344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.235336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.57, Y:0.40, Z:0.31 [[ 9.99161539e-01 -2.75361698e-02 -3.02981425e-02 4.65656494e+01] [ 2.75307552e-02 9.99620779e-01 -5.95937946e-04 3.98081560e-01] [ 3.03030626e-02 -2.38692467e-04 9.99540728e-01 3.07061041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.265336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.59, Y:0.40, Z:0.31 [[ 9.98984038e-01 -3.10353468e-02 -3.26756756e-02 4.65931841e+01] [ 3.10308370e-02 9.99518219e-01 -6.45240970e-04 4.00497452e-01] [ 3.26799583e-02 -3.69368135e-04 9.99465799e-01 3.11060521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.62, Y:0.40, Z:0.31 [[ 9.98915737e-01 -3.19348745e-02 -3.38749908e-02 4.66215647e+01] [ 3.19303910e-02 9.99489868e-01 -6.73460522e-04 4.01902328e-01] [ 3.38792170e-02 -4.08911388e-04 9.99425851e-01 3.12381473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.325336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.65, Y:0.40, Z:0.31 [[ 9.98956583e-01 -3.06588476e-02 -3.38493780e-02 4.66504875e+01] [ 3.06534486e-02 9.99529842e-01 -6.78562324e-04 3.96492574e-01] [ 3.38542674e-02 -3.59745868e-04 9.99426715e-01 3.08729111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.68, Y:0.39, Z:0.31 [[ 9.98960650e-01 -2.98429104e-02 -3.44531671e-02 4.66775144e+01] [ 2.98367094e-02 9.99554545e-01 -6.94221020e-04 3.91785695e-01] [ 3.44585374e-02 -3.34469653e-04 9.99406072e-01 3.05671267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.385336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.71, Y:0.39, Z:0.31 [[ 9.99002352e-01 -2.85477767e-02 -3.43413134e-02 4.67058466e+01] [ 2.85406644e-02 9.99592389e-01 -6.97393980e-04 3.87465805e-01] [ 3.43472245e-02 -2.83425676e-04 9.99409920e-01 3.05506678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.415336194999995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:46.73, Y:0.39, Z:0.31 [[ 9.99072814e-01 -2.76411976e-02 -3.30072156e-02 4.67341391e+01] [ 2.76339322e-02 9.99617881e-01 -6.76366363e-04 3.89286047e-01] [ 3.30132985e-02 -2.36379914e-04 9.99454885e-01 3.08621350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.445336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.76, Y:0.39, Z:0.31 [[ 9.99164154e-01 -2.64441470e-02 -3.11721051e-02 4.67614947e+01] [ 2.64369044e-02 9.99650276e-01 -6.44541137e-04 3.92838206e-01] [ 3.11782478e-02 -1.80091560e-04 9.99513824e-01 3.14418203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.475336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.79, Y:0.39, Z:0.32 [[ 9.99174108e-01 -2.66301862e-02 -3.06909568e-02 4.67896614e+01] [ 2.66230771e-02 9.99645338e-01 -6.40324968e-04 3.93360258e-01] [ 3.06971239e-02 -1.77291582e-04 9.99528717e-01 3.15396767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.505336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:46.82, Y:0.39, Z:0.32 [[ 9.99209073e-01 -2.63191741e-02 -2.98082031e-02 4.68173251e+01] [ 2.63121635e-02 9.99653578e-01 -6.27477650e-04 3.92660630e-01] [ 2.98143916e-02 -1.57336954e-04 9.99555440e-01 3.15416568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.84, Y:0.39, Z:0.31 [[ 9.99199293e-01 -2.62725885e-02 -3.01748762e-02 4.68442199e+01] [ 2.62652833e-02 9.99654804e-01 -6.38504359e-04 3.90370873e-01] [ 3.01812351e-02 -1.54558565e-04 9.99544431e-01 3.12734461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.87, Y:0.38, Z:0.31 [[ 9.99242682e-01 -2.55859654e-02 -2.93158959e-02 4.68717189e+01] [ 2.55787066e-02 9.99672617e-01 -6.22652160e-04 3.83096554e-01] [ 2.93222295e-02 -1.27682087e-04 9.99570003e-01 3.07192440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.595336194999994 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:46.90, Y:0.39, Z:0.31 [[ 9.99269275e-01 -2.49479285e-02 -2.89571653e-02 4.68994991e+01] [ 2.49404431e-02 9.99688747e-01 -6.19702428e-04 3.85237596e-01] [ 2.89636126e-02 -1.02954940e-04 9.99580461e-01 3.09109142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.625336194999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.93, Y:0.40, Z:0.32 [[ 9.99303405e-01 -2.40866757e-02 -2.85050197e-02 4.69315996e+01] [ 2.36478305e-02 9.99598104e-01 -1.56336577e-02 3.99682338e-01] [ 2.88701265e-02 1.49486855e-02 9.99471387e-01 3.17979359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.655336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.96, Y:0.39, Z:0.31 [[ 9.99288986e-01 -2.41149398e-02 -2.89826284e-02 4.69602380e+01] [ 2.41126749e-02 9.99709156e-01 -4.27693185e-04 3.90210514e-01] [ 2.89845127e-02 -2.71459605e-04 9.99579824e-01 3.08082141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.685336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:46.99, Y:0.39, Z:0.31 [[ 9.99369379e-01 -2.12415960e-02 -2.84541553e-02 4.69854792e+01] [ 2.16592627e-02 9.99660955e-01 1.44516596e-02 3.90682192e-01] [ 2.81375318e-02 -1.50588421e-02 9.99490626e-01 3.09352739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.715336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.01, Y:0.40, Z:0.32 [[ 9.99329298e-01 -1.90518359e-02 -3.12727109e-02 4.70129320e+01] [ 1.90397021e-02 9.99818493e-01 -6.85766584e-04 4.02094283e-01] [ 3.12800998e-02 8.98835392e-05 9.99510654e-01 3.15803454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.04, Y:0.40, Z:0.31 [[ 9.99332855e-01 -1.80344961e-02 -3.17584989e-02 4.70400455e+01] [ 1.80213574e-02 9.99837357e-01 -6.99920853e-04 4.00466228e-01] [ 3.17659563e-02 1.27122646e-04 9.99495327e-01 3.12678297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.775336194999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.07, Y:0.40, Z:0.31 [[ 9.99370012e-01 -1.80868577e-02 -3.05359687e-02 4.70681344e+01] [ 1.80745825e-02 9.99836412e-01 -6.77990696e-04 3.99243872e-01] [ 3.05432361e-02 1.25638682e-04 9.99533439e-01 3.10799035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.805336194999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.10, Y:0.40, Z:0.31 [[ 9.99420841e-01 -1.92649494e-02 -2.80507330e-02 4.70950101e+01] [ 1.92549694e-02 9.99814410e-01 -6.25877701e-04 4.04198142e-01] [ 2.80575846e-02 8.53992122e-05 9.99606305e-01 3.14481779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.12, Y:0.41, Z:0.32 [[ 9.99401273e-01 -2.05724102e-02 -2.78185415e-02 4.71225399e+01] [ 2.05629761e-02 9.99788364e-01 -6.25187734e-04 4.10505230e-01] [ 2.78255157e-02 5.27814133e-05 9.99612794e-01 3.18778865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.865336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:47.15, Y:0.42, Z:0.32 [[ 9.99405665e-01 -2.29314413e-02 -2.57384001e-02 4.71496934e+01] [ 2.29240513e-02 9.99737040e-01 -5.82185767e-04 4.16986862e-01] [ 2.57449823e-02 -8.18864909e-06 9.99668543e-01 3.23092814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.18, Y:0.41, Z:0.32 [[ 9.99400910e-01 -2.26099450e-02 -2.62032738e-02 4.71777958e+01] [ 2.26021197e-02 9.99744363e-01 -5.94814664e-04 4.12987374e-01] [ 2.62100240e-02 2.20878635e-06 9.99656458e-01 3.18441162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.925336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.21, Y:0.41, Z:0.32 [[ 9.99367507e-01 -2.21235289e-02 -2.78412698e-02 4.72060570e+01] [ 2.21143857e-02 9.99755245e-01 -6.36303002e-04 4.11261123e-01] [ 2.78485328e-02 2.02079650e-05 9.99612154e-01 3.15281959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.955336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.23, Y:0.41, Z:0.31 [[ 9.99352975e-01 -2.12657201e-02 -2.90069109e-02 4.72336069e+01] [ 2.12552708e-02 9.99773858e-01 -6.68563953e-04 4.10784523e-01] [ 2.90145687e-02 5.15816308e-05 9.99578987e-01 3.13600447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.985336194999995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:47.26, Y:0.42, Z:0.32 [[ 9.99408043e-01 -1.90564483e-02 -2.86428826e-02 4.72597963e+01] [ 1.90451958e-02 9.99818402e-01 -6.65639228e-04 4.17544099e-01] [ 2.86503659e-02 1.19735889e-04 9.99589487e-01 3.17776296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.015336194999996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:47.29, Y:0.42, Z:0.32 [[ 9.99397957e-01 -1.77745303e-02 -2.97958091e-02 4.72873480e+01] [ 1.77616132e-02 9.99842006e-01 -6.98154851e-04 4.21993956e-01] [ 2.98035109e-02 1.68512896e-04 9.99555762e-01 3.20277128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.31, Y:0.43, Z:0.32 [[ 9.99352712e-01 -1.57705003e-02 -3.23333986e-02 4.73142241e+01] [ 1.57541230e-02 9.99875606e-01 -7.61226472e-04 4.25105668e-01] [ 3.23413815e-02 2.51349400e-04 9.99476849e-01 3.19092101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.075336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.34, Y:0.43, Z:0.32 [[ 9.99409789e-01 -1.52287049e-02 -3.07922231e-02 4.73409298e+01] [ 1.52135183e-02 9.99884003e-01 -7.27434901e-04 4.25109927e-01] [ 3.07997292e-02 2.58547510e-04 9.99525542e-01 3.16965568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.105336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:47.37, Y:0.43, Z:0.32 [[ 9.99402811e-01 -1.59779317e-02 -3.06386682e-02 4.73685019e+01] [ 1.59630997e-02 9.99872316e-01 -7.28647607e-04 4.25319711e-01] [ 3.06463984e-02 2.39124350e-04 9.99530260e-01 3.15853656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.135336194999994 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:47.40, Y:0.43, Z:0.32 [[ 9.99415062e-01 -1.68832266e-02 -2.97403965e-02 4.73959160e+01] [ 1.68694873e-02 9.99857446e-01 -7.12839127e-04 4.25355494e-01] [ 2.97481919e-02 2.10716919e-04 9.99557402e-01 3.15667491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.165336194999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.42, Y:0.42, Z:0.32 [[ 9.99501324e-01 -1.82470788e-02 -2.57710473e-02 4.74227244e+01] [ 1.82371452e-02 9.99833497e-01 -6.20456710e-04 4.24317281e-01] [ 2.57780779e-02 1.50156970e-04 9.99667679e-01 3.16212033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.195336194999996 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:47.45, Y:0.42, Z:0.32 [[ 9.99463204e-01 -1.97297702e-02 -2.61541654e-02 4.74501483e+01] [ 1.97199908e-02 9.99805342e-01 -6.31810570e-04 4.24377054e-01] [ 2.61615398e-02 1.15711516e-04 9.99657722e-01 3.17503858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.225336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.48, Y:0.43, Z:0.32 [[ 9.99336201e-01 -2.29299538e-02 -2.83085541e-02 4.74781668e+01] [ 2.29196532e-02 9.99737073e-01 -6.88336167e-04 4.29816800e-01] [ 2.83168946e-02 3.90570078e-05 9.99598996e-01 3.23081299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.255336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.51, Y:0.43, Z:0.33 [[ 9.99292142e-01 -2.47035624e-02 -2.83716101e-02 4.75063701e+01] [ 2.46937798e-02 9.99694820e-01 -6.95176516e-04 4.33541382e-01] [ 2.83801250e-02 -5.91786201e-06 9.99597203e-01 3.25431935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.285336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.53, Y:0.43, Z:0.32 [[ 9.99201774e-01 -2.74443872e-02 -2.90279167e-02 4.75343022e+01] [ 2.74351435e-02 9.99623329e-01 -7.16745515e-04 4.29867895e-01] [ 2.90366533e-02 -8.02116689e-05 9.99578344e-01 3.22805558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31533619499999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:47.56, Y:0.43, Z:0.32 [[ 9.99173153e-01 -2.76992699e-02 -2.97617283e-02 4.75635534e+01] [ 2.76895924e-02 9.99616298e-01 -7.37331153e-04 4.26034878e-01] [ 2.97707322e-02 -8.73686341e-05 9.99556750e-01 3.20110192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.345336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.59, Y:0.42, Z:0.32 [[ 9.99233254e-01 -2.49798902e-02 -3.01481140e-02 4.75922102e+01] [ 2.49686881e-02 9.99687954e-01 -7.48032637e-04 4.24427595e-01] [ 3.01573922e-02 -5.29977030e-06 9.99545162e-01 3.18581963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.375336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.62, Y:0.43, Z:0.32 [[ 9.99265727e-01 -2.34799028e-02 -3.02770801e-02 4.76204995e+01] [ 2.34677809e-02 9.99724308e-01 -7.55700858e-04 4.26577233e-01] [ 3.02864767e-02 4.46100857e-05 9.99541258e-01 3.19362245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.405336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:47.65, Y:0.43, Z:0.32 [[ 9.99353812e-01 -2.02315743e-02 -2.97092858e-02 4.76471894e+01] [ 2.02183728e-02 9.99795310e-01 -7.44720352e-04 4.31709414e-01] [ 2.97182715e-02 1.43565706e-04 9.99558304e-01 3.23043827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.435336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.67, Y:0.44, Z:0.33 [[ 9.99406425e-01 -1.88117570e-02 -2.88602919e-02 4.76741362e+01] [ 1.87986409e-02 9.99823027e-01 -7.25748750e-04 4.37573235e-01] [ 2.88688370e-02 1.82783700e-04 9.99583192e-01 3.26962061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.465336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.70, Y:0.45, Z:0.33 [[ 9.99483548e-01 -1.71049479e-02 -2.72040027e-02 4.77018042e+01] [ 1.70925449e-02 9.99853675e-01 -6.88409929e-04 4.46048794e-01] [ 2.72117973e-02 2.23068760e-04 9.99629666e-01 3.30462243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.73, Y:0.45, Z:0.33 [[ 9.99464335e-01 -1.73476241e-02 -2.77507381e-02 4.77295697e+01] [ 1.73346634e-02 9.99849493e-01 -7.07561365e-04 4.45152027e-01] [ 2.77588360e-02 2.26132645e-04 9.99614624e-01 3.27130875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.525336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.76, Y:0.44, Z:0.32 [[ 9.99431284e-01 -1.77992881e-02 -2.86407812e-02 4.77568551e+01] [ 1.77855746e-02 9.99841555e-01 -7.33507566e-04 4.42159302e-01] [ 2.86492991e-02 2.23697658e-04 9.99589500e-01 3.22576143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.555336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.78, Y:0.44, Z:0.32 [[ 9.99400385e-01 -1.82784633e-02 -2.94069287e-02 4.77836609e+01] [ 1.82641415e-02 9.99832911e-01 -7.55573346e-04 4.39840588e-01] [ 2.94158258e-02 2.18027986e-04 9.99567237e-01 3.18686408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.81, Y:0.44, Z:0.32 [[ 9.99362843e-01 -2.02248901e-02 -2.94085204e-02 4.78113894e+01] [ 2.02112706e-02 9.99795442e-01 -7.60325453e-04 4.42935740e-01] [ 2.94178821e-02 1.65457443e-04 9.99567187e-01 3.20230247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.615336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:47.84, Y:0.45, Z:0.32 [[ 9.99331502e-01 -2.21996409e-02 -2.90469449e-02 4.78389307e+01] [ 2.21870286e-02 9.99753551e-01 -7.56474618e-04 4.45493519e-01] [ 2.90565798e-02 1.11503520e-04 9.99577762e-01 3.22129161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.645336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.87, Y:0.45, Z:0.33 [[ 9.99318556e-01 -2.40318647e-02 -2.80159522e-02 4.78654390e+01] [ 2.40207651e-02 9.99711191e-01 -7.32718643e-04 4.48504359e-01] [ 2.80254695e-02 5.92547297e-05 9.99607208e-01 3.25127827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.675336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.89, Y:0.45, Z:0.33 [[ 9.99259453e-01 -2.80080251e-02 -2.63836235e-02 4.78930844e+01] [ 2.79994615e-02 9.99607697e-01 -6.94022825e-04 4.51327064e-01] [ 2.63927113e-02 -4.52183830e-05 9.99651651e-01 3.27542374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.705336194999994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:47.92, Y:0.45, Z:0.32 [[ 9.99176470e-01 -2.94515600e-02 -2.79103569e-02 4.79234144e+01] [ 2.94424980e-02 9.99566205e-01 -7.35673064e-04 4.48425924e-01] [ 2.79199163e-02 -8.66834137e-05 9.99610159e-01 3.24298143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.735336194999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.95, Y:0.44, Z:0.32 [[ 9.98963781e-01 -3.23052298e-02 -3.20583161e-02 4.79536348e+01] [ 3.22947424e-02 9.99478032e-01 -8.45006736e-04 4.44171798e-01] [ 3.20688808e-02 -1.91183935e-04 9.99485643e-01 3.19191785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.765336194999996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:47.98, Y:0.45, Z:0.32 [[ 9.98937928e-01 -3.33813002e-02 -3.17601271e-02 4.79839536e+01] [ 3.33715507e-02 9.99442664e-01 -8.37146944e-04 4.47043425e-01] [ 3.17703711e-02 -2.23626860e-04 9.99495169e-01 3.21853690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.795336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.01, Y:0.45, Z:0.33 [[ 9.98867959e-01 -3.51942225e-02 -3.20026074e-02 4.80137405e+01] [ 3.51852445e-02 9.99380451e-01 -8.43826179e-04 4.51510972e-01] [ 3.20124780e-02 -2.83148632e-04 9.99487429e-01 3.25913161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.825336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:48.05, Y:0.45, Z:0.33 [[ 9.98824612e-01 -3.60416450e-02 -3.24097965e-02 4.80450100e+01] [ 3.60328987e-02 9.99350239e-01 -8.54076523e-04 4.51840330e-01] [ 3.24195202e-02 -3.14746262e-04 9.99474300e-01 3.25892668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.855336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.08, Y:0.45, Z:0.33 [[ 9.98917487e-01 -3.61138983e-02 -2.93196260e-02 4.80760991e+01] [ 3.61067910e-02 9.99347639e-01 -7.71974631e-04 4.51216101e-01] [ 2.93283781e-02 -2.87498651e-04 9.99569789e-01 3.27490083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.885336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.11, Y:0.45, Z:0.33 [[ 9.99001882e-01 -3.56327461e-02 -2.69359904e-02 4.81079443e+01] [ 3.56266013e-02 9.99364920e-01 -7.08149833e-04 4.50521324e-01] [ 2.69441172e-02 -2.52194772e-04 9.99636910e-01 3.27681804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.915336194999995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:48.14, Y:0.45, Z:0.33 [[ 9.99031039e-01 -3.58535509e-02 -2.55246046e-02 4.81393878e+01] [ 3.58481298e-02 9.99357025e-01 -6.70082092e-04 4.49216190e-01] [ 2.55322177e-02 -2.45576531e-04 9.99673970e-01 3.26572970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.945336194999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.17, Y:0.45, Z:0.33 [[ 9.99038966e-01 -3.54476261e-02 -2.57800380e-02 4.81714282e+01] [ 3.54419895e-02 9.99371507e-01 -6.75676651e-04 4.48982096e-01] [ 2.57877865e-02 -2.38668533e-04 9.99667411e-01 3.27869396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.20, Y:0.45, Z:0.33 [[ 9.99178271e-01 -3.19124002e-02 -2.49876371e-02 4.82031772e+01] [ 3.19060286e-02 9.99490659e-01 -6.53741082e-04 4.50262890e-01] [ 2.49957723e-02 -1.44052380e-04 9.99687546e-01 3.27343745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.005336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:48.23, Y:0.45, Z:0.33 [[ 9.99235639e-01 -3.03546849e-02 -2.46319188e-02 4.82345919e+01] [ 3.03480439e-02 9.99539185e-01 -6.43473108e-04 4.48477578e-01] [ 2.46401005e-02 -1.04549291e-04 9.99696381e-01 3.25249393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.035336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.27, Y:0.45, Z:0.32 [[ 9.99280490e-01 -2.85670084e-02 -2.49485305e-02 4.82671906e+01] [ 2.85596657e-02 9.99591878e-01 -6.50655016e-04 4.47149360e-01] [ 2.49569357e-02 -6.23348273e-05 9.99688525e-01 3.24895960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06533619499999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.30, Y:0.45, Z:0.33 [[ 9.99331543e-01 -2.45126125e-02 -2.71219270e-02 4.82980569e+01] [ 2.45024646e-02 9.99699520e-01 -7.06482563e-04 4.50701094e-01] [ 2.71310951e-02 4.14562538e-05 9.99631883e-01 3.27941154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.095336194999994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:48.33, Y:0.46, Z:0.33 [[ 9.99387054e-01 -2.05799765e-02 -2.83192775e-02 4.83263616e+01] [ 2.05673187e-02 9.99788198e-01 -7.38208754e-04 4.56180117e-01] [ 2.83284717e-02 1.55304666e-04 9.99598656e-01 3.30033939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.125336194999996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.35, Y:0.46, Z:0.33 [[ 9.99423565e-01 -1.90089616e-02 -2.81282099e-02 4.83539164e+01] [ 1.89957371e-02 9.99819293e-01 -7.37309320e-04 4.58050662e-01] [ 2.81371424e-02 2.02568229e-04 9.99604052e-01 3.30079168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.155336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:48.38, Y:0.46, Z:0.33 [[ 9.99477602e-01 -1.62168742e-02 -2.79559668e-02 4.83810487e+01] [ 1.62026332e-02 9.99868458e-01 -7.35874066e-04 4.56469523e-01] [ 2.79642230e-02 2.82529372e-04 9.99608885e-01 3.26018014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.185336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.41, Y:0.46, Z:0.32 [[ 9.99488209e-01 -1.47333046e-02 -2.83945376e-02 4.84091855e+01] [ 1.47178887e-02 9.99891403e-01 -7.51847476e-04 4.55726960e-01] [ 2.84025312e-02 3.33555043e-04 9.99596511e-01 3.23795622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.215336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.44, Y:0.46, Z:0.32 [[ 9.99511428e-01 -1.31947243e-02 -2.83337981e-02 4.84373681e+01] [ 1.31786090e-02 9.99912873e-01 -7.55436373e-04 4.56608969e-01] [ 2.83412972e-02 3.81667242e-04 9.99598232e-01 3.24249912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.46, Y:0.46, Z:0.33 [[ 9.99576159e-01 -1.06012924e-02 -2.71129875e-02 4.84649474e+01] [ 1.05854489e-02 9.99943708e-01 -7.27816104e-04 4.62861108e-01] [ 2.71191770e-02 4.40504484e-04 9.99632110e-01 3.28881903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.275336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.49, Y:0.47, Z:0.33 [[ 9.99566151e-01 -9.86972206e-03 -2.77506390e-02 4.84930127e+01] [ 9.85269710e-03 9.99951180e-01 -7.50170009e-04 4.66829000e-01] [ 2.77566882e-02 4.76425908e-04 9.99614595e-01 3.30440829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.305336194999995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.52, Y:0.47, Z:0.33 [[ 9.99597994e-01 -9.30840914e-03 -2.67806781e-02 4.85205609e+01] [ 9.29221719e-03 9.99956561e-01 -7.29000807e-04 4.72947463e-01] [ 2.67863006e-02 4.79855866e-04 9.99641068e-01 3.31984239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.335336195 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:48.55, Y:0.48, Z:0.33 [[ 9.99634899e-01 -1.01930092e-02 -2.50233995e-02 4.85474526e+01] [ 1.01790592e-02 9.99947958e-01 -6.84797241e-04 4.76275871e-01] [ 2.50290773e-02 4.29832557e-04 9.99686631e-01 3.33174828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.58, Y:0.48, Z:0.33 [[ 9.99622720e-01 -1.16332043e-02 -2.48814364e-02 4.85755303e+01] [ 1.16197530e-02 9.99932254e-01 -6.85133871e-04 4.79450508e-01] [ 2.48877210e-02 3.95759238e-04 9.99690174e-01 3.31708720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.395336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.60, Y:0.48, Z:0.33 [[ 9.99559626e-01 -1.25591697e-02 -2.68853431e-02 4.86035886e+01] [ 1.25436592e-02 9.99921047e-01 -7.45495138e-04 4.79873123e-01] [ 2.68925832e-02 4.07926261e-04 9.99638246e-01 3.28182502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.425336195 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:48.63, Y:0.48, Z:0.32 [[ 9.99504094e-01 -1.36231874e-02 -2.83896868e-02 4.86318352e+01] [ 1.36061660e-02 9.99907118e-01 -7.92662203e-04 4.81286836e-01] [ 2.83978485e-02 4.05994325e-04 9.99596617e-01 3.24487338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.455336194999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.66, Y:0.48, Z:0.32 [[ 9.99525122e-01 -1.37346318e-02 -2.75842510e-02 4.86591618e+01] [ 1.37185209e-02 9.99905598e-01 -7.73228979e-04 4.82871071e-01] [ 2.75922670e-02 3.94446667e-04 9.99619183e-01 3.24868229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.485336194999995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:48.69, Y:0.49, Z:0.33 [[ 9.99503506e-01 -1.55415681e-02 -2.74080347e-02 4.86863500e+01] [ 1.55262806e-02 9.99879163e-01 -7.70511372e-04 4.88539014e-01] [ 2.74166977e-02 3.44583982e-04 9.99624032e-01 3.29461271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.515336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.71, Y:0.49, Z:0.33 [[ 9.99492983e-01 -1.58998419e-02 -2.75857294e-02 4.87143258e+01] [ 1.58843715e-02 9.99873531e-01 -7.79868028e-04 4.92489223e-01] [ 2.75946405e-02 3.41290647e-04 9.99619137e-01 3.32074558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.545336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.74, Y:0.49, Z:0.33 [[ 9.99491106e-01 -1.60175786e-02 -2.75856220e-02 4.87427145e+01] [ 1.60020484e-02 9.99871652e-01 -7.83658269e-04 4.93426472e-01] [ 2.75946337e-02 3.41833011e-04 9.99619137e-01 3.32295422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.575336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.77, Y:0.50, Z:0.33 [[ 9.99519302e-01 -1.54386141e-02 -2.68851999e-02 4.87697323e+01] [ 1.54235604e-02 9.99880755e-01 -7.67214904e-04 4.97071381e-01] [ 2.68938387e-02 3.52180600e-04 9.99638233e-01 3.32350514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.605336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.80, Y:0.50, Z:0.33 [[ 9.99563762e-01 -1.51579863e-02 -2.53480069e-02 4.87968208e+01] [ 1.51444542e-02 9.99885053e-01 -7.25752345e-04 4.96715897e-01] [ 2.53560942e-02 3.41554014e-04 9.99678424e-01 3.31084062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.635336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.82, Y:0.50, Z:0.33 [[ 9.99634836e-01 -1.35937315e-02 -2.33538975e-02 4.88245390e+01] [ 1.35817344e-02 9.99907538e-01 -6.72253252e-04 4.97833987e-01] [ 2.33608766e-02 3.54821336e-04 9.99727035e-01 3.30857218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.665336194999995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:48.85, Y:0.50, Z:0.33 [[ 9.99645597e-01 -1.38245698e-02 -2.27499606e-02 4.88517199e+01] [ 1.38131664e-02 9.99904377e-01 -6.58327553e-04 4.97565024e-01] [ 2.27568863e-02 3.43845249e-04 9.99740969e-01 3.29515542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.695336194999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.88, Y:0.50, Z:0.33 [[ 9.99629447e-01 -1.49361236e-02 -2.27570121e-02 4.88796818e+01] [ 1.49249125e-02 9.99888398e-01 -6.62420782e-04 5.01053556e-01] [ 2.27643664e-02 3.22528906e-04 9.99740806e-01 3.32422858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.91, Y:0.51, Z:0.34 [[ 9.99610452e-01 -1.53456508e-02 -2.33121368e-02 4.89063936e+01] [ 1.53339320e-02 9.99882196e-01 -6.81374989e-04 5.06918611e-01] [ 2.33198467e-02 3.23642840e-04 9.99728003e-01 3.35727124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.755336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.93, Y:0.51, Z:0.33 [[ 9.99586240e-01 -1.51603537e-02 -2.44440575e-02 4.89343792e+01] [ 1.51473196e-02 9.99885015e-01 -7.18304060e-04 5.11758029e-01] [ 2.44521365e-02 3.47744905e-04 9.99700941e-01 3.34601098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.96, Y:0.51, Z:0.33 [[ 9.99568169e-01 -1.44081912e-02 -2.56101632e-02 4.89619989e+01] [ 1.43935105e-02 9.99896121e-01 -7.57495127e-04 5.11221843e-01] [ 2.56184170e-02 3.88547864e-04 9.99671719e-01 3.30299457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.99, Y:0.51, Z:0.32 [[ 9.99620622e-01 -1.12512654e-02 -2.51400446e-02 4.89898694e+01] [ 1.12360007e-02 9.99936594e-01 -7.48367352e-04 5.09872656e-01] [ 2.51468706e-02 4.65609879e-04 9.99683659e-01 3.24447362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.845336194999994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:49.02, Y:0.51, Z:0.33 [[ 9.99634406e-01 -9.81628552e-03 -2.51931385e-02 4.90161815e+01] [ 9.80040493e-03 9.99951691e-01 -7.53750424e-04 5.13605126e-01] [ 2.51993204e-02 5.06571899e-04 9.99682318e-01 3.25417396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.875336194999996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:49.04, Y:0.52, Z:0.33 [[ 9.99608151e-01 -9.16392722e-03 -2.64493249e-02 4.90429852e+01] [ 9.14612663e-03 9.99957858e-01 -7.93906913e-04 5.23082408e-01] [ 2.64554856e-02 5.51686947e-04 9.99649840e-01 3.29334810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.905336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.07, Y:0.53, Z:0.33 [[ 9.99580902e-01 -1.06296598e-02 -2.69263956e-02 4.90705848e+01] [ 1.06116283e-02 9.99943365e-01 -8.12469798e-04 5.26982643e-01] [ 2.69335069e-02 5.26396392e-04 9.99637089e-01 3.30556641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.935336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.10, Y:0.53, Z:0.33 [[ 9.99536533e-01 -1.30617028e-02 -2.74974714e-02 4.90979884e+01] [ 1.30436732e-02 9.99914579e-01 -8.34954250e-04 5.28876414e-01] [ 2.75060285e-02 4.75899246e-04 9.99621524e-01 3.29337140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.965336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:49.13, Y:0.53, Z:0.33 [[ 9.99415440e-01 -1.87872997e-02 -2.85625037e-02 4.91251971e+01] [ 1.87700899e-02 9.99823447e-01 -8.70548485e-04 5.32365617e-01] [ 2.85738162e-02 3.33918833e-04 9.99591629e-01 3.29257645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.15, Y:0.54, Z:0.33 [[ 9.99331912e-01 -2.39814296e-02 -2.75793473e-02 4.91533391e+01] [ 2.39672443e-02 9.99712387e-01 -8.44839996e-04 5.37708712e-01] [ 2.75916756e-02 1.83274615e-04 9.99619260e-01 3.28766277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.025336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.18, Y:0.54, Z:0.33 [[ 9.99304848e-01 -2.56051962e-02 -2.70960180e-02 4.91826216e+01] [ 2.55920507e-02 9.99672124e-01 -8.31874731e-04 5.38958224e-01] [ 2.71084341e-02 1.37853787e-04 9.99632489e-01 3.26953305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.055336194999995 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:49.21, Y:0.54, Z:0.33 [[ 9.99275112e-01 -2.66030094e-02 -2.72310633e-02 4.92135689e+01] [ 2.65900981e-02 9.99646071e-01 -8.36200382e-04 5.39626795e-01] [ 2.72436709e-02 1.11517587e-04 9.99628816e-01 3.25466539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.085336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:49.24, Y:0.54, Z:0.32 [[ 9.99211675e-01 -2.76305613e-02 -2.85058034e-02 4.92428829e+01] [ 2.76168238e-02 9.99618199e-01 -8.75581647e-04 5.42849073e-01] [ 2.85191126e-02 8.76516558e-05 9.99593244e-01 3.23554541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.115336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:49.27, Y:0.55, Z:0.32 [[ 9.99198398e-01 -2.74964105e-02 -2.90948281e-02 4.92730142e+01] [ 2.74820398e-02 9.99621898e-01 -8.93764156e-04 5.46293591e-01] [ 2.91084026e-02 9.34624904e-05 9.99576256e-01 3.23893581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.145336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:49.30, Y:0.55, Z:0.33 [[ 9.99202697e-01 -2.83077110e-02 -2.81539307e-02 4.93034894e+01] [ 2.82945769e-02 9.99599254e-01 -8.64860725e-04 5.52427047e-01] [ 2.81671304e-02 6.75676119e-05 9.99603225e-01 3.25154009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.175336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.33, Y:0.56, Z:0.33 [[ 9.99194634e-01 -2.86526340e-02 -2.80910843e-02 4.93343172e+01] [ 2.86397079e-02 9.99589427e-01 -8.62463989e-04 5.57115307e-01] [ 2.81042627e-02 5.72489407e-05 9.99604996e-01 3.28292681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.205336194999994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:49.36, Y:0.56, Z:0.33 [[ 9.99127480e-01 -2.96402770e-02 -2.94233465e-02 4.93643385e+01] [ 2.96265363e-02 9.99560630e-01 -9.02934311e-04 5.62543948e-01] [ 2.94371820e-02 3.04346397e-05 9.99566632e-01 3.28876266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.235336194999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:49.40, Y:0.56, Z:0.33 [[ 9.99083999e-01 -3.10293041e-02 -2.94676977e-02 4.93961936e+01] [ 3.10161432e-02 9.99518475e-01 -9.03713211e-04 5.62036886e-01] [ 2.94815499e-02 -1.10889221e-05 9.99565325e-01 3.26315670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.265336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.43, Y:0.56, Z:0.32 [[ 9.99065403e-01 -3.22920757e-02 -2.87322636e-02 4.94280130e+01] [ 3.22801047e-02 9.99478474e-01 -8.80500097e-04 5.61577382e-01] [ 2.87457122e-02 -4.78032949e-05 9.99586755e-01 3.24965300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.295336195 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:49.46, Y:0.56, Z:0.33 [[ 9.99033446e-01 -3.33358013e-02 -2.86513141e-02 4.94594551e+01] [ 3.33243527e-02 9.99444205e-01 -8.77113511e-04 5.63228830e-01] [ 2.86646291e-02 -7.85207629e-05 9.99589082e-01 3.25144266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.325336195 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:49.49, Y:0.57, Z:0.33 [[ 9.99005169e-01 -3.35764562e-02 -2.93478221e-02 4.94902237e+01] [ 3.35645773e-02 9.99436148e-01 -8.97435560e-04 5.65497323e-01] [ 2.93614069e-02 -8.85044792e-05 9.99568857e-01 3.25801467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.355336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:49.52, Y:0.57, Z:0.33 [[ 9.99038290e-01 -3.27422275e-02 -2.91623408e-02 4.95225762e+01] [ 3.27301802e-02 9.99463827e-01 -8.90489515e-04 5.69787603e-01] [ 2.91758613e-02 -6.48555455e-05 9.99574292e-01 3.27649893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.385336194999994 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:49.55, Y:0.57, Z:0.33 [[ 9.99076090e-01 -3.17978363e-02 -2.89113060e-02 4.95540648e+01] [ 3.17856324e-02 9.99494320e-01 -8.81711106e-04 5.73047902e-01] [ 2.89247226e-02 -3.80676592e-05 9.99581592e-01 3.28204354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.415336194999995 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:49.59, Y:0.58, Z:0.33 [[ 9.99181179e-01 -2.93432381e-02 -2.78558054e-02 4.95863968e+01] [ 2.93309887e-02 9.99569394e-01 -8.48325286e-04 5.78876092e-01] [ 2.78687031e-02 3.05923447e-05 9.99611592e-01 3.28839566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.445336194999996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.62, Y:0.58, Z:0.33 [[ 9.99270390e-01 -2.70277875e-02 -2.69849145e-02 4.96172422e+01] [ 2.70154695e-02 9.99634678e-01 -8.21009313e-04 5.81899524e-01] [ 2.69972464e-02 9.14001617e-05 9.99635504e-01 3.29086577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.475336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:49.65, Y:0.58, Z:0.33 [[ 9.99345083e-01 -2.43684138e-02 -2.67504141e-02 4.96483190e+01] [ 2.43553733e-02 9.99703033e-01 -8.13245658e-04 5.84388012e-01] [ 2.67622877e-02 1.61196728e-04 9.99641813e-01 3.28243925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.505336195 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:49.68, Y:0.59, Z:0.32 [[ 9.99387868e-01 -2.03923204e-02 -2.84260930e-02 4.96781851e+01] [ 2.03759777e-02 9.99792014e-01 -8.64492152e-04 5.85381436e-01] [ 2.84378098e-02 2.84753531e-04 9.99595523e-01 3.24533190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.535336195 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:49.70, Y:0.59, Z:0.33 [[ 9.99345810e-01 -2.22233313e-02 -2.85320264e-02 4.97047917e+01] [ 2.22075573e-02 9.99753004e-01 -8.69651405e-04 5.90416119e-01] [ 2.85443057e-02 2.35455876e-04 9.99592501e-01 3.26657431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56533619499999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:49.73, Y:0.59, Z:0.33 [[ 9.99280986e-01 -2.51265370e-02 -2.83931133e-02 4.97322188e+01] [ 2.51119577e-02 9.99684267e-01 -8.69995269e-04 5.93882788e-01] [ 2.84060086e-02 1.56363069e-04 9.99596456e-01 3.28227257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.595336194999994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.76, Y:0.60, Z:0.33 [[ 9.99194081e-01 -2.82429883e-02 -2.85222935e-02 4.97613957e+01] [ 2.82294961e-02 9.99601085e-01 -8.75676910e-04 5.96839873e-01] [ 2.85356472e-02 6.98012126e-05 9.99592773e-01 3.29737385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.625336194999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.79, Y:0.60, Z:0.33 [[ 9.98972362e-01 -3.42613189e-02 -2.96712397e-02 4.97927153e+01] [ 3.42493837e-02 9.99412903e-01 -9.10528290e-04 6.02084142e-01] [ 2.96850157e-02 -1.06629077e-04 9.99559297e-01 3.32106982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.655336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:49.82, Y:0.60, Z:0.33 [[ 9.98762661e-01 -3.83707013e-02 -3.16360040e-02 4.98238574e+01] [ 3.83592261e-02 9.99263543e-01 -9.69785542e-04 6.04066839e-01] [ 3.16499168e-02 -2.44947042e-04 9.99498986e-01 3.29407526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.685336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:49.86, Y:0.60, Z:0.33 [[ 9.98697190e-01 -3.96094891e-02 -3.21715974e-02 4.98556461e+01] [ 3.95983096e-02 9.99215194e-01 -9.84805889e-04 6.04664620e-01] [ 3.21853566e-02 -2.90418002e-04 9.99481875e-01 3.26961009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.715336195 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:49.89, Y:0.61, Z:0.33 [[ 9.98680053e-01 -3.98943436e-02 -3.23510807e-02 4.98879702e+01] [ 3.98832368e-02 9.99203858e-01 -9.88807789e-04 6.05399566e-01] [ 3.23647725e-02 -3.02763198e-04 9.99476078e-01 3.25087203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74533619499999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:49.92, Y:0.61, Z:0.32 [[ 9.98704219e-01 -3.97146311e-02 -3.18218716e-02 4.99198679e+01] [ 3.97038412e-02 9.99211020e-01 -9.71135394e-04 6.06831365e-01] [ 3.18353331e-02 -2.93573522e-04 9.99493084e-01 3.22939262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.775336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.95, Y:0.61, Z:0.32 [[ 9.98737623e-01 -3.91738488e-02 -3.14415380e-02 4.99515111e+01] [ 3.91631030e-02 9.99232372e-01 -9.57760472e-04 6.09369673e-01] [ 3.14549218e-02 -2.74796777e-04 9.99505134e-01 3.24264367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.805336194999995 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:49.98, Y:0.62, Z:0.33 [[ 9.98803254e-01 -3.86327997e-02 -2.99927768e-02 4.99846345e+01] [ 3.86228388e-02 9.99253444e-01 -9.11589247e-04 6.17589372e-01] [ 3.00056027e-02 -2.47907875e-04 9.99549700e-01 3.29943394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.835336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:50.02, Y:0.62, Z:0.33 [[ 9.98823641e-01 -3.85207956e-02 -2.94530683e-02 5.00163325e+01] [ 3.85111956e-02 9.99257769e-01 -8.93342512e-04 6.21619486e-01] [ 2.94656196e-02 -2.41981254e-04 9.99565765e-01 3.32005620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.865336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:50.05, Y:0.63, Z:0.33 [[ 9.98804666e-01 -3.84191637e-02 -3.02193131e-02 5.00495556e+01] [ 3.84090719e-02 9.99261681e-01 -9.14574435e-04 6.26546636e-01] [ 3.02321388e-02 -2.47214556e-04 9.99542874e-01 3.32846944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.895336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:50.08, Y:0.63, Z:0.33 [[ 9.98801279e-01 -3.79138909e-02 -3.09603370e-02 5.00823657e+01] [ 3.79031229e-02 9.99280981e-01 -9.34824857e-04 6.29380608e-01] [ 3.09735187e-02 -2.39789195e-04 9.99520177e-01 3.33114440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.925336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.11, Y:0.63, Z:0.33 [[ 9.98844483e-01 -3.52721651e-02 -3.26431189e-02 5.01144053e+01] [ 3.52588505e-02 9.99377729e-01 -9.83607617e-04 6.29304417e-01] [ 3.26575000e-02 -1.68487806e-04 9.99466587e-01 3.27534970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.955336194999994 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:50.15, Y:0.63, Z:0.33 [[ 9.98798708e-01 -3.48283494e-02 -3.44692073e-02 5.01453041e+01] [ 3.48132875e-02 9.99393296e-01 -1.03722586e-03 6.29490253e-01] [ 3.44844196e-02 -1.64006578e-04 9.99405222e-01 3.25500718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.985336194999995 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:50.18, Y:0.63, Z:0.33 [[ 9.98739462e-01 -3.50549382e-02 -3.59254576e-02 5.01764466e+01] [ 3.50387678e-02 9.99385371e-01 -1.07979847e-03 6.31385079e-01] [ 3.59412290e-02 -1.80346429e-04 9.99353889e-01 3.26295284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.015336194999996 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:50.21, Y:0.64, Z:0.33 [[ 9.98694735e-01 -3.70656161e-02 -3.51420883e-02 5.02077670e+01] [ 3.70514190e-02 9.99312803e-01 -1.05536100e-03 6.40623114e-01] [ 3.51570563e-02 -2.48080766e-04 9.99381769e-01 3.34547952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.045336195 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:50.24, Y:0.64, Z:0.33 [[ 9.98645689e-01 -4.02991281e-02 -3.29054571e-02 5.02394405e+01] [ 4.02884808e-02 9.99187602e-01 -9.86814059e-04 6.43329043e-01] [ 3.29184926e-02 -3.40233272e-04 9.99457982e-01 3.34783351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.075336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:50.27, Y:0.64, Z:0.33 [[ 9.98586591e-01 -4.22031344e-02 -3.23065743e-02 5.02719558e+01] [ 4.21939265e-02 9.99108972e-01 -9.67016332e-04 6.41507910e-01] [ 3.23185994e-02 -3.97491681e-04 9.99477539e-01 3.31857148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.105336195 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:50.31, Y:0.64, Z:0.33 [[ 9.98536921e-01 -4.34616843e-02 -3.21729454e-02 5.03050850e+01] [ 4.34532771e-02 9.99054998e-01 -9.60790025e-04 6.38873972e-01] [ 3.21842994e-02 -4.38635596e-04 9.99481855e-01 3.28988528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.135336194999994 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:50.34, Y:0.64, Z:0.33 [[ 9.98504155e-01 -4.40825705e-02 -3.23447107e-02 5.03381757e+01] [ 4.40744746e-02 9.99027784e-01 -9.63580101e-04 6.39420204e-01] [ 3.23557417e-02 -4.63437394e-04 9.99476308e-01 3.27653545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.165336194999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:50.37, Y:0.65, Z:0.33 [[ 9.98528948e-01 -4.29133003e-02 -3.31419571e-02 5.03699579e+01] [ 4.29042262e-02 9.99078704e-01 -9.85235514e-04 6.50737108e-01] [ 3.31537032e-02 -4.38143842e-04 9.99450169e-01 3.34748599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.195336194999996 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:50.40, Y:0.66, Z:0.34 [[ 9.98549551e-01 -4.20416637e-02 -3.36346990e-02 5.04015917e+01] [ 4.20318909e-02 9.99115771e-01 -9.97881380e-04 6.55815653e-01] [ 3.36469108e-02 -4.17295996e-04 9.99433695e-01 3.37520258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.225336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:50.43, Y:0.66, Z:0.33 [[ 9.98655104e-01 -3.91414825e-02 -3.39989326e-02 5.04349024e+01] [ 3.91298943e-02 9.99233626e-01 -1.00640847e-03 6.56270882e-01] [ 3.40122690e-02 -3.25319682e-04 9.99421362e-01 3.34040965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.255336195 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:50.47, Y:0.66, Z:0.33 [[ 9.98648371e-01 -3.77842337e-02 -3.56900936e-02 5.04669522e+01] [ 3.77706646e-02 9.99285877e-01 -1.05459208e-03 6.55662126e-01] [ 3.57044535e-02 -2.94871889e-04 9.99362349e-01 3.30932821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.285336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:50.50, Y:0.66, Z:0.33 [[ 9.98640830e-01 -3.68526739e-02 -3.68561193e-02 5.04979179e+01] [ 3.68376211e-02 9.99320673e-01 -1.08764382e-03 6.55978945e-01] [ 3.68711645e-02 -2.71526233e-04 9.99319991e-01 3.28633133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31533619499999 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:50.53, Y:0.66, Z:0.33 [[ 9.98674821e-01 -3.74711008e-02 -3.52777245e-02 5.05295696e+01] [ 3.74577509e-02 9.99297672e-01 -1.03949557e-03 6.59228812e-01] [ 3.52918990e-02 -2.83306165e-04 9.99377007e-01 3.29055127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.345336194999994 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:50.56, Y:0.66, Z:0.33 [[ 9.98675831e-01 -3.80575403e-02 -3.46151575e-02 5.05614358e+01] [ 3.80450961e-02 9.99275504e-01 -1.01833439e-03 6.61612338e-01] [ 3.46288343e-02 -2.99951056e-04 9.99400197e-01 3.31218462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.375336194999996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:50.59, Y:0.66, Z:0.33 [[ 9.98673573e-01 -3.80688598e-02 -3.46678080e-02 5.05927737e+01] [ 3.80564721e-02 9.99275072e-01 -1.01736208e-03 6.64586125e-01] [ 3.46814062e-02 -3.03321849e-04 9.99398373e-01 3.33127708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.405336195 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:50.62, Y:0.67, Z:0.34 [[ 9.98681111e-01 -3.85622315e-02 -3.38968009e-02 5.06236646e+01] [ 3.85507245e-02 9.99256151e-01 -9.93210732e-04 6.67940443e-01] [ 3.39098873e-02 -3.14845436e-04 9.99424845e-01 3.35090658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.435336195 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:50.66, Y:0.67, Z:0.33 [[ 9.98636359e-01 -4.05570663e-02 -3.28716617e-02 5.06563580e+01] [ 4.05473732e-02 9.99177154e-01 -9.61706737e-04 6.68911564e-01] [ 3.28836174e-02 -3.72464221e-04 9.99459118e-01 3.34306766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.465336195 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:50.69, Y:0.67, Z:0.33 [[ 9.98639741e-01 -4.04736642e-02 -3.28717338e-02 5.06899236e+01] [ 4.04640072e-02 9.99180536e-01 -9.59238774e-04 6.69779668e-01] [ 3.28836205e-02 -3.72188113e-04 9.99459118e-01 3.34566298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49533619499999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:50.72, Y:0.67, Z:0.33 [[ 9.98558217e-01 -4.18481786e-02 -3.36187122e-02 5.07223075e+01] [ 4.18389304e-02 9.99123889e-01 -9.78836081e-04 6.66643090e-01] [ 3.36302210e-02 -4.29146149e-04 9.99434252e-01 3.31110177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.525336194999994 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:50.76, Y:0.66, Z:0.33 [[ 9.98350922e-01 -4.47510094e-02 -3.59552914e-02 5.07550523e+01] [ 4.47424014e-02 9.98998011e-01 -1.04440035e-03 6.62998513e-01] [ 3.59660026e-02 -5.66048030e-04 9.99352854e-01 3.27473092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.555336194999995 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:50.79, Y:0.67, Z:0.33 [[ 9.98195089e-01 -4.75210826e-02 -3.67193477e-02 5.07885046e+01] [ 4.75140732e-02 9.98870002e-01 -1.06399872e-03 6.66017981e-01] [ 3.67284172e-02 -6.82607476e-04 9.99325051e-01 3.30151700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.585336195 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:50.82, Y:0.67, Z:0.33 [[ 9.98170383e-01 -4.80980509e-02 -3.66396521e-02 5.08205509e+01] [ 4.80915419e-02 9.98842371e-01 -1.05946158e-03 6.67776763e-01] [ 3.66481950e-02 -7.04534200e-04 9.99327981e-01 3.31863044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.615336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:50.85, Y:0.67, Z:0.33 [[ 9.98189981e-01 -4.74372038e-02 -3.69658515e-02 5.08535965e+01] [ 4.74302203e-02 9.98873985e-01 -1.06633790e-03 6.67637673e-01] [ 3.69748115e-02 -6.88890676e-04 9.99315960e-01 3.30893527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.645336195 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:50.89, Y:0.67, Z:0.33 [[ 9.98297345e-01 -4.50938132e-02 -3.69994584e-02 5.08862098e+01] [ 4.50853072e-02 9.98982573e-01 -1.06464135e-03 6.67895767e-01] [ 3.70098229e-02 -6.05303320e-04 9.99314719e-01 3.29586340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67533619499999 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:50.92, Y:0.67, Z:0.33 [[ 9.98431391e-01 -4.31125844e-02 -3.57220295e-02 5.09177421e+01] [ 4.31034670e-02 9.99070087e-01 -1.02566741e-03 6.71727627e-01] [ 3.57330303e-02 -5.15684784e-04 9.99361238e-01 3.32185439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.705336194999994 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:50.95, Y:0.68, Z:0.33 [[ 9.98745121e-01 -3.85593834e-02 -3.19586729e-02 5.09499967e+01] [ 3.85498038e-02 9.99256260e-01 -9.16079767e-04 6.76870363e-01] [ 3.19702274e-02 -3.17070372e-04 9.99488771e-01 3.34259887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.735336194999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.98, Y:0.68, Z:0.33 [[ 9.98803375e-01 -3.69523560e-02 -3.20365590e-02 5.09829905e+01] [ 3.69419697e-02 9.99316992e-01 -9.16240137e-04 6.78561907e-01] [ 3.20485350e-02 -2.68349853e-04 9.99486278e-01 3.34379527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.765336194999996 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:51.02, Y:0.68, Z:0.34 [[ 9.98852749e-01 -3.49395522e-02 -3.27477192e-02 5.10150796e+01] [ 3.49277278e-02 9.99389405e-01 -9.33236898e-04 6.83390738e-01] [ 3.27603305e-02 -2.11637180e-04 9.99463214e-01 3.35252184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.795336195 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:51.05, Y:0.69, Z:0.34 [[ 9.98870203e-01 -3.61601349e-02 -3.08344479e-02 5.10473101e+01] [ 3.61502921e-02 9.99345980e-01 -8.76804902e-04 6.87302332e-01] [ 3.08459870e-02 -2.38860011e-04 9.99524121e-01 3.36337392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.825336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:51.08, Y:0.69, Z:0.34 [[ 9.98687881e-01 -4.17249730e-02 -2.96907974e-02 5.10796825e+01] [ 4.17183539e-02 9.99129055e-01 -8.42632747e-04 6.92183718e-01] [ 2.97000972e-02 -3.97124080e-04 9.99558776e-01 3.38325004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.855336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:51.11, Y:0.69, Z:0.34 [[ 9.98506092e-01 -4.45310225e-02 -3.16634184e-02 5.11122970e+01] [ 4.45249720e-02 9.99007869e-01 -8.96494330e-04 6.94103038e-01] [ 3.16719260e-02 -5.14657769e-04 9.99498186e-01 3.37931247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.885336194999994 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:51.14, Y:0.69, Z:0.33 [[ 9.98220087e-01 -4.89679703e-02 -3.40411013e-02 5.11442135e+01] [ 4.89636253e-02 9.98800099e-01 -9.61758209e-04 6.93485901e-01] [ 3.40473507e-02 -7.06729368e-04 9.99419971e-01 3.32362471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.915336194999995 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:51.18, Y:0.69, Z:0.33 [[ 9.98131426e-01 -5.05411605e-02 -3.43401676e-02 5.11778516e+01] [ 5.05377463e-02 9.98721683e-01 -9.67964714e-04 6.91995522e-01] [ 3.43451920e-02 -7.69318679e-04 9.99409734e-01 3.28497353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.945336194999996 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:51.21, Y:0.69, Z:0.33 [[ 9.98075601e-01 -5.13282970e-02 -3.47922579e-02 5.12105956e+01] [ 5.13253564e-02 9.98681506e-01 -9.78235419e-04 6.89410261e-01] [ 3.47965957e-02 -8.09372133e-04 9.99394087e-01 3.25699099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.975336195 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:51.24, Y:0.69, Z:0.33 [[ 9.98073783e-01 -5.09463650e-02 -3.54004479e-02 5.12421666e+01] [ 5.09432168e-02 9.98701059e-01 -9.91501809e-04 6.94954403e-01] [ 3.54049782e-02 -8.13820729e-04 9.99372716e-01 3.30241296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.005336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.28, Y:0.70, Z:0.34 [[ 9.98123100e-01 -4.97894613e-02 -3.56551196e-02 5.12753783e+01] [ 4.97856309e-02 9.98759430e-01 -9.95810129e-04 7.02283374e-01] [ 3.56604678e-02 -7.81171532e-04 9.99363658e-01 3.36103287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.31, Y:0.71, Z:0.34 [[ 9.98313023e-01 -4.69822220e-02 -3.41142100e-02 5.13085302e+01] [ 4.69771592e-02 9.98895512e-01 -9.50364668e-04 7.09420654e-01] [ 3.41211815e-02 -6.53827248e-04 9.99417489e-01 3.38243160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06533619499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:51.34, Y:0.71, Z:0.33 [[ 9.98480235e-01 -4.38579697e-02 -3.33721211e-02 5.13405391e+01] [ 4.38514499e-02 9.99037632e-01 -9.27606722e-04 7.05532448e-01] [ 3.33806878e-02 -5.37218919e-04 9.99442565e-01 3.29721234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.095336194999994 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:51.37, Y:0.71, Z:0.33 [[ 9.98546358e-01 -4.23108254e-02 -3.33910779e-02 5.13722435e+01] [ 4.23035499e-02 9.99104376e-01 -9.24651443e-04 7.06526409e-01] [ 3.34002948e-02 -4.89253801e-04 9.99441935e-01 3.29929187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.125336194999996 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:51.40, Y:0.71, Z:0.33 [[ 9.98597710e-01 -4.08166644e-02 -3.37137126e-02 5.14049713e+01] [ 4.08084899e-02 9.99166553e-01 -9.30816769e-04 7.11852542e-01] [ 3.37236069e-02 -4.46294209e-04 9.99431098e-01 3.33766177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.155336195 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:51.44, Y:0.72, Z:0.34 [[ 9.98651174e-01 -3.90599760e-02 -3.42074760e-02 5.14370621e+01] [ 3.90506031e-02 9.99236790e-01 -9.42320072e-04 7.21350947e-01] [ 3.42181755e-02 -3.94773522e-04 9.99414309e-01 3.38578117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.185336195 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:51.47, Y:0.72, Z:0.34 [[ 9.98650046e-01 -3.83053714e-02 -3.50825412e-02 5.14689145e+01] [ 3.82951708e-02 9.99266007e-01 -9.62915333e-04 7.21665200e-01] [ 3.50936757e-02 -3.81876464e-04 9.99383954e-01 3.36312709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.215336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.50, Y:0.72, Z:0.33 [[ 9.98684797e-01 -3.56323920e-02 -3.68647316e-02 5.15007603e+01] [ 3.56193907e-02 9.99364918e-01 -1.00959806e-03 7.20175711e-01] [ 3.68772939e-02 -3.04829047e-04 9.99319755e-01 3.33285191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24533619499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.53, Y:0.72, Z:0.33 [[ 9.98751124e-01 -3.49373391e-02 -3.57151826e-02 5.15331814e+01] [ 3.49247502e-02 9.99389468e-01 -9.76483380e-04 7.21822523e-01] [ 3.57274931e-02 -2.72079956e-04 9.99361532e-01 3.34320199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.275336194999994 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:51.57, Y:0.72, Z:0.33 [[ 9.98852158e-01 -3.40933240e-02 -3.36453781e-02 5.15657638e+01] [ 3.40817258e-02 9.99418627e-01 -9.18333600e-04 7.21663167e-01] [ 3.36571266e-02 -2.29413054e-04 9.99433412e-01 3.33099949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.305336194999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.60, Y:0.72, Z:0.33 [[ 9.98828384e-01 -3.32660421e-02 -3.51458431e-02 5.15976603e+01] [ 3.32529332e-02 9.99446510e-01 -9.57613239e-04 7.22502147e-01] [ 3.51582462e-02 -2.12211088e-04 9.99381735e-01 3.33354019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.335336195 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:51.63, Y:0.73, Z:0.34 [[ 9.98789162e-01 -3.27192794e-02 -3.67377003e-02 5.16290418e+01] [ 3.27046844e-02 9.99464560e-01 -9.98317125e-04 7.25979514e-01] [ 3.67506937e-02 -2.04386570e-04 9.99324444e-01 3.35606630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.365336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.66, Y:0.73, Z:0.34 [[ 9.98782137e-01 -3.30482721e-02 -3.66340547e-02 5.16606148e+01] [ 3.30340275e-02 9.99453733e-01 -9.94221407e-04 7.32273746e-01] [ 3.66469000e-02 -2.17159787e-04 9.99328253e-01 3.39868937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.395336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:51.69, Y:0.73, Z:0.34 [[ 9.98744856e-01 -3.46481744e-02 -3.61692701e-02 5.16914333e+01] [ 3.46353560e-02 9.99399535e-01 -9.81101626e-04 7.32326218e-01] [ 3.61815451e-02 -2.72865345e-04 9.99345196e-01 3.38753936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42533619499999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:51.72, Y:0.73, Z:0.33 [[ 9.98565046e-01 -3.82314147e-02 -3.74994290e-02 5.17241374e+01] [ 3.82202189e-02 9.99268824e-01 -1.01564654e-03 7.27535753e-01] [ 3.75108400e-02 -4.19047254e-04 9.99296133e-01 3.34826126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.455336194999994 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:51.76, Y:0.73, Z:0.34 [[ 9.98529791e-01 -3.93923494e-02 -3.72357208e-02 5.17554439e+01] [ 3.93821710e-02 9.99223714e-01 -1.00706353e-03 7.27182151e-01] [ 3.72464858e-02 -4.60840585e-04 9.99306003e-01 3.35549158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.485336194999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:51.79, Y:0.73, Z:0.34 [[ 9.98552609e-01 -4.05287144e-02 -3.53568963e-02 5.17864265e+01] [ 4.05202930e-02 9.99178259e-01 -9.55005622e-04 7.28482553e-01] [ 3.53665473e-02 -4.79048442e-04 9.99374293e-01 3.37383335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.515336194999996 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:51.82, Y:0.73, Z:0.34 [[ 9.98523657e-01 -4.09518133e-02 -3.56855030e-02 5.18194570e+01] [ 4.09435871e-02 9.99160997e-01 -9.61575663e-04 7.28206605e-01] [ 3.56949410e-02 -5.00936451e-04 9.99362607e-01 3.36697523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.545336195 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:51.85, Y:0.73, Z:0.33 [[ 9.98537567e-01 -4.06723059e-02 -3.56158686e-02 5.18517699e+01] [ 4.06640138e-02 9.99172418e-01 -9.57461433e-04 7.26034791e-01] [ 3.56253357e-02 -4.92222962e-04 9.99365095e-01 3.33997654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.575336195 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:51.88, Y:0.73, Z:0.33 [[ 9.98586067e-01 -3.98657218e-02 -3.51652060e-02 5.18842333e+01] [ 3.98572121e-02 9.99204940e-01 -9.43249451e-04 7.26571926e-01] [ 3.51748509e-02 -4.59671316e-04 9.99381068e-01 3.33612553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.605336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:51.92, Y:0.73, Z:0.34 [[ 9.98619892e-01 -3.88780769e-02 -3.53101482e-02 5.19166672e+01] [ 3.88689528e-02 9.99243870e-01 -9.45069629e-04 7.29555003e-01] [ 3.53201916e-02 -4.28703153e-04 9.99375955e-01 3.35726966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.635336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.95, Y:0.73, Z:0.34 [[ 9.98669962e-01 -3.77314822e-02 -3.51374761e-02 5.19489037e+01] [ 3.77217983e-02 9.99287839e-01 -9.38725150e-04 7.32918129e-01] [ 3.51478720e-02 -3.87972176e-04 9.99382047e-01 3.38305605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.665336194999995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:51.98, Y:0.74, Z:0.34 [[ 9.98682935e-01 -3.54942209e-02 -3.70480259e-02 5.19799301e+01] [ 3.54819686e-02 9.99369828e-01 -9.88365574e-04 7.37698449e-01] [ 3.70597606e-02 -3.27473060e-04 9.99312997e-01 3.40776017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.695336194999996 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:52.01, Y:0.74, Z:0.34 [[ 9.98708183e-01 -3.50521232e-02 -3.67874033e-02 5.20115668e+01] [ 3.50397893e-02 9.99385437e-01 -9.80150061e-04 7.38075480e-01] [ 3.67991515e-02 -3.10138973e-04 9.99322634e-01 3.39433551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.725336195 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:52.04, Y:0.74, Z:0.34 [[ 9.98799325e-01 -3.54086178e-02 -3.38546533e-02 5.20441161e+01] [ 3.53984258e-02 9.99372874e-01 -9.00563828e-04 7.38160069e-01] [ 3.38653099e-02 -2.98918890e-04 9.99426361e-01 3.38394735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.755336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:52.08, Y:0.74, Z:0.34 [[ 9.98749469e-01 -3.66100532e-02 -3.40470552e-02 5.20765787e+01] [ 3.66004961e-02 9.99329568e-01 -9.04121136e-04 7.37496046e-01] [ 3.40573289e-02 -3.43148604e-04 9.99419822e-01 3.37774417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.785336195 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:52.11, Y:0.74, Z:0.34 [[ 9.98546909e-01 -4.07446433e-02 -3.52695844e-02 5.21090260e+01] [ 4.07370245e-02 9.99169466e-01 -9.34900450e-04 7.36235065e-01] [ 3.52783840e-02 -5.03235970e-04 9.99377397e-01 3.37980031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81533619499999 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:52.14, Y:0.74, Z:0.34 [[ 9.98406022e-01 -4.37429085e-02 -3.56647228e-02 5.21408651e+01] [ 4.37371026e-02 9.99042630e-01 -9.43333281e-04 7.37145205e-01] [ 3.56718426e-02 -6.18042010e-04 9.99363366e-01 3.38861433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.845336194999994 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:52.17, Y:0.73, Z:0.34 [[ 9.98012218e-01 -5.01861527e-02 -3.81177409e-02 5.21743173e+01] [ 5.01843165e-02 9.98739467e-01 -1.00557841e-03 7.33583394e-01] [ 3.81201583e-02 -9.09333235e-04 9.99272749e-01 3.36306511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.875336194999996 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:52.21, Y:0.73, Z:0.34 [[ 9.97831224e-01 -5.24538058e-02 -3.97673973e-02 5.22065630e+01] [ 5.24537044e-02 9.98622808e-01 -1.04665724e-03 7.32094650e-01] [ 3.97675311e-02 -1.04156002e-03 9.99208416e-01 3.35909319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.905336195 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:52.24, Y:0.73, Z:0.34 [[ 9.97652003e-01 -5.49430109e-02 -4.08869884e-02 5.22399464e+01] [ 5.49451066e-02 9.98488800e-01 -1.07333225e-03 7.31446968e-01] [ 4.08841720e-02 -1.17572786e-03 9.99163201e-01 3.38298925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.935336195 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:52.27, Y:0.73, Z:0.34 [[ 9.97625798e-01 -5.57028060e-02 -4.04964697e-02 5.22722084e+01] [ 5.57055856e-02 9.98446675e-01 -1.06063667e-03 7.31819527e-01] [ 4.04926459e-02 -1.19776106e-03 9.99179119e-01 3.38908907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.965336195 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:52.31, Y:0.73, Z:0.34 [[ 9.97664590e-01 -5.57582363e-02 -3.94510345e-02 5.23052247e+01] [ 5.57610201e-02 9.98443612e-01 -1.03063558e-03 7.28454642e-01] [ 3.94470998e-02 -1.17160130e-03 9.99220973e-01 3.39152764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:52.34, Y:0.73, Z:0.34 [[ 9.97675495e-01 -5.55837936e-02 -3.94214316e-02 5.23374309e+01] [ 5.55865295e-02 9.98453345e-01 -1.02752020e-03 7.25989649e-01] [ 3.94175737e-02 -1.16616884e-03 9.99222145e-01 3.37659228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.025336194999994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:52.37, Y:0.72, Z:0.34 [[ 9.97776836e-01 -5.25739532e-02 -4.09556563e-02 5.23707913e+01] [ 5.25744912e-02 9.98616438e-01 -1.06467245e-03 7.21647159e-01] [ 4.09549656e-02 -1.09091729e-03 9.99160398e-01 3.35382115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.055336194999995 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:52.40, Y:0.72, Z:0.33 [[ 9.97828994e-01 -5.12669749e-02 -4.13400028e-02 5.24025120e+01] [ 5.12665252e-02 9.98684432e-01 -1.07171014e-03 7.19563242e-01] [ 4.13405605e-02 -1.04997484e-03 9.99144562e-01 3.32587263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.085336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.44, Y:0.72, Z:0.34 [[ 9.98099329e-01 -4.65283767e-02 -4.04084210e-02 5.24357993e+01] [ 4.65241738e-02 9.98916618e-01 -1.04488298e-03 7.18536529e-01] [ 4.04132600e-02 -8.37071401e-04 9.99182700e-01 3.35031183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.115336195 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:52.47, Y:0.72, Z:0.34 [[ 9.98276508e-01 -4.13371538e-02 -4.16563786e-02 5.24675447e+01] [ 4.13282588e-02 9.99145044e-01 -1.07504463e-03 7.21356747e-01] [ 4.16652036e-02 -6.48393800e-04 9.99131418e-01 3.41702250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.145336195 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:52.50, Y:0.72, Z:0.34 [[ 9.98333204e-01 -4.01786822e-02 -4.14305038e-02 5.24982031e+01] [ 4.01690107e-02 9.99192331e-01 -1.06621831e-03 7.24397997e-01] [ 4.14398809e-02 -5.99781211e-04 9.99140819e-01 3.43896771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17533619499999 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:52.53, Y:0.73, Z:0.35 [[ 9.98410520e-01 -3.88701934e-02 -4.08110523e-02 5.25302582e+01] [ 3.88598037e-02 9.99244123e-01 -1.04813440e-03 7.26009554e-01] [ 4.08209453e-02 -5.39441067e-04 9.99166332e-01 3.45321258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.205336194999994 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:52.56, Y:0.72, Z:0.34 [[ 9.98437012e-01 -3.66747217e-02 -4.21722316e-02 5.25607208e+01] [ 3.66617199e-02 9.99327148e-01 -1.08191957e-03 7.20881448e-01] [ 4.21835350e-02 -4.65878005e-04 9.99109770e-01 3.38245082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.235336194999995 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:52.59, Y:0.72, Z:0.33 [[ 9.98407840e-01 -3.58985119e-02 -4.35095578e-02 5.25905264e+01] [ 3.58839082e-02 9.99355341e-01 -1.11686496e-03 7.18090410e-01] [ 4.35216028e-02 -4.46206244e-04 9.99052387e-01 3.34650161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.265336194999996 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:52.62, Y:0.72, Z:0.34 [[ 9.98431377e-01 -3.54678896e-02 -4.33222161e-02 5.26178965e+01] [ 3.54529106e-02 9.99370727e-01 -1.11426145e-03 7.19899642e-01] [ 4.33344751e-02 -4.23385062e-04 9.99060531e-01 3.35523747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.295336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:52.65, Y:0.72, Z:0.34 [[ 9.98422236e-01 -3.66021458e-02 -4.25831061e-02 5.26464696e+01] [ 3.65884398e-02 9.99329812e-01 -1.10146004e-03 7.24366124e-01] [ 4.25948832e-02 -4.58327223e-04 9.99092321e-01 3.38945639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.325336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:52.68, Y:0.73, Z:0.34 [[ 9.98377455e-01 -4.05213971e-02 -4.00059245e-02 5.26760200e+01] [ 4.05123804e-02 9.99178499e-01 -1.03638213e-03 7.26920558e-01] [ 4.00150553e-02 -5.86034678e-04 9.99198905e-01 3.42880707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.355336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:52.71, Y:0.73, Z:0.34 [[ 9.98379793e-01 -4.04636990e-02 -4.00059704e-02 5.27087308e+01] [ 4.04547071e-02 9.99180838e-01 -1.03460933e-03 7.27688760e-01] [ 4.00150631e-02 -5.85496768e-04 9.99198905e-01 3.43133997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.385336194999994 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:52.74, Y:0.73, Z:0.34 [[ 9.98383105e-01 -4.23245846e-02 -3.79447596e-02 5.27409030e+01] [ 4.23179085e-02 9.99103716e-01 -9.79446354e-04 7.27148056e-01] [ 3.79522049e-02 -6.27880169e-04 9.99279358e-01 3.44816219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.415336194999995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:52.77, Y:0.72, Z:0.34 [[ 9.98260497e-01 -4.49828949e-02 -3.81119394e-02 5.27729402e+01] [ 4.49781643e-02 9.98987488e-01 -9.81964754e-04 7.24050361e-01] [ 3.81175222e-02 -7.33948447e-04 9.99272994e-01 3.44331502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.445336194999996 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:52.81, Y:0.72, Z:0.34 [[ 9.98162801e-01 -4.64563345e-02 -3.88951431e-02 5.28062542e+01] [ 4.64526265e-02 9.98919994e-01 -9.99549835e-04 7.21437879e-01] [ 3.88995716e-02 -8.09068094e-04 9.99242798e-01 3.41564897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.475336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:52.84, Y:0.72, Z:0.34 [[ 9.97992530e-01 -4.86288637e-02 -4.05726903e-02 5.28381399e+01] [ 4.86267255e-02 9.98816479e-01 -1.04014718e-03 7.19360894e-01] [ 4.05752528e-02 -9.34857958e-04 9.99176048e-01 3.41039683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.505336195 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:52.87, Y:0.72, Z:0.34 [[ 9.97979119e-01 -4.83686867e-02 -4.12085868e-02 5.28700972e+01] [ 4.83663591e-02 9.98829107e-01 -1.05404295e-03 7.21208294e-01] [ 4.12113186e-02 -9.41196457e-04 9.99150009e-01 3.44371816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.535336195 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:52.90, Y:0.72, Z:0.34 [[ 9.97873358e-01 -4.86846652e-02 -4.33424084e-02 5.29028327e+01] [ 4.86825201e-02 9.98813691e-01 -1.10562252e-03 7.19974372e-01] [ 4.33448178e-02 -1.00674641e-03 9.99059665e-01 3.42923633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56533619499999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:52.94, Y:0.72, Z:0.34 [[ 9.97809030e-01 -4.84358256e-02 -4.50678386e-02 5.29352252e+01] [ 4.84333793e-02 9.98825757e-01 -1.14686958e-03 7.17398329e-01] [ 4.50704676e-02 -1.03843090e-03 9.98983270e-01 3.40992271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.595336194999994 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:52.97, Y:0.72, Z:0.34 [[ 9.97775484e-01 -4.62408319e-02 -4.80194723e-02 5.29664044e+01] [ 4.62356098e-02 9.98929817e-01 -1.22008475e-03 7.18071505e-01] [ 4.80245005e-02 -1.00283893e-03 9.98845655e-01 3.41106426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.625336194999996 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:53.00, Y:0.72, Z:0.34 [[ 9.97882896e-01 -4.42982655e-02 -4.76171075e-02 5.29969883e+01] [ 4.42909551e-02 9.99017942e-01 -1.20913478e-03 7.20713832e-01] [ 4.76239074e-02 -9.02432254e-04 9.98864930e-01 3.43091935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.655336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:53.03, Y:0.72, Z:0.34 [[ 9.98065064e-01 -4.29252374e-02 -4.49839165e-02 5.30285442e+01] [ 4.29173613e-02 9.99077974e-01 -1.14130227e-03 7.20224597e-01] [ 4.49914308e-02 -7.91497072e-04 9.98987059e-01 3.40757286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.685336195 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:53.06, Y:0.72, Z:0.34 [[ 9.98178336e-01 -4.21394039e-02 -4.31773201e-02 5.30592525e+01] [ 4.21314378e-02 9.99111477e-01 -1.09487127e-03 7.20230954e-01] [ 4.31850933e-02 -7.26245799e-04 9.99066825e-01 3.40945609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.715336195 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:53.09, Y:0.72, Z:0.35 [[ 9.98434324e-01 -3.98492378e-02 -3.92547923e-02 5.30903800e+01] [ 3.98409141e-02 9.99205541e-01 -9.94605482e-04 7.24278700e-01] [ 3.92632402e-02 -5.70898557e-04 9.99228739e-01 3.45724625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.12, Y:0.73, Z:0.35 [[ 9.98501853e-01 -3.90284157e-02 -3.83514321e-02 5.31229855e+01] [ 3.90199274e-02 9.99237962e-01 -9.70101027e-04 7.25304895e-01] [ 3.83600684e-02 -5.27822425e-04 9.99263842e-01 3.46742478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.775336194999994 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:53.15, Y:0.72, Z:0.34 [[ 9.98501681e-01 -3.91621071e-02 -3.82194041e-02 5.31539660e+01] [ 3.91538299e-02 9.99232729e-01 -9.65324372e-04 7.22294949e-01] [ 3.82278836e-02 -5.32558039e-04 9.99268905e-01 3.44098996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.805336194999995 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:53.19, Y:0.72, Z:0.34 [[ 9.98412521e-01 -4.04935105e-02 -3.91498856e-02 5.31852342e+01] [ 4.04859024e-02 9.99179622e-01 -9.87452449e-04 7.22092592e-01] [ 3.91577533e-02 -5.99133559e-04 9.99232861e-01 3.44263298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.835336195 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:53.22, Y:0.72, Z:0.35 [[ 9.98295403e-01 -4.20961783e-02 -4.04252321e-02 5.32174967e+01] [ 4.20894551e-02 9.99113328e-01 -1.01776171e-03 7.22898643e-01] [ 4.04322321e-02 -6.85449156e-04 9.99182048e-01 3.46093642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.865336195 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:53.25, Y:0.72, Z:0.35 [[ 9.97939388e-01 -4.64716826e-02 -4.42420678e-02 5.32483447e+01] [ 4.64680036e-02 9.98919160e-01 -1.11213310e-03 7.20647252e-01] [ 4.42459319e-02 -9.45999142e-04 9.99020221e-01 3.45128239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.895336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:53.28, Y:0.72, Z:0.34 [[ 9.97737026e-01 -5.09729275e-02 -4.38473128e-02 5.32795045e+01] [ 5.09737202e-02 9.98699388e-01 -1.10071770e-03 7.15557072e-01] [ 4.38463913e-02 -1.13683385e-03 9.99037638e-01 3.44905291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92533619499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.31, Y:0.71, Z:0.35 [[ 9.97695290e-01 -5.26890398e-02 -4.27547940e-02 5.33125933e+01] [ 5.26914825e-02 9.98610265e-01 -1.07057320e-03 7.14975816e-01] [ 4.27517836e-02 -1.18470764e-03 9.99085022e-01 3.47878664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.955336194999994 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:53.35, Y:0.71, Z:0.35 [[ 9.97660363e-01 -5.38012898e-02 -4.21808149e-02 5.33457082e+01] [ 5.38047842e-02 9.98550918e-01 -1.05324722e-03 7.14016834e-01] [ 4.21763575e-02 -1.21874664e-03 9.99109438e-01 3.50079006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.985336194999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:53.38, Y:0.71, Z:0.35 [[ 9.97704920e-01 -5.39315395e-02 -4.09424275e-02 5.33785526e+01] [ 5.39350583e-02 9.98543925e-01 -1.01943534e-03 7.08587358e-01] [ 4.09377919e-02 -1.19113655e-03 9.99160987e-01 3.49503940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.015336194999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.41, Y:0.70, Z:0.35 [[ 9.97931244e-01 -5.15521516e-02 -3.84136517e-02 5.34106538e+01] [ 5.15535750e-02 9.98669775e-01 -9.54149679e-04 7.03720320e-01] [ 3.84117413e-02 -1.02818530e-03 9.99261468e-01 3.48254238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.045336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:53.44, Y:0.70, Z:0.35 [[ 9.98005105e-01 -4.98575013e-02 -3.87303498e-02 5.34432858e+01] [ 4.98577769e-02 9.98755867e-01 -9.59351997e-04 7.03736504e-01] [ 3.87299950e-02 -9.73570950e-04 9.99249238e-01 3.49522721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.075336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:53.48, Y:0.71, Z:0.35 [[ 9.98029187e-01 -4.78141543e-02 -4.06392483e-02 5.34764729e+01] [ 4.78128860e-02 9.98855806e-01 -1.00370609e-03 7.06212982e-01] [ 4.06407405e-02 -9.41351770e-04 9.99173380e-01 3.51485041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.105336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:53.51, Y:0.71, Z:0.35 [[ 9.98106309e-01 -4.23244536e-02 -4.46367218e-02 5.35072226e+01] [ 4.23175982e-02 9.99103605e-01 -1.09892622e-03 7.13180526e-01] [ 4.46432211e-02 -7.92073661e-04 9.99002680e-01 3.52981823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.135336194999994 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:53.54, Y:0.72, Z:0.35 [[ 9.98219587e-01 -3.93913883e-02 -4.47881114e-02 5.35384779e+01] [ 3.93816029e-02 9.99223637e-01 -1.10116033e-03 7.15056702e-01] [ 4.47967158e-02 -6.64627803e-04 9.98995902e-01 3.51593894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.165336194999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:53.57, Y:0.71, Z:0.34 [[ 9.98299825e-01 -3.73876630e-02 -4.47171447e-02 5.35674800e+01] [ 3.73758488e-02 9.99300673e-01 -1.10055072e-03 7.12582215e-01] [ 4.47270198e-02 -5.72661645e-04 9.98999082e-01 3.44855653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.195336194999996 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:53.60, Y:0.71, Z:0.34 [[ 9.98286857e-01 -3.77416032e-02 -4.47093053e-02 5.35963832e+01] [ 3.77298577e-02 9.99287362e-01 -1.10684058e-03 7.11953624e-01] [ 4.47192177e-02 -5.81931317e-04 9.98999426e-01 3.43003278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.225336195 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:53.62, Y:0.72, Z:0.35 [[ 9.98106096e-01 -4.07199826e-02 -4.61096985e-02 5.36236546e+01] [ 4.07104502e-02 9.99170329e-01 -1.14617732e-03 7.16054718e-01] [ 4.61181149e-02 -7.33140018e-04 9.98935725e-01 3.45306012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.255336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:53.65, Y:0.73, Z:0.35 [[ 9.97957426e-01 -4.41248885e-02 -4.61949085e-02 5.36533746e+01] [ 4.41188923e-02 9.99025626e-01 -1.14986908e-03 7.25956654e-01] [ 4.62006352e-02 -8.90547809e-04 9.98931784e-01 3.52970850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.285336195 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:53.68, Y:0.73, Z:0.36 [[ 9.97895413e-01 -4.50595452e-02 -4.66302789e-02 5.36844100e+01] [ 4.50544896e-02 9.98983857e-01 -1.15997057e-03 7.29279705e-01] [ 4.66351636e-02 -9.43374108e-04 9.98911543e-01 3.55376783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31533619499999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:53.71, Y:0.73, Z:0.35 [[ 9.97719934e-01 -4.80437220e-02 -4.73997259e-02 5.37149356e+01] [ 4.80418935e-02 9.98844626e-01 -1.17846133e-03 7.25496769e-01] [ 4.74015792e-02 -1.10139822e-03 9.98875306e-01 3.49073874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.345336194999994 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:53.75, Y:0.72, Z:0.34 [[ 9.97648619e-01 -5.00194775e-02 -4.68538668e-02 5.37477839e+01] [ 5.00199571e-02 9.98747541e-01 -1.16295732e-03 7.20761295e-01] [ 4.68533548e-02 -1.18340564e-03 9.98901078e-01 3.44491272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.375336194999996 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:53.78, Y:0.72, Z:0.34 [[ 9.97534828e-01 -5.18119811e-02 -4.73263774e-02 5.37795432e+01] [ 5.18145691e-02 9.98656034e-01 -1.17292624e-03 7.16537327e-01] [ 4.73235440e-02 -1.28216108e-03 9.98878791e-01 3.41532778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.405336195 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:53.81, Y:0.72, Z:0.34 [[ 9.97437690e-01 -5.28430660e-02 -4.82251465e-02 5.38120427e+01] [ 5.28470613e-02 9.98601905e-01 -1.19306316e-03 7.17020282e-01] [ 4.82207683e-02 -1.35855111e-03 9.98835778e-01 3.43853488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.435336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:53.84, Y:0.72, Z:0.35 [[ 9.97546686e-01 -5.20565121e-02 -4.68052230e-02 5.38436766e+01] [ 5.20595118e-02 9.98643315e-01 -1.15573474e-03 7.22093098e-01] [ 4.68018866e-02 -1.28375770e-03 9.98903366e-01 3.49075071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.465336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:53.88, Y:0.73, Z:0.35 [[ 9.97632252e-01 -4.99301804e-02 -4.72955373e-02 5.38752171e+01] [ 4.99309411e-02 9.98751992e-01 -1.16607146e-03 7.27439530e-01] [ 4.72947343e-02 -1.19820019e-03 9.98880259e-01 3.51896066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49533619499999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:53.91, Y:0.72, Z:0.34 [[ 9.97665766e-01 -4.73505988e-02 -4.92030553e-02 5.39064666e+01] [ 4.73484007e-02 9.98877702e-01 -1.21087844e-03 7.20867593e-01] [ 4.92051706e-02 -1.12163401e-03 9.98788062e-01 3.43970405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.525336194999994 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:53.94, Y:0.72, Z:0.34 [[ 9.97669301e-01 -4.64890115e-02 -4.99473547e-02 5.39368966e+01] [ 4.64856871e-02 9.98918200e-01 -1.22882877e-03 7.18508723e-01] [ 4.99504487e-02 -1.09587236e-03 9.98751096e-01 3.41762704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.555336194999995 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:53.97, Y:0.72, Z:0.34 [[ 9.97694141e-01 -4.57641916e-02 -5.01202459e-02 5.39669428e+01] [ 4.57598822e-02 9.98951706e-01 -1.23405088e-03 7.18361385e-01] [ 5.01241805e-02 -1.06229121e-03 9.98742428e-01 3.42176438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.585336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:53.99, Y:0.72, Z:0.35 [[ 9.97779281e-01 -4.48542749e-02 -4.92402273e-02 5.39949376e+01] [ 4.48489294e-02 9.98993043e-01 -1.21396642e-03 7.22680935e-01] [ 4.92450960e-02 -9.97100934e-04 9.98786227e-01 3.48617860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.615336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:54.02, Y:0.72, Z:0.35 [[ 9.97728711e-01 -4.47411387e-02 -5.03552352e-02 5.40245148e+01] [ 4.47353417e-02 9.98998101e-01 -1.24272645e-03 7.24216007e-01] [ 5.03603853e-02 -1.01275479e-03 9.98730597e-01 3.50740551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.645336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:54.05, Y:0.72, Z:0.35 [[ 9.97757948e-01 -4.47115787e-02 -4.97991213e-02 5.40533626e+01] [ 4.47057891e-02 9.98999438e-01 -1.23065843e-03 7.23581105e-01] [ 4.98043189e-02 -9.98409786e-04 9.98758496e-01 3.51070733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.08, Y:0.73, Z:0.36 [[ 9.97930511e-01 -4.28172294e-02 -4.79726937e-02 5.40830320e+01] [ 4.28096091e-02 9.99082544e-01 -1.18674508e-03 7.25296737e-01] [ 4.79794939e-02 -8.69403139e-04 9.98847943e-01 3.55730482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.705336194999994 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:54.11, Y:0.73, Z:0.36 [[ 9.98054288e-01 -4.16632781e-02 -4.63876108e-02 5.41127938e+01] [ 4.16548769e-02 9.99131399e-01 -1.14816949e-03 7.26568923e-01] [ 4.63951550e-02 -7.86334740e-04 9.98922856e-01 3.57572329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.735336194999995 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:54.14, Y:0.72, Z:0.35 [[ 9.98234157e-01 -3.80511373e-02 -4.56144660e-02 5.41428398e+01] [ 3.80392010e-02 9.99275609e-01 -1.12998544e-03 7.19951824e-01] [ 4.56244205e-02 -6.07147774e-04 9.98958479e-01 3.52026371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.765336194999996 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:54.17, Y:0.72, Z:0.35 [[ 9.98284223e-01 -3.61498524e-02 -4.60629863e-02 5.41706763e+01] [ 3.61353165e-02 9.99346246e-01 -1.14849079e-03 7.15664730e-01] [ 4.60743902e-02 -5.17980357e-04 9.98937877e-01 3.47643651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.795336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.20, Y:0.72, Z:0.35 [[ 9.98404295e-01 -3.16413168e-02 -4.67727513e-02 5.41977722e+01] [ 3.16211655e-02 9.99499240e-01 -1.17086504e-03 7.16557476e-01] [ 4.67863771e-02 -3.10012229e-04 9.98904870e-01 3.48005026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.825336195 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:54.23, Y:0.72, Z:0.35 [[ 9.98424717e-01 -3.03728065e-02 -4.71760130e-02 5.42258010e+01] [ 3.03505245e-02 9.99538610e-01 -1.18871826e-03 7.20739894e-01] [ 4.71903512e-02 -2.44971045e-04 9.98885885e-01 3.50587607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.855336195 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:54.25, Y:0.73, Z:0.35 [[ 9.98262125e-01 -3.01112408e-02 -5.06561248e-02 5.42535808e+01] [ 3.00847225e-02 9.99546525e-01 -1.28606429e-03 7.26071448e-01] [ 5.06718785e-02 -2.40146188e-04 9.98715326e-01 3.53999822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.885336194999994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:54.28, Y:0.73, Z:0.36 [[ 9.98181579e-01 -3.16016632e-02 -5.13309868e-02 5.42799969e+01] [ 3.15761404e-02 9.99500493e-01 -1.30829728e-03 7.27529948e-01] [ 5.13466910e-02 -3.14916204e-04 9.98680839e-01 3.55916335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.915336194999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:54.31, Y:0.72, Z:0.35 [[ 9.98064401e-01 -3.71855244e-02 -4.98466490e-02 5.43075124e+01] [ 3.71682142e-02 9.99308210e-01 -1.27447518e-03 7.23215595e-01] [ 4.98595576e-02 -5.80702616e-04 9.98756070e-01 3.54431720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.945336194999996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:54.34, Y:0.72, Z:0.35 [[ 9.97981828e-01 -4.05085202e-02 -4.89012248e-02 5.43354263e+01] [ 4.04954384e-02 9.99178931e-01 -1.25862384e-03 7.17416186e-01] [ 4.89120585e-02 -7.24192815e-04 9.98802826e-01 3.51292290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.975336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.36, Y:0.71, Z:0.35 [[ 9.97783382e-01 -4.56759176e-02 -4.83945613e-02 5.43628829e+01] [ 4.56688521e-02 9.98955849e-01 -1.25227594e-03 7.08032135e-01] [ 4.84012289e-02 -9.60623940e-04 9.98827512e-01 3.48792596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.005336195 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:54.39, Y:0.71, Z:0.35 [[ 9.97724284e-01 -4.77388846e-02 -4.76156712e-02 5.43924109e+01] [ 4.77342994e-02 9.98859306e-01 -1.23403574e-03 7.08447468e-01] [ 4.76202678e-02 -1.04167328e-03 9.98864968e-01 3.51641068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.035336195 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:54.42, Y:0.71, Z:0.36 [[ 9.97773740e-01 -4.95208552e-02 -4.46682066e-02 5.44233392e+01] [ 4.95186324e-02 9.98772530e-01 -1.15694848e-03 7.09317446e-01] [ 4.46706708e-02 -1.05753569e-03 9.99001208e-01 3.58759881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06533619499999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:54.46, Y:0.71, Z:0.36 [[ 9.97842690e-01 -4.89480151e-02 -4.37499523e-02 5.44559939e+01] [ 4.89454139e-02 9.98800814e-01 -1.13128913e-03 7.08095122e-01] [ 4.37528623e-02 -1.01251093e-03 9.99041872e-01 3.60479397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.095336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.49, Y:0.70, Z:0.36 [[ 9.98006970e-01 -4.81207629e-02 -4.08225463e-02 5.44872150e+01] [ 4.81178661e-02 9.98841108e-01 -1.05408580e-03 7.00368107e-01] [ 4.08259608e-02 -9.12308840e-04 9.99165856e-01 3.59808298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.125336194999996 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:54.52, Y:0.70, Z:0.36 [[ 9.98179821e-01 -4.66116233e-02 -3.82675002e-02 5.45195595e+01] [ 4.66080457e-02 9.98912768e-01 -9.86082126e-04 6.99507689e-01] [ 3.82718575e-02 -7.99286119e-04 9.99267044e-01 3.61211462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.155336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:54.55, Y:0.70, Z:0.37 [[ 9.98376627e-01 -4.34646481e-02 -3.68094556e-02 5.45510929e+01] [ 4.34592529e-02 9.99054751e-01 -9.47063527e-04 7.03243803e-01] [ 3.68158253e-02 -6.54185349e-04 9.99321854e-01 3.68975882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.185336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:54.58, Y:0.70, Z:0.37 [[ 9.98356560e-01 -4.24801097e-02 -3.84658298e-02 5.45837582e+01] [ 4.24735525e-02 9.99097103e-01 -9.88014776e-04 7.03903600e-01] [ 3.84730701e-02 -6.47389409e-04 9.99259428e-01 3.69797806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.215336195 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:54.62, Y:0.70, Z:0.36 [[ 9.98344694e-01 -4.25327035e-02 -3.87148633e-02 5.46161514e+01] [ 4.25261715e-02 9.99094860e-01 -9.92583100e-04 6.97559524e-01] [ 3.87220382e-02 -6.55454848e-04 9.99249806e-01 3.63077515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24533619499999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:54.65, Y:0.69, Z:0.36 [[ 9.98390068e-01 -4.23220459e-02 -3.77639471e-02 5.46477902e+01] [ 4.23157340e-02 9.99103820e-01 -9.66773477e-04 6.94041211e-01] [ 3.77710197e-02 -6.32792103e-04 9.99286220e-01 3.59749482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.275336194999994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:54.68, Y:0.69, Z:0.36 [[ 9.98391422e-01 -4.22900670e-02 -3.77639788e-02 5.46796409e+01] [ 4.22837790e-02 9.99105175e-01 -9.65536939e-04 6.94810816e-01] [ 3.77710192e-02 -6.32819933e-04 9.99286220e-01 3.59995828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.305336194999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.71, Y:0.69, Z:0.36 [[ 9.98343020e-01 -4.07238869e-02 -4.06543905e-02 5.47111034e+01] [ 4.07153440e-02 9.99170247e-01 -1.03842796e-03 6.90826373e-01] [ 4.06629463e-02 -6.18550187e-04 9.99172729e-01 3.58281112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.335336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:54.74, Y:0.69, Z:0.36 [[ 9.98311255e-01 -4.01149222e-02 -4.20170445e-02 5.47416739e+01] [ 4.01052661e-02 9.99194884e-01 -1.07305354e-03 6.92491047e-01] [ 4.20262614e-02 -6.13863323e-04 9.99116318e-01 3.60629972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.365336195 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:54.77, Y:0.70, Z:0.37 [[ 9.98397584e-01 -3.96199846e-02 -4.04044803e-02 5.47713950e+01] [ 3.96106345e-02 9.99214658e-01 -1.03225253e-03 6.98876403e-01] [ 4.04136468e-02 -5.69848667e-04 9.99182872e-01 3.68030935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.80, Y:0.70, Z:0.37 [[ 9.98425058e-01 -3.95997454e-02 -3.97399409e-02 5.48017126e+01] [ 3.95906806e-02 9.99215466e-01 -1.01536370e-03 6.98797806e-01] [ 3.97489717e-02 -5.59566748e-04 9.99209541e-01 3.68663410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42533619499999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:54.83, Y:0.69, Z:0.37 [[ 9.98298407e-01 -4.10568215e-02 -4.14080780e-02 5.48325291e+01] [ 4.10482493e-02 9.99156606e-01 -1.05758643e-03 6.94459442e-01] [ 4.14165758e-02 -6.43942260e-04 9.99141758e-01 3.67864833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.455336194999994 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:54.86, Y:0.69, Z:0.37 [[ 9.98239115e-01 -4.26274510e-02 -4.12500882e-02 5.48629292e+01] [ 4.26202877e-02 9.99090787e-01 -1.05346013e-03 6.92724150e-01] [ 4.12574894e-02 -7.06485516e-04 9.99148298e-01 3.67400908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.485336194999995 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:54.89, Y:0.69, Z:0.37 [[ 9.98081721e-01 -4.66311283e-02 -4.07236612e-02 5.48947923e+01] [ 4.66275075e-02 9.98911806e-01 -1.03924069e-03 6.91610077e-01] [ 4.07278070e-02 -8.61595680e-04 9.99169907e-01 3.68064547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.515336194999996 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:54.93, Y:0.69, Z:0.37 [[ 9.97976212e-01 -4.83982677e-02 -4.12442519e-02 5.49262653e+01] [ 4.83961178e-02 9.98827668e-01 -1.05116490e-03 6.90319441e-01] [ 4.12467745e-02 -9.47024114e-04 9.99148541e-01 3.66983200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.545336195 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:54.96, Y:0.68, Z:0.36 [[ 9.97850836e-01 -5.03557010e-02 -4.19286654e-02 5.49592109e+01] [ 5.03552855e-02 9.98730798e-01 -1.06670959e-03 6.82747904e-01] [ 4.19291644e-02 -1.04691286e-03 9.99120037e-01 3.62511864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.575336195 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:54.99, Y:0.68, Z:0.36 [[ 9.97921656e-01 -4.93438395e-02 -4.14433942e-02 5.49916936e+01] [ 4.93426424e-02 9.98781355e-01 -1.05241328e-03 6.80408641e-01] [ 4.14448196e-02 -9.94700578e-04 9.99140299e-01 3.62227085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.605336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:55.02, Y:0.68, Z:0.36 [[ 9.98053917e-01 -4.74307985e-02 -4.04808483e-02 5.50229201e+01] [ 4.74281444e-02 9.98874125e-01 -1.02646111e-03 6.80010000e-01] [ 4.04839578e-02 -8.95467992e-04 9.99179787e-01 3.63414472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.635336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:55.05, Y:0.68, Z:0.36 [[ 9.98274954e-01 -4.34078603e-02 -3.95331913e-02 5.50545372e+01] [ 4.34022789e-02 9.99057177e-01 -9.99828033e-04 6.77270229e-01] [ 3.95393189e-02 -7.17727311e-04 9.99217758e-01 3.64533793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.665336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.09, Y:0.68, Z:0.37 [[ 9.98340939e-01 -4.14732564e-02 -3.99416933e-02 5.50854020e+01] [ 4.14660494e-02 9.99139404e-01 -1.00922005e-03 6.76351370e-01] [ 3.99491753e-02 -6.48678532e-04 9.99201503e-01 3.65679563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.695336194999996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:55.12, Y:0.68, Z:0.37 [[ 9.98435631e-01 -3.89998004e-02 -4.00662727e-02 5.51162520e+01] [ 3.89905912e-02 9.99239066e-01 -1.01153891e-03 6.77439517e-01] [ 4.00752347e-02 -5.52251169e-04 9.99196512e-01 3.68192468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.725336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:55.15, Y:0.68, Z:0.37 [[ 9.98652031e-01 -3.50268314e-02 -3.83046048e-02 5.51458577e+01] [ 3.50154717e-02 9.99386302e-01 -9.67600667e-04 6.80967100e-01] [ 3.83149893e-02 -3.74957434e-04 9.99265641e-01 3.73223652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.755336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.17, Y:0.68, Z:0.37 [[ 9.98752307e-01 -3.18899978e-02 -3.84298998e-02 5.51738939e+01] [ 3.18761673e-02 9.99491353e-01 -9.72716318e-04 6.76971572e-01] [ 3.84413724e-02 -2.53495247e-04 9.99260825e-01 3.71502818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.785336195 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:55.20, Y:0.68, Z:0.37 [[ 9.98793678e-01 -3.06286751e-02 -3.83806354e-02 5.52017543e+01] [ 3.06137118e-02 9.99530812e-01 -9.77645725e-04 6.76427887e-01] [ 3.83925717e-02 -1.98507343e-04 9.99262714e-01 3.71841138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81533619499999 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:55.23, Y:0.68, Z:0.37 [[ 9.98863391e-01 -2.94491746e-02 -3.74789481e-02 5.52282263e+01] [ 2.94338790e-02 9.99566269e-01 -9.59933976e-04 6.77262652e-01] [ 3.74909616e-02 -1.44307919e-04 9.99296956e-01 3.72256989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.845336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.26, Y:0.68, Z:0.37 [[ 9.98857828e-01 -2.89041257e-02 -3.80472273e-02 5.52556009e+01] [ 2.88877085e-02 9.99582181e-01 -9.81285671e-04 6.77062280e-01] [ 3.80596937e-02 -1.18932340e-04 9.99275460e-01 3.72194691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.875336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.28, Y:0.67, Z:0.37 [[ 9.98728489e-01 -2.97312830e-02 -4.07118625e-02 5.52827470e+01] [ 2.97129317e-02 9.99557916e-01 -1.05590336e-03 6.74571136e-01] [ 4.07252578e-02 -1.55108021e-04 9.99170371e-01 3.70156329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.905336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:55.31, Y:0.67, Z:0.37 [[ 9.98719259e-01 -3.01887580e-02 -4.06014939e-02 5.53102107e+01] [ 3.01705892e-02 9.99544202e-01 -1.06029441e-03 6.74827777e-01] [ 4.06149968e-02 -1.66034545e-04 9.99174857e-01 3.69546039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.935336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:55.34, Y:0.68, Z:0.37 [[ 9.98775753e-01 -2.95759155e-02 -3.96517320e-02 5.53375711e+01] [ 2.95579428e-02 9.99562528e-01 -1.03955968e-03 6.75434399e-01] [ 3.96651314e-02 -1.33736624e-04 9.99213020e-01 3.69574517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.965336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:55.37, Y:0.68, Z:0.37 [[ 9.98845210e-01 -2.85057259e-02 -3.86739053e-02 5.53654596e+01] [ 2.84875739e-02 9.99593626e-01 -1.02046091e-03 6.75898315e-01] [ 3.86872782e-02 -8.24432404e-05 9.99251364e-01 3.70662528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.39, Y:0.68, Z:0.38 [[ 9.98948956e-01 -2.51385101e-02 -3.83280340e-02 5.53921916e+01] [ 2.51179922e-02 9.99683976e-01 -1.01684306e-03 6.81636567e-01] [ 3.83414833e-02 5.30510499e-05 9.99264694e-01 3.75241318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.025336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:55.42, Y:0.69, Z:0.38 [[ 9.98967117e-01 -2.38707044e-02 -3.86637928e-02 5.54186390e+01] [ 2.38487382e-02 9.99715049e-01 -1.02931375e-03 6.85125675e-01] [ 3.86773459e-02 1.06167914e-04 9.99251746e-01 3.75423524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.055336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.45, Y:0.69, Z:0.37 [[ 9.99028134e-01 -2.23887208e-02 -3.79675084e-02 5.54464057e+01] [ 2.23662299e-02 9.99749327e-01 -1.01707109e-03 6.85409089e-01] [ 3.79807619e-02 1.66892614e-04 9.99278457e-01 3.72996095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.085336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:55.47, Y:0.69, Z:0.37 [[ 9.99063527e-01 -2.17816688e-02 -3.73848529e-02 5.54732229e+01] [ 2.17592944e-02 9.99762733e-01 -1.00530885e-03 6.85411134e-01] [ 3.73978800e-02 1.90899389e-04 9.99300436e-01 3.71857925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.115336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:55.50, Y:0.69, Z:0.37 [[ 9.99079236e-01 -2.14843902e-02 -3.71362470e-02 5.55012586e+01] [ 2.14618774e-02 9.99769162e-01 -1.00480427e-03 6.86649010e-01] [ 3.71492622e-02 2.06865504e-04 9.99309707e-01 3.71540012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.53, Y:0.69, Z:0.37 [[ 9.99023135e-01 -2.32211167e-02 -3.75972804e-02 5.55276755e+01] [ 2.31991226e-02 9.99730343e-01 -1.02121341e-03 6.90682526e-01] [ 3.76108557e-02 1.47991908e-04 9.99292451e-01 3.72191479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17533619499999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:55.56, Y:0.69, Z:0.37 [[ 9.98998627e-01 -2.44615955e-02 -3.74616233e-02 5.55555612e+01] [ 2.44403989e-02 9.99700765e-01 -1.02373493e-03 6.93158482e-01] [ 3.74754556e-02 1.07132771e-04 9.99297543e-01 3.71931565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.205336194999994 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:55.58, Y:0.70, Z:0.37 [[ 9.98899616e-01 -2.75003955e-02 -3.79905859e-02 5.55831919e+01] [ 2.74805177e-02 9.99621793e-01 -1.04541755e-03 6.96747113e-01] [ 3.80049670e-02 2.66218514e-07 9.99277550e-01 3.74394848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.235336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.61, Y:0.70, Z:0.38 [[ 9.98822094e-01 -2.95365781e-02 -3.84969478e-02 5.56102143e+01] [ 2.95175233e-02 9.99563697e-01 -1.06337916e-03 6.98862146e-01] [ 3.85115601e-02 -7.42079490e-05 9.99258152e-01 3.75422433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.265336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.64, Y:0.70, Z:0.38 [[ 9.98741180e-01 -3.14266364e-02 -3.90950391e-02 5.56381757e+01] [ 3.14081772e-02 9.99506051e-01 -1.08641259e-03 7.00553900e-01] [ 3.91098705e-02 -1.42858929e-04 9.99234906e-01 3.75824645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.67, Y:0.70, Z:0.37 [[ 9.98616800e-01 -3.30882198e-02 -4.08614393e-02 5.56655978e+01] [ 3.30692727e-02 9.99452412e-01 -1.13970125e-03 6.98886350e-01] [ 4.08767748e-02 -2.13133268e-04 9.99164173e-01 3.72601213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.325336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:55.69, Y:0.70, Z:0.37 [[ 9.98546934e-01 -3.36194262e-02 -4.21159720e-02 5.56938681e+01] [ 3.35994763e-02 9.99434680e-01 -1.18165187e-03 6.97326221e-01] [ 4.21318894e-02 -2.35139753e-04 9.99112030e-01 3.70833617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.355336195 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:55.72, Y:0.70, Z:0.37 [[ 9.98475576e-01 -3.31388152e-02 -4.41400442e-02 5.57216557e+01] [ 3.31160640e-02 9.99450735e-01 -1.24676126e-03 7.00403315e-01] [ 4.41571159e-02 -2.16883865e-04 9.99024575e-01 3.72417977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.385336194999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.75, Y:0.70, Z:0.37 [[ 9.98468986e-01 -3.29613717e-02 -4.44210865e-02 5.57489460e+01] [ 3.29378776e-02 9.99456606e-01 -1.26092139e-03 7.02239327e-01] [ 4.44385101e-02 -2.04145405e-04 9.99012101e-01 3.73705153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.415336194999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:55.78, Y:0.70, Z:0.37 [[ 9.98464941e-01 -3.35709513e-02 -4.40539854e-02 5.57763992e+01] [ 3.35480873e-02 9.99436312e-01 -1.25842802e-03 7.02027754e-01] [ 4.40713993e-02 -2.21430692e-04 9.99028359e-01 3.72760129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.445336194999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:55.80, Y:0.70, Z:0.37 [[ 9.98532614e-01 -3.33106317e-02 -4.26968436e-02 5.58030850e+01] [ 3.32886590e-02 9.99445027e-01 -1.22570035e-03 6.99967589e-01] [ 4.27139768e-02 -1.97418886e-04 9.99087322e-01 3.71655727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.83, Y:0.70, Z:0.37 [[ 9.98581010e-01 -3.23415900e-02 -4.23082424e-02 5.58313655e+01] [ 3.23188247e-02 9.99476863e-01 -1.22213297e-03 7.01894591e-01] [ 4.23256352e-02 -1.46953893e-04 9.99103858e-01 3.72906064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.505336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:55.86, Y:0.70, Z:0.37 [[ 9.98617534e-01 -3.03652240e-02 -4.29065834e-02 5.58580900e+01] [ 3.03397977e-02 9.99538868e-01 -1.24381097e-03 7.03709739e-01] [ 4.29245664e-02 -5.96856097e-05 9.99078314e-01 3.73153349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.535336195 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:55.88, Y:0.71, Z:0.37 [[ 9.98657059e-01 -2.92996826e-02 -4.27271166e-02 5.58847080e+01] [ 2.92733452e-02 9.99570672e-01 -1.24208131e-03 7.05670455e-01] [ 4.27451653e-02 -1.03523666e-05 9.99086008e-01 3.73851752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.91, Y:0.71, Z:0.38 [[ 9.98790513e-01 -2.61941883e-02 -4.16098048e-02 5.59127730e+01] [ 2.61662324e-02 9.99656865e-01 -1.21643105e-03 7.11809945e-01] [ 4.16273905e-02 1.26187973e-04 9.99133197e-01 3.76613749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.595336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:55.94, Y:0.71, Z:0.38 [[ 9.98844045e-01 -2.55022664e-02 -4.07456410e-02 5.59408660e+01] [ 2.54745717e-02 9.99674752e-01 -1.19884030e-03 7.14776115e-01] [ 4.07629617e-02 1.59476741e-04 9.99168832e-01 3.76815904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.625336194999996 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:55.97, Y:0.72, Z:0.38 [[ 9.98883065e-01 -2.56094912e-02 -3.97086353e-02 5.59676690e+01] [ 2.55831115e-02 9.99672011e-01 -1.17240928e-03 7.15867148e-01] [ 3.97256361e-02 1.55229331e-04 9.99210613e-01 3.76036432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.655336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.99, Y:0.72, Z:0.37 [[ 9.98923686e-01 -2.64033690e-02 -3.81356988e-02 5.59946381e+01] [ 2.63794984e-02 9.99651363e-01 -1.12907486e-03 7.17558929e-01] [ 3.81522147e-02 1.21859017e-04 9.99271932e-01 3.74925403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.685336195 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:56.02, Y:0.72, Z:0.37 [[ 9.98890887e-01 -2.87287417e-02 -3.73048889e-02 5.60222416e+01] [ 2.87072931e-02 9.99587244e-01 -1.11058560e-03 7.15732736e-01] [ 3.73213968e-02 3.84314532e-05 9.99303313e-01 3.70166320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.715336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:56.05, Y:0.72, Z:0.37 [[ 9.98850233e-01 -3.02851579e-02 -3.71621045e-02 5.60500974e+01] [ 3.02646895e-02 9.99541299e-01 -1.11333647e-03 7.16301099e-01] [ 3.71787758e-02 -1.26431639e-05 9.99308630e-01 3.69278631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:56.08, Y:0.72, Z:0.37 [[ 9.98797872e-01 -3.14294694e-02 -3.76164646e-02 5.60778127e+01] [ 3.14090365e-02 9.99505971e-01 -1.13416980e-03 7.21752191e-01] [ 3.76335274e-02 -4.86905320e-05 9.99291607e-01 3.72299125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.775336194999994 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:56.11, Y:0.73, Z:0.38 [[ 9.98631881e-01 -3.47556323e-02 -3.90693233e-02 5.61054941e+01] [ 3.47360008e-02 9.99395825e-01 -1.18138597e-03 7.34419130e-01] [ 3.90867784e-02 -1.77342350e-04 9.99235804e-01 3.78191239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.805336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.13, Y:0.74, Z:0.38 [[ 9.98465619e-01 -3.77376588e-02 -4.05250147e-02 5.61345381e+01] [ 3.77189131e-02 9.99287635e-01 -1.22733797e-03 7.35853325e-01] [ 4.05424629e-02 -3.03104739e-04 9.99177770e-01 3.76589190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.835336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:56.16, Y:0.73, Z:0.37 [[ 9.98178042e-01 -4.36106244e-02 -4.16978419e-02 5.61644256e+01] [ 4.35958498e-02 9.99048449e-01 -1.26401504e-03 7.34541260e-01] [ 4.17132888e-02 -5.56140793e-04 9.99129467e-01 3.72508838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.865336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:56.19, Y:0.74, Z:0.37 [[ 9.98109499e-01 -4.59609524e-02 -4.08046416e-02 5.61942758e+01] [ 4.59487751e-02 9.98943032e-01 -1.23672892e-03 7.36904202e-01] [ 4.08183536e-02 -6.40532416e-04 9.99166378e-01 3.73299660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.895336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:56.23, Y:0.74, Z:0.37 [[ 9.98028088e-01 -4.78883581e-02 -4.05788246e-02 5.62262689e+01] [ 4.78779735e-02 9.98852437e-01 -1.22824624e-03 7.40653703e-01] [ 4.05910765e-02 -7.17007642e-04 9.99175585e-01 3.74941529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92533619499999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:56.26, Y:0.75, Z:0.38 [[ 9.97862489e-01 -5.00677638e-02 -4.19960895e-02 5.62569318e+01] [ 5.00586366e-02 9.98745474e-01 -1.26956491e-03 7.46693116e-01] [ 4.20069686e-02 -8.35415776e-04 9.99116968e-01 3.76534329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.955336194999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:56.29, Y:0.75, Z:0.37 [[ 9.97883159e-01 -4.95264377e-02 -4.21465716e-02 5.62890778e+01] [ 4.95168415e-02 9.98772478e-01 -1.27224430e-03 7.47381256e-01] [ 4.21578455e-02 -8.17413947e-04 9.99110628e-01 3.73264053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.985336194999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:56.32, Y:0.75, Z:0.37 [[ 9.97905062e-01 -4.92570060e-02 -4.19432322e-02 5.63203636e+01] [ 4.92473908e-02 9.98785812e-01 -1.26309347e-03 7.47873687e-01] [ 4.19545215e-02 -8.05147383e-04 9.99119197e-01 3.72647244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.015336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.35, Y:0.75, Z:0.37 [[ 9.97902663e-01 -4.92027110e-02 -4.20638640e-02 5.63526773e+01] [ 4.91930839e-02 9.98788487e-01 -1.26454971e-03 7.48885236e-01] [ 4.20751224e-02 -8.07353673e-04 9.99114124e-01 3.73628032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.045336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:56.38, Y:0.76, Z:0.38 [[ 9.97907191e-01 -4.95158629e-02 -4.15862767e-02 5.63849882e+01] [ 4.95068047e-02 9.98773006e-01 -1.24827000e-03 7.56060042e-01] [ 4.15970598e-02 -8.13146066e-04 9.99134137e-01 3.79489148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.075336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.42, Y:0.76, Z:0.38 [[ 9.97920203e-01 -4.97495583e-02 -4.09908438e-02 5.64166453e+01] [ 4.97410336e-02 9.98761393e-01 -1.22846512e-03 7.58897247e-01] [ 4.10011879e-02 -8.13016775e-04 9.99158767e-01 3.80662217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.105336195 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:56.45, Y:0.75, Z:0.38 [[ 9.97901390e-01 -5.02997617e-02 -4.07768323e-02 5.64485332e+01] [ 5.02918793e-02 9.98733818e-01 -1.21973199e-03 7.54272756e-01] [ 4.07865537e-02 -8.33571278e-04 9.99167535e-01 3.75687966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.135336194999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:56.48, Y:0.75, Z:0.37 [[ 9.97934020e-01 -4.93274406e-02 -4.11642516e-02 5.64807436e+01] [ 4.93186657e-02 9.98782338e-01 -1.22927376e-03 7.52160035e-01] [ 4.11747644e-02 -8.03431856e-04 9.99151637e-01 3.74222132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.165336194999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:56.51, Y:0.75, Z:0.37 [[ 9.97936929e-01 -4.92684936e-02 -4.11643214e-02 5.65134478e+01] [ 4.92597651e-02 9.98785247e-01 -1.22693430e-03 7.53059111e-01] [ 4.11747661e-02 -8.03341758e-04 9.99151637e-01 3.74475034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.195336194999996 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:56.54, Y:0.75, Z:0.37 [[ 9.98008284e-01 -4.79520227e-02 -4.09886499e-02 5.65443398e+01] [ 4.79423258e-02 9.98849360e-01 -1.22006894e-03 7.53752953e-01] [ 4.09999915e-02 -7.47452294e-04 9.99158867e-01 3.74395258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.225336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:56.58, Y:0.76, Z:0.37 [[ 9.98153290e-01 -4.56349842e-02 -4.00931236e-02 5.65763338e+01] [ 4.56239077e-02 9.98957977e-01 -1.19167373e-03 7.55048522e-01] [ 4.01057276e-02 -6.39731918e-04 9.99195237e-01 3.74776840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.255336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:56.61, Y:0.76, Z:0.38 [[ 9.98106500e-01 -4.31206826e-02 -4.38636766e-02 5.66070162e+01] [ 4.31050704e-02 9.99069696e-01 -1.30213222e-03 7.57738471e-01] [ 4.38790189e-02 -5.91080239e-04 9.99036677e-01 3.76937682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.285336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:56.64, Y:0.76, Z:0.38 [[ 9.98089052e-01 -4.26539218e-02 -4.47089245e-02 5.66384792e+01] [ 4.26372857e-02 9.99089737e-01 -1.32607621e-03 7.60496260e-01] [ 4.47247899e-02 -5.82725037e-04 9.98999176e-01 3.78732854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31533619499999 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:56.67, Y:0.76, Z:0.38 [[ 9.98103629e-01 -4.27009725e-02 -4.43370384e-02 5.66677621e+01] [ 4.26846695e-02 9.99087729e-01 -1.31479577e-03 7.62993136e-01] [ 4.43527341e-02 -5.80209403e-04 9.99015765e-01 3.81006867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.345336194999994 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:56.70, Y:0.76, Z:0.38 [[ 9.98104023e-01 -4.49401546e-02 -4.20564011e-02 5.66986568e+01] [ 4.49274721e-02 9.98989473e-01 -1.24715088e-03 7.62507824e-01] [ 4.20699491e-02 -6.44701475e-04 9.99114460e-01 3.82003076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.375336194999996 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:56.73, Y:0.76, Z:0.38 [[ 9.98073257e-01 -4.61868638e-02 -4.14312358e-02 5.67295524e+01] [ 4.61756772e-02 9.98932580e-01 -1.22744223e-03 7.61703012e-01] [ 4.14437030e-02 -6.88038114e-04 9.99140604e-01 3.81588241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.405336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:56.76, Y:0.76, Z:0.38 [[ 9.97807522e-01 -4.94765097e-02 -4.39570729e-02 5.67607961e+01] [ 4.94672406e-02 9.98774902e-01 -1.29925286e-03 7.57140553e-01] [ 4.39675037e-02 -8.78030824e-04 9.99032576e-01 3.76818593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.435336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.79, Y:0.76, Z:0.38 [[ 9.97734783e-01 -5.09809535e-02 -4.38890153e-02 5.67927191e+01] [ 5.09732663e-02 9.98699179e-01 -1.29498494e-03 7.55312207e-01] [ 4.38979431e-02 -9.45114944e-04 9.99035574e-01 3.75770344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.465336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:56.83, Y:0.75, Z:0.38 [[ 9.97758533e-01 -5.20833027e-02 -4.20147483e-02 5.68250100e+01] [ 5.20773160e-02 9.98642289e-01 -1.23771309e-03 7.54766776e-01] [ 4.20221686e-02 -9.53076524e-04 9.99116224e-01 3.76728561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49533619499999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:56.86, Y:0.76, Z:0.38 [[ 9.97698903e-01 -5.39654433e-02 -4.10442477e-02 5.68579459e+01] [ 5.39614330e-02 9.98542292e-01 -1.20637938e-03 7.55050732e-01] [ 4.10495200e-02 -1.01120304e-03 9.99156602e-01 3.80972292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.525336194999994 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:56.89, Y:0.76, Z:0.38 [[ 9.97571548e-01 -5.56378976e-02 -4.18978540e-02 5.68899543e+01] [ 5.56353016e-02 9.98450401e-01 -1.22887626e-03 7.55673183e-01] [ 4.19013012e-02 -1.10510774e-03 9.99121144e-01 3.82173849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.555336194999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.92, Y:0.76, Z:0.38 [[ 9.97432803e-01 -5.84161309e-02 -4.14169020e-02 5.69226029e+01] [ 5.84161028e-02 9.98291586e-01 -1.21194056e-03 7.55893365e-01] [ 4.14169416e-02 -1.21058473e-03 9.99141217e-01 3.84037250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.585336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:56.96, Y:0.75, Z:0.38 [[ 9.97404007e-01 -5.87962028e-02 -4.15722763e-02 5.69551463e+01] [ 5.87966912e-02 9.98269242e-01 -1.21199444e-03 7.54545524e-01] [ 4.15715855e-02 -1.23546418e-03 9.99134764e-01 3.82787148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.615336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:56.99, Y:0.75, Z:0.38 [[ 9.97457565e-01 -5.77458789e-02 -4.17590728e-02 5.69876148e+01] [ 5.77455718e-02 9.98330593e-01 -1.21458981e-03 7.47788272e-01] [ 4.17594974e-02 -1.19989974e-03 9.99126971e-01 3.78829402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.645336195 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:57.02, Y:0.75, Z:0.38 [[ 9.97480023e-01 -5.75804952e-02 -4.14498608e-02 5.70204395e+01] [ 5.75801621e-02 9.98340161e-01 -1.20288742e-03 7.47340821e-01] [ 4.14503236e-02 -1.18683353e-03 9.99139861e-01 3.81030162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.05, Y:0.75, Z:0.39 [[ 9.97635529e-01 -5.50605770e-02 -4.11300949e-02 5.70531542e+01] [ 5.50582275e-02 9.98482435e-01 -1.19073493e-03 7.50941735e-01] [ 4.11332399e-02 -1.07663065e-03 9.99153090e-01 3.85723750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.705336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.08, Y:0.75, Z:0.38 [[ 9.97647031e-01 -5.35313024e-02 -4.28345857e-02 5.70845673e+01] [ 5.35274249e-02 9.98565612e-01 -1.23827891e-03 7.51108060e-01] [ 4.28394309e-02 -1.05745979e-03 9.99081411e-01 3.84423306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.735336194999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:57.12, Y:0.75, Z:0.38 [[ 9.97643975e-01 -5.20030102e-02 -4.47458030e-02 5.71172695e+01] [ 5.19973341e-02 9.98646388e-01 -1.29154572e-03 7.49973005e-01] [ 4.47523989e-02 -1.03815966e-03 9.98997570e-01 3.81221299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.765336194999996 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:57.15, Y:0.75, Z:0.38 [[ 9.97757732e-01 -4.99413404e-02 -4.45575093e-02 5.71481609e+01] [ 4.99337300e-02 9.98751707e-01 -1.28449312e-03 7.50843100e-01] [ 4.45660378e-02 -9.43309697e-04 9.99005995e-01 3.80097066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.795336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:57.18, Y:0.76, Z:0.38 [[ 9.97815302e-01 -4.96782114e-02 -4.35510954e-02 5.71802969e+01] [ 4.96707747e-02 9.98764859e-01 -1.25353293e-03 7.55147650e-01] [ 4.35595769e-02 -9.12422309e-04 9.99050415e-01 3.82163773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.21, Y:0.76, Z:0.38 [[ 9.97756872e-01 -5.11483729e-02 -4.31864428e-02 5.72116276e+01] [ 5.11425053e-02 9.98690594e-01 -1.24142714e-03 7.58447436e-01] [ 4.31933912e-02 -9.70020422e-04 9.99066259e-01 3.83434187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.855336195 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:57.24, Y:0.76, Z:0.38 [[ 9.97673788e-01 -5.23538868e-02 -4.36587081e-02 5.72434963e+01] [ 5.23491295e-02 9.98628058e-01 -1.25303641e-03 7.58383118e-01] [ 4.36644123e-02 -1.03537379e-03 9.99045718e-01 3.82810689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.885336194999994 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:57.27, Y:0.76, Z:0.38 [[ 9.97527326e-01 -5.59682585e-02 -4.25063234e-02 5.72742337e+01] [ 5.59670924e-02 9.98431871e-01 -1.21838457e-03 7.58487934e-01] [ 4.25078589e-02 -1.16358343e-03 9.99095455e-01 3.83591405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.915336194999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:57.31, Y:0.76, Z:0.38 [[ 9.97409065e-01 -5.84124490e-02 -4.19898065e-02 5.73064959e+01] [ 5.84135506e-02 9.98291747e-01 -1.20174405e-03 7.59320694e-01] [ 4.19882741e-02 -1.25414328e-03 9.99117316e-01 3.84351186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.945336194999996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:57.34, Y:0.76, Z:0.38 [[ 9.97240179e-01 -6.07274083e-02 -4.27107292e-02 5.73396747e+01] [ 6.07307871e-02 9.98153437e-01 -1.21960647e-03 7.59498957e-01] [ 4.27059247e-02 -1.37761562e-03 9.99086736e-01 3.84056657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.975336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:57.37, Y:0.76, Z:0.38 [[ 9.96761316e-01 -6.62218587e-02 -4.56239360e-02 5.73727897e+01] [ 6.62316105e-02 9.97803430e-01 -1.29954684e-03 7.57206774e-01] [ 4.56097783e-02 -1.72640874e-03 9.98957841e-01 3.82118929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.005336195 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:57.41, Y:0.76, Z:0.38 [[ 9.96692445e-01 -6.70958094e-02 -4.58510797e-02 5.74053074e+01] [ 6.71067099e-02 9.97744953e-01 -1.30322834e-03 7.56633016e-01] [ 4.58351245e-02 -1.77799726e-03 9.98947436e-01 3.81899905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.035336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.44, Y:0.76, Z:0.38 [[ 9.96530530e-01 -6.76326948e-02 -4.85048622e-02 5.74385416e+01] [ 6.76456923e-02 9.97708459e-01 -1.37541067e-03 7.56410039e-01] [ 4.84867341e-02 -1.91050626e-03 9.98821999e-01 3.81863507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06533619499999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:57.47, Y:0.76, Z:0.38 [[ 9.96502913e-01 -6.65003727e-02 -5.05929317e-02 5.74711508e+01] [ 6.65132670e-02 9.97784515e-01 -1.43059207e-03 7.57015208e-01] [ 5.05759787e-02 -1.93951201e-03 9.98718333e-01 3.81504818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.095336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:57.50, Y:0.76, Z:0.38 [[ 9.96537175e-01 -6.52058915e-02 -5.15931234e-02 5.75035226e+01] [ 6.52177370e-02 9.97869995e-01 -1.45568366e-03 7.57629354e-01] [ 5.15781490e-02 -1.91414387e-03 9.98667127e-01 3.82211946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.125336194999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.54, Y:0.76, Z:0.38 [[ 9.96765410e-01 -6.21485612e-02 -5.09536440e-02 5.75357430e+01] [ 6.21562513e-02 9.98065399e-01 -1.43517179e-03 7.55383597e-01] [ 5.09442629e-02 -1.73655790e-03 9.98699988e-01 3.82468180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.155336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.57, Y:0.75, Z:0.38 [[ 9.96910603e-01 -6.04636316e-02 -5.01338159e-02 5.75665118e+01] [ 6.04690392e-02 9.98169077e-01 -1.41024822e-03 7.54079101e-01] [ 5.01272935e-02 -1.62565227e-03 9.98741514e-01 3.82842490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.185336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:57.60, Y:0.76, Z:0.39 [[ 9.97236088e-01 -5.64586982e-02 -4.82970077e-02 5.75987877e+01] [ 5.64591284e-02 9.98403990e-01 -1.35638409e-03 7.55686057e-01] [ 4.82965049e-02 -1.37417180e-03 9.98832098e-01 3.86443936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.215336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.63, Y:0.76, Z:0.39 [[ 9.97314518e-01 -5.52015033e-02 -4.81305139e-02 5.76299140e+01] [ 5.52005554e-02 9.98474374e-01 -1.34989568e-03 7.56410408e-01] [ 4.81316010e-02 -1.31056054e-03 9.98840143e-01 3.87492747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24533619499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:57.66, Y:0.76, Z:0.39 [[ 9.97345623e-01 -5.37083943e-02 -4.91641744e-02 5.76612498e+01] [ 5.37056804e-02 9.98555859e-01 -1.37715201e-03 7.55557126e-01] [ 4.91671390e-02 -1.26689890e-03 9.98789761e-01 3.86633603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.275336194999994 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:57.69, Y:0.75, Z:0.39 [[ 9.97427622e-01 -5.33652436e-02 -4.78569752e-02 5.76914379e+01] [ 5.33622884e-02 9.98574319e-01 -1.34027205e-03 7.54588243e-01] [ 4.78602704e-02 -1.21693335e-03 9.98853299e-01 3.85899378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.305336194999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:57.72, Y:0.75, Z:0.38 [[ 9.97539559e-01 -5.35974618e-02 -4.51900498e-02 5.77224281e+01] [ 5.35951017e-02 9.98561949e-01 -1.26470017e-03 7.50582953e-01] [ 4.51928489e-02 -1.16037686e-03 9.98977607e-01 3.84602730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.335336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:57.75, Y:0.75, Z:0.39 [[ 9.97502089e-01 -5.38782052e-02 -4.56806547e-02 5.77532245e+01] [ 5.38761577e-02 9.98546809e-01 -1.27691012e-03 7.50608562e-01] [ 4.56830696e-02 -1.18737764e-03 9.98955278e-01 3.85258629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.79, Y:0.75, Z:0.38 [[ 9.97196711e-01 -5.58337890e-02 -4.98127316e-02 5.77854552e+01] [ 5.58339089e-02 9.98439103e-01 -1.39016567e-03 7.50477448e-01] [ 4.98125972e-02 -1.39497088e-03 9.98757608e-01 3.83950547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.395336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:57.82, Y:0.75, Z:0.38 [[ 9.97030887e-01 -5.74395165e-02 -5.12846241e-02 5.78167466e+01] [ 5.74418384e-02 9.98347831e-01 -1.42985427e-03 7.49414894e-01] [ 5.12820233e-02 -1.52027422e-03 9.98683054e-01 3.82627359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42533619499999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:57.85, Y:0.75, Z:0.38 [[ 9.96754995e-01 -6.19404033e-02 -5.14088156e-02 5.78476750e+01] [ 6.19487995e-02 9.98078302e-01 -1.43160622e-03 7.46613550e-01] [ 5.13986976e-02 -1.75775375e-03 9.98676666e-01 3.82307493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.455336194999994 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:57.88, Y:0.74, Z:0.38 [[ 9.96687252e-01 -6.41452336e-02 -4.99991079e-02 5.78804213e+01] [ 6.41560547e-02 9.97938910e-01 -1.39007800e-03 7.44082584e-01] [ 4.99852222e-02 -1.82227249e-03 9.98748295e-01 3.82458077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.485336194999995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:57.91, Y:0.74, Z:0.38 [[ 9.96593986e-01 -6.64295388e-02 -4.88624956e-02 5.79116339e+01] [ 6.64426992e-02 9.97789320e-01 -1.35666379e-03 7.40866150e-01] [ 4.88445988e-02 -1.89451312e-03 9.98804593e-01 3.81951334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.515336194999996 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:57.94, Y:0.74, Z:0.38 [[ 9.96406468e-01 -6.88670503e-02 -4.93100336e-02 5.79426465e+01] [ 6.88835142e-02 9.97623773e-01 -1.36741888e-03 7.36351945e-01] [ 4.92870318e-02 -2.03414338e-03 9.98782584e-01 3.84234599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.545336195 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:57.97, Y:0.74, Z:0.39 [[ 9.96190032e-01 -7.03841989e-02 -5.14925693e-02 5.79737300e+01] [ 7.04042684e-02 9.97517521e-01 -1.42624902e-03 7.36690901e-01] [ 5.14651255e-02 -2.20448162e-03 9.98672359e-01 3.85995215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.575336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.01, Y:0.73, Z:0.38 [[ 9.96042338e-01 -7.07171533e-02 -5.38400034e-02 5.80061908e+01] [ 7.07397119e-02 9.97493697e-01 -1.48897929e-03 7.28600229e-01] [ 5.38103605e-02 -2.32553992e-03 9.98548465e-01 3.81401065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60533619499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:58.04, Y:0.73, Z:0.38 [[ 9.95959129e-01 -7.07337605e-02 -5.53366751e-02 5.80381677e+01] [ 7.07577614e-02 9.97492358e-01 -1.52786717e-03 7.26441460e-01] [ 5.53059823e-02 -2.39380600e-03 9.98466583e-01 3.80888146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.635336194999994 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:58.07, Y:0.72, Z:0.38 [[ 9.96023653e-01 -6.82248403e-02 -5.72909588e-02 5.80692038e+01] [ 6.82465521e-02 9.97667235e-01 -1.57979019e-03 7.23713381e-01] [ 5.72650934e-02 -2.33640201e-03 9.98356274e-01 3.82344173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.665336194999995 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:58.10, Y:0.72, Z:0.38 [[ 9.96216696e-01 -6.58963995e-02 -5.66565060e-02 5.81005511e+01] [ 6.59139520e-02 9.97824090e-01 -1.56090349e-03 7.22298116e-01] [ 5.66360845e-02 -2.17945610e-03 9.98392510e-01 3.83489389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.695336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.13, Y:0.72, Z:0.39 [[ 9.96728845e-01 -5.96517316e-02 -5.45278011e-02 5.81306619e+01] [ 5.96587600e-02 9.98217702e-01 -1.50029122e-03 7.20401555e-01] [ 5.45201113e-02 -1.75767746e-03 9.98511126e-01 3.86406716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.725336195 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:58.16, Y:0.72, Z:0.39 [[ 9.96913647e-01 -5.72326881e-02 -5.37363878e-02 5.81596921e+01] [ 5.72356268e-02 9.98359593e-01 -1.48550623e-03 7.20526836e-01] [ 5.37332577e-02 -1.59471441e-03 9.98554052e-01 3.86838076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.755336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:58.19, Y:0.72, Z:0.39 [[ 9.97159779e-01 -5.47865289e-02 -5.16798909e-02 5.81888871e+01] [ 5.47858242e-02 9.98497103e-01 -1.43131203e-03 7.19018906e-01] [ 5.16806380e-02 -1.40407863e-03 9.98662676e-01 3.85634344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.785336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:58.22, Y:0.72, Z:0.39 [[ 9.97505950e-01 -5.12194596e-02 -4.85638363e-02 5.82177604e+01] [ 5.12142869e-02 9.98686773e-01 -1.35164112e-03 7.18760070e-01] [ 4.85692913e-02 -1.13889219e-03 9.98819166e-01 3.88091097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81533619499999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:58.25, Y:0.72, Z:0.39 [[ 9.97606040e-01 -5.00035862e-02 -4.77685121e-02 5.82465734e+01] [ 4.99970503e-02 9.98748477e-01 -1.33238966e-03 7.23495172e-01] [ 4.77753530e-02 -1.05908473e-03 9.98857544e-01 3.91155403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.845336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:58.28, Y:0.73, Z:0.39 [[ 9.97615630e-01 -5.05935606e-02 -4.69398170e-02 5.82761103e+01] [ 5.05878425e-02 9.98718756e-01 -1.31051884e-03 7.25069201e-01] [ 4.69459794e-02 -1.06718999e-03 9.98896860e-01 3.91301233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.875336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.31, Y:0.73, Z:0.39 [[ 9.97572505e-01 -5.15100091e-02 -4.68595333e-02 5.83057946e+01] [ 5.15053132e-02 9.98671863e-01 -1.30843057e-03 7.26071749e-01] [ 4.68646947e-02 -1.10826058e-03 9.98900632e-01 3.91382606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.905336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.34, Y:0.73, Z:0.39 [[ 9.97259616e-01 -5.42802457e-02 -5.02684063e-02 5.83358421e+01] [ 5.42783857e-02 9.98524856e-01 -1.40311645e-03 7.30745122e-01] [ 5.02704146e-02 -1.32921658e-03 9.98734759e-01 3.93592551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.935336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:58.37, Y:0.73, Z:0.40 [[ 9.97087079e-01 -5.58616333e-02 -5.19310601e-02 5.83661031e+01] [ 5.58617976e-02 9.98437459e-01 -1.44943290e-03 7.34617469e-01] [ 5.19308833e-02 -1.45575154e-03 9.98649620e-01 3.95648665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.965336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:58.40, Y:0.73, Z:0.39 [[ 9.96877685e-01 -5.87577940e-02 -5.27484839e-02 5.83958362e+01] [ 5.87619567e-02 9.98270936e-01 -1.47330462e-03 7.32151702e-01] [ 5.27438466e-02 -1.63089964e-03 9.98606743e-01 3.90414966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99533619499999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:58.43, Y:0.73, Z:0.39 [[ 9.96780982e-01 -5.96255489e-02 -5.35954031e-02 5.84268159e+01] [ 5.96310907e-02 9.98219360e-01 -1.49714401e-03 7.26226965e-01] [ 5.35892370e-02 -1.70362766e-03 9.98561611e-01 3.85697302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.025336194999994 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:58.46, Y:0.72, Z:0.38 [[ 9.96722084e-01 -6.03216925e-02 -5.39108632e-02 5.84568206e+01] [ 6.03283235e-02 9.98177452e-01 -1.50583668e-03 7.20526535e-01] [ 5.39034427e-02 -1.75145132e-03 9.98544617e-01 3.82477244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.055336194999995 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:58.49, Y:0.72, Z:0.38 [[ 9.96965265e-01 -5.84610332e-02 -5.14059153e-02 5.84869729e+01] [ 5.84645363e-02 9.98288452e-01 -1.43684708e-03 7.15419920e-01] [ 5.14019312e-02 -1.57293637e-03 9.98676808e-01 3.83374435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.085336195 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:58.52, Y:0.72, Z:0.38 [[ 9.96964597e-01 -5.84724364e-02 -5.14058964e-02 5.85171171e+01] [ 5.84759199e-02 9.98287784e-01 -1.43752235e-03 7.16298887e-01] [ 5.14019339e-02 -1.57284819e-03 9.98676808e-01 3.83607935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.55, Y:0.72, Z:0.39 [[ 9.97092403e-01 -5.70539143e-02 -5.05132812e-02 5.85466643e+01] [ 5.70554292e-02 9.98370012e-01 -1.41313469e-03 7.19989050e-01] [ 5.05115700e-02 -1.47303107e-03 9.98722390e-01 3.89465268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.145336195 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:58.58, Y:0.73, Z:0.40 [[ 9.97344988e-01 -5.31391563e-02 -4.97916171e-02 5.85759890e+01] [ 5.31357023e-02 9.98586328e-01 -1.39398070e-03 7.28679112e-01] [ 4.97953031e-02 -1.25543288e-03 9.98758655e-01 3.99161593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17533619499999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:58.61, Y:0.73, Z:0.40 [[ 9.97435552e-01 -5.05370452e-02 -5.06786667e-02 5.86052258e+01] [ 5.05300538e-02 9.98721531e-01 -1.41998842e-03 7.28760462e-01] [ 5.06856376e-02 -1.14444882e-03 9.98714001e-01 3.99449672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.205336194999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.63, Y:0.72, Z:0.40 [[ 9.97674926e-01 -4.38140255e-02 -5.22022417e-02 5.86326960e+01] [ 4.37969718e-02 9.99039369e-01 -1.47112118e-03 7.24487084e-01] [ 5.22165503e-02 -8.18599396e-04 9.98635450e-01 3.97482785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.235336194999995 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:58.66, Y:0.72, Z:0.40 [[ 9.97840660e-01 -4.06059122e-02 -5.16253595e-02 5.86605326e+01] [ 4.05844556e-02 9.99175039e-01 -1.46427854e-03 7.22014097e-01] [ 5.16422289e-02 -6.34070449e-04 9.98665449e-01 3.95669008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.265336194999996 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:58.69, Y:0.71, Z:0.39 [[ 9.98076986e-01 -3.71564233e-02 -4.96158217e-02 5.86887383e+01] [ 3.71318800e-02 9.99309370e-01 -1.41662419e-03 7.13392866e-01] [ 4.96341922e-02 -4.28428740e-04 9.98767372e-01 3.92243806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.295336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.72, Y:0.71, Z:0.39 [[ 9.98144452e-01 -3.69731945e-02 -4.83801250e-02 5.87170386e+01] [ 3.69491913e-02 9.99316178e-01 -1.39067757e-03 7.12044589e-01] [ 4.83984594e-02 -3.99509390e-04 9.98828028e-01 3.93443737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.325336195 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:58.74, Y:0.71, Z:0.40 [[ 9.98210946e-01 -3.71458142e-02 -4.68518463e-02 5.87434518e+01] [ 3.71232706e-02 9.99309780e-01 -1.35150305e-03 7.13091618e-01] [ 4.68697109e-02 -3.90208629e-04 9.98900935e-01 3.96504520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35533619499999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:58.77, Y:0.72, Z:0.40 [[ 9.98191244e-01 -3.78105562e-02 -4.67397258e-02 5.87707645e+01] [ 3.77884674e-02 9.99284840e-01 -1.35641219e-03 7.17580529e-01] [ 4.67575861e-02 -4.12263833e-04 9.98906181e-01 4.02474233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.385336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:58.80, Y:0.72, Z:0.40 [[ 9.98120649e-01 -3.88542882e-02 -4.73868601e-02 5.87976715e+01] [ 3.88325310e-02 9.99244780e-01 -1.37999453e-03 7.17859431e-01] [ 4.74046913e-02 -4.62750678e-04 9.98875658e-01 4.02399487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.415336194999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:58.83, Y:0.71, Z:0.40 [[ 9.97989119e-01 -4.13910990e-02 -4.80051659e-02 5.88252860e+01] [ 4.13715109e-02 9.99142849e-01 -1.40199131e-03 7.09044164e-01] [ 4.80220482e-02 -5.86874171e-04 9.98846103e-01 3.96868354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.445336194999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:58.85, Y:0.71, Z:0.40 [[ 9.98001822e-01 -4.20477798e-02 -4.71629880e-02 5.88532178e+01] [ 4.20292153e-02 9.99115421e-01 -1.38565912e-03 7.05867035e-01] [ 4.71795325e-02 -5.99333054e-04 9.98886246e-01 3.96089953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.475336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.88, Y:0.71, Z:0.40 [[ 9.98092425e-01 -4.17039151e-02 -4.55224667e-02 5.88803091e+01] [ 4.16859635e-02 9.99129858e-01 -1.34400520e-03 7.08710628e-01] [ 4.55389060e-02 -5.56206478e-04 9.98962411e-01 4.00114324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.505336195 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:58.91, Y:0.71, Z:0.40 [[ 9.98137640e-01 -4.18222711e-02 -4.44088766e-02 5.89082276e+01] [ 4.18049539e-02 9.99124920e-01 -1.31899811e-03 7.10107717e-01] [ 4.44251788e-02 -5.39969381e-04 9.99012568e-01 4.01308436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.535336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:58.93, Y:0.71, Z:0.40 [[ 9.98200450e-01 -4.21482431e-02 -4.26542722e-02 5.89348980e+01] [ 4.21323837e-02 9.99111228e-01 -1.27111659e-03 7.09624180e-01] [ 4.26699376e-02 -5.28297012e-04 9.99089084e-01 4.01929178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56533619499999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:58.96, Y:0.71, Z:0.40 [[ 9.98194194e-01 -4.32881059e-02 -4.16472195e-02 5.89626299e+01] [ 4.32736819e-02 9.99062476e-01 -1.24820322e-03 7.10440454e-01] [ 4.16622066e-02 -5.56279323e-04 9.99131598e-01 4.01729134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.595336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.99, Y:0.71, Z:0.40 [[ 9.98136254e-01 -4.37269452e-02 -4.25672701e-02 5.89903651e+01] [ 4.37121233e-02 9.99043349e-01 -1.27935690e-03 7.11048999e-01] [ 4.25824904e-02 -5.83733256e-04 9.99092784e-01 4.01323802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.625336194999996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:59.02, Y:0.71, Z:0.40 [[ 9.98113671e-01 -4.41925618e-02 -4.26159263e-02 5.90193728e+01] [ 4.41778661e-02 9.99022852e-01 -1.28700711e-03 7.11894551e-01] [ 4.26311603e-02 -5.98101297e-04 9.99090700e-01 3.99541554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.655336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:59.05, Y:0.71, Z:0.40 [[ 9.98103533e-01 -4.44768579e-02 -4.25575692e-02 5.90481997e+01] [ 4.44621599e-02 9.99010233e-01 -1.29230449e-03 7.13812633e-01] [ 4.25729247e-02 -6.02347766e-04 9.99093180e-01 3.99695793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.685336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.08, Y:0.72, Z:0.40 [[ 9.97996949e-01 -4.70550881e-02 -4.22836569e-02 5.90763844e+01] [ 4.70425936e-02 9.98892050e-01 -1.29100658e-03 7.17721071e-01] [ 4.22975572e-02 -7.00712265e-04 9.99104812e-01 4.00810725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.715336195 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:59.11, Y:0.72, Z:0.40 [[ 9.97893870e-01 -4.98110774e-02 -4.15533527e-02 5.91056372e+01] [ 4.98013121e-02 9.98758336e-01 -1.27076906e-03 7.19843113e-01] [ 4.15650558e-02 -8.01318831e-04 9.99135478e-01 4.02204950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:59.14, Y:0.72, Z:0.40 [[ 9.97749816e-01 -5.29052364e-02 -4.11866634e-02 5.91361411e+01] [ 5.28982848e-02 9.98599112e-01 -1.25934369e-03 7.22525311e-01] [ 4.11955914e-02 -9.22193917e-04 9.99150676e-01 4.03616797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.775336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:59.17, Y:0.73, Z:0.40 [[ 9.97269273e-01 -5.94134354e-02 -4.38638952e-02 5.91670344e+01] [ 5.94118982e-02 9.98232654e-01 -1.33984457e-03 7.26113890e-01] [ 4.38659773e-02 -1.26985145e-03 9.99036618e-01 4.04289028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.805336194999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.20, Y:0.73, Z:0.40 [[ 9.96967309e-01 -6.43509848e-02 -4.37622626e-02 5.91979570e+01] [ 6.43542680e-02 9.97926222e-01 -1.33525444e-03 7.27271560e-01] [ 4.37574343e-02 -1.48508335e-03 9.99041081e-01 4.04301134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.835336195 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:59.23, Y:0.73, Z:0.40 [[ 9.96889667e-01 -6.57703306e-02 -4.34195375e-02 5.92302812e+01] [ 6.57749879e-02 9.97833604e-01 -1.32291293e-03 7.27807009e-01] [ 4.34124820e-02 -1.53712132e-03 9.99056051e-01 4.03438298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.865336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:59.26, Y:0.73, Z:0.40 [[ 9.96845124e-01 -6.63816039e-02 -4.35118633e-02 5.92612264e+01] [ 6.63869309e-02 9.97793076e-01 -1.32415525e-03 7.27628536e-01] [ 4.35037354e-02 -1.56864135e-03 9.99052033e-01 4.02670048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.895336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.29, Y:0.73, Z:0.40 [[ 9.96795832e-01 -6.65132728e-02 -4.44303365e-02 5.92931898e+01] [ 6.65190462e-02 9.97784242e-01 -1.35014930e-03 7.26432637e-01] [ 4.44216924e-02 -1.60964041e-03 9.99011573e-01 4.01263459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:59.33, Y:0.73, Z:0.40 [[ 9.96860539e-01 -6.51992366e-02 -4.49235489e-02 5.93250523e+01] [ 6.52039026e-02 9.97871030e-01 -1.36302604e-03 7.29121631e-01] [ 4.49167763e-02 -1.57044383e-03 9.98989498e-01 4.02331722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.955336194999994 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:59.36, Y:0.73, Z:0.40 [[ 9.96909660e-01 -6.35911630e-02 -4.61225952e-02 5.93561397e+01] [ 6.35944449e-02 9.97974846e-01 -1.39767903e-03 7.30989598e-01] [ 4.61180699e-02 -1.53978112e-03 9.98934809e-01 4.03373500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.985336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.39, Y:0.73, Z:0.40 [[ 9.96874726e-01 -6.23923558e-02 -4.84559139e-02 5.93873924e+01] [ 6.23946509e-02 9.98050478e-01 -1.46669376e-03 7.34040701e-01] [ 4.84529585e-02 -1.56127990e-03 9.98824245e-01 4.04917556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.015336194999996 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:59.42, Y:0.74, Z:0.40 [[ 9.96942574e-01 -5.97927950e-02 -5.03023465e-02 5.94176852e+01] [ 5.97920053e-02 9.98209697e-01 -1.52184044e-03 7.35523403e-01] [ 5.03032852e-02 -1.49049065e-03 9.98732876e-01 4.02885020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.45, Y:0.73, Z:0.40 [[ 9.97000483e-01 -5.86052294e-02 -5.05515934e-02 5.94484761e+01] [ 5.86029122e-02 9.98280201e-01 -1.52929627e-03 7.33343175e-01] [ 5.05542796e-02 -1.43776148e-03 9.98720280e-01 4.01342912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.075336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:59.48, Y:0.73, Z:0.40 [[ 9.97241157e-01 -5.56457752e-02 -4.91286347e-02 5.94771340e+01] [ 5.56399285e-02 9.98449791e-01 -1.48764528e-03 7.30019200e-01] [ 4.91352562e-02 -1.24997262e-03 9.98791352e-01 3.98986363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10533619499999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:59.51, Y:0.73, Z:0.40 [[ 9.97425980e-01 -5.41839210e-02 -4.69629314e-02 5.95055584e+01] [ 5.41768842e-02 9.98530339e-01 -1.42361654e-03 7.31359562e-01] [ 4.69710489e-02 -1.12435317e-03 9.98895618e-01 4.00996304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.135336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.54, Y:0.74, Z:0.41 [[ 9.97851748e-01 -4.94017067e-02 -4.30274260e-02 5.95357960e+01] [ 4.93913435e-02 9.98778651e-01 -1.30455192e-03 7.37524410e-01] [ 4.30393216e-02 -8.23432968e-04 9.99073040e-01 4.08102482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.165336194999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.57, Y:0.74, Z:0.41 [[ 9.98001640e-01 -4.68789325e-02 -4.23685265e-02 5.95657715e+01] [ 4.68666120e-02 9.98900331e-01 -1.28457469e-03 7.39664045e-01] [ 4.23821546e-02 -7.03661641e-04 9.99101225e-01 4.08165817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.195336194999996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:59.60, Y:0.74, Z:0.40 [[ 9.98128106e-01 -4.36139857e-02 -4.28731259e-02 5.95955878e+01] [ 4.35983241e-02 9.99048294e-01 -1.30070743e-03 7.36880365e-01] [ 4.28890524e-02 -5.70923797e-04 9.99079678e-01 4.03676283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.225336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:59.62, Y:0.74, Z:0.40 [[ 9.98107566e-01 -4.31141755e-02 -4.38457950e-02 5.96238225e+01] [ 4.30972115e-02 9.99069995e-01 -1.33253752e-03 7.36859154e-01] [ 4.38624695e-02 -5.59615724e-04 9.99037422e-01 4.02292444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.65, Y:0.74, Z:0.40 [[ 9.98064517e-01 -4.33587150e-02 -4.45784812e-02 5.96516783e+01] [ 4.33411037e-02 9.99059405e-01 -1.36196203e-03 7.39256750e-01] [ 4.45956038e-02 -5.72754598e-04 9.99004957e-01 4.02575341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.285336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:59.68, Y:0.75, Z:0.40 [[ 9.97902008e-01 -4.54537677e-02 -4.61035529e-02 5.96796795e+01] [ 4.54367708e-02 9.98966211e-01 -1.41709989e-03 7.46922534e-01] [ 4.61203041e-02 -6.80669742e-04 9.98935661e-01 4.04596109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.71, Y:0.75, Z:0.40 [[ 9.97765592e-01 -4.70435226e-02 -4.74418613e-02 5.97075500e+01] [ 4.70268922e-02 9.98892546e-01 -1.46725262e-03 7.49257366e-01] [ 4.74583463e-02 -7.67069117e-04 9.98872923e-01 4.04303815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.345336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.73, Y:0.75, Z:0.40 [[ 9.97605571e-01 -4.85236436e-02 -4.92806254e-02 5.97347257e+01] [ 4.85072591e-02 9.98821660e-01 -1.52908482e-03 7.50631363e-01] [ 4.92967528e-02 -8.65044527e-04 9.98783801e-01 4.02132845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.375336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.76, Y:0.75, Z:0.40 [[ 9.97587241e-01 -4.91983420e-02 -4.89818264e-02 5.97629485e+01] [ 4.91825535e-02 9.98788637e-01 -1.52826194e-03 7.53872176e-01] [ 4.89976795e-02 -8.84476683e-04 9.98798501e-01 4.02845003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.405336195 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:59.79, Y:0.76, Z:0.41 [[ 9.97781751e-01 -4.93281587e-02 -4.47024678e-02 5.97903146e+01] [ 4.93147601e-02 9.98782301e-01 -1.40314915e-03 7.61466390e-01] [ 4.47172484e-02 -8.04454859e-04 9.98999360e-01 4.06409264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.435336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.82, Y:0.76, Z:0.41 [[ 9.97822173e-01 -4.91736041e-02 -4.39643994e-02 5.98200603e+01] [ 4.91604111e-02 9.98789940e-01 -1.38186443e-03 7.64017704e-01] [ 4.39791511e-02 -7.82452983e-04 9.99032143e-01 4.06463501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.465336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:59.85, Y:0.77, Z:0.41 [[ 9.97820933e-01 -4.89906940e-02 -4.41961247e-02 5.98496858e+01] [ 4.89771595e-02 9.98798932e-01 -1.38966690e-03 7.65736424e-01] [ 4.42111229e-02 -7.77961931e-04 9.99021907e-01 4.05608312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:59.88, Y:0.77, Z:0.40 [[ 9.97875671e-01 -4.86817891e-02 -4.32923540e-02 5.98797891e+01] [ 4.86685077e-02 9.98814058e-01 -1.36133815e-03 7.70286710e-01] [ 4.33072842e-02 -7.48528049e-04 9.99061519e-01 4.04901751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.525336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.91, Y:0.78, Z:0.41 [[ 9.97977407e-01 -4.89099627e-02 -4.06067825e-02 5.99114138e+01] [ 4.88984978e-02 9.98802938e-01 -1.27610320e-03 7.77489412e-01] [ 4.06205878e-02 -7.12088497e-04 9.99174390e-01 4.06095988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.555336194999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:59.94, Y:0.78, Z:0.41 [[ 9.97990462e-01 -4.87636102e-02 -4.04616989e-02 5.99424568e+01] [ 4.87521617e-02 9.98810099e-01 -1.27018656e-03 7.81803180e-01] [ 4.04754923e-02 -7.04961214e-04 9.99180283e-01 4.07319069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.585336195 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:59.97, Y:0.79, Z:0.41 [[ 9.97958044e-01 -4.87534323e-02 -4.12655430e-02 5.99747166e+01] [ 4.87415939e-02 9.98810585e-01 -1.29353624e-03 7.85874404e-01] [ 4.12795255e-02 -7.20453443e-04 9.99147377e-01 4.07795860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.615336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:60.01, Y:0.79, Z:0.41 [[ 9.97906652e-01 -4.96291270e-02 -4.14640010e-02 6.00060380e+01] [ 4.96179950e-02 9.98767425e-01 -1.29818745e-03 7.90404266e-01] [ 4.14773214e-02 -7.61890703e-04 9.99139155e-01 4.06238847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.04, Y:0.80, Z:0.41 [[ 9.97818822e-01 -5.04639832e-02 -4.25556708e-02 6.00373251e+01] [ 5.04530806e-02 9.98725546e-01 -1.33086308e-03 7.96459488e-01] [ 4.25685962e-02 -8.19104454e-04 9.99093211e-01 4.07694272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.07, Y:0.80, Z:0.41 [[ 9.97702658e-01 -5.16934180e-02 -4.37857983e-02 6.00690153e+01] [ 5.16831447e-02 9.98662597e-01 -1.36739000e-03 8.00230110e-01] [ 4.37979241e-02 -8.98739105e-04 9.99040006e-01 4.08274802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.705336194999994 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:60.10, Y:0.80, Z:0.41 [[ 9.97588078e-01 -5.32290627e-02 -4.45498981e-02 6.01001675e+01] [ 5.32200307e-02 9.98581843e-01 -1.38961822e-03 8.02961419e-01] [ 4.45606875e-02 -9.84680373e-04 9.99006194e-01 4.07934268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.735336194999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:60.13, Y:0.81, Z:0.41 [[ 9.97427881e-01 -5.54714305e-02 -4.53932072e-02 6.01323960e+01] [ 5.54644635e-02 9.98459661e-01 -1.41394363e-03 8.06937896e-01] [ 4.54017198e-02 -1.10740308e-03 9.98968196e-01 4.08428951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.765336194999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.16, Y:0.81, Z:0.41 [[ 9.97411612e-01 -5.61057827e-02 -4.49690738e-02 6.01645387e+01] [ 5.60996815e-02 9.98424193e-01 -1.39867365e-03 8.10045758e-01] [ 4.49766849e-02 -1.12769738e-03 9.98987400e-01 4.09927168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.795336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.20, Y:0.82, Z:0.41 [[ 9.97431207e-01 -5.70507404e-02 -4.33151208e-02 6.01952531e+01] [ 5.70460359e-02 9.98370642e-01 -1.34566898e-03 8.16028893e-01] [ 4.33213164e-02 -1.12874370e-03 9.99060553e-01 4.12237176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.825336195 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:60.23, Y:0.82, Z:0.41 [[ 9.97481639e-01 -5.63965952e-02 -4.30093569e-02 6.02271686e+01] [ 5.63914333e-02 9.98407846e-01 -1.33421714e-03 8.19211957e-01] [ 4.30161247e-02 -1.09450218e-03 9.99073779e-01 4.12564252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:60.26, Y:0.82, Z:0.41 [[ 9.97612916e-01 -5.44784102e-02 -4.24331494e-02 6.02582415e+01] [ 5.44717199e-02 9.98514448e-01 -1.31473499e-03 8.22062289e-01] [ 4.24417374e-02 -9.99810021e-04 9.99098443e-01 4.12289466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.885336194999994 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:60.29, Y:0.83, Z:0.41 [[ 9.98007498e-01 -4.74574618e-02 -4.15791159e-02 6.02902777e+01] [ 4.74450257e-02 9.98873022e-01 -1.28638747e-03 8.27735773e-01] [ 4.15933058e-02 -6.88897885e-04 9.99134387e-01 4.12359089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.915336194999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:60.32, Y:0.83, Z:0.41 [[ 9.98232752e-01 -4.07183464e-02 -4.32826631e-02 6.03217853e+01] [ 4.06986101e-02 9.99170573e-01 -1.33743968e-03 8.34116913e-01] [ 4.33012216e-02 -4.26468142e-04 9.99061971e-01 4.09997314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.945336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.35, Y:0.84, Z:0.41 [[ 9.98318832e-01 -3.84369136e-02 -4.33833317e-02 6.03499083e+01] [ 3.84148566e-02 9.99260975e-01 -1.34229071e-03 8.36266210e-01] [ 4.34028638e-02 -3.26530367e-04 9.99057598e-01 4.09033211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.38, Y:0.84, Z:0.41 [[ 9.98312338e-01 -3.86054353e-02 -4.33831315e-02 6.03782475e+01] [ 3.85832570e-02 9.99254479e-01 -1.34874062e-03 8.37297857e-01] [ 4.34028572e-02 -3.27398118e-04 9.99057598e-01 4.09252991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.005336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:60.41, Y:0.84, Z:0.41 [[ 9.98356160e-01 -3.71565032e-02 -4.36391005e-02 6.04057140e+01] [ 3.71323257e-02 9.99309425e-01 -1.36477887e-03 8.40842303e-01] [ 4.36596748e-02 -2.57885903e-04 9.99046428e-01 4.09375870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.035336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:60.43, Y:0.85, Z:0.41 [[ 9.98327697e-01 -3.61412943e-02 -4.51178091e-02 6.04336981e+01] [ 3.61140263e-02 9.99346667e-01 -1.41960143e-03 8.48106629e-01] [ 4.51396384e-02 -2.12158318e-04 9.98980664e-01 4.11089371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06533619499999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:60.46, Y:0.85, Z:0.41 [[ 9.98303452e-01 -3.65628664e-02 -4.53141659e-02 6.04616801e+01] [ 3.65354046e-02 9.99331330e-01 -1.43437234e-03 8.51871167e-01] [ 4.53363104e-02 -2.23632526e-04 9.98971756e-01 4.12222841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.095336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:60.49, Y:0.86, Z:0.41 [[ 9.98269447e-01 -3.74864023e-02 -4.53087239e-02 6.04892015e+01] [ 3.74595087e-02 9.99297105e-01 -1.44277461e-03 8.56448772e-01] [ 4.53309610e-02 -2.56964725e-04 9.98971991e-01 4.12661271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.125336194999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:60.52, Y:0.86, Z:0.41 [[ 9.98194975e-01 -3.88567623e-02 -4.57923982e-02 6.05164228e+01] [ 3.88305216e-02 9.99244740e-01 -1.46277119e-03 8.58790640e-01] [ 4.58146516e-02 -3.18011849e-04 9.98949907e-01 4.12045875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.155336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:60.54, Y:0.86, Z:0.41 [[ 9.97946220e-01 -4.36332829e-02 -4.68986061e-02 6.05445946e+01] [ 4.36106550e-02 9.99047468e-01 -1.50606721e-03 8.60557374e-01] [ 4.69196483e-02 -5.42304857e-04 9.98898520e-01 4.07790015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.185336195 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:60.57, Y:0.86, Z:0.41 [[ 9.97771170e-01 -4.58729111e-02 -4.84599756e-02 6.05723981e+01] [ 4.58512040e-02 9.98947062e-01 -1.56005578e-03 8.61406845e-01] [ 4.84805146e-02 -6.65369547e-04 9.98823907e-01 4.06276998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.215336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:60.60, Y:0.87, Z:0.41 [[ 9.97482435e-01 -4.80300060e-02 -5.21719225e-02 6.05994968e+01] [ 4.80076405e-02 9.98845551e-01 -1.68250868e-03 8.67441490e-01] [ 5.21925036e-02 -8.26378043e-04 9.98636701e-01 4.07619624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24533619499999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:60.63, Y:0.87, Z:0.41 [[ 9.97366447e-01 -4.84537919e-02 -5.39666533e-02 6.06269815e+01] [ 4.84300028e-02 9.98825047e-01 -1.74924940e-03 8.71562136e-01] [ 5.39880027e-02 -8.68962513e-04 9.98541206e-01 4.07990601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.275336194999994 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:60.65, Y:0.87, Z:0.41 [[ 9.97255054e-01 -4.87471041e-02 -5.57321883e-02 6.06549583e+01] [ 4.87215987e-02 9.98810745e-01 -1.81709746e-03 8.74524603e-01] [ 5.57544867e-02 -9.03251690e-04 9.98444100e-01 4.07353513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.305336194999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:60.68, Y:0.88, Z:0.41 [[ 9.97223620e-01 -4.64666182e-02 -5.81885364e-02 6.06814844e+01] [ 4.64344424e-02 9.98919522e-01 -1.90569077e-03 8.81325561e-01] [ 5.82142159e-02 -8.01552390e-04 9.98303793e-01 4.07842210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.335336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:60.71, Y:0.88, Z:0.40 [[ 9.97471187e-01 -4.46014468e-02 -5.53348235e-02 6.07089734e+01] [ 4.45689223e-02 9.99004650e-01 -1.82230459e-03 8.82873101e-01] [ 5.53610234e-02 -6.48517129e-04 9.98466192e-01 4.03040569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.365336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.74, Y:0.88, Z:0.40 [[ 9.97537680e-01 -4.39504005e-02 -5.46528916e-02 6.07364785e+01] [ 4.39173134e-02 9.99033535e-01 -1.80684054e-03 8.81833841e-01] [ 5.46794829e-02 -5.97816642e-04 9.98503779e-01 4.00264997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.76, Y:0.88, Z:0.40 [[ 9.97528316e-01 -4.35790652e-02 -5.51191703e-02 6.07636882e+01] [ 4.35444370e-02 9.99049816e-01 -1.82963728e-03 8.82136484e-01] [ 5.51465308e-02 -5.75018245e-04 9.98478107e-01 3.98880995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.79, Y:0.89, Z:0.40 [[ 9.97345032e-01 -4.37515979e-02 -5.82124163e-02 6.07904512e+01] [ 4.37129687e-02 9.99042253e-01 -1.93743484e-03 8.90597477e-01] [ 5.82414294e-02 -6.12346522e-04 9.98302339e-01 4.00449439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.455336194999994 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:60.82, Y:0.90, Z:0.40 [[ 9.97287441e-01 -4.48615057e-02 -5.83541391e-02 6.08180180e+01] [ 4.48240085e-02 9.98992992e-01 -1.95203114e-03 8.96128703e-01] [ 5.83829470e-02 -6.68930284e-04 9.98294037e-01 4.01263361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.485336194999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.85, Y:0.90, Z:0.40 [[ 9.97253793e-01 -4.57755601e-02 -5.82191520e-02 6.08461118e+01] [ 4.57391625e-02 9.98951497e-01 -1.95830750e-03 8.98540562e-01] [ 5.82477517e-02 -7.09965667e-04 9.98301906e-01 3.99846612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.515336194999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:60.87, Y:0.90, Z:0.40 [[ 9.97242457e-01 -4.62658753e-02 -5.80254358e-02 6.08735043e+01] [ 4.62302298e-02 9.98928894e-01 -1.95727300e-03 8.97881155e-01] [ 5.80538394e-02 -7.30653496e-04 9.98313186e-01 3.97327307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.545336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:60.90, Y:0.90, Z:0.40 [[ 9.97293236e-01 -4.80045885e-02 -5.56934576e-02 6.09017279e+01] [ 4.79739322e-02 9.98846804e-01 -1.88804499e-03 9.01112337e-01] [ 5.57198669e-02 -7.88899659e-04 9.98446130e-01 3.98442624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.575336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.93, Y:0.91, Z:0.40 [[ 9.97312066e-01 -4.84471996e-02 -5.49682744e-02 6.09287946e+01] [ 4.84177225e-02 9.98825426e-01 -1.86864029e-03 9.07306987e-01] [ 5.49942405e-02 -7.97821145e-04 9.98486353e-01 4.02596536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60533619499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:60.96, Y:0.92, Z:0.40 [[ 9.97397048e-01 -4.69642571e-02 -5.47127685e-02 6.09563105e+01] [ 4.69323218e-02 9.98896323e-01 -1.86911535e-03 9.15979708e-01] [ 5.47401649e-02 -7.03547122e-04 9.98500385e-01 4.03489602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.635336194999994 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:60.98, Y:0.92, Z:0.39 [[ 9.97372956e-01 -4.54648625e-02 -5.63926730e-02 6.09837285e+01] [ 4.54282414e-02 9.98965737e-01 -1.93182064e-03 9.15458175e-01] [ 5.64221780e-02 -6.35074300e-04 9.98406798e-01 3.93709205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.665336194999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:61.01, Y:0.91, Z:0.39 [[ 9.97334594e-01 -4.55006339e-02 -5.70385821e-02 6.10115285e+01] [ 4.54626641e-02 9.98964108e-01 -1.96380241e-03 9.13726810e-01] [ 5.70688505e-02 -6.34557822e-04 9.98370043e-01 3.88754913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.695336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.04, Y:0.91, Z:0.39 [[ 9.97247855e-01 -4.70163199e-02 -5.73252169e-02 6.10383761e+01] [ 4.69801526e-02 9.98893862e-01 -1.97918001e-03 9.13597196e-01] [ 5.73548611e-02 -7.19414423e-04 9.98353596e-01 3.86147398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.725336195 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:61.07, Y:0.92, Z:0.39 [[ 9.97011976e-01 -5.13989131e-02 -5.76651730e-02 6.10663610e+01] [ 5.13690659e-02 9.98677734e-01 -2.00079539e-03 9.21600891e-01] [ 5.76917630e-02 -9.67389111e-04 9.98333974e-01 3.90527351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.755336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:61.09, Y:0.93, Z:0.40 [[ 9.96847415e-01 -5.34122815e-02 -5.86716240e-02 6.10943620e+01] [ 5.33842271e-02 9.98571948e-01 -2.04659692e-03 9.29609590e-01] [ 5.86971513e-02 -1.09199445e-03 9.98275239e-01 3.96075999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.785336195 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:61.12, Y:0.93, Z:0.40 [[ 9.96625963e-01 -5.76890001e-02 -5.83838118e-02 6.11221855e+01] [ 5.76682936e-02 9.98333713e-01 -2.04089216e-03 9.33312956e-01] [ 5.84042647e-02 -1.33288868e-03 9.98292124e-01 3.95778338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81533619499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:61.15, Y:0.93, Z:0.39 [[ 9.96546686e-01 -5.94904695e-02 -5.79274338e-02 6.11524118e+01] [ 5.94730980e-02 9.98227854e-01 -2.02537942e-03 9.31869278e-01] [ 5.79452687e-02 -1.42673880e-03 9.98318742e-01 3.93552480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.845336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:61.18, Y:0.93, Z:0.39 [[ 9.96466388e-01 -6.17492618e-02 -5.69365170e-02 6.11827500e+01] [ 6.17361924e-02 9.98090518e-01 -1.99014779e-03 9.31445633e-01] [ 5.69506879e-02 -1.53192839e-03 9.98375817e-01 3.92537597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.875336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.21, Y:0.93, Z:0.39 [[ 9.96534298e-01 -6.16156536e-02 -5.58829463e-02 6.12134977e+01] [ 6.16029492e-02 9.98098827e-01 -1.95157704e-03 9.33719402e-01] [ 5.58969508e-02 -1.49774085e-03 9.98435420e-01 3.94534551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.905336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:61.24, Y:0.94, Z:0.40 [[ 9.96575188e-01 -6.02097757e-02 -5.66804812e-02 6.12440606e+01] [ 6.01945467e-02 9.98184705e-01 -1.97749848e-03 9.41297005e-01] [ 5.66966542e-02 -1.44112995e-03 9.98390411e-01 3.99072747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.935336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:61.28, Y:0.95, Z:0.40 [[ 9.96594039e-01 -5.87993517e-02 -5.78183217e-02 6.12765003e+01] [ 5.87812823e-02 9.98268853e-01 -2.01468782e-03 9.46309194e-01] [ 5.78366920e-02 -1.39080922e-03 9.98325089e-01 4.00359557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.965336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:61.31, Y:0.95, Z:0.40 [[ 9.96768006e-01 -5.54751686e-02 -5.81037694e-02 6.13076103e+01] [ 5.54513681e-02 9.98459340e-01 -2.02311542e-03 9.50315415e-01] [ 5.81264839e-02 -1.20535678e-03 9.98308499e-01 3.96403662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:61.34, Y:0.95, Z:0.39 [[ 9.96752220e-01 -5.45050996e-02 -5.92807398e-02 6.13374937e+01] [ 5.44785885e-02 9.98512805e-01 -2.06451257e-03 9.51338081e-01] [ 5.93051043e-02 -1.17172355e-03 9.98239216e-01 3.93017869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.025336194999994 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:61.37, Y:0.95, Z:0.39 [[ 9.96895097e-01 -5.26985920e-02 -5.85066139e-02 6.13662133e+01] [ 5.26691830e-02 9.98609920e-01 -2.04568962e-03 9.54767814e-01] [ 5.85330900e-02 -1.04215760e-03 9.98284925e-01 3.88644769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.055336194999995 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:61.39, Y:0.96, Z:0.39 [[ 9.96877838e-01 -5.24956609e-02 -5.89811897e-02 6.13942165e+01] [ 5.24648554e-02 9.98620622e-01 -2.07181149e-03 9.60481472e-01] [ 5.90085935e-02 -1.02909663e-03 9.98256944e-01 3.90782304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.085336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:61.42, Y:0.98, Z:0.40 [[ 9.96954053e-01 -5.22065945e-02 -5.79403837e-02 6.14219925e+01] [ 5.21758671e-02 9.98635820e-01 -2.04405083e-03 9.76948562e-01] [ 5.79680555e-02 -9.85265002e-04 9.98317952e-01 3.99938829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.115336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:61.45, Y:0.98, Z:0.40 [[ 9.97050238e-01 -5.21875647e-02 -5.62786089e-02 6.14516920e+01] [ 5.21584476e-02 9.98636845e-01 -1.98711988e-03 9.84115301e-01] [ 5.63055954e-02 -9.54146529e-04 9.98413126e-01 4.03185221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.145336195 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:61.48, Y:0.99, Z:0.40 [[ 9.97006221e-01 -5.28357922e-02 -5.64533017e-02 6.14807174e+01] [ 5.28074956e-02 9.98602720e-01 -1.99393574e-03 9.87557673e-01] [ 5.64797718e-02 -9.93191140e-04 9.98403250e-01 4.00099833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17533619499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:61.51, Y:0.99, Z:0.40 [[ 9.97005024e-01 -5.30132086e-02 -5.63079153e-02 6.15113949e+01] [ 5.29853350e-02 9.98593310e-01 -1.98888889e-03 9.86125049e-01] [ 5.63341449e-02 -1.00056154e-03 9.98411470e-01 3.95001173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.205336194999994 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:61.54, Y:0.98, Z:0.39 [[ 9.96995539e-01 -5.43532292e-02 -5.51871584e-02 6.15405670e+01] [ 5.43284735e-02 9.98521214e-01 -1.94985072e-03 9.83782170e-01] [ 5.52115291e-02 -1.05424161e-03 9.98474124e-01 3.91319419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.235336194999995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:61.57, Y:0.99, Z:0.39 [[ 9.96954313e-01 -5.53110237e-02 -5.49798991e-02 6.15715263e+01] [ 5.52879639e-02 9.98468563e-01 -1.94151459e-03 9.87986731e-01] [ 5.50030880e-02 -1.10412533e-03 9.98485574e-01 3.94496957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.265336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.60, Y:1.00, Z:0.40 [[ 9.96730448e-01 -5.69571182e-02 -5.73088243e-02 6.16023819e+01] [ 5.69350120e-02 9.98375844e-01 -2.01977408e-03 9.95340367e-01] [ 5.73307863e-02 -1.24970828e-03 9.98354456e-01 3.99233024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.295336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:61.63, Y:1.00, Z:0.40 [[ 9.96748030e-01 -5.71233032e-02 -5.68356610e-02 6.16346847e+01] [ 5.71019919e-02 9.98366346e-01 -2.00025005e-03 9.98814398e-01] [ 5.68570721e-02 -1.25168415e-03 9.98381544e-01 3.99578001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.325336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:61.67, Y:1.00, Z:0.40 [[ 9.96762130e-01 -5.69699261e-02 -5.67422486e-02 6.16654086e+01] [ 5.69485529e-02 9.98375121e-01 -1.99491566e-03 1.00336625e+00] [ 5.67636995e-02 -1.24293256e-03 9.98386868e-01 4.01807937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:61.70, Y:1.01, Z:0.40 [[ 9.96867714e-01 -5.39416432e-02 -5.78364955e-02 6.16954362e+01] [ 5.39143954e-02 9.98543493e-01 -2.03256833e-03 1.00823065e+00] [ 5.78618963e-02 -1.09201795e-03 9.98324000e-01 3.99940546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.385336194999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:61.73, Y:1.01, Z:0.40 [[ 9.97026882e-01 -4.85123628e-02 -5.98660754e-02 6.17257376e+01] [ 4.84733982e-02 9.98822258e-01 -2.10380736e-03 1.01124503e+00] [ 5.98976293e-02 -8.04359619e-04 9.98204201e-01 3.96770418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.415336194999995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:61.75, Y:1.02, Z:0.40 [[ 9.97234107e-01 -4.51697587e-02 -5.90239598e-02 6.17529810e+01] [ 4.51254580e-02 9.98979154e-01 -2.08392465e-03 1.01508399e+00] [ 5.90578358e-02 -5.85322478e-04 9.98254391e-01 3.97756790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.445336194999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:61.78, Y:1.03, Z:0.40 [[ 9.97514829e-01 -4.17842104e-02 -5.67295859e-02 6.17797464e+01] [ 4.17373757e-02 9.99126593e-01 -2.01067194e-03 1.02568007e+00] [ 5.67640522e-02 -3.62068960e-04 9.98387556e-01 4.04775466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.475336195 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:61.82, Y:1.02, Z:0.40 [[ 9.97626893e-01 -4.12294696e-02 -5.51426670e-02 6.18178281e+01] [ 4.18922853e-02 9.99062476e-01 1.09181227e-02 1.01659243e+00] [ 5.46408210e-02 -1.32022651e-02 9.98418790e-01 3.99321422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.505336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:61.84, Y:1.04, Z:0.41 [[ 9.97686852e-01 -4.16432822e-02 -5.37287802e-02 6.18393898e+01] [ 4.09547069e-02 9.99064949e-01 -1.38542333e-02 1.03663128e+00] [ 5.42554768e-02 1.16217399e-02 9.98459453e-01 4.13001755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.87, Y:1.03, Z:0.40 [[ 9.97682378e-01 -4.52954698e-02 -5.07759192e-02 6.18677360e+01] [ 4.52613633e-02 9.98973518e-01 -1.82193245e-03 1.02595426e+00] [ 5.08063240e-02 -4.80477427e-04 9.98708409e-01 3.97751394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56533619499999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:61.90, Y:1.03, Z:0.40 [[ 9.97457471e-01 -4.98047152e-02 -5.09714047e-02 6.18992367e+01] [ 4.97762066e-02 9.98758721e-01 -1.82934922e-03 1.03475573e+00] [ 5.09992451e-02 -7.12465122e-04 9.98698438e-01 4.04598354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.595336194999994 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:61.93, Y:1.04, Z:0.41 [[ 9.97325009e-01 -5.17882594e-02 -5.15829745e-02 6.19297982e+01] [ 5.17619021e-02 9.98657745e-01 -1.84764084e-03 1.04074452e+00] [ 5.16094231e-02 -8.27334461e-04 9.98667003e-01 4.07686138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.625336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.96, Y:1.04, Z:0.40 [[ 9.97131669e-01 -5.59603048e-02 -5.09595751e-02 6.19616904e+01] [ 5.59401547e-02 9.98432460e-01 -1.82271848e-03 1.04191532e+00] [ 5.09816938e-02 -1.03319619e-03 9.98699053e-01 4.04506230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.655336195 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:62.00, Y:1.04, Z:0.40 [[ 9.97043525e-01 -5.79172909e-02 -5.04955158e-02 6.19951650e+01] [ 5.79001805e-02 9.98320750e-01 -1.80279895e-03 1.04084762e+00] [ 5.05151344e-02 -1.12623046e-03 9.98722661e-01 4.00868685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.685336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.03, Y:1.04, Z:0.40 [[ 9.96905724e-01 -5.98019707e-02 -5.10166887e-02 6.20276818e+01] [ 5.97871253e-02 9.98209494e-01 -1.81837498e-03 1.04026332e+00] [ 5.10340854e-02 -1.23739273e-03 9.98696145e-01 3.98583219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.715336195 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:62.06, Y:1.04, Z:0.40 [[ 9.96818835e-01 -6.04652067e-02 -5.19246491e-02 6.20609998e+01] [ 6.04509113e-02 9.98169462e-01 -1.84721422e-03 1.04174648e+00] [ 5.19412912e-02 -1.29755443e-03 9.98649297e-01 3.96600657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.09, Y:1.05, Z:0.40 [[ 9.97101883e-01 -5.79737088e-02 -4.92634143e-02 6.20927760e+01] [ 5.79579434e-02 9.98317492e-01 -1.74963702e-03 1.04936112e+00] [ 4.92819612e-02 -1.11063981e-03 9.98784288e-01 4.00872694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.775336194999994 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:62.13, Y:1.06, Z:0.40 [[ 9.97249111e-01 -5.55046412e-02 -4.91268242e-02 6.21258842e+01] [ 5.54861328e-02 9.98457939e-01 -1.74147209e-03 1.05612860e+00] [ 4.91477274e-02 -9.89175997e-04 9.98791030e-01 4.03857289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.805336194999995 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:62.16, Y:1.07, Z:0.41 [[ 9.97339711e-01 -5.21630582e-02 -5.09167487e-02 6.21585845e+01] [ 5.21390088e-02 9.98638212e-01 -1.80135689e-03 1.06975666e+00] [ 5.09413752e-02 -8.58184046e-04 9.98701277e-01 4.08975586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.835336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:62.19, Y:1.08, Z:0.41 [[ 9.97225633e-01 -5.23830182e-02 -5.28871960e-02 6.21899555e+01] [ 5.23574938e-02 9.98626657e-01 -1.86894937e-03 1.07529976e+00] [ 5.29124649e-02 -9.05276814e-04 9.98598744e-01 4.09154719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.865336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:62.22, Y:1.08, Z:0.40 [[ 9.97157946e-01 -5.21519582e-02 -5.43709790e-02 6.22211926e+01] [ 5.21247402e-02 9.98638737e-01 -1.91952944e-03 1.07693163e+00] [ 5.43970730e-02 -9.19999122e-04 9.98518959e-01 4.01698081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.895336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:62.25, Y:1.08, Z:0.40 [[ 9.97159549e-01 -5.21212385e-02 -5.43710388e-02 6.22530381e+01] [ 5.20940674e-02 9.98640341e-01 -1.91783341e-03 1.07800888e+00] [ 5.43970726e-02 -9.20022663e-04 9.98518959e-01 4.01942512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92533619499999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:62.29, Y:1.08, Z:0.40 [[ 9.97070384e-01 -5.31261198e-02 -5.50296727e-02 6.22853118e+01] [ 5.30999499e-02 9.98587321e-01 -1.93863029e-03 1.08131979e+00] [ 5.50549253e-02 -9.89122015e-04 9.98482838e-01 4.01780663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.955336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.32, Y:1.08, Z:0.40 [[ 9.97050424e-01 -5.34656670e-02 -5.50624637e-02 6.23162224e+01] [ 5.34400932e-02 9.98569177e-01 -1.93779019e-03 1.08379621e+00] [ 5.50872843e-02 -1.01046867e-03 9.98481031e-01 4.01047485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.985336194999995 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:62.35, Y:1.09, Z:0.41 [[ 9.97112518e-01 -5.40503048e-02 -5.33403330e-02 6.23481464e+01] [ 5.40272689e-02 9.98537701e-01 -1.87477246e-03 1.09304722e+00] [ 5.33636655e-02 -1.01247342e-03 9.98574631e-01 4.06239196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.015336194999996 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:62.39, Y:1.10, Z:0.41 [[ 9.97214004e-01 -5.53981890e-02 -4.99526813e-02 6.23860468e+01] [ 5.58667604e-02 9.98405923e-01 8.03231922e-03 1.09712789e+00] [ 4.94280769e-02 -1.08006357e-02 9.98719286e-01 4.07711861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.045336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:62.41, Y:1.11, Z:0.42 [[ 9.97238172e-01 -5.49592138e-02 -4.99551093e-02 6.24108522e+01] [ 5.44578213e-02 9.98451629e-01 -1.13441526e-02 1.11462430e+00] [ 5.05012260e-02 8.59237554e-03 9.98687037e-01 4.19722712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.075336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:62.44, Y:1.11, Z:0.41 [[ 9.97243748e-01 -5.48401779e-02 -4.99746196e-02 6.24447793e+01] [ 5.48225023e-02 9.98494625e-01 -1.72538066e-03 1.10758312e+00] [ 4.99940093e-02 -1.01910863e-03 9.98748998e-01 4.05572211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10533619499999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:62.48, Y:1.11, Z:0.40 [[ 9.97156778e-01 -5.54365658e-02 -5.10406363e-02 6.24764652e+01] [ 5.54191901e-02 9.98461630e-01 -1.75669352e-03 1.11183787e+00] [ 5.10595020e-02 -1.07693187e-03 9.98695032e-01 4.04340703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.135336194999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.51, Y:1.13, Z:0.41 [[ 9.97232282e-01 -5.36018806e-02 -5.15229411e-02 6.25087547e+01] [ 5.35819327e-02 9.98561889e-01 -1.76934855e-03 1.12921460e+00] [ 5.15436858e-02 -9.96247273e-04 9.98670244e-01 4.14891029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.165336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.54, Y:1.14, Z:0.42 [[ 9.97288589e-01 -5.24794552e-02 -5.15885400e-02 6.25402257e+01] [ 5.24581148e-02 9.98621559e-01 -1.76853473e-03 1.13715004e+00] [ 5.16102400e-02 -9.42498055e-04 9.98666859e-01 4.19333213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.195336194999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:62.57, Y:1.14, Z:0.41 [[ 9.97362701e-01 -5.24142681e-02 -5.02034630e-02 6.25730802e+01] [ 5.23941470e-02 9.98625006e-01 -1.71762721e-03 1.13997690e+00] [ 5.02244617e-02 -9.17270309e-04 9.98737534e-01 4.10951493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.225336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.61, Y:1.14, Z:0.40 [[ 9.97370277e-01 -5.29062694e-02 -4.95323813e-02 6.26050736e+01] [ 5.28874366e-02 9.98599047e-01 -1.69168102e-03 1.13804711e+00] [ 4.95524893e-02 -9.32408312e-04 9.98771086e-01 4.04684669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.255336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:62.64, Y:1.14, Z:0.40 [[ 9.97317725e-01 -5.43453434e-02 -4.90299728e-02 6.26377934e+01] [ 5.43287913e-02 9.98521702e-01 -1.67118510e-03 1.13699906e+00] [ 4.90483130e-02 -9.97036635e-04 9.98795910e-01 3.99852513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.285336195 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.67, Y:1.14, Z:0.40 [[ 9.97210449e-01 -5.69373234e-02 -4.82645015e-02 6.26695151e+01] [ 5.69244554e-02 9.98377138e-01 -1.64220518e-03 1.14383591e+00] [ 4.82796777e-02 -1.10980630e-03 9.98833240e-01 4.02460573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31533619499999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:62.70, Y:1.16, Z:0.41 [[ 9.97161649e-01 -6.08230611e-02 -4.43756808e-02 6.27017612e+01] [ 6.08161526e-02 9.98147847e-01 -1.50696126e-03 1.15877526e+00] [ 4.43851482e-02 -1.19607420e-03 9.99013778e-01 4.12916962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.345336194999994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:62.73, Y:1.16, Z:0.42 [[ 9.97169863e-01 -6.21403695e-02 -4.23183101e-02 6.27333157e+01] [ 6.21355386e-02 9.98066695e-01 -1.43074476e-03 1.16384770e+00] [ 4.23254029e-02 -1.20277544e-03 9.99103155e-01 4.15475275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.375336194999996 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:62.77, Y:1.16, Z:0.41 [[ 9.97227325e-01 -6.21393936e-02 -4.09433526e-02 6.27652519e+01] [ 6.21351509e-02 9.98066794e-01 -1.37739151e-03 1.16481570e+00] [ 4.09497909e-02 -1.17044894e-03 9.99160520e-01 4.11520333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.405336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.80, Y:1.17, Z:0.41 [[ 9.97274516e-01 -6.08045114e-02 -4.17893665e-02 6.27987220e+01] [ 6.07992340e-02 9.98149036e-01 -1.39838910e-03 1.16718261e+00] [ 4.17970443e-02 -1.14618366e-03 9.99125464e-01 4.11271594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.435336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.83, Y:1.18, Z:0.42 [[ 9.97335184e-01 -5.78931958e-02 -4.43949061e-02 6.28317524e+01] [ 5.78847261e-02 9.98322180e-01 -1.47736601e-03 1.17923088e+00] [ 4.44059489e-02 -1.09635788e-03 9.99012968e-01 4.15053344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.465336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:62.86, Y:1.18, Z:0.41 [[ 9.97434116e-01 -5.60511206e-02 -4.45360186e-02 6.28648574e+01] [ 5.60409406e-02 9.98427378e-01 -1.47806837e-03 1.18358609e+00] [ 4.45488276e-02 -1.02156455e-03 9.99006686e-01 4.14378380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49533619499999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:62.90, Y:1.19, Z:0.41 [[ 9.97414627e-01 -5.41911068e-02 -4.71951988e-02 6.28972983e+01] [ 5.41777520e-02 9.98530084e-01 -1.56304218e-03 1.18915284e+00] [ 4.72105288e-02 -9.97928644e-04 9.98884463e-01 4.12678042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.525336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.93, Y:1.19, Z:0.41 [[ 9.97402534e-01 -5.37077748e-02 -4.79964520e-02 6.29303434e+01] [ 5.36935685e-02 9.98556200e-01 -1.58616340e-03 1.19258177e+00] [ 4.80123440e-02 -9.95057386e-04 9.98846247e-01 4.13353122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.555336194999995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:62.96, Y:1.20, Z:0.41 [[ 9.97375032e-01 -5.69067741e-02 -4.47734895e-02 6.29627200e+01] [ 5.68979447e-02 9.98378914e-01 -1.47261022e-03 1.19619339e+00] [ 4.47847093e-02 -1.07877486e-03 9.98996079e-01 4.11629844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.585336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.00, Y:1.20, Z:0.41 [[ 9.97348795e-01 -5.84306065e-02 -4.33733277e-02 6.29956494e+01] [ 5.84241006e-02 9.98290845e-01 -1.41868680e-03 1.19861000e+00] [ 4.33820907e-02 -1.11912209e-03 9.99057927e-01 4.13187632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.615336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:63.03, Y:1.21, Z:0.42 [[ 9.97241259e-01 -6.08163770e-02 -4.25586673e-02 6.30271127e+01] [ 6.08125956e-02 9.98148241e-01 -1.38468351e-03 1.20796345e+00] [ 4.25640704e-02 -1.20723950e-03 9.99093010e-01 4.18777934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.645336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:63.06, Y:1.21, Z:0.42 [[ 9.97164337e-01 -6.17475730e-02 -4.30176890e-02 6.30599359e+01] [ 6.17449099e-02 9.98090992e-01 -1.39185206e-03 1.21214650e+00] [ 4.30215114e-02 -1.26821809e-03 9.99073341e-01 4.18234109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67533619499999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:63.09, Y:1.22, Z:0.41 [[ 9.96784493e-01 -6.41930555e-02 -4.79575365e-02 6.30921795e+01] [ 6.41929825e-02 9.97936310e-01 -1.54326906e-03 1.21756149e+00] [ 4.79576342e-02 -1.54023064e-03 9.98848183e-01 4.13093141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.705336194999994 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:63.13, Y:1.22, Z:0.41 [[ 9.96696255e-01 -6.47043033e-02 -4.90910178e-02 6.31250272e+01] [ 6.47052831e-02 9.97903181e-01 -1.57089263e-03 1.22112307e+00] [ 4.90897263e-02 -1.61074540e-03 9.98793074e-01 4.12114255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.735336194999995 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:63.16, Y:1.23, Z:0.41 [[ 9.96790760e-01 -6.30810323e-02 -4.92845232e-02 6.31582465e+01] [ 6.30804827e-02 9.98007211e-01 -1.56809547e-03 1.23027230e+00] [ 4.92852266e-02 -1.54582843e-03 9.98783549e-01 4.14120318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.765336194999996 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:63.19, Y:1.24, Z:0.41 [[ 9.96691345e-01 -6.28940348e-02 -5.14849706e-02 6.31915206e+01] [ 6.28936779e-02 9.98018904e-01 -1.62865556e-03 1.23536729e+00] [ 5.14854067e-02 -1.61481226e-03 9.98672441e-01 4.13261868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.795336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:63.22, Y:1.24, Z:0.41 [[ 9.96374759e-01 -6.37897629e-02 -5.62868093e-02 6.32233719e+01] [ 6.37913287e-02 9.97961688e-01 -1.77074553e-03 1.24335484e+00] [ 5.62850347e-02 -1.82628420e-03 9.98413071e-01 4.09828019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.825336195 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:63.26, Y:1.25, Z:0.41 [[ 9.96359783e-01 -6.41306336e-02 -5.61644376e-02 6.32552099e+01] [ 6.41332669e-02 9.97939796e-01 -1.75740207e-03 1.24746297e+00] [ 5.61614307e-02 -1.85100413e-03 9.98419986e-01 4.08409344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85533619499999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:63.29, Y:1.25, Z:0.41 [[ 9.96493063e-01 -6.52255477e-02 -5.24137768e-02 6.32887267e+01] [ 6.52298393e-02 9.97868934e-01 -1.63059095e-03 1.25379062e+00] [ 5.24084358e-02 -1.79406967e-03 9.98624122e-01 4.08649891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.885336194999994 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:63.32, Y:1.26, Z:0.41 [[ 9.96562074e-01 -6.56721289e-02 -5.05094449e-02 6.33213104e+01] [ 6.56771232e-02 9.97839703e-01 -1.56262991e-03 1.25614825e+00] [ 5.05029507e-02 -1.76005733e-03 9.98722361e-01 4.08885287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.915336194999995 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:63.35, Y:1.26, Z:0.41 [[ 9.96660494e-01 -6.63423472e-02 -4.76083203e-02 6.33535582e+01] [ 6.63479245e-02 9.97795474e-01 -1.46483846e-03 1.26470870e+00] [ 4.76005474e-02 -1.69876662e-03 9.98865007e-01 4.14158273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.945336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.39, Y:1.27, Z:0.42 [[ 9.96762828e-01 -6.54380900e-02 -4.67088979e-02 6.33861867e+01] [ 6.54428586e-02 9.97855296e-01 -1.42876170e-03 1.27418508e+00] [ 4.67022165e-02 -1.63262724e-03 9.98907522e-01 4.16980516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.975336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:63.42, Y:1.28, Z:0.42 [[ 9.96874061e-01 -6.43538911e-02 -4.58332052e-02 6.34186931e+01] [ 6.43576984e-02 9.97925921e-01 -1.39409453e-03 1.27996833e+00] [ 4.58278589e-02 -1.55998292e-03 9.98948134e-01 4.20142325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.005336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:63.45, Y:1.29, Z:0.42 [[ 9.97055774e-01 -6.39344511e-02 -4.23340217e-02 6.34515832e+01] [ 6.39376321e-02 9.97953075e-01 -1.28021914e-03 1.28542256e+00] [ 4.23292173e-02 -1.43028723e-03 9.99102693e-01 4.22993174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.035336195 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:63.49, Y:1.29, Z:0.42 [[ 9.97194589e-01 -6.52985565e-02 -3.65930353e-02 6.34850323e+01] [ 6.53020805e-02 9.97864935e-01 -1.10016735e-03 1.28736663e+00] [ 3.65867462e-02 -1.29252042e-03 9.99329645e-01 4.19143992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.52, Y:1.29, Z:0.42 [[ 9.97073604e-01 -6.69198808e-02 -3.69588778e-02 6.35180698e+01] [ 6.69248414e-02 9.97757408e-01 -1.10431045e-03 1.28989117e+00] [ 3.69498945e-02 -1.37238824e-03 9.99316177e-01 4.19842212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.095336194999994 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:63.55, Y:1.30, Z:0.42 [[ 9.96695111e-01 -7.10683216e-02 -3.93465383e-02 6.35508601e+01] [ 7.10774628e-02 9.97470115e-01 -1.16826603e-03 1.29916295e+00] [ 3.93300227e-02 -1.63224707e-03 9.99224942e-01 4.23452011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.125336194999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:63.58, Y:1.30, Z:0.42 [[ 9.96304481e-01 -7.47016996e-02 -4.23914855e-02 6.35832307e+01] [ 7.47158315e-02 9.97204079e-01 -1.25312515e-03 1.30249524e+00] [ 4.23665728e-02 -1.91882089e-03 9.99100291e-01 4.17324865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.155336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:63.62, Y:1.30, Z:0.42 [[ 9.96093103e-01 -7.61863267e-02 -4.46561752e-02 6.36154043e+01] [ 7.62038231e-02 9.97091397e-01 -1.31288273e-03 1.30394340e+00] [ 4.46263119e-02 -2.09521784e-03 9.99001553e-01 4.15367879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.185336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:63.65, Y:1.31, Z:0.42 [[ 9.95753779e-01 -7.79709624e-02 -4.89381304e-02 6.36485562e+01] [ 7.79945785e-02 9.96952758e-01 -1.42976018e-03 1.31175037e+00] [ 4.89004839e-02 -2.39321975e-03 9.98800789e-01 4.16165967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.215336195 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:63.68, Y:1.32, Z:0.42 [[ 9.95616694e-01 -7.87395129e-02 -5.04726466e-02 6.36809716e+01] [ 7.87660682e-02 9.96892049e-01 -1.46578182e-03 1.31671042e+00] [ 5.04311950e-02 -2.51617507e-03 9.98724368e-01 4.17269975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24533619499999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:63.71, Y:1.32, Z:0.42 [[ 9.95391515e-01 -8.06977805e-02 -5.18034727e-02 6.37136627e+01] [ 8.07288957e-02 9.96734975e-01 -1.49492721e-03 1.32192095e+00] [ 5.17549704e-02 -2.69399929e-03 9.98656180e-01 4.16280892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.275336194999994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:63.75, Y:1.32, Z:0.42 [[ 9.95327307e-01 -8.18188600e-02 -5.12759806e-02 6.37460368e+01] [ 8.18512836e-02 9.96643469e-01 -1.47076352e-03 1.32451959e+00] [ 5.12242073e-02 -2.73311373e-03 9.98683439e-01 4.16508268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.305336194999995 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:63.78, Y:1.33, Z:0.42 [[ 9.95311155e-01 -8.21867580e-02 -5.10003987e-02 6.37783605e+01] [ 8.22196325e-02 9.96613170e-01 -1.45661694e-03 1.32840484e+00] [ 5.09473837e-02 -2.74344695e-03 9.98697571e-01 4.17660597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.335336195 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:63.81, Y:1.33, Z:0.42 [[ 9.95237463e-01 -8.03023370e-02 -5.52623374e-02 6.38112731e+01] [ 8.03385941e-02 9.96766397e-01 -1.56874488e-03 1.33474404e+00] [ 5.52096148e-02 -2.87842482e-03 9.98470637e-01 4.15780453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.365336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:63.84, Y:1.34, Z:0.41 [[ 9.95437282e-01 -7.58027927e-02 -5.79530267e-02 6.38438091e+01] [ 7.58356636e-02 9.97118989e-01 -1.63506909e-03 1.33796487e+00] [ 5.79100062e-02 -2.76729750e-03 9.98317972e-01 4.09720624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.395336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:63.88, Y:1.34, Z:0.41 [[ 9.95804111e-01 -7.11900100e-02 -5.74991733e-02 6.38765816e+01] [ 7.12152911e-02 9.97459665e-01 -1.61191778e-03 1.34252120e+00] [ 5.74678586e-02 -2.48966601e-03 9.98344253e-01 4.08899874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.91, Y:1.35, Z:0.41 [[ 9.96068663e-01 -6.89036739e-02 -5.56731715e-02 6.39089718e+01] [ 6.89241835e-02 9.97620691e-01 -1.55391624e-03 1.34709142e+00] [ 5.56477783e-02 -2.28942062e-03 9.98447837e-01 4.11771709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.455336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:63.94, Y:1.35, Z:0.42 [[ 9.96351287e-01 -6.71012753e-02 -5.27402333e-02 6.39419349e+01] [ 6.71176227e-02 9.97743997e-01 -1.46311254e-03 1.35246331e+00] [ 5.27194279e-02 -2.08202501e-03 9.98607194e-01 4.15710236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.485336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.97, Y:1.36, Z:0.41 [[ 9.96628508e-01 -6.55124785e-02 -4.93936388e-02 6.39740543e+01] [ 6.55252729e-02 9.97849981e-01 -1.36192555e-03 1.35669132e+00] [ 4.93766646e-02 -1.87919783e-03 9.98778461e-01 4.14063800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.515336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.01, Y:1.36, Z:0.41 [[ 9.96698574e-01 -6.59246197e-02 -4.73908891e-02 6.40075915e+01] [ 6.59372538e-02 9.97822927e-01 -1.29835305e-03 1.35966714e+00] [ 4.73733091e-02 -1.83075845e-03 9.98875577e-01 4.10723661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.545336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:64.04, Y:1.37, Z:0.41 [[ 9.96799592e-01 -6.62057797e-02 -4.48036723e-02 6.40405856e+01] [ 6.62177058e-02 9.97804454e-01 -1.21953763e-03 1.36537139e+00] [ 4.47860442e-02 -1.75116177e-03 9.98995067e-01 4.13836862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.575336195 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:64.07, Y:1.37, Z:0.42 [[ 9.96815326e-01 -6.68160544e-02 -4.35295499e-02 6.40733124e+01] [ 6.68282345e-02 9.97763801e-01 -1.17695026e-03 1.37231926e+00] [ 4.35108483e-02 -1.73580091e-03 9.99051447e-01 4.15152377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60533619499999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:64.11, Y:1.37, Z:0.41 [[ 9.96730512e-01 -6.69236151e-02 -4.52715807e-02 6.41057516e+01] [ 6.69372612e-02 9.97756445e-01 -1.21616286e-03 1.37430235e+00] [ 4.52514014e-02 -1.81816899e-03 9.98973976e-01 4.12101429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.635336194999994 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:64.14, Y:1.38, Z:0.41 [[ 9.96778146e-01 -6.62062337e-02 -4.52776087e-02 6.41383822e+01] [ 6.62195084e-02 9.97804348e-01 -1.20830038e-03 1.37911618e+00] [ 4.52581918e-02 -1.79385357e-03 9.98973712e-01 4.14536193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.665336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.17, Y:1.39, Z:0.42 [[ 9.96690350e-01 -6.73924354e-02 -4.54599363e-02 6.41708940e+01] [ 6.74074242e-02 9.97724805e-01 -1.20491419e-03 1.38660801e+00] [ 4.54377082e-02 -1.86341087e-03 9.98965436e-01 4.19024916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.695336194999996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:64.20, Y:1.39, Z:0.42 [[ 9.96693266e-01 -6.84818905e-02 -4.37351666e-02 6.42028448e+01] [ 6.84971329e-02 9.97650648e-01 -1.15173704e-03 1.38982881e+00] [ 4.37112905e-02 -1.84780497e-03 9.99042496e-01 4.21056890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.725336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:64.23, Y:1.39, Z:0.42 [[ 9.96805832e-01 -7.05242223e-02 -3.74762359e-02 6.42349297e+01] [ 7.05370732e-02 9.97508676e-01 -9.80826162e-04 1.39390398e+00] [ 3.74520424e-02 -1.66577075e-03 9.99297038e-01 4.22890572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.755336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.27, Y:1.40, Z:0.42 [[ 9.96831425e-01 -7.12260612e-02 -3.54112850e-02 6.42679629e+01] [ 7.12382019e-02 9.97458907e-01 -9.20351822e-04 1.39675444e+00] [ 3.53868547e-02 -1.60520065e-03 9.99372400e-01 4.23382559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.785336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.30, Y:1.40, Z:0.42 [[ 9.96837297e-01 -7.11437736e-02 -3.54113828e-02 6.43015580e+01] [ 7.11559963e-02 9.97464778e-01 -9.16580496e-04 1.39752004e+00] [ 3.53868161e-02 -1.60605060e-03 9.99372400e-01 4.23650659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81533619499999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:64.33, Y:1.40, Z:0.42 [[ 9.96756133e-01 -7.25454843e-02 -3.48477343e-02 6.43339979e+01] [ 7.25583616e-02 9.97363765e-01 -8.96629741e-04 1.40159389e+00] [ 3.48209139e-02 -1.63477331e-03 9.99392231e-01 4.22115395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.845336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.37, Y:1.40, Z:0.42 [[ 9.96708048e-01 -7.26394930e-02 -3.60079405e-02 6.43657827e+01] [ 7.26535254e-02 9.97356816e-01 -9.20352030e-04 1.40302080e+00] [ 3.59796188e-02 -1.69878155e-03 9.99351080e-01 4.20162485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.875336194999996 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:64.40, Y:1.41, Z:0.42 [[ 9.96661571e-01 -7.18223441e-02 -3.88234953e-02 6.43984343e+01] [ 7.18383188e-02 9.97415804e-01 -9.85211101e-04 1.40774137e+00] [ 3.87939279e-02 -1.80709259e-03 9.99245598e-01 4.19642085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.905336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.43, Y:1.41, Z:0.42 [[ 9.96533440e-01 -7.19786118e-02 -4.17154957e-02 6.44304588e+01] [ 7.19975049e-02 9.97404258e-01 -1.05123130e-03 1.41364538e+00] [ 4.16828792e-02 -1.95582446e-03 9.99128977e-01 4.23183752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.935336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:64.46, Y:1.42, Z:0.42 [[ 9.96482950e-01 -7.21003681e-02 -4.26997420e-02 6.44628814e+01] [ 7.21205878e-02 9.97395347e-01 -1.06875706e-03 1.41621371e+00] [ 4.26655818e-02 -2.01453230e-03 9.99087378e-01 4.24918945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.965336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:64.50, Y:1.42, Z:0.43 [[ 9.96547581e-01 -7.13431928e-02 -4.24625412e-02 6.44962994e+01] [ 7.13628233e-02 9.97449865e-01 -1.05526051e-03 1.41910047e+00] [ 4.24295417e-02 -1.97862952e-03 9.99097502e-01 4.26069848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99533619499999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:64.53, Y:1.42, Z:0.42 [[ 9.96771209e-01 -6.93163931e-02 -4.05264718e-02 6.45300217e+01] [ 6.93328949e-02 9.97593078e-01 -9.99852007e-04 1.41786473e+00] [ 4.04982339e-02 -1.81319392e-03 9.99177965e-01 4.21405799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.025336195 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:64.56, Y:1.42, Z:0.42 [[ 9.97005745e-01 -6.70160933e-02 -3.85796267e-02 6.45624928e+01] [ 6.70295800e-02 9.97750541e-01 -9.45239195e-04 1.41839246e+00] [ 3.85561897e-02 -1.64356727e-03 9.99255082e-01 4.20911317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.055336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.59, Y:1.43, Z:0.43 [[ 9.97420968e-01 -6.27978843e-02 -3.47539642e-02 6.45940897e+01] [ 6.28064141e-02 9.98025369e-01 -8.47308479e-04 1.42577316e+00] [ 3.47385471e-02 -1.33764862e-03 9.99395539e-01 4.28252982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.085336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:64.63, Y:1.43, Z:0.43 [[ 9.97597884e-01 -6.09511618e-02 -3.29153178e-02 6.46268432e+01] [ 6.09579877e-02 9.98140014e-01 -7.97015366e-04 1.43033090e+00] [ 3.29026748e-02 -1.21135069e-03 9.99457826e-01 4.32511533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.115336195 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:64.66, Y:1.43, Z:0.43 [[ 9.97706151e-01 -6.04694294e-02 -3.04283522e-02 6.46588622e+01] [ 6.04751976e-02 9.98169432e-01 -7.31534624e-04 1.43473864e+00] [ 3.04168865e-02 -1.11030402e-03 9.99536683e-01 4.33924735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.145336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:64.69, Y:1.43, Z:0.42 [[ 9.97507694e-01 -6.20987694e-02 -3.34983929e-02 6.46909918e+01] [ 6.21068739e-02 9.98069184e-01 -7.99546092e-04 1.42821944e+00] [ 3.34833645e-02 -1.28292708e-03 9.99438452e-01 4.22116548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.175336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.72, Y:1.43, Z:0.42 [[ 9.97399254e-01 -6.30302633e-02 -3.49558864e-02 6.47231619e+01] [ 6.30398657e-02 9.98010666e-01 -8.28472173e-04 1.42522059e+00] [ 3.49385663e-02 -1.37729686e-03 9.99388513e-01 4.17933294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.205336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:64.76, Y:1.43, Z:0.42 [[ 9.97246601e-01 -6.37274895e-02 -3.79212965e-02 6.47564799e+01] [ 6.37395549e-02 9.97966169e-01 -8.91955142e-04 1.42676113e+00] [ 3.79010131e-02 -1.52758733e-03 9.99280331e-01 4.21591054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.235336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:64.79, Y:1.43, Z:0.43 [[ 9.97205941e-01 -6.35144632e-02 -3.93220534e-02 6.47880783e+01] [ 6.35274697e-02 9.97979666e-01 -9.19907289e-04 1.42950517e+00] [ 3.93010371e-02 -1.58069354e-03 9.99226166e-01 4.25828647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.82, Y:1.43, Z:0.43 [[ 9.97439673e-01 -6.01294086e-02 -3.87111378e-02 6.48208844e+01] [ 6.01397116e-02 9.98189564e-01 -8.99325746e-04 1.43424602e+00] [ 3.86951297e-02 -1.43105348e-03 9.99250038e-01 4.34173661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29533619499999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:64.85, Y:1.44, Z:0.44 [[ 9.97652011e-01 -5.70202904e-02 -3.79361615e-02 6.48539372e+01] [ 5.70282077e-02 9.98372185e-01 -8.74255494e-04 1.43689523e+00] [ 3.79242588e-02 -1.29122855e-03 9.99279782e-01 4.36682704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32533619499999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:64.89, Y:1.43, Z:0.43 [[ 9.98092436e-01 -5.04326053e-02 -3.56095693e-02 6.48859082e+01] [ 5.04356157e-02 9.98726983e-01 -8.14307931e-04 1.43499702e+00] [ 3.56053053e-02 -9.83235963e-04 9.99365446e-01 4.33051730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35533619499999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:64.92, Y:1.43, Z:0.43 [[ 9.98296297e-01 -4.73933546e-02 -3.40348907e-02 6.49179248e+01] [ 4.73945382e-02 9.98875949e-01 -7.72444546e-04 1.43371421e+00] [ 3.40332425e-02 -8.41939398e-04 9.99420347e-01 4.30550108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.385336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.95, Y:1.44, Z:0.43 [[ 9.98593755e-01 -4.18948823e-02 -3.24858787e-02 6.49514783e+01] [ 4.18932459e-02 9.99121825e-01 -7.31317554e-04 1.43625346e+00] [ 3.24879888e-02 -6.30649761e-04 9.99471927e-01 4.31000563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.415336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:64.98, Y:1.44, Z:0.44 [[ 9.98857054e-01 -3.59566927e-02 -3.14913107e-02 6.49835551e+01] [ 3.59523825e-02 9.99353257e-01 -7.03278539e-04 1.44461286e+00] [ 3.14962315e-02 -4.29712916e-04 9.99503778e-01 4.36158191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.445336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.02, Y:1.45, Z:0.44 [[ 9.98991687e-01 -3.24879456e-02 -3.09861739e-02 6.50166689e+01] [ 3.24822850e-02 9.99472076e-01 -6.86167994e-04 1.44809575e+00] [ 3.09921078e-02 -3.21025612e-04 9.99519578e-01 4.36454744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.475336195 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:65.05, Y:1.45, Z:0.43 [[ 9.99110470e-01 -2.85746242e-02 -3.10122625e-02 6.50485303e+01] [ 2.85672029e-02 9.99591641e-01 -6.82439798e-04 1.45070888e+00] [ 3.10190989e-02 -2.04100849e-04 9.99518771e-01 4.32760971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.505336195 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:65.08, Y:1.45, Z:0.43 [[ 9.99107707e-01 -2.80825704e-02 -3.15461393e-02 6.50803258e+01] [ 2.80747194e-02 9.99605588e-01 -6.91868556e-04 1.45337768e+00] [ 3.15531266e-02 -1.94397803e-04 9.99502057e-01 4.33614674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.535336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.11, Y:1.46, Z:0.44 [[ 9.98988950e-01 -2.96796684e-02 -3.37667854e-02 6.51135733e+01] [ 2.96716609e-02 9.99559427e-01 -7.38327750e-04 1.45970414e+00] [ 3.37738220e-02 -2.64335345e-04 9.99429467e-01 4.35577967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.565336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.15, Y:1.46, Z:0.44 [[ 9.98940782e-01 -3.07200684e-02 -3.42577069e-02 6.51455220e+01] [ 3.07125079e-02 9.99527981e-01 -7.47022332e-04 1.46192161e+00] [ 3.42644852e-02 -3.05909022e-04 9.99412753e-01 4.35349637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.595336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:65.18, Y:1.46, Z:0.43 [[ 9.98837390e-01 -3.30942559e-02 -3.50519281e-02 6.51787710e+01] [ 3.30878870e-02 9.99452156e-01 -7.61918260e-04 1.46043103e+00] [ 3.50579402e-02 -3.98761788e-04 9.99385202e-01 4.30851415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.625336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:65.21, Y:1.46, Z:0.43 [[ 9.98799468e-01 -3.42546897e-02 -3.50176969e-02 6.52106483e+01] [ 3.42491799e-02 9.99413038e-01 -7.57355460e-04 1.46145030e+00] [ 3.50230858e-02 -4.42881170e-04 9.99386405e-01 4.31809802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65533619499999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:65.24, Y:1.47, Z:0.44 [[ 9.98806946e-01 -3.67158190e-02 -3.21967774e-02 6.52439500e+01] [ 3.67125218e-02 9.99325627e-01 -6.93766953e-04 1.46780729e+00] [ 3.22005370e-02 -4.89085640e-04 9.99481309e-01 4.39993999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68533619499999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:65.28, Y:1.47, Z:0.44 [[ 9.98773097e-01 -3.95374985e-02 -2.98175447e-02 6.52772178e+01] [ 3.95360664e-02 9.99217941e-01 -6.37822796e-04 1.47019335e+00] [ 2.98194435e-02 -5.41828177e-04 9.99555155e-01 4.41468593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71533619499999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:65.31, Y:1.47, Z:0.44 [[ 9.98716513e-01 -4.09823870e-02 -2.97619074e-02 6.53108984e+01] [ 4.09817699e-02 9.99159695e-01 -6.30973556e-04 1.46999500e+00] [ 2.97627571e-02 -5.89531928e-04 9.99556817e-01 4.39936625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.745336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:65.34, Y:1.47, Z:0.43 [[ 9.98586659e-01 -4.41427309e-02 -2.95990647e-02 6.53435710e+01] [ 4.41436657e-02 9.99025000e-01 -6.22184778e-04 1.46663371e+00] [ 2.95976706e-02 -6.85305799e-04 9.99561658e-01 4.33024571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.775336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:65.38, Y:1.47, Z:0.43 [[ 9.98534452e-01 -4.54544293e-02 -2.93741738e-02 6.53764312e+01] [ 4.54560761e-02 9.98966151e-01 -6.12041625e-04 1.46788722e+00] [ 2.93716253e-02 -7.24090029e-04 9.99568298e-01 4.33676721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.805336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:65.41, Y:1.47, Z:0.44 [[ 9.98343346e-01 -4.91144711e-02 -2.99721833e-02 6.54088858e+01] [ 4.91179565e-02 9.98792792e-01 -6.20398345e-04 1.47377894e+00] [ 2.99664711e-02 -8.52801834e-04 9.99550541e-01 4.39987092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.835336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:65.44, Y:1.48, Z:0.44 [[ 9.98397586e-01 -4.82751611e-02 -2.95257392e-02 6.54422497e+01] [ 4.82783271e-02 9.98833738e-01 -6.06057987e-04 1.47564661e+00] [ 2.95205620e-02 -8.20366464e-04 9.99563837e-01 4.41747899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.865336195 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:65.47, Y:1.48, Z:0.44 [[ 9.98373660e-01 -4.86477130e-02 -2.97226315e-02 6.54743309e+01] [ 4.86512110e-02 9.98815645e-01 -6.05908742e-04 1.48014044e+00] [ 2.97169054e-02 -8.41118688e-04 9.99558001e-01 4.42161137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.895336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:65.51, Y:1.48, Z:0.44 [[ 9.98391081e-01 -4.83252780e-02 -2.96633781e-02 6.55078877e+01] [ 4.83287687e-02 9.98831302e-01 -5.99684045e-04 1.47849929e+00] [ 2.96576904e-02 -8.34875336e-04 9.99559765e-01 4.38677748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.925336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.54, Y:1.48, Z:0.43 [[ 9.98594441e-01 -4.62991361e-02 -2.57979015e-02 6.55408529e+01] [ 4.63012208e-02 9.98927390e-01 -5.16842571e-04 1.47579719e+00] [ 2.57941598e-02 -6.78358214e-04 9.99667045e-01 4.34903734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.955336195 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:65.57, Y:1.48, Z:0.44 [[ 9.98639554e-01 -4.61175144e-02 -2.43355073e-02 6.55734200e+01] [ 4.61194210e-02 9.98935817e-01 -4.83200086e-04 1.47763953e+00] [ 2.43318938e-02 -6.39796787e-04 9.99703731e-01 4.37345372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.985336195 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:65.61, Y:1.48, Z:0.44 [[ 9.98594182e-01 -4.63335650e-02 -2.57460812e-02 6.56068868e+01] [ 4.63358971e-02 9.98925787e-01 -5.06315686e-04 1.48268318e+00] [ 2.57418839e-02 -6.87363873e-04 9.99668386e-01 4.44304778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.64, Y:1.49, Z:0.45 [[ 9.98593922e-01 -4.62413886e-02 -2.59212905e-02 6.56391968e+01] [ 4.62438442e-02 9.98930054e-01 -5.05027825e-04 1.48511593e+00] [ 2.59169093e-02 -6.94382403e-04 9.99663859e-01 4.45946710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04533619499999 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:65.67, Y:1.48, Z:0.44 [[ 9.98460896e-01 -4.87445698e-02 -2.64538294e-02 6.56711402e+01] [ 4.87481288e-02 9.98810973e-01 -5.10728191e-04 1.48172505e+00] [ 2.64472703e-02 -7.79632556e-04 9.99649906e-01 4.37317705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07533619499999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:65.70, Y:1.48, Z:0.44 [[ 9.98423678e-01 -4.88653542e-02 -2.76104370e-02 6.57045060e+01] [ 4.88694184e-02 9.98805037e-01 -5.27967792e-04 1.48048494e+00] [ 2.76032429e-02 -8.22170456e-04 9.99618620e-01 4.35390405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10533619499999 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:65.74, Y:1.49, Z:0.44 [[ 9.98356708e-01 -4.99670623e-02 -2.80566633e-02 6.57373951e+01] [ 4.99718413e-02 9.98750486e-01 -5.31237751e-04 1.48617515e+00] [ 2.80481505e-02 -8.71678354e-04 9.99606193e-01 4.41729422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.135336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:65.77, Y:1.49, Z:0.44 [[ 9.98313284e-01 -5.08006681e-02 -2.81047856e-02 6.57698683e+01] [ 5.08059344e-02 9.98708405e-01 -5.27134434e-04 1.48931627e+00] [ 2.80952644e-02 -9.01644588e-04 9.99604844e-01 4.44339494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.165336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:65.80, Y:1.49, Z:0.44 [[ 9.98394558e-01 -5.01407452e-02 -2.63478891e-02 6.58032122e+01] [ 5.01452667e-02 9.98741815e-01 -4.89506047e-04 1.49033022e+00] [ 2.63392828e-02 -8.32501751e-04 9.99652714e-01 4.43176047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.195336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.84, Y:1.49, Z:0.44 [[ 9.98543977e-01 -4.80648614e-02 -2.44886741e-02 6.58366863e+01] [ 4.80682533e-02 9.98843952e-01 -4.50464268e-04 1.49199858e+00] [ 2.44820155e-02 -7.27319409e-04 9.99700006e-01 4.44903046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.225336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:65.87, Y:1.49, Z:0.45 [[ 9.98587028e-01 -4.73973444e-02 -2.40299860e-02 6.58695803e+01] [ 4.74005268e-02 9.98875868e-01 -4.37465571e-04 1.49315818e+00] [ 2.40237078e-02 -7.02186552e-04 9.99711142e-01 4.45651991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.255336195 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:65.90, Y:1.49, Z:0.44 [[ 9.98719943e-01 -4.55389182e-02 -2.20154810e-02 6.59015229e+01] [ 4.55412238e-02 9.98962381e-01 -3.96889051e-04 1.49045502e+00] [ 2.20107112e-02 -6.06230937e-04 9.99757551e-01 4.41522958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.285336195 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:65.93, Y:1.49, Z:0.44 [[ 9.98763234e-01 -4.42464271e-02 -2.26772057e-02 6.59338784e+01] [ 4.42486329e-02 9.99020468e-01 -4.04747107e-04 1.48872767e+00] [ 2.26729013e-02 -5.99188823e-04 9.99742757e-01 4.38790078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.315336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:65.97, Y:1.49, Z:0.44 [[ 9.98869105e-01 -4.13942914e-02 -2.33885230e-02 6.59671112e+01] [ 4.13959588e-02 9.99142735e-01 -4.13072200e-04 1.49210195e+00] [ 2.33855717e-02 -5.55585276e-04 9.99726366e-01 4.41717775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.345336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:66.00, Y:1.50, Z:0.45 [[ 9.99076425e-01 -3.70977007e-02 -2.16808164e-02 6.59995648e+01] [ 3.70982048e-02 9.99311553e-01 -3.79093957e-04 1.50168510e+00] [ 2.16799538e-02 -4.25575533e-04 9.99764872e-01 4.51964617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.375336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.03, Y:1.51, Z:0.45 [[ 9.99199903e-01 -3.40664789e-02 -2.09529927e-02 6.60324417e+01] [ 3.40663633e-02 9.99419507e-01 -3.62556903e-04 1.50523832e+00] [ 2.09531807e-02 -3.51525439e-04 9.99780396e-01 4.53982917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40533619499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.07, Y:1.51, Z:0.45 [[ 9.99267817e-01 -3.17052882e-02 -2.14150756e-02 6.60653330e+01] [ 3.17047139e-02 9.99497212e-01 -3.66419852e-04 1.50606557e+00] [ 2.14159258e-02 -3.12807279e-04 9.99770604e-01 4.45969580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43533619499999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:66.10, Y:1.50, Z:0.44 [[ 9.99308399e-01 -3.15971385e-02 -1.96046884e-02 6.60981361e+01] [ 3.15967050e-02 9.99500644e-01 -3.31939689e-04 1.50330376e+00] [ 1.96053870e-02 -2.87733438e-04 9.99807755e-01 4.36694620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46533619499999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:66.13, Y:1.51, Z:0.44 [[ 9.99331562e-01 -3.16968849e-02 -1.82136314e-02 6.61316525e+01] [ 3.16965871e-02 9.99497490e-01 -3.05104814e-04 1.50575005e+00] [ 1.82141498e-02 -2.72409084e-04 9.99834072e-01 4.37992946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.495336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.16, Y:1.51, Z:0.45 [[ 9.99251797e-01 -3.27021003e-02 -2.06498921e-02 6.61644878e+01] [ 3.27020180e-02 9.99465088e-01 -3.41760509e-04 1.51499363e+00] [ 2.06500225e-02 -3.33788341e-04 9.99786710e-01 4.46335423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.525336195 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:66.20, Y:1.52, Z:0.45 [[ 9.99190378e-01 -3.28842701e-02 -2.31778720e-02 6.61966640e+01] [ 3.28842977e-02 9.99459093e-01 -3.80057205e-04 1.51957402e+00] [ 2.31778328e-02 -3.82438539e-04 9.99731285e-01 4.49158377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.555336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:66.23, Y:1.52, Z:0.45 [[ 9.99155861e-01 -3.16003186e-02 -2.62485367e-02 6.62290960e+01] [ 3.16000241e-02 9.99500504e-01 -4.26119981e-04 1.52430524e+00] [ 2.62488912e-02 -4.03694117e-04 9.99655357e-01 4.48654599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.585336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:66.26, Y:1.53, Z:0.45 [[ 9.99163147e-01 -3.10204898e-02 -2.66596073e-02 6.62627782e+01] [ 3.10201121e-02 9.99518669e-01 -4.27834580e-04 1.52575352e+00] [ 2.66600468e-02 -3.99507460e-04 9.99644478e-01 4.47157761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.615336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.30, Y:1.53, Z:0.45 [[ 9.99185924e-01 -2.99067073e-02 -2.70754105e-02 6.62952826e+01] [ 2.99060418e-02 9.99552622e-01 -4.29601769e-04 1.53028153e+00] [ 2.70761455e-02 -3.80466317e-04 9.99633302e-01 4.46596652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.645336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:66.33, Y:1.53, Z:0.45 [[ 9.99231171e-01 -2.95307873e-02 -2.57875964e-02 6.63283095e+01] [ 2.95301266e-02 9.99563808e-01 -4.06524791e-04 1.53317610e+00] [ 2.57883531e-02 -3.55298744e-04 9.99667362e-01 4.45591436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.675336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:66.36, Y:1.54, Z:0.45 [[ 9.99249019e-01 -3.13201665e-02 -2.28132653e-02 6.63608758e+01] [ 3.13201881e-02 9.99509339e-01 -3.56449236e-04 1.53900918e+00] [ 2.28132357e-02 -3.58334209e-04 9.99739680e-01 4.47739797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.705336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:66.39, Y:1.54, Z:0.45 [[ 9.99251568e-01 -3.12387088e-02 -2.28133065e-02 6.63944848e+01] [ 3.12387696e-02 9.99511888e-01 -3.53794810e-04 1.53941989e+00] [ 2.28132232e-02 -3.59129609e-04 9.99739680e-01 4.48007880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.735336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:66.43, Y:1.55, Z:0.46 [[ 9.99226599e-01 -3.28779357e-02 -2.15695445e-02 6.64274022e+01] [ 3.28784405e-02 9.99459303e-01 -3.31320141e-04 1.55055597e+00] [ 2.15687750e-02 -3.78109088e-04 9.99767295e-01 4.56986029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76533619499999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:66.46, Y:1.55, Z:0.46 [[ 9.99192035e-01 -3.39575674e-02 -2.14979399e-02 6.64593603e+01] [ 3.39584025e-02 9.99423194e-01 -3.26318878e-04 1.55431912e+00] [ 2.14966207e-02 -4.03980472e-04 9.99768839e-01 4.56151656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79533619499999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:66.49, Y:1.56, Z:0.45 [[ 9.99055757e-01 -3.57812508e-02 -2.46434001e-02 6.64923656e+01] [ 3.57830209e-02 9.99359514e-01 -3.69283646e-04 1.55718071e+00] [ 2.46408298e-02 -5.12880347e-04 9.99696237e-01 4.48604482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.52, Y:1.56, Z:0.45 [[ 9.98964143e-01 -3.67331893e-02 -2.68572862e-02 6.65244506e+01] [ 3.67357701e-02 9.99324935e-01 -3.97469557e-04 1.55901842e+00] [ 2.68537561e-02 -5.89565255e-04 9.99639199e-01 4.45834812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85533619499999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:66.56, Y:1.57, Z:0.45 [[ 9.98922445e-01 -3.68893469e-02 -2.81624612e-02 6.65571947e+01] [ 3.68923961e-02 9.99319159e-01 -4.11489312e-04 1.56510008e+00] [ 2.81584666e-02 -6.27934763e-04 9.99603275e-01 4.45330330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.885336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:66.59, Y:1.57, Z:0.45 [[ 9.98940575e-01 -3.69442200e-02 -2.74381564e-02 6.65897101e+01] [ 3.69472382e-02 9.99317139e-01 -3.97143451e-04 1.56969551e+00] [ 2.74340921e-02 -6.17041390e-04 9.99623424e-01 4.48316662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.62, Y:1.58, Z:0.46 [[ 9.99024341e-01 -3.62499987e-02 -2.52250452e-02 6.66216028e+01] [ 3.62524247e-02 9.99342600e-01 -3.61278558e-04 1.58032241e+00] [ 2.52215585e-02 -5.53542975e-04 9.99681733e-01 4.55669926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.945336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:66.65, Y:1.59, Z:0.46 [[ 9.99038894e-01 -3.59363145e-02 -2.50972008e-02 6.66548623e+01] [ 3.59387323e-02 9.99353932e-01 -3.54854017e-04 1.58713064e+00] [ 2.50937385e-02 -5.47448617e-04 9.99684953e-01 4.59238118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.69, Y:1.59, Z:0.45 [[ 9.99028434e-01 -3.60977949e-02 -2.52811721e-02 6.66870828e+01] [ 3.61004151e-02 9.99348105e-01 -3.52900440e-04 1.59465237e+00] [ 2.52774304e-02 -5.60103236e-04 9.99680318e-01 4.54672523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.005336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.72, Y:1.60, Z:0.45 [[ 9.99029049e-01 -3.75659915e-02 -2.30164127e-02 6.67201101e+01] [ 3.75686472e-02 9.99293999e-01 -3.17165274e-04 1.60135423e+00] [ 2.30120777e-02 -5.47838166e-04 9.99735037e-01 4.49375483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.75, Y:1.61, Z:0.45 [[ 9.98961834e-01 -3.99748932e-02 -2.18463471e-02 6.67530517e+01] [ 3.99779504e-02 9.99200518e-01 -2.96954534e-04 1.61350838e+00] [ 2.18407521e-02 -5.76725936e-04 9.99761296e-01 4.53057784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.065336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.79, Y:1.62, Z:0.45 [[ 9.98913406e-01 -4.11243575e-02 -2.19270095e-02 6.67851315e+01] [ 4.11278022e-02 9.99153851e-01 -2.94028180e-04 1.61863152e+00] [ 2.19205477e-02 -6.08101019e-04 9.99759531e-01 4.53181462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.095336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.82, Y:1.62, Z:0.45 [[ 9.98696362e-01 -4.51902328e-02 -2.37364601e-02 6.68185078e+01] [ 4.51955231e-02 9.98978111e-01 -3.13818552e-04 1.62188001e+00] [ 2.37263856e-02 -7.59372285e-04 9.99718201e-01 4.45346059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.125336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:66.85, Y:1.62, Z:0.44 [[ 9.98569361e-01 -4.74533432e-02 -2.46457309e-02 6.68518139e+01] [ 4.74598507e-02 9.98873095e-01 -3.21151302e-04 1.62350108e+00] [ 2.46331972e-02 -8.48990859e-04 9.99696196e-01 4.43152383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.88, Y:1.63, Z:0.45 [[ 9.98210417e-01 -5.36791480e-02 -2.63536215e-02 6.68838606e+01] [ 5.36888824e-02 9.98557654e-01 -3.38567813e-04 1.63338540e+00] [ 2.63337845e-02 -1.07693457e-03 9.99652626e-01 4.52809473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.92, Y:1.64, Z:0.46 [[ 9.98052441e-01 -5.60669767e-02 -2.73462803e-02 6.69171475e+01] [ 5.60784900e-02 9.98426303e-01 -3.46316060e-04 1.64170896e+00] [ 2.73226624e-02 -1.18789652e-03 9.99625961e-01 4.61189470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.95, Y:1.65, Z:0.46 [[ 9.97822789e-01 -6.00077600e-02 -2.73633074e-02 6.69490856e+01] [ 6.00208964e-02 9.98197062e-01 -3.41751855e-04 1.64815591e+00] [ 2.73344808e-02 -1.30136245e-03 9.99625496e-01 4.61004802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.98, Y:1.65, Z:0.45 [[ 9.97766568e-01 -6.10078592e-02 -2.72014052e-02 6.69822122e+01] [ 6.10213429e-02 9.98136405e-01 -3.34883584e-04 1.64656012e+00] [ 2.71711434e-02 -1.32573063e-03 9.99629917e-01 4.54871639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.01, Y:1.64, Z:0.44 [[ 9.97707587e-01 -6.19599667e-02 -2.72127289e-02 6.70145962e+01] [ 6.19739430e-02 9.98077713e-01 -3.30312843e-04 1.64260964e+00] [ 2.71808844e-02 -1.35692448e-03 9.99629611e-01 4.41847324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.305336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:67.05, Y:1.65, Z:0.45 [[ 9.97789564e-01 -6.06499388e-02 -2.71582677e-02 6.70480161e+01] [ 6.06635083e-02 9.98158221e-01 -3.24742227e-04 1.65428229e+00] [ 2.71279437e-02 -1.32349139e-03 9.99631093e-01 4.51630380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.335336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.08, Y:1.66, Z:0.46 [[ 9.97807377e-01 -6.03323518e-02 -2.72111344e-02 6.70801289e+01] [ 6.03459874e-02 9.98177469e-01 -3.20559657e-04 1.66400832e+00] [ 2.71808814e-02 -1.32222599e-03 9.99629657e-01 4.59832076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.11, Y:1.67, Z:0.46 [[ 9.97856672e-01 -5.83779375e-02 -2.95648106e-02 6.71128818e+01] [ 5.83933449e-02 9.98293594e-01 -3.42713675e-04 1.67295768e+00] [ 2.95343679e-02 -1.38440905e-03 9.99562807e-01 4.59588807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.395336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.15, Y:1.67, Z:0.46 [[ 9.97880337e-01 -5.81817778e-02 -2.91498601e-02 6.71462032e+01] [ 5.81968316e-02 9.98305073e-01 -3.32422610e-04 1.67431172e+00] [ 2.91197942e-02 -1.36471151e-03 9.99574997e-01 4.56398613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.425336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.18, Y:1.68, Z:0.46 [[ 9.97904477e-01 -5.78926036e-02 -2.88981328e-02 6.71780521e+01] [ 5.79073915e-02 9.98321906e-01 -3.25598293e-04 1.68060626e+00] [ 2.88684888e-02 -1.34849949e-03 9.99582309e-01 4.56540752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.21, Y:1.69, Z:0.46 [[ 9.97884707e-01 -5.66773578e-02 -3.18400525e-02 6.72105320e+01] [ 5.66948598e-02 9.98391490e-01 -3.53584196e-04 1.68581058e+00] [ 3.18088777e-02 -1.45233105e-03 9.99492914e-01 4.57799636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.485336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:67.24, Y:1.70, Z:0.46 [[ 9.97965679e-01 -5.39479266e-02 -3.39724133e-02 6.72424564e+01] [ 5.39664774e-02 9.98542679e-01 -3.71328464e-04 1.69688281e+00] [ 3.39429370e-02 -1.46279841e-03 9.99422702e-01 4.58430764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.28, Y:1.71, Z:0.46 [[ 9.98214532e-01 -4.89060275e-02 -3.42921108e-02 6.72754212e+01] [ 4.89221814e-02 9.98802525e-01 -3.68344346e-04 1.70876780e+00] [ 3.42690611e-02 -1.30995819e-03 9.99411785e-01 4.61321001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.31, Y:1.71, Z:0.46 [[ 9.98319397e-01 -4.74846176e-02 -3.32203697e-02 6.73078677e+01] [ 4.74991418e-02 9.98871217e-01 -3.52288262e-04 1.71286009e+00] [ 3.31995994e-02 -1.22624285e-03 9.99447989e-01 4.59369046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.34, Y:1.72, Z:0.45 [[ 9.98419542e-01 -4.66770179e-02 -3.12997494e-02 6.73409202e+01] [ 4.66896788e-02 9.98909389e-01 -3.26637309e-04 1.71820055e+00] [ 3.12808600e-02 -1.13525417e-03 9.99509989e-01 4.52802990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.37, Y:1.72, Z:0.45 [[ 9.98432919e-01 -4.60811394e-02 -3.17527189e-02 6.73738276e+01] [ 4.60940626e-02 9.98937051e-01 -3.25262971e-04 1.72119970e+00] [ 3.17339559e-02 -1.13885856e-03 9.99495702e-01 4.50453807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.41, Y:1.73, Z:0.45 [[ 9.98331053e-01 -4.55882989e-02 -3.54515888e-02 6.74062359e+01] [ 4.56043383e-02 9.98959517e-01 -3.56485902e-04 1.73212409e+00] [ 3.54309536e-02 -1.26085530e-03 9.99371331e-01 4.51554489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.665336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.44, Y:1.74, Z:0.45 [[ 9.98264549e-01 -4.49424061e-02 -3.80535264e-02 6.74386154e+01] [ 4.49606787e-02 9.98988687e-01 -3.75880732e-04 1.73981115e+00] [ 3.80319354e-02 -1.33568396e-03 9.99275632e-01 4.54326632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.47, Y:1.75, Z:0.45 [[ 9.98132430e-01 -4.41554950e-02 -4.22130827e-02 6.74713996e+01] [ 4.41776151e-02 9.99023609e-01 -4.09153675e-04 1.75289878e+00] [ 4.21899326e-02 -1.45648377e-03 9.99108547e-01 4.53203931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.725336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.51, Y:1.76, Z:0.45 [[ 9.98105304e-01 -4.40173061e-02 -4.29916246e-02 6.75051416e+01] [ 4.40404730e-02 9.99029664e-01 -4.08564378e-04 1.75920123e+00] [ 4.29678922e-02 -1.48558121e-03 9.99075349e-01 4.52965564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.54, Y:1.78, Z:0.45 [[ 9.98155982e-01 -4.34387897e-02 -4.23993737e-02 6.75368136e+01] [ 4.34611224e-02 9.99055041e-01 -3.95347304e-04 1.77838753e+00] [ 4.23764814e-02 -1.44810609e-03 9.99100664e-01 4.51072352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.57, Y:1.78, Z:0.45 [[ 9.98207605e-01 -4.28220432e-02 -4.18072946e-02 6.75695146e+01] [ 4.28435219e-02 9.99081722e-01 -3.82499198e-04 1.78498289e+00] [ 4.17852833e-02 -1.40935813e-03 9.99125620e-01 4.50537064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.815336195 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:67.60, Y:1.79, Z:0.45 [[ 9.98293764e-01 -4.23643899e-02 -4.01848214e-02 6.76019149e+01] [ 4.23841402e-02 9.99101323e-01 -3.60714347e-04 1.79256131e+00] [ 4.01639897e-02 -1.34310022e-03 9.99192199e-01 4.49788221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.845336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.63, Y:1.81, Z:0.45 [[ 9.98283611e-01 -4.29072358e-02 -3.98597570e-02 6.76342744e+01] [ 4.29272993e-02 9.99078136e-01 -3.52782287e-04 1.80872273e+00] [ 3.98381486e-02 -1.35889494e-03 9.99205222e-01 4.53725293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.875336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.67, Y:1.83, Z:0.47 [[ 9.98018859e-01 -4.79833525e-02 -4.06934320e-02 6.76676081e+01] [ 4.80087574e-02 9.98846852e-01 -3.53261008e-04 1.82893323e+00] [ 4.06634571e-02 -1.60107995e-03 9.99171617e-01 4.66274763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90533619499999 meters Centerline goodness : 0.999909 Centerline is valid? [True, True] Translation: X:67.70, Y:1.84, Z:0.47 [[ 9.97834116e-01 -5.15936668e-02 -4.08064993e-02 6.77000050e+01] [ 5.16225121e-02 9.98666609e-01 -3.47212054e-04 1.83808934e+00] [ 4.07700023e-02 -1.76007397e-03 9.99167008e-01 4.69769362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.73, Y:1.85, Z:0.46 [[ 9.97448884e-01 -5.78802341e-02 -4.17804011e-02 6.77328810e+01] [ 5.79162822e-02 9.98321383e-01 -3.48110580e-04 1.84763094e+00] [ 4.17304165e-02 -2.07254299e-03 9.99126757e-01 4.63029269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.77, Y:1.85, Z:0.46 [[ 9.97266462e-01 -6.09986894e-02 -4.16984894e-02 6.77664763e+01] [ 6.10376287e-02 9.98135408e-01 -3.39861313e-04 1.85304029e+00] [ 4.16414698e-02 -2.20624462e-03 9.99130182e-01 4.60830291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.80, Y:1.87, Z:0.46 [[ 9.96945727e-01 -6.65053869e-02 -4.09420391e-02 6.77994900e+01] [ 6.65478572e-02 9.97783181e-01 -3.26182896e-04 1.86759773e+00] [ 4.08729709e-02 -2.39941833e-03 9.99161470e-01 4.61708094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.83, Y:1.88, Z:0.46 [[ 9.96696870e-01 -6.96596233e-02 -4.17478982e-02 6.78313291e+01] [ 6.97068434e-02 9.97567466e-01 -3.25317285e-04 1.87902732e+00] [ 4.16690065e-02 -2.58587148e-03 9.99128123e-01 4.58653445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.055336195 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:67.86, Y:1.89, Z:0.46 [[ 9.96614894e-01 -7.07384197e-02 -4.18906688e-02 6.78631372e+01] [ 7.07872079e-02 9.97491388e-01 -3.19371992e-04 1.88564832e+00] [ 4.18081733e-02 -2.64703260e-03 9.99122150e-01 4.58504392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.90, Y:1.90, Z:0.46 [[ 9.96441036e-01 -7.12064374e-02 -4.51099145e-02 6.78962824e+01] [ 7.12638625e-02 9.97457442e-01 -3.35932535e-04 1.89687036e+00] [ 4.50191405e-02 -2.87996978e-03 9.98981973e-01 4.61731676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.93, Y:1.90, Z:0.46 [[ 9.96046354e-01 -7.61217309e-02 -4.57945715e-02 6.79297913e+01] [ 7.61864622e-02 9.97093532e-01 -3.32738740e-04 1.89854003e+00] [ 4.56867997e-02 -3.15750318e-03 9.98950823e-01 4.64285400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.96, Y:1.90, Z:0.47 [[ 9.95389656e-01 -8.47739893e-02 -4.48642793e-02 6.79617388e+01] [ 8.48451851e-02 9.96394095e-01 -3.18354485e-04 1.90195784e+00] [ 4.47294912e-02 -3.48963132e-03 9.98993041e-01 4.72848088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.99, Y:1.90, Z:0.47 [[ 9.95356802e-01 -8.49169084e-02 -4.53205882e-02 6.79944409e+01] [ 8.49900457e-02 9.96381751e-01 -3.14157192e-04 1.89798213e+00] [ 4.51832843e-02 -3.53910036e-03 9.98972445e-01 4.68602025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.03, Y:1.89, Z:0.46 [[ 9.95718812e-01 -8.14234766e-02 -4.37523206e-02 6.80279166e+01] [ 8.14886061e-02 9.96674229e-01 -2.95818510e-04 1.88726572e+00] [ 4.36308970e-02 -3.27076356e-03 9.99042365e-01 4.55353716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.06, Y:1.89, Z:0.46 [[ 9.96077169e-01 -7.76770026e-02 -4.23858161e-02 6.80610388e+01] [ 7.77350582e-02 9.96974013e-01 -2.79250684e-04 1.88781044e+00] [ 4.22792485e-02 -3.01670865e-03 9.99101278e-01 4.56523195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.09, Y:1.90, Z:0.47 [[ 9.96769270e-01 -6.87131629e-02 -4.15875309e-02 6.80940502e+01] [ 6.87614453e-02 9.97633094e-01 -2.70025390e-04 1.89868816e+00] [ 4.15076514e-02 -2.59046572e-03 9.99134828e-01 4.68514774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.13, Y:1.90, Z:0.47 [[ 9.96990887e-01 -6.47276656e-02 -4.26556118e-02 6.81258720e+01] [ 6.47751012e-02 9.97899851e-01 -2.70592921e-04 1.90499850e+00] [ 4.25835435e-02 -2.49324289e-03 9.99089799e-01 4.73569597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32533619499999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:68.16, Y:1.91, Z:0.48 [[ 9.96926892e-01 -6.69287999e-02 -4.07100352e-02 6.81583404e+01] [ 6.69740992e-02 9.97754683e-01 -2.51606275e-04 1.90719581e+00] [ 4.06354679e-02 -2.47568487e-03 9.99170971e-01 4.75091949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.19, Y:1.90, Z:0.47 [[ 9.96873706e-01 -6.84703754e-02 -3.94286993e-02 6.81916016e+01] [ 6.85143335e-02 9.97650104e-01 -2.36873349e-04 1.90232897e+00] [ 3.93522648e-02 -2.46529824e-03 9.99222358e-01 4.67439311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.22, Y:1.89, Z:0.46 [[ 9.96954113e-01 -6.89723881e-02 -3.64047669e-02 6.82241863e+01] [ 6.90104056e-02 9.97615917e-01 -2.12733765e-04 1.89368451e+00] [ 3.63326477e-02 -2.30022193e-03 9.99337104e-01 4.55267929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.26, Y:1.90, Z:0.46 [[ 9.97058529e-01 -6.84656928e-02 -3.44490617e-02 6.82564546e+01] [ 6.84996216e-02 9.97651123e-01 -1.95748676e-04 1.89534796e+00] [ 3.43815472e-02 -2.16457481e-03 9.99406436e-01 4.58948262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.31, Y:1.89, Z:0.45 [[ 9.97022325e-01 -7.09226692e-02 -3.02730754e-02 6.83130374e+01] [ 7.14543776e-02 9.97301405e-01 1.68576200e-02 1.88651798e+00] [ 2.89957932e-02 -1.89705673e-02 9.99399500e-01 4.49062933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.475336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:68.32, Y:1.92, Z:0.50 [[ 9.97313867e-01 -6.48801465e-02 -3.39943732e-02 6.83192227e+01] [ 6.43631812e-02 9.97796846e-01 -1.60883208e-02 1.91788701e+00] [ 3.49632910e-02 1.38571194e-02 9.99292524e-01 5.01381209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.505336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:68.35, Y:1.91, Z:0.47 [[ 9.97494645e-01 -6.24673475e-02 -3.32003480e-02 6.83516559e+01] [ 6.24958955e-02 9.98045205e-01 -1.78176286e-04 1.90879052e+00] [ 3.31465783e-02 -1.89715559e-03 9.99448701e-01 4.73419001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.39, Y:1.91, Z:0.47 [[ 9.97534780e-01 -6.15798537e-02 -3.36494303e-02 6.83850798e+01] [ 6.16088736e-02 9.98100354e-01 -1.74732265e-04 1.90892746e+00] [ 3.35962682e-02 -1.89880198e-03 9.99433682e-01 4.73324388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.42, Y:1.91, Z:0.47 [[ 9.97346319e-01 -6.45143878e-02 -3.37374144e-02 6.84171383e+01] [ 6.45454236e-02 9.97914756e-01 -1.69510070e-04 1.90843599e+00] [ 3.36779995e-02 -2.00853546e-03 9.99430717e-01 4.72797085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.595336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.45, Y:1.91, Z:0.47 [[ 9.97351296e-01 -6.44374001e-02 -3.37374309e-02 6.84507714e+01] [ 6.44685040e-02 9.97919728e-01 -1.66191214e-04 1.90849441e+00] [ 3.36779568e-02 -2.00925067e-03 9.99430717e-01 4.73067610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.625336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.51, Y:1.89, Z:0.45 [[ 9.96958992e-01 -7.21249748e-02 -2.95085780e-02 6.85089989e+01] [ 7.25838863e-02 9.97252694e-01 1.47866399e-02 1.88812150e+00] [ 2.83610229e-02 -1.68835209e-02 9.99455151e-01 4.49611907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.54, Y:1.90, Z:0.47 [[ 9.96888071e-01 -7.28461301e-02 -3.01266501e-02 6.85397915e+01] [ 7.29055740e-02 9.97338461e-01 8.77952137e-04 1.90073920e+00] [ 2.99825114e-02 -3.07162073e-03 9.99545704e-01 4.74194413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.54, Y:1.92, Z:0.50 [[ 9.97350898e-01 -6.46639689e-02 -3.33130190e-02 6.85449048e+01] [ 6.42285761e-02 9.97837296e-01 -1.39792746e-02 1.91788796e+00] [ 3.41449282e-02 1.18025943e-02 9.99347198e-01 4.97345238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.61, Y:1.89, Z:0.45 [[ 9.97197437e-01 -6.91104326e-02 -2.86534339e-02 6.86059751e+01] [ 6.95282563e-02 9.97483829e-01 1.38503473e-02 1.89124536e+00] [ 2.76241334e-02 -1.58037541e-02 9.99493446e-01 4.52122739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.745336195 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:68.61, Y:1.91, Z:0.49 [[ 9.97782569e-01 -6.01506642e-02 -2.84928460e-02 6.86081188e+01] [ 5.98031800e-02 9.98126891e-01 -1.28953348e-02 1.91402310e+00] [ 2.92151387e-02 1.11627775e-02 9.99510814e-01 4.85269102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.775336195 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:68.67, Y:1.89, Z:0.45 [[ 9.97649357e-01 -6.41346376e-02 -2.41352027e-02 6.86687905e+01] [ 6.44935677e-02 9.97814242e-01 1.43985353e-02 1.88926505e+00] [ 2.31590041e-02 -1.59212549e-02 9.99605009e-01 4.45140728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.70, Y:1.90, Z:0.47 [[ 9.97737752e-01 -6.32589033e-02 -2.27527964e-02 6.86996537e+01] [ 6.32644470e-02 9.97996685e-01 -4.76806547e-04 1.90078985e+00] [ 2.27373776e-02 -9.63715188e-04 9.99741008e-01 4.70173306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.70, Y:1.92, Z:0.49 [[ 9.98118760e-01 -5.51805412e-02 -2.67216948e-02 6.87011537e+01] [ 5.48731271e-02 9.98419961e-01 -1.21046280e-02 1.91633596e+00] [ 2.73474134e-02 1.06155534e-02 9.99569622e-01 4.94073720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.73, Y:1.91, Z:0.48 [[ 9.98083019e-01 -5.53233627e-02 -2.77418866e-02 6.87345277e+01] [ 5.53413100e-02 9.98467488e-01 -1.21017910e-04 1.90906333e+00] [ 2.77060669e-02 -1.41448642e-03 9.99615112e-01 4.76912928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.77, Y:1.91, Z:0.48 [[ 9.98070273e-01 -5.53603840e-02 -2.81239905e-02 6.87663896e+01] [ 5.53789746e-02 9.98465400e-01 -1.18037077e-04 1.90792675e+00] [ 2.80873660e-02 -1.43966846e-03 9.99604435e-01 4.75835173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.925336195 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:68.83, Y:1.89, Z:0.46 [[ 9.97807440e-01 -6.17921272e-02 -2.37074945e-02 6.88299820e+01] [ 6.20938634e-02 9.97995637e-01 1.22090312e-02 1.89139077e+00] [ 2.29055540e-02 -1.36543521e-02 9.99644384e-01 4.56382509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.955336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:68.85, Y:1.90, Z:0.48 [[ 9.98313253e-01 -5.42686102e-02 -2.06292580e-02 6.88536906e+01] [ 5.42151859e-02 9.98524336e-01 -3.14065120e-03 1.89950316e+00] [ 2.07692549e-02 2.01693466e-03 9.99782261e-01 4.75852707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.88, Y:1.90, Z:0.46 [[ 9.98607459e-01 -4.82555137e-02 -2.13201356e-02 6.88758858e+01] [ 4.83118302e-02 9.98830022e-01 2.13404442e-03 1.89578066e+00] [ 2.11922121e-02 -3.16108744e-03 9.99770422e-01 4.64573871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01533619499999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:68.92, Y:1.90, Z:0.47 [[ 9.98477989e-01 -4.97344256e-02 -2.38367677e-02 6.89211881e+01] [ 4.98296002e-02 9.98751895e-01 3.41519589e-03 1.90046682e+00] [ 2.36371641e-02 -4.59777453e-03 9.99710030e-01 4.68455097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04533619499999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:68.95, Y:1.91, Z:0.48 [[ 9.98516145e-01 -4.82582385e-02 -2.52319412e-02 6.89501806e+01] [ 4.82881195e-02 9.98833282e-01 5.75942865e-04 1.90776714e+00] [ 2.51747087e-02 -1.79349124e-03 9.99681458e-01 4.78577283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:68.98, Y:1.91, Z:0.48 [[ 9.98551061e-01 -4.69693518e-02 -2.62613479e-02 6.89839968e+01] [ 4.69702261e-02 9.98896119e-01 -5.83906529e-04 1.91029578e+00] [ 2.62597842e-02 -6.50440963e-04 9.99654941e-01 4.82804114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10533619499999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:69.01, Y:1.91, Z:0.48 [[ 9.98543055e-01 -4.76889013e-02 -2.52494948e-02 6.90148366e+01] [ 4.77094153e-02 9.98861235e-01 2.10316694e-04 1.90936009e+00] [ 2.52107118e-02 -1.41464891e-03 9.99681159e-01 4.79507189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.135336195 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:69.05, Y:1.91, Z:0.47 [[ 9.98531330e-01 -4.89830382e-02 -2.31483126e-02 6.90459729e+01] [ 4.90544597e-02 9.98792908e-01 2.52734481e-03 1.90595861e+00] [ 2.29965734e-02 -3.65916094e-03 9.99728847e-01 4.74088446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.165336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:69.08, Y:1.91, Z:0.47 [[ 9.98478980e-01 -5.01455913e-02 -2.29160893e-02 6.90750294e+01] [ 5.01828785e-02 9.98739489e-01 1.05458858e-03 1.90608665e+00] [ 2.28343203e-02 -2.20297985e-03 9.99736836e-01 4.74305845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.195336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:69.11, Y:1.91, Z:0.48 [[ 9.98447429e-01 -5.05849603e-02 -2.33215227e-02 6.91066414e+01] [ 5.06077263e-02 9.98718533e-01 3.86630246e-04 1.90770078e+00] [ 2.32720793e-02 -1.56627921e-03 9.99727942e-01 4.75181388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.225336195 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:69.14, Y:1.91, Z:0.48 [[ 9.98439185e-01 -5.09053573e-02 -2.29747192e-02 6.91388528e+01] [ 5.09428263e-02 9.98701021e-01 1.04818214e-03 1.91062309e+00] [ 2.28915175e-02 -2.21694326e-03 9.99735497e-01 4.77520460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.255336195 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:69.17, Y:1.92, Z:0.48 [[ 9.98604533e-01 -4.82583078e-02 -2.14504792e-02 6.91697363e+01] [ 4.82736333e-02 9.98834129e-01 1.96928083e-04 1.91508573e+00] [ 2.14159673e-02 -1.23214584e-03 9.99769893e-01 4.84834788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.19, Y:1.91, Z:0.48 [[ 9.98855101e-01 -4.44514621e-02 -1.76792153e-02 6.91947009e+01] [ 4.45125220e-02 9.99004093e-01 3.07519742e-03 1.91491332e+00] [ 1.75249115e-02 -3.85862309e-03 9.99838981e-01 4.83928749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.315336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:69.23, Y:1.92, Z:0.50 [[ 9.98907802e-01 -4.32308232e-02 -1.77284678e-02 6.92303220e+01] [ 4.31861202e-02 9.99062844e-01 -2.89685602e-03 1.92403449e+00] [ 1.78370870e-02 2.12806834e-03 9.99838642e-01 4.97992365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.345336195 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:69.26, Y:1.92, Z:0.48 [[ 9.98861309e-01 -4.42567340e-02 -1.78165050e-02 6.92642629e+01] [ 4.42963728e-02 9.99016746e-01 1.83619323e-03 1.91710575e+00] [ 1.77177230e-02 -2.62330892e-03 9.99839587e-01 4.79027140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.375336195 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:69.30, Y:1.92, Z:0.47 [[ 9.98784859e-01 -4.58343872e-02 -1.81111645e-02 6.92962440e+01] [ 4.58522974e-02 9.98948065e-01 5.74674174e-04 1.91564569e+00] [ 1.80657729e-02 -1.40441436e-03 9.99835814e-01 4.74922625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40533619499999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:69.33, Y:1.91, Z:0.47 [[ 9.98610171e-01 -4.92840372e-02 -1.86764706e-02 6.93252886e+01] [ 4.92966102e-02 9.98784160e-01 2.13138017e-04 1.91376096e+00] [ 1.86432587e-02 -1.13352848e-03 9.99825557e-01 4.73518551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43533619499999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:69.33, Y:1.92, Z:0.49 [[ 9.98916966e-01 -4.15898032e-02 -2.08610329e-02 6.93256116e+01] [ 4.14326380e-02 9.99109984e-01 -7.91056293e-03 1.92401388e+00] [ 2.11714650e-02 7.03766790e-03 9.99751089e-01 4.90382423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46533619499999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:69.36, Y:1.92, Z:0.49 [[ 9.98903061e-01 -4.23029841e-02 -2.00781339e-02 6.93594130e+01] [ 4.23065520e-02 9.99104646e-01 -2.47219430e-04 1.92240936e+00] [ 2.00706150e-02 -6.02488372e-04 9.99798383e-01 4.88356597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.495336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:69.42, Y:1.92, Z:0.48 [[ 9.98540764e-01 -5.05694889e-02 -1.89491291e-02 6.94200991e+01] [ 5.07786735e-02 9.98652338e-01 1.07254060e-02 1.91516153e+00] [ 1.83812138e-02 -1.16719667e-02 9.99762920e-01 4.77684773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.525336195 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:69.45, Y:1.92, Z:0.50 [[ 9.98796647e-01 -4.49114085e-02 -1.97033919e-02 6.94547233e+01] [ 4.49078550e-02 9.98990939e-01 -6.22998014e-04 1.92401926e+00] [ 1.97114897e-02 -2.62588741e-04 9.99805675e-01 4.96349355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.555336195 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:69.45, Y:1.93, Z:0.50 [[ 9.99258628e-01 -3.04725085e-02 -2.35291324e-02 6.94527819e+01] [ 3.02775676e-02 9.99504554e-01 -8.59744169e-03 1.93005000e+00] [ 2.37794606e-02 7.87866289e-03 9.99686183e-01 4.97508979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.585336195 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:69.49, Y:1.91, Z:0.47 [[ 9.99286104e-01 -3.08313563e-02 -2.18337008e-02 6.94933987e+01] [ 3.10771146e-02 9.99456377e-01 1.10074366e-02 1.91475121e+00] [ 2.14824573e-02 -1.16781069e-02 9.99701018e-01 4.66174593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.615336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:69.52, Y:1.93, Z:0.50 [[ 9.99320178e-01 -2.79907844e-02 -2.39937131e-02 6.95165835e+01] [ 2.77291150e-02 9.99553064e-01 -1.11700137e-02 1.93327122e+00] [ 2.42956469e-02 1.04970956e-02 9.99649705e-01 5.03541741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.645336195 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:69.56, Y:1.92, Z:0.47 [[ 9.99251000e-01 -3.11801023e-02 -2.29181178e-02 6.95552970e+01] [ 3.14722044e-02 9.99426496e-01 1.24971580e-02 1.91869186e+00] [ 2.25153115e-02 -1.32090813e-02 9.99659232e-01 4.73714728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.675336195 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:69.58, Y:1.94, Z:0.51 [[ 9.99195248e-01 -3.22965157e-02 -2.37863564e-02 6.95795221e+01] [ 3.19973696e-02 9.99405327e-01 -1.28514894e-02 1.93580367e+00] [ 2.41872696e-02 1.20800463e-02 9.99634457e-01 5.10370648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.705336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:69.61, Y:1.92, Z:0.48 [[ 9.99206986e-01 -3.34249655e-02 -2.16372659e-02 6.96136455e+01] [ 3.34272781e-02 9.99441120e-01 -2.54890302e-04 1.92384204e+00] [ 2.16336930e-02 -4.68586735e-04 9.99765854e-01 4.80899975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.735336195 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:69.65, Y:1.92, Z:0.48 [[ 9.99274830e-01 -3.18840629e-02 -2.08139489e-02 6.96466947e+01] [ 3.18859461e-02 9.99491485e-01 -2.41472233e-04 1.92476753e+00] [ 2.08110638e-02 -4.22375328e-04 9.99783337e-01 4.81717717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76533619499999 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:69.68, Y:1.93, Z:0.48 [[ 9.99363296e-01 -2.98104371e-02 -1.96045793e-02 6.96797271e+01] [ 2.98117774e-02 9.99555505e-01 -2.23943714e-04 1.92722546e+00] [ 1.96025410e-02 -3.60646227e-04 9.99807787e-01 4.84020320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.71, Y:1.93, Z:0.49 [[ 9.99376744e-01 -3.10996157e-02 -1.67014488e-02 6.97133077e+01] [ 3.11008163e-02 9.99516235e-01 -1.87908785e-04 1.93098833e+00] [ 1.66992131e-02 -3.31637020e-04 9.99860503e-01 4.90456736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:69.76, Y:1.92, Z:0.47 [[ 9.99177850e-01 -3.82844614e-02 -1.33388306e-02 6.97609025e+01] [ 3.84579892e-02 9.99175586e-01 1.30050251e-02 1.92209605e+00] [ 1.28299435e-02 -1.35073176e-02 9.99826457e-01 4.74775882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:69.78, Y:1.94, Z:0.52 [[ 9.99326757e-01 -3.31622063e-02 -1.56939530e-02 6.97751602e+01] [ 3.29616098e-02 9.99373721e-01 -1.28724011e-02 1.94084891e+00] [ 1.61110014e-02 1.23464369e-02 9.99793979e-01 5.15675930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.82, Y:1.92, Z:0.48 [[ 9.99228483e-01 -3.65420371e-02 -1.43916192e-02 6.98158275e+01] [ 3.67096542e-02 9.99259108e-01 1.15601065e-02 1.92471058e+00] [ 1.39585267e-02 -1.20794991e-02 9.99829608e-01 4.78032561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.915336195 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:69.84, Y:1.94, Z:0.51 [[ 9.99269559e-01 -3.34020325e-02 -1.85648196e-02 6.98392203e+01] [ 3.31822482e-02 9.99376994e-01 -1.20234043e-02 1.93951907e+00] [ 1.89548597e-02 1.13985995e-02 9.99755363e-01 5.10547299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.945336195 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:69.87, Y:1.93, Z:0.49 [[ 9.99253063e-01 -3.28211816e-02 -2.03982084e-02 6.98729801e+01] [ 3.28234864e-02 9.99461140e-01 -2.21897536e-04 1.93241484e+00] [ 2.03944996e-02 -4.47808522e-04 9.99791910e-01 4.92278469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.975336195 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:69.91, Y:1.92, Z:0.48 [[ 9.99104296e-01 -3.68174912e-02 -2.08585033e-02 6.99087593e+01] [ 3.70859576e-02 9.99232218e-01 1.26335139e-02 1.92294018e+00] [ 2.03773543e-02 -1.33957556e-02 9.99702614e-01 4.76201868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.005336195 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:69.94, Y:1.94, Z:0.51 [[ 9.99147481e-01 -3.40424508e-02 -2.33542985e-02 6.99370860e+01] [ 3.37521445e-02 9.99349359e-01 -1.27142038e-02 1.93962450e+00] [ 2.37719259e-02 1.19151071e-02 9.99646400e-01 5.14645810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.035336195 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:69.97, Y:1.92, Z:0.48 [[ 9.99231299e-01 -3.17677905e-02 -2.29699338e-02 6.99726997e+01] [ 3.20379663e-02 9.99420591e-01 1.14913117e-02 1.92468642e+00] [ 2.25915712e-02 -1.22183883e-02 9.99670112e-01 4.79085523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.065336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:70.00, Y:1.94, Z:0.50 [[ 9.99310486e-01 -2.88840711e-02 -2.33294644e-02 7.00023978e+01] [ 2.86114779e-02 9.99519353e-01 -1.19350459e-02 1.93618568e+00] [ 2.36629839e-02 1.12593261e-02 9.99656586e-01 5.03266761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.095336195 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:70.04, Y:1.93, Z:0.48 [[ 9.99327592e-01 -2.81012837e-02 -2.35517023e-02 7.00364584e+01] [ 2.81032594e-02 9.99604995e-01 -2.47159532e-04 1.92556893e+00] [ 2.35493448e-02 -4.14886259e-04 9.99722590e-01 4.78542957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.125336195 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:70.07, Y:1.93, Z:0.49 [[ 9.99422877e-01 -2.56505195e-02 -2.22702614e-02 7.00682730e+01] [ 2.56517386e-02 9.99670913e-01 -2.30973448e-04 1.92781556e+00] [ 2.22688571e-02 -3.40430776e-04 9.99751960e-01 4.85007119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:70.10, Y:1.93, Z:0.49 [[ 9.99478989e-01 -2.39725107e-02 -2.16117922e-02 7.01013440e+01] [ 2.39733413e-02 9.99712574e-01 -2.20689077e-04 1.93084457e+00] [ 2.16108709e-02 -2.97532776e-04 9.99766414e-01 4.92031373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18533619499999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:70.13, Y:1.93, Z:0.50 [[ 9.99611632e-01 -2.10202669e-02 -1.82957102e-02 7.01335814e+01] [ 2.10204222e-02 9.99779030e-01 -1.83841653e-04 1.93494943e+00] [ 1.82955318e-02 -2.00813298e-04 9.99832603e-01 5.02179931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:70.17, Y:1.93, Z:0.49 [[ 9.99672548e-01 -2.10182680e-02 -1.45955469e-02 7.01727037e+01] [ 2.12009183e-02 9.99697412e-01 1.24742061e-02 1.92738317e+00] [ 1.43289442e-02 -1.27795604e-02 9.99815665e-01 4.87845485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.245336195 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:70.20, Y:1.94, Z:0.52 [[ 9.99781145e-01 -1.60259031e-02 -1.34474094e-02 7.01979495e+01] [ 1.58557306e-02 9.99794047e-01 -1.26672731e-02 1.94297299e+00] [ 1.36476444e-02 1.24512823e-02 9.99829339e-01 5.20705946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.275336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:70.23, Y:1.93, Z:0.50 [[ 9.99753615e-01 -1.74243778e-02 -1.37513587e-02 7.02308551e+01] [ 1.74241794e-02 9.99848178e-01 -1.34244043e-04 1.93223095e+00] [ 1.37516101e-02 -1.05395174e-04 9.99905437e-01 4.95057003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.305336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:70.27, Y:1.92, Z:0.48 [[ 9.99688784e-01 -2.04722367e-02 -1.42556503e-02 7.02677236e+01] [ 2.06773778e-02 9.99682570e-01 1.43946081e-02 1.92237032e+00] [ 1.39564354e-02 -1.46848978e-02 9.99794765e-01 4.75296625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.335336195 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:70.29, Y:1.94, Z:0.52 [[ 9.99624538e-01 -2.18413099e-02 -1.65451152e-02 7.02938555e+01] [ 2.15988426e-02 9.99658722e-01 -1.46945410e-02 1.94123620e+00] [ 1.68604167e-02 1.43316684e-02 9.99755135e-01 5.16137763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.33, Y:1.92, Z:0.47 [[ 9.99433604e-01 -2.66801330e-02 -2.05095657e-02 7.03320832e+01] [ 2.69786759e-02 9.99531997e-01 1.44200371e-02 1.92040336e+00] [ 2.01152387e-02 -1.49651906e-02 9.99685661e-01 4.71936204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.395336195 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:70.36, Y:1.94, Z:0.52 [[ 9.99385439e-01 -2.71549005e-02 -2.21665560e-02 7.03574435e+01] [ 2.68325096e-02 9.99531645e-01 -1.47141934e-02 1.94050391e+00] [ 2.25557366e-02 1.41103663e-02 9.99646005e-01 5.18441537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.425336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:70.39, Y:1.93, Z:0.50 [[ 9.99420675e-01 -2.59671989e-02 -2.20004455e-02 7.03896483e+01] [ 2.59690042e-02 9.99662728e-01 -2.03689315e-04 1.93147044e+00] [ 2.19983146e-02 -3.67758349e-04 9.99757940e-01 4.96653868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.455336195 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:70.42, Y:1.93, Z:0.50 [[ 9.99401812e-01 -2.61206937e-02 -2.26655535e-02 7.04231174e+01] [ 2.61227414e-02 9.99658722e-01 -2.05786293e-04 1.93226095e+00] [ 2.26631936e-02 -3.86423199e-04 9.99743082e-01 4.98226904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.485336195 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:70.46, Y:1.92, Z:0.48 [[ 9.99455387e-01 -2.48142968e-02 -2.17527072e-02 7.04604917e+01] [ 2.50164854e-02 9.99645870e-01 9.07251785e-03 1.92291128e+00] [ 2.15198757e-02 -9.61175312e-03 9.99722216e-01 4.84790131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51533619499999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:70.49, Y:1.93, Z:0.50 [[ 9.99458399e-01 -2.48493653e-02 -2.15735529e-02 7.04938333e+01] [ 2.48527691e-02 9.99691116e-01 -1.10363550e-04 1.92939695e+00] [ 2.15696316e-02 -4.25858751e-04 9.99767258e-01 4.99926410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54533619499999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:70.52, Y:1.93, Z:0.50 [[ 9.99450283e-01 -2.39855586e-02 -2.28872160e-02 7.05210249e+01] [ 2.37763783e-02 9.99673405e-01 -9.36841990e-03 1.93492176e+00] [ 2.31044480e-02 8.81909481e-03 9.99694157e-01 5.04608874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57533619499999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:70.55, Y:1.93, Z:0.49 [[ 9.99440712e-01 -2.37563494e-02 -2.35350539e-02 7.05540840e+01] [ 2.37581739e-02 9.99717714e-01 -2.02127833e-04 1.92840413e+00] [ 2.35332121e-02 -3.57135116e-04 9.99722992e-01 4.88556776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.59, Y:1.93, Z:0.49 [[ 9.99331512e-01 -2.54963741e-02 -2.62004583e-02 7.05862654e+01] [ 2.54993605e-02 9.99674814e-01 -2.20170922e-04 1.92984526e+00] [ 2.61975519e-02 -4.48071191e-04 9.99656685e-01 4.92459770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.635336195 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:70.63, Y:1.92, Z:0.48 [[ 9.99306801e-01 -2.71280511e-02 -2.54948185e-02 7.06254838e+01] [ 2.74100254e-02 9.99566186e-01 1.07763984e-02 1.92081165e+00] [ 2.51914158e-02 -1.14677419e-02 9.99616868e-01 4.81630955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.665336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:70.65, Y:1.94, Z:0.52 [[ 9.99143062e-01 -3.02052168e-02 -2.82981775e-02 7.06496983e+01] [ 2.99037012e-02 9.99492054e-01 -1.10183272e-02 1.93895552e+00] [ 2.86166145e-02 1.01626649e-02 9.99538798e-01 5.17988963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.695336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:70.68, Y:1.93, Z:0.50 [[ 9.99140662e-01 -2.99617766e-02 -2.86396356e-02 7.06836249e+01] [ 2.99674543e-02 9.99550848e-01 -2.31044764e-04 1.93168005e+00] [ 2.86336945e-02 -6.27410752e-04 9.99589775e-01 5.00226102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.725336195 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:70.72, Y:1.93, Z:0.50 [[ 9.99126639e-01 -2.97640764e-02 -2.93267586e-02 7.07155347e+01] [ 2.97700931e-02 9.99556746e-01 -2.31537811e-04 1.93077136e+00] [ 2.93206509e-02 -6.41724739e-04 9.99569851e-01 4.96728484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.755336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:70.75, Y:1.93, Z:0.49 [[ 9.99142242e-01 -2.97801392e-02 -2.87736535e-02 7.07491149e+01] [ 2.97860842e-02 9.99556271e-01 -2.22079527e-04 1.92925177e+00] [ 2.87674993e-02 -6.35165427e-04 9.99585928e-01 4.94015517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.785336195 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:70.78, Y:1.93, Z:0.49 [[ 9.99164834e-01 -3.02895014e-02 -2.74259157e-02 7.07824899e+01] [ 3.02952283e-02 9.99540973e-01 -2.06772341e-04 1.92782386e+00] [ 2.74195895e-02 -6.24274727e-04 9.99623817e-01 4.92912619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.81, Y:1.93, Z:0.50 [[ 9.99257696e-01 -2.99398113e-02 -2.42418071e-02 7.08147506e+01] [ 2.99442547e-02 9.99551554e-01 -1.79772576e-04 1.92754563e+00] [ 2.42363183e-02 -5.46263714e-04 9.99706108e-01 4.95163088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.845336195 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:70.85, Y:1.93, Z:0.50 [[ 9.99315681e-01 -2.79035859e-02 -2.42808400e-02 7.08473500e+01] [ 2.79075083e-02 9.99610494e-01 -1.77365189e-04 1.93118718e+00] [ 2.42763315e-02 -5.00373929e-04 9.99705161e-01 5.04331532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87533619499999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:70.88, Y:1.93, Z:0.51 [[ 9.99344473e-01 -2.61274500e-02 -2.50595341e-02 7.08807785e+01] [ 2.61311761e-02 9.99658507e-01 -1.78821823e-04 1.93349287e+00] [ 2.50556486e-02 -4.76130500e-04 9.99685945e-01 5.08058912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.91, Y:1.93, Z:0.51 [[ 9.99313536e-01 -2.77848520e-02 -2.45042664e-02 7.09131726e+01] [ 2.77890175e-02 9.99613796e-01 -1.70586738e-04 1.93221137e+00] [ 2.44995425e-02 -5.10479850e-04 9.99699711e-01 5.05805063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:70.95, Y:1.93, Z:0.50 [[ 9.99299274e-01 -2.83581473e-02 -2.44290168e-02 7.09467941e+01] [ 2.83625685e-02 9.99597688e-01 -1.65553656e-04 1.93048402e+00] [ 2.44238835e-02 -5.27432016e-04 9.99701553e-01 5.02614382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.98, Y:1.93, Z:0.50 [[ 9.99264416e-01 -2.85087044e-02 -2.56491797e-02 7.09805611e+01] [ 2.85137532e-02 9.99593386e-01 -1.68950154e-04 1.92865235e+00] [ 2.56435669e-02 -5.62528503e-04 9.99670991e-01 4.99793763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.01, Y:1.93, Z:0.50 [[ 9.99245871e-01 -2.88808750e-02 -2.59535150e-02 7.10125575e+01] [ 2.88862900e-02 9.99582690e-01 -1.66325211e-04 1.92808574e+00] [ 2.59474880e-02 -5.83500980e-04 9.99663137e-01 4.98782982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.025336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:71.04, Y:1.93, Z:0.50 [[ 9.99240801e-01 -2.84335163e-02 -2.66337429e-02 7.10449228e+01] [ 2.84391501e-02 9.99595512e-01 -1.67309296e-04 1.92601541e+00] [ 2.66277270e-02 -5.90258737e-04 9.99645245e-01 4.96154231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.055336195 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:71.08, Y:1.92, Z:0.49 [[ 9.99199956e-01 -2.73269706e-02 -2.92007747e-02 7.10770144e+01] [ 2.73334071e-02 9.99626357e-01 -1.78793899e-04 1.92437505e+00] [ 2.91947499e-02 -6.19505804e-04 9.99573550e-01 4.94086982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.11, Y:1.92, Z:0.50 [[ 9.99180861e-01 -2.60745908e-02 -3.09470896e-02 7.11099596e+01] [ 2.60813907e-02 9.99659806e-01 -1.83989928e-04 1.92468591e+00] [ 3.09413591e-02 -6.23303921e-04 9.99521007e-01 4.96399286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.115336195 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:71.14, Y:1.93, Z:0.51 [[ 9.99220693e-01 -2.33030752e-02 -3.18586322e-02 7.11433007e+01] [ 2.33090582e-02 9.99728290e-01 -1.83633014e-04 1.92977797e+00] [ 3.18542551e-02 -5.59104802e-04 9.99492368e-01 5.06171911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.145336195 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:71.18, Y:1.93, Z:0.51 [[ 9.99243488e-01 -2.20503273e-02 -3.20348915e-02 7.11752556e+01] [ 2.20559092e-02 9.99756723e-01 -1.79155548e-04 1.93133637e+00] [ 3.20310485e-02 -5.27538644e-04 9.99486735e-01 5.09448807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.175336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:71.21, Y:1.93, Z:0.51 [[ 9.99293297e-01 -1.67746336e-02 -3.36380478e-02 7.12078848e+01] [ 1.67778980e-02 9.99859224e-01 -1.85240864e-04 1.93327101e+00] [ 3.36364198e-02 -3.79265781e-04 9.99434064e-01 5.08154335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.205336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:71.24, Y:1.93, Z:0.50 [[ 9.99391488e-01 -1.78347779e-02 -2.99762377e-02 7.12402222e+01] [ 1.78378897e-02 9.99840879e-01 -1.63623749e-04 1.92725851e+00] [ 2.99743861e-02 -3.71188641e-04 9.99550598e-01 4.97355835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.27, Y:1.93, Z:0.50 [[ 9.99422312e-01 -1.63144074e-02 -2.98141385e-02 7.12722916e+01] [ 1.63168581e-02 9.99866858e-01 -1.61105330e-04 1.92679964e+00] [ 2.98127973e-02 -3.25460807e-04 9.99555447e-01 4.95618651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.30, Y:1.93, Z:0.49 [[ 9.99438312e-01 -1.68519100e-02 -2.89667611e-02 7.13040821e+01] [ 1.68544873e-02 9.99857941e-01 -1.55202119e-04 1.92646868e+00] [ 2.89652616e-02 -3.33104964e-04 9.99580363e-01 4.93692511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29533619499999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:71.34, Y:1.93, Z:0.49 [[ 9.99439727e-01 -1.71680963e-02 -2.87313135e-02 7.13359595e+01] [ 1.71708054e-02 9.99852559e-01 -1.52446365e-04 1.92697980e+00] [ 2.87296946e-02 -3.40978839e-04 9.99587159e-01 4.94085696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:71.37, Y:1.93, Z:0.50 [[ 9.99446593e-01 -1.67941724e-02 -2.87134744e-02 7.13689387e+01] [ 1.67967758e-02 9.99858913e-01 -1.50544163e-04 1.92813119e+00] [ 2.87119515e-02 -3.31832940e-04 9.99587672e-01 4.96645616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:71.40, Y:1.93, Z:0.50 [[ 9.99509907e-01 -1.51032372e-02 -2.74196710e-02 7.14017030e+01] [ 1.51050250e-02 9.99885903e-01 -1.41937896e-04 1.93111935e+00] [ 2.74186862e-02 -2.72306482e-04 9.99624000e-01 5.02221517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.43, Y:1.93, Z:0.51 [[ 9.99543023e-01 -1.36060178e-02 -2.69929791e-02 7.14337861e+01] [ 1.36072408e-02 9.99907408e-01 -1.38382975e-04 1.93298889e+00] [ 2.69923626e-02 -2.28980229e-04 9.99635614e-01 5.05417020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.47, Y:1.93, Z:0.50 [[ 9.99571096e-01 -1.19594328e-02 -2.67319335e-02 7.14664130e+01] [ 1.19600761e-02 9.99928467e-01 -1.35826481e-04 1.93407993e+00] [ 2.67316457e-02 -1.83947735e-04 9.99642629e-01 5.04393051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.50, Y:1.93, Z:0.50 [[ 9.99592477e-01 -1.14322289e-02 -2.61569039e-02 7.14966038e+01] [ 1.14326771e-02 9.99934636e-01 -1.32420040e-04 1.93280645e+00] [ 2.61567080e-02 -1.66677359e-04 9.99657841e-01 4.99854364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.53, Y:1.93, Z:0.49 [[ 9.99599682e-01 -9.92956702e-03 -2.64929998e-02 7.15281983e+01] [ 9.92951335e-03 9.99950692e-01 -1.33583644e-04 1.93086674e+00] [ 2.64930199e-02 -1.29532426e-04 9.99648990e-01 4.93221449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.505336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:71.56, Y:1.93, Z:0.49 [[ 9.99585088e-01 -1.04273306e-02 -2.68500137e-02 7.15554643e+01] [ 1.04274264e-02 9.99945624e-01 -1.36450751e-04 1.93090285e+00] [ 2.68499765e-02 -1.43582405e-04 9.99639464e-01 4.92506300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.535336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:71.58, Y:1.94, Z:0.50 [[ 9.99569257e-01 -9.05540551e-03 -2.79159450e-02 7.15847563e+01] [ 9.05495078e-03 9.99958993e-01 -1.42705196e-04 1.93643678e+00] [ 2.79160925e-02 -1.10133780e-04 9.99610264e-01 5.03449686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.565336195 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:71.61, Y:1.94, Z:0.51 [[ 9.99576472e-01 -9.30995397e-03 -2.75717395e-02 7.16119784e+01] [ 9.30952749e-03 9.99956655e-01 -1.43834983e-04 1.94057869e+00] [ 2.75718835e-02 -1.12905802e-04 9.99619817e-01 5.09929452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.595336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:71.64, Y:1.94, Z:0.51 [[ 9.99599752e-01 -9.60474306e-03 -2.66098429e-02 7.16388768e+01] [ 9.60438970e-03 9.99953867e-01 -1.41090583e-04 1.94248741e+00] [ 2.66099705e-02 -1.14537190e-04 9.99645885e-01 5.12487976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.67, Y:1.94, Z:0.51 [[ 9.99670156e-01 -9.52178581e-03 -2.38519461e-02 7.16679337e+01] [ 9.52140287e-03 9.99954662e-01 -1.29625458e-04 1.94062786e+00] [ 2.38520989e-02 -9.75212861e-05 9.99715493e-01 5.06073328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.70, Y:1.94, Z:0.50 [[ 9.99751076e-01 -7.15515964e-03 -2.11326551e-02 7.16971540e+01] [ 7.15431505e-03 9.99974401e-01 -1.15570203e-04 1.93599646e+00] [ 2.11329410e-02 -3.56482376e-05 9.99776674e-01 4.96003174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68533619499999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:71.72, Y:1.94, Z:0.49 [[ 9.99797323e-01 -5.42957576e-03 -1.93864029e-02 7.17247375e+01] [ 5.42849316e-03 9.99985260e-01 -1.08467510e-04 1.93591432e+00] [ 1.93867061e-02 3.20657029e-06 9.99812060e-01 4.94484248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.75, Y:1.94, Z:0.51 [[ 9.99846442e-01 -3.21363642e-03 -1.72268556e-02 7.17512399e+01] [ 3.21241262e-03 9.99994835e-01 -9.87117254e-05 1.94245763e+00] [ 1.72270839e-02 4.33567989e-05 9.99851602e-01 5.06926999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.745336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:71.78, Y:1.95, Z:0.51 [[ 9.99857960e-01 -2.23965009e-03 -1.67046097e-02 7.17788292e+01] [ 2.23831973e-03 9.99997490e-01 -9.83364200e-05 1.94645166e+00] [ 1.67047880e-02 6.09321949e-05 9.99860463e-01 5.13186575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:1.95, Z:0.51 [[ 9.99841574e-01 -2.00361315e-03 -1.76865296e-02 7.18066512e+01] [ 2.00202817e-03 9.99997990e-01 -1.07320484e-04 1.94541932e+00] [ 1.76867091e-02 7.18945515e-05 9.99843575e-01 5.08782024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.83, Y:1.94, Z:0.50 [[ 9.99830380e-01 -1.98359991e-03 -1.83105329e-02 7.18347440e+01] [ 1.98183597e-03 9.99998030e-01 -1.14479571e-04 1.94224121e+00] [ 1.83107239e-02 7.81716802e-05 9.99832342e-01 5.01156960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.835336195 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:71.88, Y:1.94, Z:0.49 [[ 9.99840510e-01 -6.19972749e-03 -1.67486502e-02 7.18803730e+01] [ 6.22559422e-03 9.99979507e-01 1.49270894e-03 1.93556394e+00] [ 1.67390525e-02 -1.59674117e-03 9.99858617e-01 4.92929677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.89, Y:1.94, Z:0.50 [[ 9.99836015e-01 8.64783034e-05 -1.81089839e-02 7.18907399e+01] [-1.08781290e-04 9.99999237e-01 -1.23061650e-03 1.94278448e+00] [ 1.81088637e-02 1.23238461e-03 9.99835262e-01 5.01208078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.895336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:71.92, Y:1.95, Z:0.51 [[ 9.99816235e-01 1.21681815e-03 -1.91315394e-02 7.19186972e+01] [-1.21925167e-03 9.99999250e-01 -1.15535536e-04 1.94690121e+00] [ 1.91313845e-02 1.38840466e-04 9.99816969e-01 5.08623956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.925336195 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:71.95, Y:1.95, Z:0.51 [[ 9.99805110e-01 2.25155667e-03 -1.96130483e-02 7.19460676e+01] [-2.25438506e-03 9.99997451e-01 -1.22100779e-04 1.94729064e+00] [ 1.96127234e-02 1.66292346e-04 9.99807638e-01 5.08758540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.955336195 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:71.99, Y:1.94, Z:0.50 [[ 9.99809867e-01 -5.93241630e-04 -1.94904386e-02 7.19937425e+01] [ 6.03221081e-04 9.99999690e-01 5.06142687e-04 1.94071914e+00] [ 1.94901323e-02 -5.17803496e-04 9.99809915e-01 5.00885777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.00, Y:1.94, Z:0.50 [[ 9.99785282e-01 4.72685706e-03 -2.01753848e-02 7.20041101e+01] [-4.73058612e-03 9.99988801e-01 -1.37110208e-04 1.94367039e+00] [ 2.01745107e-02 2.32522163e-04 9.99796447e-01 4.98845952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.05, Y:1.94, Z:0.50 [[ 9.99834921e-01 -3.21858926e-03 -1.78821533e-02 7.20522292e+01] [ 3.21287171e-03 9.99994778e-01 -3.48454820e-04 1.94151441e+00] [ 1.78831815e-02 2.90944233e-04 9.99840041e-01 5.00519606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:72.06, Y:1.94, Z:0.50 [[ 9.99825604e-01 1.98069620e-03 -1.85698124e-02 7.20619110e+01] [-1.96654884e-03 9.99997762e-01 7.80076911e-04 1.94448943e+00] [ 1.85713159e-02 -7.43422426e-04 9.99827262e-01 4.98747981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.09, Y:1.95, Z:0.50 [[ 9.99834049e-01 2.03986395e-03 -1.81028508e-02 7.20893900e+01] [-2.04208104e-03 9.99997910e-01 -1.03987506e-04 1.94588734e+00] [ 1.81026009e-02 1.40937737e-04 9.99836125e-01 4.99200052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.12, Y:1.95, Z:0.50 [[ 9.99841426e-01 2.25093226e-03 -1.76650899e-02 7.21172054e+01] [-2.25313317e-03 9.99997456e-01 -1.04689420e-04 1.94622594e+00] [ 1.76648094e-02 1.44474619e-04 9.99843955e-01 4.98472809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.14, Y:1.95, Z:0.50 [[ 9.99861751e-01 1.86172022e-03 -1.65231292e-02 7.21442947e+01] [-1.86363150e-03 9.99998258e-01 -1.00276020e-04 1.94682093e+00] [ 1.65229138e-02 1.31055181e-04 9.99863479e-01 4.98825790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.17, Y:1.95, Z:0.50 [[ 9.99913130e-01 1.23384172e-03 -1.31228515e-02 7.21721627e+01] [-1.23501876e-03 9.99999234e-01 -8.15909866e-05 1.94866973e+00] [ 1.31227408e-02 9.77908667e-05 9.99913888e-01 5.00568462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.195336195 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:72.20, Y:1.95, Z:0.51 [[ 9.99937184e-01 4.01873792e-04 -1.12011436e-02 7.21992450e+01] [-4.02694193e-04 9.99999916e-01 -7.09873136e-05 1.95227184e+00] [ 1.12011142e-02 7.54934900e-05 9.99937263e-01 5.06752739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.25, Y:1.95, Z:0.51 [[ 9.99903365e-01 -6.25125399e-03 -1.24170401e-02 7.22487780e+01] [ 6.20249345e-03 9.99972917e-01 -3.96154149e-03 1.95202292e+00] [ 1.24414685e-02 3.88414205e-03 9.99915058e-01 5.13850339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.26, Y:1.95, Z:0.49 [[ 9.99894843e-01 -2.41290754e-03 -1.42996705e-02 7.22572280e+01] [ 2.47204870e-03 9.99988459e-01 4.11960919e-03 1.94801002e+00] [ 1.42895653e-02 -4.15452547e-03 9.99889268e-01 4.94880946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.28, Y:1.95, Z:0.50 [[ 9.99897434e-01 -2.71035772e-03 -1.40632736e-02 7.22842963e+01] [ 2.70897886e-03 9.99996324e-01 -1.17095687e-04 1.95091308e+00] [ 1.40635393e-02 7.89865666e-05 9.99901100e-01 5.01217220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.31, Y:1.95, Z:0.51 [[ 9.99890279e-01 -3.39187509e-03 -1.44196090e-02 7.23121000e+01] [ 3.39046627e-03 9.99994245e-01 -1.22146931e-04 1.95329991e+00] [ 1.44199404e-02 7.32443311e-05 9.99896025e-01 5.05418079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.345336195 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:72.34, Y:1.95, Z:0.51 [[ 9.99878452e-01 -4.14557010e-03 -1.50298146e-02 7.23399826e+01] [ 4.14408176e-03 9.99991405e-01 -1.30168724e-04 1.95452520e+00] [ 1.50302251e-02 6.78681220e-05 9.99887037e-01 5.06930934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37533619499999 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:72.39, Y:1.95, Z:0.51 [[ 9.99862729e-01 -7.72998564e-03 -1.46550463e-02 7.23873545e+01] [ 7.65345416e-03 9.99956819e-01 -5.27110494e-03 1.95417189e+00] [ 1.46951590e-02 5.15821964e-03 9.99878715e-01 5.13518829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40533619499999 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:72.42, Y:1.95, Z:0.50 [[ 9.99858235e-01 -8.09368152e-03 -1.47649251e-02 7.24194957e+01] [ 8.10387352e-03 9.99966964e-01 6.30584210e-04 1.95093121e+00] [ 1.47593336e-02 -7.50147900e-04 9.99890794e-01 5.04007563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.43, Y:1.95, Z:0.49 [[ 9.99892143e-01 -2.67062570e-03 -1.44419319e-02 7.24281532e+01] [ 2.74917266e-03 9.99981523e-01 5.42169722e-03 1.95089708e+00] [ 1.44271858e-02 -5.46081582e-03 9.99881011e-01 4.94101435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46533619499999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:72.46, Y:1.95, Z:0.50 [[ 9.99896498e-01 -1.07315044e-03 -1.43471902e-02 7.24562233e+01] [ 1.07126463e-03 9.99999417e-01 -1.39125750e-04 1.95311354e+00] [ 1.43473311e-02 1.23741713e-04 9.99897064e-01 4.99361219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.495336195 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:72.48, Y:1.95, Z:0.50 [[ 9.99902672e-01 -1.01923328e-03 -1.39142870e-02 7.24839613e+01] [ 1.01741860e-03 9.99999473e-01 -1.37496730e-04 1.95310151e+00] [ 1.39144198e-02 1.23326693e-04 9.99903182e-01 4.99701615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.525336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:72.51, Y:1.96, Z:0.51 [[ 9.99924267e-01 -9.09342526e-06 -1.23069029e-02 7.25105779e+01] [ 7.57861540e-06 9.99999992e-01 -1.23132828e-04 1.95608161e+00] [ 1.23069039e-02 1.23030233e-04 9.99924260e-01 5.06522309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.555336195 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:72.54, Y:1.96, Z:0.51 [[ 9.99929587e-01 1.31205338e-05 -1.18667865e-02 7.25384528e+01] [-1.45408707e-05 9.99999993e-01 -1.19603831e-04 1.95829258e+00] [ 1.18667849e-02 1.19767963e-04 9.99929580e-01 5.10622039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.585336195 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:72.57, Y:1.96, Z:0.51 [[ 9.99941420e-01 6.51064796e-04 -1.08042446e-02 7.25660298e+01] [-6.52292922e-04 9.99999781e-01 -1.10147165e-04 1.95853866e+00] [ 1.08041705e-02 1.17188244e-04 9.99941626e-01 5.09058610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.615336195 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:72.59, Y:1.96, Z:0.50 [[ 9.99952819e-01 3.18707638e-04 -9.70861619e-03 7.25937244e+01] [-3.19695603e-04 9.99999944e-01 -1.00209968e-04 1.95651895e+00] [ 9.70858371e-03 1.03309042e-04 9.99952865e-01 5.04134807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.62, Y:1.96, Z:0.50 [[ 9.99964882e-01 1.46119589e-04 -8.37934919e-03 7.26206954e+01] [-1.46854049e-04 9.99999985e-01 -8.70360193e-05 1.95572125e+00] [ 8.37933635e-03 8.82635042e-05 9.99964889e-01 5.00591733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.675336195 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:72.65, Y:1.96, Z:0.50 [[ 9.99961930e-01 1.55136075e-04 -8.72437637e-03 7.26487169e+01] [-1.55938554e-04 9.99999984e-01 -9.13011560e-05 1.95679856e+00] [ 8.72436206e-03 9.26581468e-05 9.99961938e-01 5.00458247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.705336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:72.68, Y:1.96, Z:0.50 [[ 9.99956795e-01 -1.69115895e-04 -9.29405429e-03 7.26768280e+01] [ 1.68213136e-04 9.99999981e-01 -9.79145520e-05 1.95726736e+00] [ 9.29407067e-03 9.63469396e-05 9.99956805e-01 4.99277466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.735336195 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:72.70, Y:1.96, Z:0.50 [[ 9.99948487e-01 1.48945607e-04 -1.01489614e-02 7.27037417e+01] [-1.50048156e-04 9.99999983e-01 -1.07875336e-04 1.95836521e+00] [ 1.01489451e-02 1.09392612e-04 9.99948492e-01 5.01642854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.73, Y:1.96, Z:0.51 [[ 9.99929521e-01 5.77892063e-04 -1.18583300e-02 7.27309602e+01] [-5.79451117e-04 9.99999824e-01 -1.28037913e-04 1.96182837e+00] [ 1.18582539e-02 1.34900211e-04 9.99929679e-01 5.08326331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:72.76, Y:1.96, Z:0.51 [[ 9.99922002e-01 -2.97004693e-04 -1.24860558e-02 7.27576744e+01] [ 2.95322518e-04 9.99999947e-01 -1.36567855e-04 1.96316759e+00] [ 1.24860957e-02 1.32869789e-04 9.99922037e-01 5.09326477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82533619499999 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:72.79, Y:1.96, Z:0.50 [[ 9.99928105e-01 5.56379459e-04 -1.19780920e-02 7.27859197e+01] [-5.58007632e-04 9.99999836e-01 -1.32587638e-04 1.96031016e+00] [ 1.19780162e-02 1.39261973e-04 9.99928251e-01 5.02652143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:72.81, Y:1.96, Z:0.50 [[ 9.99929398e-01 1.04635517e-03 -1.18365986e-02 7.28139242e+01] [-1.04800484e-03 9.99999442e-01 -1.33168569e-04 1.95939659e+00] [ 1.18364526e-02 1.45563980e-04 9.99929936e-01 4.99737502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.84, Y:1.96, Z:0.50 [[ 9.99939048e-01 2.49142827e-03 -1.07560322e-02 7.28417283e+01] [-2.49289419e-03 9.99996885e-01 -1.22883318e-04 1.95935802e+00] [ 1.07556925e-02 1.49689478e-04 9.99942145e-01 4.98533742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.915336195 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:72.87, Y:1.96, Z:0.50 [[ 9.99950024e-01 2.62615090e-03 -9.64641701e-03 7.28686141e+01] [-2.62734853e-03 9.99996542e-01 -1.11482261e-04 1.96109979e+00] [ 9.64609088e-03 1.36821189e-04 9.99953466e-01 5.01568675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.945336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:72.90, Y:1.97, Z:0.51 [[ 9.99965992e-01 4.35764323e-03 -7.00177301e-03 7.28964601e+01] [-4.35832042e-03 9.99990499e-01 -8.14614247e-05 1.96533678e+00] [ 7.00135151e-03 1.11974625e-04 9.99975484e-01 5.10463074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.975336195 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:72.92, Y:1.97, Z:0.51 [[ 9.99970162e-01 4.74309426e-03 -6.09746023e-03 7.29244034e+01] [-4.74362108e-03 9.99988746e-01 -7.19405059e-05 1.96622811e+00] [ 6.09705039e-03 1.00862400e-04 9.99981408e-01 5.10885064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.95, Y:1.96, Z:0.50 [[ 9.99972037e-01 5.02770273e-03 -5.53595909e-03 7.29510744e+01] [-5.02814459e-03 9.99987357e-01 -6.59013873e-05 1.96384461e+00] [ 5.53555777e-03 9.37351473e-05 9.99984674e-01 5.03994759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.035336195 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:72.98, Y:1.96, Z:0.50 [[ 9.99977392e-01 4.32898262e-03 -5.14534502e-03 7.29794343e+01] [-4.32935850e-03 9.99990626e-01 -6.19158588e-05 1.96312442e+00] [ 5.14502875e-03 8.41905022e-05 9.99986761e-01 5.01458255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.065336195 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:73.01, Y:1.96, Z:0.50 [[ 9.99978470e-01 4.71595732e-03 -4.56290255e-03 7.30072838e+01] [-4.71625814e-03 9.99988877e-01 -5.51692898e-05 1.96330216e+00] [ 4.56259162e-03 7.66879283e-05 9.99989588e-01 5.01202899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.095336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:73.03, Y:1.97, Z:0.51 [[ 9.99989776e-01 2.86693461e-03 -3.49690553e-03 7.30343349e+01] [-2.86710040e-03 9.99995889e-01 -4.24002816e-05 1.96607089e+00] [ 3.49676960e-03 5.24258274e-05 9.99993885e-01 5.05490060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.06, Y:1.97, Z:0.51 [[ 9.99989754e-01 1.46296319e-03 -4.28399520e-03 7.30617698e+01] [-1.46320118e-03 9.99998928e-01 -5.24185191e-05 1.96841769e+00] [ 4.28391393e-03 5.86863288e-05 9.99990822e-01 5.08226574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:73.09, Y:1.97, Z:0.51 [[ 9.99990030e-01 1.13924796e-03 -4.31759064e-03 7.30889773e+01] [-1.13948795e-03 9.99999349e-01 -5.31230887e-05 1.96957071e+00] [ 4.31752731e-03 5.80424016e-05 9.99990678e-01 5.10280845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18533619499999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:73.12, Y:1.97, Z:0.51 [[ 9.99993241e-01 1.66428284e-03 -3.27853752e-03 7.31165200e+01] [-1.66442463e-03 9.99998614e-01 -4.05210139e-05 1.97112286e+00] [ 3.27846554e-03 4.59776186e-05 9.99994625e-01 5.12513703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.14, Y:1.97, Z:0.51 [[ 9.99996575e-01 9.10474733e-04 -2.45363648e-03 7.31437756e+01] [-9.10552159e-04 9.99999585e-01 -3.04383215e-05 1.97216077e+00] [ 2.45360775e-03 3.26723813e-05 9.99996989e-01 5.12673746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.17, Y:1.97, Z:0.51 [[ 9.99995545e-01 1.05770995e-03 -2.79131598e-03 7.31702002e+01] [-1.05781113e-03 9.99999440e-01 -3.47723324e-05 1.97082677e+00] [ 2.79127764e-03 3.77248626e-05 9.99996104e-01 5.10068737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.275336195 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:73.20, Y:1.97, Z:0.50 [[ 9.99990586e-01 2.04910839e-03 -3.82489749e-03 7.31979209e+01] [-2.04930662e-03 9.99997899e-01 -4.79069983e-05 1.96811215e+00] [ 3.82479129e-03 5.57449350e-05 9.99992684e-01 5.04854788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.23, Y:1.97, Z:0.50 [[ 9.99985962e-01 3.00160016e-03 -4.36647397e-03 7.32256534e+01] [-3.00187188e-03 9.99995493e-01 -5.56773882e-05 1.96698372e+00] [ 4.36628717e-03 6.87842021e-05 9.99990465e-01 5.02847017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.335336195 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:73.25, Y:1.97, Z:0.50 [[ 9.99976442e-01 4.26870903e-03 -5.37519660e-03 7.32523301e+01] [-4.26914608e-03 9.99990885e-01 -6.98366656e-05 1.96724078e+00] [ 5.37484949e-03 9.27825199e-05 9.99985551e-01 5.03947655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.28, Y:1.97, Z:0.51 [[ 9.99963163e-01 6.73337162e-03 -5.32296926e-03 7.32803417e+01] [-6.73384047e-03 9.99977325e-01 -7.01635565e-05 1.96862003e+00] [ 5.32237613e-03 1.06004998e-04 9.99985830e-01 5.06930331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.395336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:73.31, Y:1.97, Z:0.51 [[ 9.99935783e-01 8.57873847e-03 -7.40505651e-03 7.33075857e+01] [-8.57970901e-03 9.99963189e-01 -9.93067634e-05 1.97068565e+00] [ 7.40393200e-03 1.62833616e-04 9.99972577e-01 5.11731707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.34, Y:1.97, Z:0.51 [[ 9.99931306e-01 8.12743176e-03 -8.44556696e-03 7.33355825e+01] [-8.12868687e-03 9.99966955e-01 -1.14295595e-04 1.97184187e+00] [ 8.44435895e-03 1.82939113e-04 9.99964329e-01 5.13679021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.36, Y:1.97, Z:0.52 [[ 9.99929903e-01 7.02335803e-03 -9.53209846e-03 7.33623394e+01] [-7.02492165e-03 9.99975316e-01 -1.30565245e-04 1.97328353e+00] [ 9.53094617e-03 1.97518338e-04 9.99954560e-01 5.15062814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.39, Y:1.97, Z:0.51 [[ 9.99934190e-01 5.08801604e-03 -1.02823758e-02 7.33902643e+01] [-5.08974692e-03 9.99987037e-01 -1.42173868e-04 1.97333653e+00] [ 1.02815192e-02 1.94499203e-04 9.99947125e-01 5.13894045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.42, Y:1.97, Z:0.51 [[ 9.99935239e-01 2.53930690e-03 -1.10937129e-02 7.34178062e+01] [-2.54118212e-03 9.99996759e-01 -1.54942044e-04 1.97030902e+00] [ 1.10932835e-02 1.83123154e-04 9.99938451e-01 5.05927124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.44, Y:1.97, Z:0.50 [[ 9.99944261e-01 1.28305555e-03 -1.04798779e-02 7.34447109e+01] [-1.28466796e-03 9.99999164e-01 -1.47126773e-04 1.96822651e+00] [ 1.04796803e-02 1.60581735e-04 9.99945074e-01 5.00639325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57533619499999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:73.47, Y:1.97, Z:0.50 [[ 9.99963926e-01 7.41623834e-04 -8.46150868e-03 7.34725301e+01] [-7.42660325e-04 9.99999717e-01 -1.19353362e-04 1.96856561e+00] [ 8.46141777e-03 1.25633084e-04 9.99964194e-01 5.01199955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.50, Y:1.97, Z:0.51 [[ 9.99962973e-01 -8.25503108e-04 -8.56568703e-03 7.34993075e+01] [ 8.24492448e-04 9.99999653e-01 -1.21519939e-04 1.97080771e+00] [ 8.56578437e-03 1.14453095e-04 9.99963306e-01 5.05582494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.53, Y:1.97, Z:0.51 [[ 9.99939565e-01 -2.91809460e-03 -1.05996174e-02 7.35284023e+01] [ 2.91665383e-03 9.99995735e-01 -1.51382682e-04 1.97174402e+00] [ 1.06000140e-02 1.20458119e-04 9.99943811e-01 5.06244100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.665336195 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:73.56, Y:1.97, Z:0.50 [[ 9.99921238e-01 -3.30746111e-03 -1.21069376e-02 7.35559010e+01] [ 3.30560187e-03 9.99994521e-01 -1.73575646e-04 1.97133734e+00] [ 1.21074454e-02 1.33541260e-04 9.99926693e-01 5.04479482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.59, Y:1.96, Z:0.49 [[ 9.99859157e-01 -6.81445197e-03 -1.53371807e-02 7.35910318e+01] [ 6.94953588e-03 9.99937379e-01 8.77161466e-03 1.96227233e+00] [ 1.52764465e-02 -8.87696553e-03 9.99843903e-01 4.94257569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.725336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:73.61, Y:1.98, Z:0.52 [[ 9.99822662e-01 -7.10046108e-03 -1.74421412e-02 7.36144815e+01] [ 6.94351408e-03 9.99935010e-01 -9.04229001e-03 1.97805456e+00] [ 1.75052121e-02 8.91957672e-03 9.99806986e-01 5.19620269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.755336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:73.64, Y:1.97, Z:0.51 [[ 9.99771447e-01 -8.45536592e-03 -1.96356933e-02 7.36439959e+01] [ 8.45139014e-03 9.99964246e-01 -2.85452373e-04 1.97165358e+00] [ 1.96374049e-02 1.19438227e-04 9.99807160e-01 5.05644332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.785336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:73.67, Y:1.97, Z:0.51 [[ 9.99770879e-01 -7.54537286e-03 -2.00314116e-02 7.36742156e+01] [ 7.54105120e-03 9.99971523e-01 -2.91273151e-04 1.97247839e+00] [ 2.00330390e-02 1.40148514e-04 9.99799309e-01 5.06785518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.71, Y:1.96, Z:0.50 [[ 9.99832481e-01 -7.09083418e-03 -1.68739499e-02 7.37123027e+01] [ 7.24251618e-03 9.99933764e-01 8.94505505e-03 1.96235996e+00] [ 1.68094043e-02 -9.06576644e-03 9.99817611e-01 4.95742075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.845336195 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:73.73, Y:1.98, Z:0.52 [[ 9.99838271e-01 -5.94008485e-03 -1.69748993e-02 7.37334134e+01] [ 5.78702047e-03 9.99942284e-01 -9.05203978e-03 1.97891874e+00] [ 1.70276895e-02 8.95234172e-03 9.99814940e-01 5.21815352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.76, Y:1.97, Z:0.51 [[ 9.99870645e-01 -4.22522402e-03 -1.55190523e-02 7.37621765e+01] [ 4.22215407e-03 9.99991060e-01 -2.30577283e-04 1.97374072e+00] [ 1.55198878e-02 1.65023627e-04 9.99879546e-01 5.09868845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:73.79, Y:1.97, Z:0.51 [[ 9.99880069e-01 -4.02887187e-03 -1.49538227e-02 7.37887034e+01] [ 4.02596876e-03 9.99991871e-01 -2.24236680e-04 1.97470032e+00] [ 1.49546046e-02 1.64006163e-04 9.99888160e-01 5.11147139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.82, Y:1.98, Z:0.51 [[ 9.99880980e-01 -4.42898512e-03 -1.47786798e-02 7.38160310e+01] [ 4.42617217e-03 9.99990180e-01 -2.23041158e-04 1.97570385e+00] [ 1.47795225e-02 1.57601630e-04 9.99890764e-01 5.14530273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.84, Y:1.98, Z:0.51 [[ 9.99878682e-01 -4.73737656e-03 -1.48384092e-02 7.38435208e+01] [ 4.73454329e-03 9.99988766e-01 -2.26064951e-04 1.97557098e+00] [ 1.48393135e-02 1.55784435e-04 9.99889879e-01 5.13697405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.89, Y:1.96, Z:0.50 [[ 9.99898805e-01 -4.50280397e-03 -1.34946435e-02 7.38904940e+01] [ 4.56437218e-03 9.99979299e-01 4.53509736e-03 1.96136893e+00] [ 1.34739435e-02 -4.59623301e-03 9.99898659e-01 5.01389623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.92, Y:1.97, Z:0.51 [[ 9.99859405e-01 -6.32784888e-03 -1.55282960e-02 7.39157703e+01] [ 6.39251024e-03 9.99971089e-01 4.11800260e-03 1.96527134e+00] [ 1.55017889e-02 -4.21668842e-03 9.99870949e-01 5.06399489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.055336195 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:73.93, Y:1.98, Z:0.53 [[ 9.99800511e-01 -8.51922992e-03 -1.80654506e-02 7.39329011e+01] [ 8.35095390e-03 9.99921230e-01 -9.36986776e-03 1.98085152e+00] [ 1.81438517e-02 9.21713483e-03 9.99792901e-01 5.27625699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.96, Y:1.97, Z:0.51 [[ 9.99763881e-01 -1.02351131e-02 -1.91683238e-02 7.39641568e+01] [ 1.02312776e-02 9.99947615e-01 -2.98152322e-04 1.97472204e+00] [ 1.91703713e-02 1.01965480e-04 9.99816226e-01 5.14474464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.01, Y:1.96, Z:0.51 [[ 9.99793696e-01 -1.04474602e-02 -1.74188558e-02 7.40111073e+01] [ 1.05584226e-02 9.99924472e-01 6.29049071e-03 1.96241483e+00] [ 1.73518205e-02 -6.47310859e-03 9.99828492e-01 5.05130079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.02, Y:1.98, Z:0.52 [[ 9.99698131e-01 -1.26450544e-02 -2.10653838e-02 7.40216955e+01] [ 1.25152354e-02 9.99901941e-01 -6.28315150e-03 1.97607148e+00] [ 2.11427689e-02 6.01761657e-03 9.99758357e-01 5.17416607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.05, Y:1.97, Z:0.50 [[ 9.99715994e-01 -1.23042910e-02 -2.04092265e-02 7.40540309e+01] [ 1.23002412e-02 9.99924297e-01 -3.23954142e-04 1.97018944e+00] [ 2.04116675e-02 7.28237280e-05 9.99791658e-01 5.02440890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.09, Y:1.97, Z:0.50 [[ 9.99756047e-01 -1.10203175e-02 -1.91415722e-02 7.40863767e+01] [ 1.10165556e-02 9.99939270e-01 -3.01968208e-04 1.96978570e+00] [ 1.91437376e-02 9.10203464e-05 9.99816738e-01 5.03140626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.235336195 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:74.12, Y:1.97, Z:0.51 [[ 9.99755228e-01 -1.13466369e-02 -1.89930775e-02 7.41170811e+01] [ 1.13430133e-02 9.99935621e-01 -2.98506871e-04 1.97263969e+00] [ 1.89952418e-02 8.29950733e-05 9.99819571e-01 5.09719500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26533619499999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:74.15, Y:1.98, Z:0.51 [[ 9.99780595e-01 -8.90614341e-03 -1.89589793e-02 7.41491966e+01] [ 8.90210930e-03 9.99960331e-01 -2.97167153e-04 1.97648316e+00] [ 1.89608739e-02 1.28327047e-04 9.99820218e-01 5.14702805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.19, Y:1.96, Z:0.49 [[ 9.99796795e-01 -1.24547806e-02 -1.58507554e-02 7.41928254e+01] [ 1.26539423e-02 9.99841461e-01 1.25271576e-02 1.96246358e+00] [ 1.56922194e-02 -1.27251865e-02 9.99795891e-01 4.92348934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.23, Y:1.97, Z:0.51 [[ 9.99797656e-01 -1.27941522e-02 -1.55227872e-02 7.42255572e+01] [ 1.27929353e-02 9.99918151e-01 -1.77691977e-04 1.97200118e+00] [ 1.55237901e-02 -2.09259913e-05 9.99879498e-01 5.13172833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:74.24, Y:1.98, Z:0.52 [[ 9.99776705e-01 -1.05970100e-02 -1.82823215e-02 7.42391941e+01] [ 1.03704381e-02 9.99868797e-01 -1.24435598e-02 1.97686233e+00] [ 1.84117873e-02 1.22511856e-02 9.99755427e-01 5.23926664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.385336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:74.27, Y:1.97, Z:0.51 [[ 9.99755438e-01 -5.07590613e-03 -2.15243826e-02 7.42717156e+01] [ 5.06965065e-03 9.99987090e-01 -3.45180145e-04 1.97390886e+00] [ 2.15258568e-02 2.35974627e-04 9.99768264e-01 5.10008350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.32, Y:1.96, Z:0.49 [[ 9.99785533e-01 -8.14788394e-03 -1.90394553e-02 7.43187063e+01] [ 8.40129987e-03 9.99876679e-01 1.32681806e-02 1.96202009e+00] [ 1.89289998e-02 -1.34252912e-02 9.99730691e-01 4.92972822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.445336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:74.33, Y:1.99, Z:0.53 [[ 9.99761357e-01 -1.54971801e-03 -2.17905289e-02 7.43292819e+01] [ 1.25906266e-03 9.99910145e-01 -1.33460075e-02 1.98505309e+00] [ 2.18092534e-02 1.33153869e-02 9.99673475e-01 5.34134982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.38, Y:1.97, Z:0.50 [[ 9.99779529e-01 -4.19822775e-03 -2.05734724e-02 7.43782523e+01] [ 4.44992642e-03 9.99915631e-01 1.22036664e-02 1.96721724e+00] [ 2.05205028e-02 -1.22925263e-02 9.99713860e-01 5.01461613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.41, Y:1.97, Z:0.52 [[ 9.99782103e-01 -2.95762761e-03 -2.06639537e-02 7.44064339e+01] [ 2.96935921e-03 9.99995447e-01 5.37073125e-04 1.97448176e+00] [ 2.06622712e-02 -5.98314799e-04 9.99786333e-01 5.18584513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.44, Y:1.97, Z:0.51 [[ 9.99841654e-01 2.08910179e-03 -1.76721072e-02 7.44404085e+01] [-2.17067812e-03 9.99987072e-01 -4.59818527e-03 1.97152757e+00] [ 1.76622727e-02 4.63581762e-03 9.99833263e-01 5.14593631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.565336195 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:74.46, Y:1.97, Z:0.50 [[ 9.99846057e-01 1.37645287e-03 -1.74919455e-02 7.44638294e+01] [-1.28371469e-03 9.99985068e-01 5.31188753e-03 1.97064279e+00] [ 1.74989959e-02 -5.28861514e-03 9.99832894e-01 5.02276555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.595336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:74.49, Y:1.98, Z:0.51 [[ 9.99859921e-01 1.44910525e-03 -1.66744904e-02 7.44898935e+01] [-1.41348942e-03 9.99996695e-01 2.14753439e-03 1.97700965e+00] [ 1.66775473e-02 -2.12366435e-03 9.99858665e-01 5.13131306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.52, Y:1.98, Z:0.51 [[ 9.99855210e-01 1.73725180e-03 -1.69275079e-02 7.45168160e+01] [-1.73124127e-03 9.99998433e-01 3.69722092e-04 1.97929121e+00] [ 1.69281237e-02 -3.40362960e-04 9.99856651e-01 5.13934815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.55, Y:1.98, Z:0.52 [[ 9.99880651e-01 6.89891688e-03 -1.38234893e-02 7.45519719e+01] [-6.96676944e-03 9.99963891e-01 -4.86636908e-03 1.97789411e+00] [ 1.37894175e-02 4.96209334e-03 9.99892609e-01 5.16417213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.57, Y:1.98, Z:0.50 [[ 9.99890777e-01 4.72978925e-03 -1.40022793e-02 7.45732979e+01] [-4.65203645e-03 9.99973609e-01 5.58024082e-03 1.97718186e+00] [ 1.40283031e-02 -5.51449221e-03 9.99886392e-01 5.01962335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.58, Y:2.00, Z:0.53 [[ 9.99788326e-01 1.18358845e-02 -1.68289785e-02 7.45788577e+01] [-1.20606738e-02 9.99838558e-01 -1.33191229e-02 1.99772285e+00] [ 1.66686180e-02 1.35192724e-02 9.99769667e-01 5.34794420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.64, Y:1.98, Z:0.50 [[ 9.99880580e-01 7.80301737e-03 -1.33393966e-02 7.46373131e+01] [-7.70128827e-03 9.99941001e-01 7.66064795e-03 1.97724351e+00] [ 1.33983858e-02 -7.55700257e-03 9.99881680e-01 5.02423014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.66, Y:1.98, Z:0.50 [[ 9.99892702e-01 4.37315677e-03 -1.39806984e-02 7.46586586e+01] [-4.29148616e-03 9.99973584e-01 5.86634154e-03 1.98278258e+00] [ 1.40059835e-02 -5.80571412e-03 9.99885056e-01 5.01873539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.68, Y:1.98, Z:0.51 [[ 9.99881780e-01 1.05545980e-02 -1.11815014e-02 7.46821501e+01] [-1.06034594e-02 9.99934452e-01 -4.31961245e-03 1.98274761e+00] [ 1.11351767e-02 4.43766438e-03 9.99928155e-01 5.11450436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.72, Y:1.99, Z:0.51 [[ 9.99896119e-01 6.73806721e-03 -1.27416355e-02 7.47201233e+01] [-6.75455522e-03 9.99976405e-01 -1.25143542e-03 1.98515378e+00] [ 1.27329026e-02 1.33736950e-03 9.99918039e-01 5.06416227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.75, Y:1.99, Z:0.51 [[ 9.99908558e-01 6.95324950e-03 -1.15985852e-02 7.47480355e+01] [-6.94742139e-03 9.99975719e-01 5.42701088e-04 1.98924311e+00] [ 1.16020771e-02 -4.62071204e-04 9.99932587e-01 5.10443055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.895336195 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:74.77, Y:2.00, Z:0.52 [[ 9.99921074e-01 4.52571914e-03 -1.17202515e-02 7.47732214e+01] [-4.52965272e-03 9.99989693e-01 -3.09098968e-04 1.99592433e+00] [ 1.17187318e-02 3.62163241e-04 9.99931268e-01 5.20005570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.79, Y:1.99, Z:0.51 [[ 9.99899374e-01 9.93812106e-03 -1.01230567e-02 7.47926440e+01] [-9.92532212e-03 9.99949880e-01 1.31379196e-03 1.98930642e+00] [ 1.01356060e-02 -1.21318516e-03 9.99947897e-01 5.06147132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.955336195 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:74.83, Y:1.99, Z:0.51 [[ 9.99924057e-01 3.56385310e-03 -1.17974632e-02 7.48320703e+01] [-3.56578142e-03 9.99993632e-01 -1.42421610e-04 1.99383338e+00] [ 1.17968805e-02 1.84477969e-04 9.99930397e-01 5.05747526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.86, Y:2.00, Z:0.51 [[ 9.99923642e-01 3.19918780e-03 -1.19363440e-02 7.48611993e+01] [-3.19790657e-03 9.99994879e-01 1.26423498e-04 1.99606249e+00] [ 1.19366873e-02 -8.82425314e-05 9.99928751e-01 5.07544526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.89, Y:2.00, Z:0.51 [[ 9.99955231e-01 2.73159531e-04 -9.45837441e-03 7.48854539e+01] [-2.62459471e-04 9.99999324e-01 1.13250169e-03 2.00108559e+00] [ 9.45867737e-03 -1.12996855e-03 9.99954627e-01 5.10665972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.91, Y:2.01, Z:0.52 [[ 9.99957019e-01 -1.69726750e-03 -9.11484597e-03 7.49103664e+01] [ 1.69178775e-03 9.99998384e-01 -6.08866409e-04 2.00608364e+00] [ 9.11586464e-03 5.93419855e-04 9.99958274e-01 5.16113921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:74.94, Y:2.01, Z:0.52 [[ 9.99937133e-01 -3.92050702e-03 -1.05051742e-02 7.49379044e+01] [ 3.91568064e-03 9.99992219e-01 -4.79957073e-04 2.00884737e+00] [ 1.05069742e-02 4.38791992e-04 9.99944704e-01 5.16810372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10533619499999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:74.97, Y:2.01, Z:0.50 [[ 9.99913840e-01 -6.65268151e-03 -1.13160826e-02 7.49687015e+01] [ 6.72906801e-03 9.99954742e-01 6.72563249e-03 2.00739636e+00] [ 1.12708269e-02 -6.80119970e-03 9.99913352e-01 5.03341633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.00, Y:2.01, Z:0.51 [[ 9.99931414e-01 -7.88018532e-03 -8.66430858e-03 7.49964149e+01] [ 7.84060020e-03 9.99958713e-01 -4.59327219e-03 2.01012399e+00] [ 8.70014669e-03 4.52502378e-03 9.99951915e-01 5.11093206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.03, Y:2.01, Z:0.50 [[ 9.99914425e-01 -9.60427030e-03 -8.88260185e-03 7.50251543e+01] [ 9.60232263e-03 9.99953862e-01 -2.61891142e-04 2.00720235e+00] [ 8.88470730e-03 1.76575122e-04 9.99960515e-01 5.00098596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.04, Y:2.00, Z:0.50 [[ 9.99960092e-01 -5.70556968e-03 -6.87458976e-03 7.50432336e+01] [ 5.71999091e-03 9.99981478e-01 2.07992629e-03 2.00424971e+00] [ 6.86259526e-03 -2.11916588e-03 9.99974207e-01 4.99028724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.08, Y:2.02, Z:0.52 [[ 9.99913447e-01 -1.09962382e-02 -7.22364184e-03 7.50847965e+01] [ 1.09910650e-02 9.99939311e-01 -7.55460966e-04 2.01915336e+00] [ 7.23151067e-03 6.76000062e-04 9.99973624e-01 5.20707902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.11, Y:2.02, Z:0.52 [[ 9.99911247e-01 -1.09514717e-02 -7.58699610e-03 7.51138158e+01] [ 1.09522074e-02 9.99940021e-01 5.54260830e-05 2.02430076e+00] [ 7.58593404e-03 -1.38515519e-04 9.99971217e-01 5.24735501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.14, Y:2.03, Z:0.52 [[ 9.99911025e-01 -1.07836397e-02 -7.85202685e-03 7.51422939e+01] [ 1.07843503e-02 9.99941846e-01 4.81636814e-05 2.02513695e+00] [ 7.85105085e-03 -1.32838404e-04 9.99969171e-01 5.19310694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.17, Y:2.03, Z:0.52 [[ 9.99902917e-01 -1.14871174e-02 -7.88682312e-03 7.51710685e+01] [ 1.14884901e-02 9.99933997e-01 1.28759196e-04 2.02526716e+00] [ 7.88482350e-03 -2.19354385e-04 9.99968890e-01 5.15312998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.345336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.20, Y:2.02, Z:0.51 [[ 9.99894449e-01 -1.22452525e-02 -7.81951313e-03 7.52029176e+01] [ 1.22467640e-02 9.99924995e-01 1.45446334e-04 2.02440596e+00] [ 7.81714560e-03 -2.41194713e-04 9.99969417e-01 5.09384635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.24, Y:2.03, Z:0.51 [[ 9.99893843e-01 -1.29494624e-02 -6.67944080e-03 7.52371321e+01] [ 1.29511645e-02 9.99916108e-01 2.11639165e-04 2.02566074e+00] [ 6.67613984e-03 -2.98123235e-04 9.99977670e-01 5.06749721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.26, Y:2.03, Z:0.51 [[ 9.99876522e-01 -1.37442808e-02 -7.61804612e-03 7.52622044e+01] [ 1.37414009e-02 9.99905490e-01 -4.30253128e-04 2.02896663e+00] [ 7.62323965e-03 3.25517376e-04 9.99970890e-01 5.10136869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.30, Y:2.03, Z:0.51 [[ 9.99873892e-01 -1.37630396e-02 -7.92327882e-03 7.52953270e+01] [ 1.37653234e-02 9.99905226e-01 2.33779992e-04 2.03089755e+00] [ 7.91931038e-03 -3.42817006e-04 9.99968583e-01 5.08538135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.33, Y:2.03, Z:0.51 [[ 9.99869273e-01 -1.36827661e-02 -8.61506234e-03 7.53272195e+01] [ 1.36931115e-02 9.99905592e-01 1.14300173e-03 2.03192668e+00] [ 8.59860958e-03 -1.26081932e-03 9.99962236e-01 5.08891775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.36, Y:2.04, Z:0.52 [[ 9.99890865e-01 -1.19430721e-02 -8.69606874e-03 7.53589682e+01] [ 1.19473241e-02 9.99928533e-01 4.37171725e-04 2.03870292e+00] [ 8.69022608e-03 -5.41018766e-04 9.99962093e-01 5.17521963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.39, Y:2.04, Z:0.52 [[ 9.99861276e-01 -1.37390628e-02 -9.41630750e-03 7.53871082e+01] [ 1.37370947e-02 9.99905604e-01 -2.73658329e-04 2.04255559e+00] [ 9.41917845e-03 1.44267658e-04 9.99955628e-01 5.20550277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.42, Y:2.04, Z:0.52 [[ 9.99843391e-01 -1.54076017e-02 -8.70630999e-03 7.54191225e+01] [ 1.54078140e-02 9.99881292e-01 -4.26872436e-05 2.04295080e+00] [ 8.70593418e-03 -9.14646466e-05 9.99962098e-01 5.16897282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:2.04, Z:0.51 [[ 9.99831007e-01 -1.62143218e-02 -8.66337813e-03 7.54493375e+01] [ 1.62149940e-02 9.99868528e-01 7.34236055e-06 2.04376529e+00] [ 8.66212009e-03 -1.47817744e-04 9.99962472e-01 5.13328221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.48, Y:2.04, Z:0.50 [[ 9.99797603e-01 -1.78044435e-02 -9.36775737e-03 7.54803739e+01] [ 1.78065067e-02 9.99841442e-01 1.36886248e-04 2.04230356e+00] [ 9.36383486e-03 -3.03665577e-04 9.99956112e-01 5.04407940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.51, Y:2.04, Z:0.50 [[ 9.99758683e-01 -1.99924950e-02 -9.10363653e-03 7.55096208e+01] [ 2.00045270e-02 9.99799130e-01 1.23252103e-03 2.04355825e+00] [ 9.07716671e-03 -1.41433754e-03 9.99957801e-01 5.03543634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.54, Y:2.05, Z:0.51 [[ 9.99756016e-01 -2.03641916e-02 -8.55621497e-03 7.55393230e+01] [ 2.03609755e-02 9.99792587e-01 -4.62820124e-04 2.04910682e+00] [ 8.56386525e-03 2.88494319e-04 9.99963288e-01 5.12097496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.57, Y:2.05, Z:0.52 [[ 9.99753400e-01 -2.06569213e-02 -8.15052705e-03 7.55705088e+01] [ 2.06536105e-02 9.99786571e-01 -4.90186233e-04 2.05426313e+00] [ 8.15891323e-03 3.21727542e-04 9.99966664e-01 5.16771941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.60, Y:2.06, Z:0.52 [[ 9.99757251e-01 -2.06743053e-02 -7.61657007e-03 7.56016634e+01] [ 2.06689920e-02 9.99786073e-01 -7.75659465e-04 2.05787817e+00] [ 7.63097690e-03 6.18044349e-04 9.99970693e-01 5.18862558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.63, Y:2.06, Z:0.51 [[ 9.99737916e-01 -2.12235037e-02 -8.58271486e-03 7.56305650e+01] [ 2.12555592e-02 9.99767372e-01 3.66106868e-03 2.05758797e+00] [ 8.50301757e-03 -3.84253957e-03 9.99956466e-01 5.12361288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.65, Y:2.06, Z:0.52 [[ 9.99842862e-01 -1.70752235e-02 -4.76322685e-03 7.56474924e+01] [ 1.70610559e-02 9.99849951e-01 -2.99932770e-03 2.06064996e+00] [ 4.81372633e-03 2.91759071e-03 9.99984158e-01 5.22317469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82533619499999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:75.70, Y:2.06, Z:0.51 [[ 9.99685472e-01 -2.39812414e-02 -7.33875959e-03 7.56990690e+01] [ 2.39900059e-02 9.99711584e-01 1.10856162e-03 2.06306070e+00] [ 7.31005829e-03 -1.28426984e-03 9.99972456e-01 5.13407694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85533619499999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:75.69, Y:2.07, Z:0.53 [[ 9.99824525e-01 -1.46636450e-02 -1.16575171e-02 7.56913127e+01] [ 1.45377046e-02 9.99835825e-01 -1.08156822e-02 2.06977511e+00] [ 1.18142005e-02 1.06443108e-02 9.99873554e-01 5.28353704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.74, Y:2.05, Z:0.50 [[ 9.99823539e-01 -1.60896493e-02 -9.69603672e-03 7.57379976e+01] [ 1.61624313e-02 9.99841435e-01 7.47534962e-03 2.05358218e+00] [ 9.57422352e-03 -7.63074205e-03 9.99925050e-01 4.98224708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.915336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:75.77, Y:2.06, Z:0.51 [[ 9.99817179e-01 -1.72750375e-02 -8.19649191e-03 7.57726078e+01] [ 1.72710123e-02 9.99850687e-01 -5.61624263e-04 2.06146582e+00] [ 8.20497015e-03 4.19959874e-04 9.99966250e-01 5.12944649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.945336195 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:75.79, Y:2.07, Z:0.52 [[ 9.99855639e-01 -1.32646313e-02 -1.06184123e-02 7.57863961e+01] [ 1.31794571e-02 9.99880730e-01 -8.05155934e-03 2.07190509e+00] [ 1.07239468e-02 7.91045210e-03 9.99911207e-01 5.23819478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.975336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:75.82, Y:2.07, Z:0.51 [[ 9.99882825e-01 -1.12268272e-02 -1.04064381e-02 7.58195272e+01] [ 1.12228433e-02 9.99936925e-01 -4.41153008e-04 2.06696133e+00] [ 1.04107344e-02 3.24311493e-04 9.99945754e-01 5.09499813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.005336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:75.85, Y:2.07, Z:0.51 [[ 9.99881263e-01 -1.16583586e-02 -1.00768601e-02 7.58524266e+01] [ 1.16546520e-02 9.99931991e-01 -4.26474975e-04 2.06782747e+00] [ 1.00811467e-02 3.08982039e-04 9.99949136e-01 5.10926088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.90, Y:2.06, Z:0.49 [[ 9.99788247e-01 -1.99002486e-02 -5.23844948e-03 7.59036534e+01] [ 1.99746005e-02 9.99694668e-01 1.45459910e-02 2.06135399e+00] [ 4.94738117e-03 -1.46475467e-02 9.99880479e-01 4.93061038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.065336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:75.93, Y:2.08, Z:0.53 [[ 9.99851264e-01 -1.64952990e-02 -5.03546415e-03 7.59288412e+01] [ 1.64539683e-02 9.99831474e-01 -8.14187057e-03 2.07680869e+00] [ 5.16891814e-03 8.05780621e-03 9.99954176e-01 5.30309329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.095336195 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:75.94, Y:2.08, Z:0.53 [[ 9.99870141e-01 -1.18239881e-02 -1.09496711e-02 7.59403854e+01] [ 1.17559086e-02 9.99911295e-01 -6.26112237e-03 2.07850598e+00] [ 1.10227312e-02 6.13158597e-03 9.99920448e-01 5.27281424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12533619499999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:75.97, Y:2.08, Z:0.52 [[ 9.99871513e-01 -1.15295346e-02 -1.11367253e-02 7.59722783e+01] [ 1.15248269e-02 9.99933468e-01 -4.86807954e-04 2.07628316e+00] [ 1.11415971e-02 3.58396574e-04 9.99937866e-01 5.16032402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15533619499999 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:76.01, Y:2.07, Z:0.51 [[ 9.99884319e-01 -1.07092169e-02 -1.08009571e-02 7.60053829e+01] [ 1.07047512e-02 9.99942591e-01 -4.71181666e-04 2.07487470e+00] [ 1.08053830e-02 3.55505600e-04 9.99941557e-01 5.10554357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.05, Y:2.07, Z:0.50 [[ 9.99853344e-01 -1.56907905e-02 -6.86217074e-03 7.60495379e+01] [ 1.57387227e-02 9.99851722e-01 6.98767267e-03 2.07130027e+00] [ 6.75151112e-03 -7.09464969e-03 9.99952040e-01 5.00186141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.08, Y:2.08, Z:0.51 [[ 9.99853208e-01 -1.58669229e-02 -6.46557348e-03 7.60824579e+01] [ 1.58651164e-02 9.99874086e-01 -3.30598057e-04 2.07803985e+00] [ 6.47000495e-03 2.27972452e-04 9.99979043e-01 5.12280280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.245336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:76.12, Y:2.09, Z:0.52 [[ 9.99719407e-01 -2.15523611e-02 -9.82865246e-03 7.61230051e+01] [ 2.15639602e-02 9.99766892e-01 1.07567282e-03 2.08712931e+00] [ 9.80317804e-03 -1.28731567e-03 9.99951119e-01 5.23080701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.275336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:76.15, Y:2.09, Z:0.52 [[ 9.99821857e-01 -1.80196889e-02 -5.61650286e-03 7.61451713e+01] [ 1.80398729e-02 9.99830916e-01 3.56399355e-03 2.08574843e+00] [ 5.55133115e-03 -3.66467964e-03 9.99977876e-01 5.18463103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.305336195 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:76.15, Y:2.10, Z:0.54 [[ 9.99888412e-01 -1.24101323e-02 -8.31582903e-03 7.61541025e+01] [ 1.23049900e-02 9.99845182e-01 -1.25777069e-02 2.09574554e+00] [ 8.47063259e-03 1.24739772e-02 9.99886318e-01 5.39093742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.19, Y:2.09, Z:0.51 [[ 9.99876589e-01 -1.28078321e-02 -9.09755985e-03 7.61869093e+01] [ 1.28045985e-02 9.99917932e-01 -4.13590169e-04 2.08611911e+00] [ 9.10211043e-03 2.97048526e-04 9.99958531e-01 5.13228844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.365336195 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:76.22, Y:2.09, Z:0.52 [[ 9.99883550e-01 -1.30505014e-02 -7.91021429e-03 7.62196300e+01] [ 1.30480689e-02 9.99914806e-01 -3.59048638e-04 2.08951285e+00] [ 7.91422615e-03 2.55793805e-04 9.99968649e-01 5.17567189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.395336195 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:76.27, Y:2.08, Z:0.50 [[ 9.99814413e-01 -1.84490349e-02 -5.54729376e-03 7.62655998e+01] [ 1.85122913e-02 9.99761610e-01 1.15766054e-02 2.08376319e+00] [ 5.33239415e-03 -1.16771501e-02 9.99917601e-01 5.02183049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.425336195 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:76.28, Y:2.10, Z:0.54 [[ 9.99868172e-01 -1.42546984e-02 -7.77451423e-03 7.62823281e+01] [ 1.41604064e-02 9.99827108e-01 -1.20514458e-02 2.10005432e+00] [ 7.94495980e-03 1.19397668e-02 9.99897155e-01 5.36913003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.455336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:76.32, Y:2.09, Z:0.51 [[ 9.99848957e-01 -1.34485550e-02 -1.10090293e-02 7.63153816e+01] [ 1.34438868e-02 9.99909503e-01 -4.97938610e-04 2.08901392e+00] [ 1.10147295e-02 3.49859257e-04 9.99939275e-01 5.09333791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.485336195 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:76.35, Y:2.09, Z:0.51 [[ 9.99849584e-01 -1.30916920e-02 -1.13761271e-02 7.63479899e+01] [ 1.30866998e-02 9.99914234e-01 -5.13164631e-04 2.09023882e+00] [ 1.13818696e-02 3.64211482e-04 9.99935158e-01 5.09674137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.38, Y:2.10, Z:0.52 [[ 9.99872194e-01 -1.14747548e-02 -1.11321697e-02 7.63806041e+01] [ 1.14698837e-02 9.99934093e-01 -5.01321319e-04 2.09723058e+00] [ 1.11371886e-02 3.73572555e-04 9.99937910e-01 5.23435423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.42, Y:2.09, Z:0.51 [[ 9.99853511e-01 -1.46093024e-02 -8.91765193e-03 7.64231052e+01] [ 1.47040514e-02 9.99835134e-01 1.06534292e-02 2.09362923e+00] [ 8.76054254e-03 -1.07829942e-02 9.99903485e-01 5.12727660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.45, Y:2.10, Z:0.53 [[ 9.99842816e-01 -1.38662629e-02 -1.10484966e-02 7.64538256e+01] [ 1.38557637e-02 9.99903478e-01 -1.02626312e-03 2.10120957e+00] [ 1.10616606e-02 8.73016447e-04 9.99938437e-01 5.28156793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.47, Y:2.11, Z:0.54 [[ 9.99840940e-01 -1.00397373e-02 -1.47410424e-02 7.64727938e+01] [ 9.88030720e-03 9.99892337e-01 -1.08486760e-02 2.10531003e+00] [ 1.48483732e-02 1.07013044e-02 9.99832490e-01 5.36026775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.635336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:76.51, Y:2.10, Z:0.52 [[ 9.99838252e-01 -1.02538982e-02 -1.47758952e-02 7.65056781e+01] [ 1.02452522e-02 9.99947298e-01 -6.60718058e-04 2.09759173e+00] [ 1.47818914e-02 5.09228415e-04 9.99890612e-01 5.15977945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.54, Y:2.09, Z:0.50 [[ 9.99832622e-01 -1.34415017e-02 -1.24118441e-02 7.65446104e+01] [ 1.35685247e-02 9.99855844e-01 1.02071570e-02 2.09297222e+00] [ 1.22728553e-02 -1.03738589e-02 9.99870872e-01 5.03257497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.56, Y:2.11, Z:0.54 [[ 9.99853276e-01 -1.02486110e-02 -1.37256449e-02 7.65635559e+01] [ 1.00952119e-02 9.99886327e-01 -1.11991287e-02 2.11020316e+00] [ 1.38388602e-02 1.10589222e-02 9.99843081e-01 5.41105316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.60, Y:2.10, Z:0.51 [[ 9.99846503e-01 -1.34143269e-02 -1.12706009e-02 7.66043203e+01] [ 1.35490758e-02 9.99836609e-01 1.19657279e-02 2.09650023e+00] [ 1.11082472e-02 -1.21165974e-02 9.99864888e-01 5.05137903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.62, Y:2.11, Z:0.55 [[ 9.99897100e-01 -8.82299846e-03 -1.13112127e-02 7.66228506e+01] [ 8.67821526e-03 9.99880599e-01 -1.27857829e-02 2.11464579e+00] [ 1.14226711e-02 1.26863061e-02 9.99854279e-01 5.47023473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.66, Y:2.11, Z:0.53 [[ 9.99932121e-01 -6.35948417e-03 -9.76271273e-03 7.66555492e+01] [ 6.35549970e-03 9.99979707e-01 -4.39101882e-04 2.11060298e+00] [ 9.76530708e-03 3.77025158e-04 9.99952247e-01 5.31003577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.815336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:76.69, Y:2.11, Z:0.53 [[ 9.99932101e-01 -6.81543922e-03 -9.45218884e-03 7.66866487e+01] [ 6.81172792e-03 9.99976710e-01 -4.24777462e-04 2.11087137e+00] [ 9.45486374e-03 3.60362881e-04 9.99955237e-01 5.29219534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.845336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.72, Y:2.11, Z:0.52 [[ 9.99912682e-01 -6.94667948e-03 -1.12415162e-02 7.67189603e+01] [ 6.94144423e-03 9.99975781e-01 -5.04657753e-04 2.10873902e+00] [ 1.12447496e-02 4.26581330e-04 9.99936685e-01 5.23630604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87533619499999 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:76.75, Y:2.11, Z:0.52 [[ 9.99909676e-01 -6.68928290e-03 -1.16573581e-02 7.67504531e+01] [ 6.68364065e-03 9.99977528e-01 -5.22898575e-04 2.10839454e+00] [ 1.16605940e-02 4.44937752e-04 9.99931914e-01 5.20602044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.78, Y:2.11, Z:0.52 [[ 9.99882798e-01 -4.66888472e-03 -1.45805155e-02 7.67825173e+01] [ 4.65985328e-03 9.99988929e-01 -6.53330874e-04 2.11010645e+00] [ 1.45834044e-02 5.85311240e-04 9.99893485e-01 5.23015354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.83, Y:2.10, Z:0.50 [[ 9.99852985e-01 -1.03578865e-02 -1.36646286e-02 7.68256517e+01] [ 1.05666063e-02 9.99827240e-01 1.52917226e-02 2.10326114e+00] [ 1.35038780e-02 -1.54338632e-02 9.99789698e-01 5.01266748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:76.84, Y:2.12, Z:0.55 [[ 9.99852080e-01 -2.51664129e-03 -1.70142698e-02 7.68406455e+01] [ 2.23694779e-03 9.99862387e-01 -1.64378528e-02 2.12389395e+00] [ 1.70532966e-02 1.63973612e-02 9.99720117e-01 5.54690965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.995336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:76.87, Y:2.11, Z:0.53 [[ 9.99849888e-01 -1.64441086e-03 -1.72481361e-02 7.68686515e+01] [ 1.63125935e-03 9.99998368e-01 -7.76530112e-04 2.11498096e+00] [ 1.72493849e-02 7.48277361e-04 9.99850938e-01 5.28395228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.91, Y:2.11, Z:0.53 [[ 9.99902442e-01 1.79653225e-03 -1.38520190e-02 7.69067281e+01] [-1.86191815e-03 9.99987180e-01 -4.70886484e-03 2.11264037e+00] [ 1.38433818e-02 4.73419678e-03 9.99892968e-01 5.30462234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.92, Y:2.11, Z:0.52 [[ 9.99822327e-01 1.05838412e-03 -1.88200530e-02 7.69244012e+01] [-9.93153561e-04 9.99993469e-01 3.47502200e-03 2.11308981e+00] [ 1.88236080e-02 -3.45571338e-03 9.99816848e-01 5.19630355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.95, Y:2.12, Z:0.53 [[ 9.99833892e-01 1.07463056e-03 -1.81943441e-02 7.69515798e+01] [-1.08981592e-03 9.99999066e-01 -8.24725024e-04 2.11613458e+00] [ 1.81934408e-02 8.44416516e-04 9.99834129e-01 5.25591664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.115336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:76.98, Y:2.12, Z:0.53 [[ 9.99847578e-01 2.88979075e-03 -1.72183224e-02 7.69791721e+01] [-2.90371454e-03 9.99995477e-01 -7.83715870e-04 2.11728792e+00] [ 1.72159797e-02 8.33593508e-04 9.99851447e-01 5.26716755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.01, Y:2.12, Z:0.53 [[ 9.99853568e-01 2.39855888e-03 -1.69437387e-02 7.70058541e+01] [-2.41201043e-03 9.99996792e-01 -7.73504088e-04 2.11942248e+00] [ 1.69418290e-02 8.14259296e-04 9.99856145e-01 5.29504749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:2.12, Z:0.54 [[ 9.99927390e-01 1.67645281e-03 -1.19333534e-02 7.70452616e+01] [-1.75461955e-03 9.99977056e-01 -6.54282087e-03 2.12034414e+00] [ 1.19221109e-02 6.56328429e-03 9.99907389e-01 5.39854104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.07, Y:2.12, Z:0.53 [[ 9.99924437e-01 -9.74274924e-05 -1.22927365e-02 7.70733499e+01] [ 9.46208619e-05 9.99999969e-01 -2.28897561e-04 2.11705444e+00] [ 1.22927585e-02 2.27717116e-04 9.99924415e-01 5.28827223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.09, Y:2.12, Z:0.52 [[ 9.99818912e-01 -2.03090556e-03 -1.89213764e-02 7.70935292e+01] [ 2.13147802e-03 9.99983701e-01 5.29663223e-03 2.11926245e+00] [ 1.89103111e-02 -5.33600357e-03 9.99806945e-01 5.20309131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.13, Y:2.12, Z:0.51 [[ 9.99828302e-01 -6.06274595e-03 -1.75102958e-02 7.71329163e+01] [ 6.24092097e-03 9.99929125e-01 1.01387870e-02 2.11722796e+00] [ 1.74475859e-02 -1.02463266e-02 9.99795276e-01 5.12214767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.15, Y:2.13, Z:0.55 [[ 9.99797553e-01 -4.98407572e-03 -1.94939004e-02 7.71525937e+01] [ 4.75912847e-03 9.99921754e-01 -1.15687848e-02 2.13319288e+00] [ 1.95500348e-02 1.14736688e-02 9.99743043e-01 5.49990234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.19, Y:2.13, Z:0.54 [[ 9.99866981e-01 -6.02409244e-03 -1.51568609e-02 7.71933815e+01] [ 5.92427592e-03 9.99960526e-01 -6.62187053e-03 2.12718091e+00] [ 1.51961534e-02 6.53119627e-03 9.99863201e-01 5.42791368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.22, Y:2.12, Z:0.53 [[ 9.99849074e-01 -9.69777593e-03 -1.44146769e-02 7.72223673e+01] [ 9.72582670e-03 9.99950941e-01 1.87715935e-03 2.12447878e+00] [ 1.43957655e-02 -2.01707069e-03 9.99894341e-01 5.29367979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.24, Y:2.13, Z:0.53 [[ 9.99740986e-01 -1.08335054e-02 -2.00148735e-02 7.72391182e+01] [ 1.08898668e-02 9.99937034e-01 2.70913441e-03 2.12847501e+00] [ 1.99842638e-02 -2.92639202e-03 9.99796012e-01 5.26323111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.415336195 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:77.27, Y:2.13, Z:0.53 [[ 9.99729608e-01 -1.24637951e-02 -1.96307284e-02 7.72701214e+01] [ 1.24480753e-02 9.99922094e-01 -9.22768430e-04 2.12963898e+00] [ 1.96407003e-02 6.78154135e-04 9.99806873e-01 5.26374315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.30, Y:2.13, Z:0.53 [[ 9.99735368e-01 -1.28535147e-02 -1.90783082e-02 7.73036134e+01] [ 1.28387667e-02 9.99917179e-01 -8.95309908e-04 2.13153185e+00] [ 1.90882360e-02 6.50131031e-04 9.99817592e-01 5.29516240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.34, Y:2.14, Z:0.54 [[ 9.99765744e-01 -1.13163233e-02 -1.84498781e-02 7.73363791e+01] [ 1.13022943e-02 9.99935753e-01 -8.64483513e-04 2.13691005e+00] [ 1.84584756e-02 6.55755051e-04 9.99829413e-01 5.36473182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.505336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:77.37, Y:2.14, Z:0.54 [[ 9.99768975e-01 -1.03398647e-02 -1.88436720e-02 7.73685067e+01] [ 1.03250747e-02 9.99946306e-01 -8.82006562e-04 2.13952352e+00] [ 1.88517800e-02 6.87240476e-04 9.99822053e-01 5.37304616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.40, Y:2.14, Z:0.54 [[ 9.99761315e-01 -8.97371525e-03 -1.99194578e-02 7.73996998e+01] [ 8.95694659e-03 9.99959452e-01 -9.30883225e-04 2.14153690e+00] [ 1.99270036e-02 7.52243519e-04 9.99801155e-01 5.36940107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.43, Y:2.14, Z:0.53 [[ 9.99739316e-01 -9.29030101e-03 -2.08564255e-02 7.74314744e+01] [ 9.27199773e-03 9.99956540e-01 -9.74115849e-04 2.14158719e+00] [ 2.08645689e-02 7.80481183e-04 9.99782007e-01 5.32283418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.595336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.46, Y:2.14, Z:0.53 [[ 9.99730326e-01 -1.10021608e-02 -2.04506284e-02 7.74628433e+01] [ 1.09849349e-02 9.99939208e-01 -9.54465483e-04 2.14178057e+00] [ 2.04598864e-02 7.29559265e-04 9.99790408e-01 5.30613561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.50, Y:2.14, Z:0.53 [[ 9.99814672e-01 -1.08520470e-02 -1.59014144e-02 7.75039479e+01] [ 1.07597774e-02 9.99924843e-01 -5.87671644e-03 2.14004181e+00] [ 1.59639937e-02 5.70453164e-03 9.99856294e-01 5.32193167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65533619499999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:77.52, Y:2.14, Z:0.51 [[ 9.99696758e-01 -1.01470666e-02 -2.24372358e-02 7.75212339e+01] [ 1.02497831e-02 9.99937489e-01 4.46769095e-03 2.13928967e+00] [ 2.23904993e-02 -4.69631296e-03 9.99738271e-01 5.14452736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.55, Y:2.14, Z:0.52 [[ 9.99705891e-01 -8.78353922e-03 -2.26048914e-02 7.75522131e+01] [ 8.76186815e-03 9.99961055e-01 -1.05755603e-03 2.14217426e+00] [ 2.26133002e-02 8.59183911e-04 9.99743917e-01 5.22035094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.58, Y:2.15, Z:0.53 [[ 9.99742877e-01 -5.96429804e-03 -2.18770923e-02 7.75819324e+01] [ 5.94331642e-03 9.99981814e-01 -1.02396231e-03 2.14708262e+00] [ 2.18828017e-02 8.93676542e-04 9.99760143e-01 5.30784719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.61, Y:2.15, Z:0.54 [[ 9.99750318e-01 -4.30418549e-03 -2.19266067e-02 7.76081264e+01] [ 4.28267188e-03 9.99990301e-01 -1.02802797e-03 2.15216316e+00] [ 2.19308189e-02 9.33866831e-04 9.99759055e-01 5.38670824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.64, Y:2.15, Z:0.54 [[ 9.99771758e-01 -2.34026764e-03 -2.12356993e-02 7.76360918e+01] [ 2.31956321e-03 9.99996810e-01 -9.99561206e-04 2.15381415e+00] [ 2.12379708e-02 9.50075517e-04 9.99773997e-01 5.39180099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.805336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:77.66, Y:2.15, Z:0.54 [[ 9.99776825e-01 -1.01652893e-03 -2.11013392e-02 7.76633361e+01] [ 9.95752185e-04 9.99999009e-01 -9.95101219e-04 2.15381475e+00] [ 2.11023298e-02 9.73867433e-04 9.99776847e-01 5.35995644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.69, Y:2.15, Z:0.53 [[ 9.99808180e-01 1.37776449e-03 -1.95372668e-02 7.76912188e+01] [-1.39610152e-03 9.99998598e-01 -9.24958595e-04 2.15414553e+00] [ 1.95359650e-02 9.52057177e-04 9.99808702e-01 5.31957273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.72, Y:2.16, Z:0.53 [[ 9.99819877e-01 2.24165644e-03 -1.88464390e-02 7.77178013e+01] [-2.25890419e-03 9.99997049e-01 -8.93934434e-04 2.15592092e+00] [ 1.88443794e-02 9.36345715e-04 9.99821990e-01 5.30681435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.895336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:77.74, Y:2.16, Z:0.53 [[ 9.99819891e-01 4.72740977e-03 -1.83803729e-02 7.77443489e+01] [-4.74426147e-03 9.99988365e-01 -8.73335273e-04 2.15696866e+00] [ 1.83760304e-02 9.60379272e-04 9.99830685e-01 5.28424094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.77, Y:2.16, Z:0.53 [[ 9.99828107e-01 5.16506293e-03 -1.78066991e-02 7.77716133e+01] [-5.18100468e-03 9.99986218e-01 -8.49251148e-04 2.15872028e+00] [ 1.78020672e-02 9.41361759e-04 9.99841087e-01 5.29740110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.80, Y:2.16, Z:0.53 [[ 9.99827220e-01 5.67183287e-03 -1.77020059e-02 7.77990990e+01] [-5.68772601e-03 9.99983466e-01 -8.47598140e-04 2.16192482e+00] [ 1.76969058e-02 9.48135851e-04 9.99842948e-01 5.34021551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.84, Y:2.17, Z:0.55 [[ 9.99912727e-01 6.96808306e-03 -1.12243022e-02 7.78408240e+01] [-7.03199802e-03 9.99959229e-01 -5.66497164e-03 2.16640060e+00] [ 1.11843705e-02 5.74340651e-03 9.99920958e-01 5.48428794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.87, Y:2.16, Z:0.54 [[ 9.99915041e-01 7.92473952e-03 -1.03493959e-02 7.78683097e+01] [-7.92435525e-03 9.99968599e-01 7.81371713e-05 2.16478408e+00] [ 1.03496901e-02 3.88175700e-06 9.99946441e-01 5.37923508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04533619499999 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:77.88, Y:2.16, Z:0.53 [[ 9.99856010e-01 7.64720164e-03 -1.51486141e-02 7.78831439e+01] [-7.58592351e-03 9.99962827e-01 4.09847121e-03 2.16431643e+00] [ 1.51793928e-02 -3.98296484e-03 9.99876853e-01 5.25517911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:2.16, Z:0.54 [[ 9.99924286e-01 5.66094098e-03 -1.09259640e-02 7.79233202e+01] [-5.72088354e-03 9.99968714e-01 -5.46281430e-03 2.16485881e+00] [ 1.08946975e-02 5.52490686e-03 9.99925388e-01 5.35425242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.95, Y:2.16, Z:0.53 [[ 9.99921303e-01 1.38968055e-03 -1.24682119e-02 7.79505589e+01] [-1.37609200e-03 9.99998450e-01 1.09836835e-03 2.16226934e+00] [ 1.24697190e-02 -1.08112451e-03 9.99921666e-01 5.28468784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.98, Y:2.17, Z:0.53 [[ 9.99922179e-01 1.02591054e-03 -1.24331801e-02 7.79773676e+01] [-1.03060356e-03 9.99999400e-01 -3.71058396e-04 2.16500323e+00] [ 1.24327920e-02 3.83843200e-04 9.99922636e-01 5.30978452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.00, Y:2.17, Z:0.54 [[ 9.99933023e-01 7.81418310e-04 -1.15472395e-02 7.80024272e+01] [-8.05320716e-04 9.99997543e-01 -2.06546227e-03 2.16795869e+00] [ 1.15455971e-02 2.07462316e-03 9.99931195e-01 5.35819675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.02, Y:2.17, Z:0.53 [[ 9.99855506e-01 -1.69447296e-03 -1.69143690e-02 7.80234904e+01] [ 1.77356592e-03 9.99987559e-01 4.66217650e-03 2.17036366e+00] [ 1.69062586e-02 -4.69150159e-03 9.99846072e-01 5.31848250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.225336195 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:78.05, Y:2.17, Z:0.54 [[ 9.99849240e-01 -3.85464026e-03 -1.69304241e-02 7.80498485e+01] [ 3.84073406e-03 9.99992260e-01 -8.53811304e-04 2.17470237e+00] [ 1.69335842e-02 7.88657327e-04 9.99856306e-01 5.40921931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.09, Y:2.17, Z:0.55 [[ 9.99898661e-01 -9.88626563e-03 -1.02435335e-02 7.80924893e+01] [ 9.80349389e-03 9.99919143e-01 -8.09933791e-03 2.17405763e+00] [ 1.03227774e-02 7.99809471e-03 9.99914732e-01 5.46795236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.12, Y:2.17, Z:0.53 [[ 9.99881490e-01 -1.12841795e-02 -1.04725426e-02 7.81241537e+01] [ 1.13301446e-02 9.99926393e-01 4.34020326e-03 2.16548822e+00] [ 1.04227961e-02 -4.45834432e-03 9.99935742e-01 5.25109459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:2.17, Z:0.52 [[ 9.99875559e-01 -7.86000807e-03 -1.36779725e-02 7.81401750e+01] [ 7.89136845e-03 9.99966353e-01 2.24030508e-03 2.16673133e+00] [ 1.36599034e-02 -2.34796421e-03 9.99903942e-01 5.23640000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.345336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.17, Y:2.17, Z:0.53 [[ 9.99878791e-01 -6.80953819e-03 -1.40011947e-02 7.81723303e+01] [ 6.80019964e-03 9.99976623e-01 -7.14482730e-04 2.16976686e+00] [ 1.40057327e-02 6.19185209e-04 9.99901723e-01 5.29915384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.20, Y:2.17, Z:0.53 [[ 9.99874695e-01 -6.28520396e-03 -1.45289607e-02 7.82049671e+01] [ 6.27510292e-03 9.99980037e-01 -7.40718431e-04 2.17234635e+00] [ 1.45333262e-02 6.49454892e-04 9.99894175e-01 5.33936459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.24, Y:2.17, Z:0.54 [[ 9.99934303e-01 -3.54765206e-03 -1.08996992e-02 7.82412612e+01] [ 3.48739518e-03 9.99978560e-01 -5.54234841e-03 2.17278205e+00] [ 1.09191278e-02 5.50397274e-03 9.99925237e-01 5.42306279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:2.17, Z:0.54 [[ 9.99928509e-01 -3.17494295e-03 -1.15280451e-02 7.82693372e+01] [ 3.16171129e-03 9.99994322e-01 -1.16582325e-03 2.17070072e+00] [ 1.15316811e-02 1.12929155e-03 9.99932870e-01 5.36044761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.30, Y:2.17, Z:0.54 [[ 9.99936553e-01 -2.54440926e-04 -1.12617036e-02 7.82971984e+01] [ 2.41439896e-04 9.99999303e-01 -1.15579064e-03 2.17116740e+00] [ 1.12619898e-02 1.15299828e-03 9.99935917e-01 5.39005994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.33, Y:2.17, Z:0.54 [[ 9.99937204e-01 9.39211057e-04 -1.11671698e-02 7.83254092e+01] [-9.42624379e-04 9.99999511e-01 -3.00397418e-04 2.17265492e+00] [ 1.11668822e-02 3.10905001e-04 9.99937600e-01 5.38927646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.35, Y:2.17, Z:0.54 [[ 9.99938696e-01 3.12599058e-03 -1.06222395e-02 7.83506416e+01] [-3.12512400e-03 9.99995112e-01 9.81793634e-05 2.17300647e+00] [ 1.06224945e-02 -6.49775291e-05 9.99943578e-01 5.35912875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.38, Y:2.17, Z:0.53 [[ 9.99924712e-01 6.33566484e-03 -1.05085451e-02 7.83813824e+01] [-6.33392104e-03 9.99979921e-01 1.99214691e-04 2.16854630e+00] [ 1.05095963e-02 -1.32639397e-04 9.99944764e-01 5.26412468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.40, Y:2.17, Z:0.52 [[ 9.99833363e-01 9.69921639e-03 -1.54651647e-02 7.83982246e+01] [-9.63098769e-03 9.99943585e-01 4.48015883e-03 2.16939211e+00] [ 1.55077463e-02 -4.33046746e-03 9.99870370e-01 5.21100631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.44, Y:2.18, Z:0.54 [[ 9.99831915e-01 1.42921341e-02 -1.14837962e-02 7.84366097e+01] [-1.43421875e-02 9.99887950e-01 -4.28813814e-03 2.17862243e+00] [ 1.14212228e-02 4.45212013e-03 9.99924864e-01 5.43143925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.46, Y:2.18, Z:0.54 [[ 9.99796803e-01 1.72847023e-02 -1.03726854e-02 7.84632813e+01] [-1.72964406e-02 9.99849861e-01 -1.04301278e-03 2.18118908e+00] [ 1.03530999e-02 1.22221138e-03 9.99945658e-01 5.41879654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.49, Y:2.18, Z:0.54 [[ 9.99679947e-01 2.39637856e-02 -8.10803849e-03 7.84919473e+01] [-2.39618086e-02 9.99712817e-01 3.40904345e-04 2.18270354e+00] [ 8.11387935e-03 -1.46511971e-04 9.99967071e-01 5.39012368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.52, Y:2.19, Z:0.54 [[ 9.99599025e-01 2.71255685e-02 -8.12354704e-03 7.85183896e+01] [-2.71207059e-02 9.99631915e-01 7.08168642e-04 2.18545721e+00] [ 8.13976636e-03 -4.87568354e-04 9.99966753e-01 5.39648101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.55, Y:2.19, Z:0.55 [[ 9.99506572e-01 3.06137266e-02 -7.02940452e-03 7.85470820e+01] [-3.06458863e-02 9.99520112e-01 -4.51379832e-03 2.19312177e+00] [ 6.88784701e-03 4.72699342e-03 9.99965106e-01 5.48214799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.57, Y:2.20, Z:0.54 [[ 9.99282686e-01 3.67866298e-02 -8.99208271e-03 7.85699353e+01] [-3.67819463e-02 9.99323080e-01 6.85725157e-04 2.19551085e+00] [ 9.01122131e-03 -3.54486973e-04 9.99959335e-01 5.41268631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.59, Y:2.20, Z:0.54 [[ 9.99252785e-01 3.62203234e-02 -1.34892729e-02 7.85920432e+01] [-3.61453445e-02 9.99329936e-01 5.76141613e-03 2.19848830e+00] [ 1.36889146e-02 -5.26953670e-03 9.99892417e-01 5.37287668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.63, Y:2.21, Z:0.55 [[ 9.99330089e-01 3.53625303e-02 -9.42675799e-03 7.86276297e+01] [-3.54166225e-02 9.99356752e-01 -5.63429425e-03 2.20734518e+00] [ 9.22145134e-03 5.96438370e-03 9.99939694e-01 5.52922331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.65, Y:2.21, Z:0.54 [[ 9.99297082e-01 3.50757798e-02 -1.32299821e-02 7.86489154e+01] [-3.50186948e-02 9.99376426e-01 4.52214889e-03 2.20557104e+00] [ 1.33803501e-02 -4.05567348e-03 9.99902254e-01 5.37483367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.68, Y:2.21, Z:0.54 [[ 9.99318026e-01 3.47420308e-02 -1.25089484e-02 7.86756968e+01] [-3.47533173e-02 9.99395686e-01 -6.85963687e-04 2.21137351e+00] [ 1.24775573e-02 1.12022333e-03 9.99921525e-01 5.44409246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.70, Y:2.22, Z:0.54 [[ 9.99428134e-01 3.21136382e-02 -1.05885980e-02 7.87027867e+01] [-3.21215917e-02 9.99483799e-01 -5.81884057e-04 2.21551799e+00] [ 1.05644458e-02 9.21673920e-04 9.99943770e-01 5.43207521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.73, Y:2.22, Z:0.54 [[ 9.99549152e-01 2.83918778e-02 -9.76694629e-03 7.87305739e+01] [-2.83984846e-02 9.99596537e-01 -5.38395299e-04 2.21701348e+00] [ 9.74771964e-03 8.15519039e-04 9.99952157e-01 5.43512227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.76, Y:2.22, Z:0.54 [[ 9.99752472e-01 1.99056878e-02 -9.93769519e-03 7.87568714e+01] [-1.99121217e-02 9.99801583e-01 -5.48895279e-04 2.21880435e+00] [ 9.92479725e-03 7.46640008e-04 9.99950469e-01 5.44705844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.78, Y:2.22, Z:0.55 [[ 9.99798072e-01 1.73353668e-02 -1.01636327e-02 7.87846557e+01] [-1.73419812e-02 9.99849458e-01 -5.63015542e-04 2.22136343e+00] [ 1.01523425e-02 7.39159380e-04 9.99948190e-01 5.46985052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.82, Y:2.23, Z:0.55 [[ 9.99886803e-01 1.30217674e-02 -7.53757785e-03 7.88186928e+01] [-1.30573847e-02 9.99903724e-01 -4.69552411e-03 2.22504440e+00] [ 7.47570814e-03 4.79341365e-03 9.99960568e-01 5.53000380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.84, Y:2.22, Z:0.54 [[ 9.99880718e-01 1.10581223e-02 -1.07827616e-02 7.88388860e+01] [-1.10188503e-02 9.99932465e-01 3.69474141e-03 2.22204474e+00] [ 1.08228903e-02 -3.57548706e-03 9.99935038e-01 5.37810960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.095336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.87, Y:2.23, Z:0.55 [[ 9.99951083e-01 6.90141469e-03 -7.08535298e-03 7.88745130e+01] [-6.93474676e-03 9.99964953e-01 -4.69062166e-03 2.22592991e+00] [ 7.05273273e-03 4.73952734e-03 9.99963897e-01 5.45156585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.90, Y:2.22, Z:0.53 [[ 9.99915991e-01 7.45003766e-03 -1.06069540e-02 7.88952222e+01] [-7.41001163e-03 9.99965295e-01 3.80787812e-03 2.22263457e+00] [ 1.06349547e-02 -3.72896057e-03 9.99936494e-01 5.33038815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.92, Y:2.23, Z:0.54 [[ 9.99918139e-01 6.52462095e-03 -1.10065381e-02 7.89226086e+01] [-6.53186936e-03 9.99978473e-01 -6.22735235e-04 2.22851563e+00] [ 1.10022380e-02 6.94577527e-04 9.99939232e-01 5.43391455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.95, Y:2.23, Z:0.55 [[ 9.99923581e-01 5.97860102e-03 -1.08207442e-02 7.89494381e+01] [-5.98558780e-03 9.99981898e-01 -6.13413546e-04 2.23233932e+00] [ 1.08168809e-02 6.78135183e-04 9.99941266e-01 5.48274333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.98, Y:2.24, Z:0.55 [[ 9.99928980e-01 7.71135918e-03 -9.08683351e-03 7.89767378e+01] [-7.71637091e-03 9.99970095e-01 -5.16607227e-04 2.23604670e+00] [ 9.08257802e-03 5.86687915e-04 9.99958580e-01 5.52276642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.00, Y:2.24, Z:0.55 [[ 9.99883681e-01 1.15404522e-02 -9.97213270e-03 7.90034190e+01] [-1.15466892e-02 9.99933173e-01 -5.68091071e-04 2.23578743e+00] [ 9.96491027e-03 6.83170108e-04 9.99950116e-01 5.45178462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.03, Y:2.24, Z:0.54 [[ 9.99878712e-01 1.21696024e-02 -9.71918702e-03 7.90308166e+01] [-1.21755726e-02 9.99925721e-01 -5.55332134e-04 2.23574830e+00] [ 9.71170691e-03 6.73601445e-04 9.99952613e-01 5.41306354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.06, Y:2.24, Z:0.54 [[ 9.99890560e-01 1.20209262e-02 -8.62348196e-03 7.90578272e+01] [-1.20256288e-02 9.99927568e-01 -4.93678209e-04 2.23654507e+00] [ 8.61692288e-03 5.97326974e-04 9.99962695e-01 5.40826710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.08, Y:2.24, Z:0.55 [[ 9.99869454e-01 1.35307888e-02 -8.83134015e-03 7.90845060e+01] [-1.35357922e-02 9.99908258e-01 -5.07022365e-04 2.24060981e+00] [ 8.82366954e-03 6.26495360e-04 9.99960874e-01 5.47503342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.11, Y:2.24, Z:0.55 [[ 9.99867109e-01 1.29308682e-02 -9.92759336e-03 7.91116385e+01] [-1.29371727e-02 9.99916148e-01 -5.71091643e-04 2.24288945e+00] [ 9.91937620e-03 6.99450740e-04 9.99950557e-01 5.50700846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.395336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.14, Y:2.24, Z:0.55 [[ 9.99837550e-01 1.29067106e-02 -1.25813887e-02 7.91389754e+01] [-1.29168623e-02 9.99916310e-01 -7.25953464e-04 2.24457999e+00] [ 1.25709661e-02 8.88347599e-04 9.99920588e-01 5.53759924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.17, Y:2.25, Z:0.55 [[ 9.99840088e-01 1.26802619e-02 -1.26099147e-02 7.91668855e+01] [-1.26904725e-02 9.99919206e-01 -7.30039521e-04 2.24677560e+00] [ 1.25996388e-02 8.89948555e-04 9.99920225e-01 5.54466616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.455336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.19, Y:2.25, Z:0.55 [[ 9.99838258e-01 1.28549082e-02 -1.25781160e-02 7.91935700e+01] [-1.28650976e-02 9.99916975e-01 -7.29514077e-04 2.24786594e+00] [ 1.25676938e-02 8.91214773e-04 9.99920626e-01 5.52230390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.22, Y:2.25, Z:0.55 [[ 9.99845096e-01 1.25151401e-02 -1.23755641e-02 7.92217099e+01] [-1.25250046e-02 9.99921300e-01 -7.19910293e-04 2.24736761e+00] [ 1.23655804e-02 8.74802774e-04 9.99923161e-01 5.47911462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.25, Y:2.24, Z:0.54 [[ 9.99867983e-01 1.11021227e-02 -1.18641962e-02 7.92491962e+01] [-1.11111044e-02 9.99938031e-01 -6.91399901e-04 2.24432291e+00] [ 1.18557850e-02 8.23132947e-04 9.99929379e-01 5.40908136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.28, Y:2.25, Z:0.54 [[ 9.99871703e-01 1.14768867e-02 -1.11739926e-02 7.92758120e+01] [-1.14848979e-02 9.99933833e-01 -6.53042500e-04 2.24708164e+00] [ 1.11657584e-02 7.81290881e-04 9.99937356e-01 5.44776989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.30, Y:2.25, Z:0.56 [[ 9.99882023e-01 1.13602890e-02 -1.03385140e-02 7.93025730e+01] [-1.13671611e-02 9.99935208e-01 -6.06191837e-04 2.25456311e+00] [ 1.03309576e-02 7.23639874e-04 9.99946372e-01 5.56259580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.33, Y:2.26, Z:0.56 [[ 9.99889253e-01 1.01456641e-02 -1.08879049e-02 7.93302608e+01] [-1.01532378e-02 9.99948249e-01 -6.40554215e-04 2.25697234e+00] [ 1.08808426e-02 7.51030763e-04 9.99940520e-01 5.58452182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.37, Y:2.25, Z:0.54 [[ 9.99899609e-01 8.45434423e-03 -1.13708232e-02 7.93654615e+01] [-8.30616334e-03 9.99880784e-01 1.30163716e-02 2.24575250e+00] [ 1.14795125e-02 -1.29206170e-02 9.99850628e-01 5.36872237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.39, Y:2.25, Z:0.55 [[ 9.99927248e-01 6.01947494e-03 -1.04529898e-02 7.93920126e+01] [-5.96922450e-03 9.99970510e-01 4.83184293e-03 2.25251506e+00] [ 1.04817667e-02 -4.76909516e-03 9.99933692e-01 5.47281897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.41, Y:2.27, Z:0.58 [[ 9.99926498e-01 4.62788630e-03 -1.12062699e-02 7.94144019e+01] [-4.84230012e-03 9.99804274e-01 -1.91824496e-02 2.26943373e+00] [ 1.11153024e-02 1.92353037e-02 9.99753196e-01 5.81769462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.44, Y:2.26, Z:0.56 [[ 9.99942313e-01 -2.26722325e-03 -1.04990293e-02 7.94426293e+01] [ 2.26079194e-03 9.99997249e-01 -6.24390036e-04 2.26059398e+00] [ 1.05004161e-02 6.00617896e-04 9.99944689e-01 5.55141952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.48, Y:2.25, Z:0.52 [[ 9.99916943e-01 -4.13628163e-03 -1.22064764e-02 7.94760310e+01] [ 4.39967957e-03 9.99756338e-01 2.16311702e-02 2.24643831e+00] [ 1.21140296e-02 -2.16830782e-02 9.99691500e-01 5.20410437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.51, Y:2.26, Z:0.55 [[ 9.99901515e-01 -9.21736147e-03 -1.05830460e-02 7.95052937e+01] [ 9.17544636e-03 9.99949895e-01 -4.00233729e-03 2.26429584e+00] [ 1.06194067e-02 3.90483895e-03 9.99935988e-01 5.54073016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.54, Y:2.26, Z:0.54 [[ 9.99873770e-01 -1.05986452e-02 -1.18368899e-02 7.95365172e+01] [ 1.06400615e-02 9.99937471e-01 3.44144133e-03 2.26062906e+00] [ 1.17996751e-02 -3.56695216e-03 9.99924019e-01 5.41718414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.845336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.57, Y:2.26, Z:0.55 [[ 9.99843917e-01 -1.35718489e-02 -1.13113495e-02 7.95696097e+01] [ 1.35971110e-02 9.99905223e-01 2.15943411e-03 2.26443437e+00] [ 1.12809700e-02 -2.31289874e-03 9.99933693e-01 5.48576219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.60, Y:2.27, Z:0.57 [[ 9.99819110e-01 -1.54396177e-02 -1.11070405e-02 7.96046329e+01] [ 1.53699773e-02 9.99861849e-01 -6.32821126e-03 2.27418237e+00] [ 1.12032112e-02 6.15635158e-03 9.99918290e-01 5.68996367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.63, Y:2.27, Z:0.56 [[ 9.99781866e-01 -1.89895641e-02 -8.69581648e-03 7.96346212e+01] [ 1.89926913e-02 9.99819584e-01 2.77182441e-04 2.27404600e+00] [ 8.68898404e-03 -4.42278936e-04 9.99962152e-01 5.60350763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.67, Y:2.27, Z:0.56 [[ 9.99647546e-01 -2.45940121e-02 -9.99592967e-03 7.96689189e+01] [ 2.45797130e-02 9.99696670e-01 -1.55085562e-03 2.27453052e+00] [ 1.00310394e-02 1.30461193e-03 9.99948837e-01 5.56735880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.70, Y:2.27, Z:0.55 [[ 9.99615436e-01 -2.56692853e-02 -1.04912989e-02 7.97018537e+01] [ 2.56516164e-02 9.99669295e-01 -1.81527479e-03 2.27299951e+00] [ 1.05344262e-02 1.54545792e-03 9.99943317e-01 5.54061377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.73, Y:2.27, Z:0.55 [[ 9.99543691e-01 -2.81919853e-02 -1.08453585e-02 7.97345025e+01] [ 2.82012725e-02 9.99602017e-01 7.04316148e-04 2.27254956e+00] [ 1.08211862e-02 -1.00984767e-03 9.99940939e-01 5.47804021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.77, Y:2.28, Z:0.55 [[ 9.99539922e-01 -2.84334959e-02 -1.05584405e-02 7.97665136e+01] [ 2.84302880e-02 9.99595675e-01 -4.53827728e-04 2.27556398e+00] [ 1.05670754e-02 1.53439427e-04 9.99944155e-01 5.49415788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.80, Y:2.28, Z:0.55 [[ 9.99495778e-01 -2.96004942e-02 -1.14891878e-02 7.97968345e+01] [ 2.95761248e-02 9.99559918e-01 -2.28525317e-03 2.27611663e+00] [ 1.15517762e-02 1.94429524e-03 9.99931386e-01 5.49638332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.085336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.83, Y:2.28, Z:0.54 [[ 9.99407103e-01 -3.19170998e-02 -1.29128448e-02 7.98286796e+01] [ 3.19537113e-02 9.99485866e-01 2.63891309e-03 2.27644677e+00] [ 1.28219794e-02 -3.04996180e-03 9.99913144e-01 5.44342405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.86, Y:2.28, Z:0.56 [[ 9.99383839e-01 -3.27212710e-02 -1.26988782e-02 7.98610807e+01] [ 3.26943556e-02 9.99462701e-01 -2.32141139e-03 2.28342006e+00] [ 1.27680147e-02 1.90479938e-03 9.99916671e-01 5.60028340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.89, Y:2.28, Z:0.56 [[ 9.99437711e-01 -3.15547329e-02 -1.13384932e-02 7.98930817e+01] [ 3.15484573e-02 9.99501956e-01 -7.31957767e-04 2.28452065e+00] [ 1.13559428e-02 3.73834227e-04 9.99935449e-01 5.57816230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.92, Y:2.29, Z:0.56 [[ 9.99466544e-01 -3.09199375e-02 -1.05159597e-02 7.99242331e+01] [ 3.09070543e-02 9.99521303e-01 -1.38546328e-03 2.28718314e+00] [ 1.05537642e-02 1.05970685e-03 9.99943746e-01 5.58191445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.96, Y:2.28, Z:0.55 [[ 9.99544505e-01 -2.85271612e-02 -9.84799498e-03 7.99560621e+01] [ 2.85373979e-02 9.99592320e-01 9.00495417e-04 2.28426797e+00] [ 9.81829157e-03 -1.18112140e-03 9.99951102e-01 5.52536866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.99, Y:2.29, Z:0.55 [[ 9.99565662e-01 -2.80272759e-02 -9.10816302e-03 7.99869319e+01] [ 2.80372279e-02 9.99606412e-01 9.66773217e-04 2.28547890e+00] [ 9.07748214e-03 -1.22172095e-03 9.99958052e-01 5.51579249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26533619499999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:80.02, Y:2.29, Z:0.56 [[ 9.99596078e-01 -2.68956911e-02 -9.18162747e-03 8.00197969e+01] [ 2.68689445e-02 9.99634390e-01 -3.02410264e-03 2.28889579e+00] [ 9.25960591e-03 2.77618050e-03 9.99953275e-01 5.56555310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.03, Y:2.30, Z:0.58 [[ 9.99591539e-01 -2.40373989e-02 -1.54582721e-02 8.00345245e+01] [ 2.37756954e-02 9.99574525e-01 -1.68962977e-02 2.30047972e+00] [ 1.58578381e-02 1.65218651e-02 9.99737744e-01 5.75890830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.09, Y:2.28, Z:0.52 [[ 9.99588726e-01 -2.53115237e-02 -1.34798353e-02 8.00855953e+01] [ 2.55504614e-02 9.99514004e-01 1.78585799e-02 2.27513781e+00] [ 1.30212563e-02 -1.81956511e-02 9.99749651e-01 5.22971728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:80.12, Y:2.29, Z:0.55 [[ 9.99651160e-01 -2.26709416e-02 -1.35494543e-02 8.01171808e+01] [ 2.26605251e-02 9.99742792e-01 -9.21830548e-04 2.28702921e+00] [ 1.35668680e-02 6.14471227e-04 9.99907777e-01 5.53747409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.15, Y:2.29, Z:0.55 [[ 9.99681300e-01 -2.15382252e-02 -1.31682704e-02 8.01505929e+01] [ 2.15417047e-02 9.99767943e-01 1.22437601e-04 2.28749193e+00] [ 1.31625775e-02 -4.06065572e-04 9.99913287e-01 5.51257611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.18, Y:2.29, Z:0.55 [[ 9.99741554e-01 -1.82510937e-02 -1.35544611e-02 8.01829206e+01] [ 1.82458260e-02 9.99833400e-01 -5.12204708e-04 2.28825321e+00] [ 1.35615513e-02 2.64759992e-04 9.99908003e-01 5.52618867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.21, Y:2.29, Z:0.56 [[ 9.99750899e-01 -1.76576289e-02 -1.36509049e-02 8.02131442e+01] [ 1.76565312e-02 9.99844091e-01 -2.00941460e-04 2.29109946e+00] [ 1.36523248e-02 -4.01362223e-05 9.99906802e-01 5.55461342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.25, Y:2.29, Z:0.56 [[ 9.99791407e-01 -1.61073011e-02 -1.25577853e-02 8.02455994e+01] [ 1.60750567e-02 9.99867238e-01 -2.66440436e-03 2.29484398e+00] [ 1.25990345e-02 2.46198148e-03 9.99917598e-01 5.61481706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.505336195 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:80.28, Y:2.29, Z:0.56 [[ 9.99840011e-01 -1.40433397e-02 -1.10786545e-02 8.02757411e+01] [ 1.40443485e-02 9.99901373e-01 1.32588754e-05 2.29341817e+00] [ 1.10773757e-02 -1.68849239e-04 9.99938630e-01 5.55191536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.31, Y:2.29, Z:0.54 [[ 9.99876156e-01 -1.24319906e-02 -9.64976963e-03 8.03070170e+01] [ 1.24468965e-02 9.99921430e-01 1.48616905e-03 2.28934583e+00] [ 9.63053540e-03 -1.60609468e-03 9.99952335e-01 5.43953234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.34, Y:2.29, Z:0.54 [[ 9.99881038e-01 -1.26785199e-02 -8.78438782e-03 8.03350402e+01] [ 1.26788361e-02 9.99919620e-01 -1.97025331e-05 2.29196581e+00] [ 8.78393153e-03 -9.16756239e-05 9.99961416e-01 5.44256685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.595336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.37, Y:2.29, Z:0.55 [[ 9.99910449e-01 -1.04166988e-02 -8.40159834e-03 8.03699964e+01] [ 1.04015407e-02 9.99944199e-01 -1.84587866e-03 2.29497062e+00] [ 8.42035748e-03 1.75832379e-03 9.99963002e-01 5.51616530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.40, Y:2.30, Z:0.56 [[ 9.99916846e-01 -9.87686025e-03 -8.29145479e-03 8.04004727e+01] [ 9.87160972e-03 9.99951047e-01 -6.73934877e-04 2.30097917e+00] [ 8.29770526e-03 5.92028831e-04 9.99965398e-01 5.60748141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.43, Y:2.30, Z:0.56 [[ 9.99901978e-01 -1.05462133e-02 -9.20929762e-03 8.04313628e+01] [ 1.05386921e-02 9.99944092e-01 -8.64849274e-04 2.30450888e+00] [ 9.21790364e-03 7.67710548e-04 9.99957220e-01 5.62226545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.46, Y:2.30, Z:0.55 [[ 9.99887914e-01 -9.23773245e-03 -1.17823710e-02 8.04640955e+01] [ 9.23693380e-03 9.99957331e-01 -1.22201345e-04 2.30149304e+00] [ 1.17829972e-02 1.33546671e-05 9.99930578e-01 5.52414757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.50, Y:2.30, Z:0.55 [[ 9.99887967e-01 -8.00113111e-03 -1.26504832e-02 8.04955790e+01] [ 7.99681110e-03 9.99967948e-01 -3.92037546e-04 2.30151484e+00] [ 1.26532144e-02 2.90830101e-04 9.99919903e-01 5.46501296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.53, Y:2.30, Z:0.55 [[ 9.99895503e-01 -5.70892122e-03 -1.32812567e-02 8.05291183e+01] [ 5.66158075e-03 9.99977495e-01 -3.59932878e-03 2.30467261e+00] [ 1.33015061e-02 3.52375976e-03 9.99905322e-01 5.47043114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.56, Y:2.30, Z:0.54 [[ 9.99928952e-01 -1.24143686e-03 -1.18553942e-02 8.05554027e+01] [ 1.26768868e-03 9.99996761e-01 2.20707764e-03 2.30424883e+00] [ 1.18526159e-02 -2.22194978e-03 9.99927287e-01 5.38563286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.58, Y:2.31, Z:0.55 [[ 9.99945589e-01 1.20556147e-03 -1.03617872e-02 8.05828373e+01] [-1.20018672e-03 9.99999142e-01 5.24911655e-04 2.31012792e+00] [ 1.03624111e-02 -5.12447015e-04 9.99946177e-01 5.45428234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.61, Y:2.32, Z:0.56 [[ 9.99938122e-01 8.26676314e-03 -7.44394451e-03 8.06099841e+01] [-8.26562895e-03 9.99965822e-01 1.83116253e-04 2.31747317e+00] [ 7.44520388e-03 -1.21576039e-04 9.99972277e-01 5.56530905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.64, Y:2.32, Z:0.56 [[ 9.99923682e-01 1.08070726e-02 -5.98640736e-03 8.06366140e+01] [-1.08062963e-02 9.99941597e-01 1.62021037e-04 2.32192285e+00] [ 5.98780871e-03 -9.73177799e-05 9.99982068e-01 5.56970442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.67, Y:2.33, Z:0.56 [[ 9.99823207e-01 1.76003107e-02 -6.61690412e-03 8.06677953e+01] [-1.76211494e-02 9.99839916e-01 -3.10430303e-03 2.32633713e+00] [ 6.56120817e-03 3.22035167e-03 9.99973290e-01 5.57645485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.69, Y:2.33, Z:0.55 [[ 9.99794866e-01 1.89717584e-02 -7.09211644e-03 8.06929525e+01] [-1.89612164e-02 9.99819017e-01 1.55073479e-03 2.32538516e+00] [ 7.12025306e-03 -1.41594153e-03 9.99973648e-01 5.45250863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.72, Y:2.33, Z:0.54 [[ 9.99774074e-01 2.00188458e-02 -7.14476887e-03 8.07208807e+01] [-2.00217875e-02 9.99799486e-01 -3.40438257e-04 2.32857673e+00] [ 7.13652107e-03 4.83412388e-04 9.99974418e-01 5.44032300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.985336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:80.75, Y:2.34, Z:0.55 [[ 9.99768869e-01 2.03942054e-02 -6.80324387e-03 8.07468628e+01] [-2.04366921e-02 9.99771706e-01 -6.23510286e-03 2.33728346e+00] [ 6.67453076e-03 6.37269754e-03 9.99957419e-01 5.46454000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.78, Y:2.33, Z:0.53 [[ 9.99721922e-01 2.19930084e-02 -8.50805411e-03 8.07760217e+01] [-2.19530888e-02 9.99747683e-01 4.75726597e-03 2.32938755e+00] [ 8.61053397e-03 -4.56916501e-03 9.99952490e-01 5.30367118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.80, Y:2.35, Z:0.55 [[ 9.99774326e-01 2.01878217e-02 -6.61431541e-03 8.07999613e+01] [-2.02082445e-02 9.99791184e-01 -3.03551319e-03 2.34661314e+00] [ 6.55165384e-03 3.16849186e-03 9.99973518e-01 5.53021693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.83, Y:2.34, Z:0.55 [[ 9.99778686e-01 1.97903203e-02 -7.13602875e-03 8.08297845e+01] [-1.97771818e-02 9.99802594e-01 1.90703774e-03 2.34420837e+00] [ 7.17236094e-03 -1.76548515e-03 9.99972720e-01 5.46102739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.86, Y:2.35, Z:0.55 [[ 9.99810221e-01 1.79954765e-02 -7.46216397e-03 8.08561696e+01] [-1.79945498e-02 9.99838067e-01 1.91315381e-04 2.34818102e+00] [ 7.46439841e-03 -5.70007922e-05 9.99972139e-01 5.46473886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.89, Y:2.34, Z:0.54 [[ 9.99859737e-01 1.49282689e-02 -7.59302470e-03 8.08855219e+01] [-1.49301709e-02 9.99888520e-01 -1.93872810e-04 2.34498039e+00] [ 7.58928404e-03 3.07210773e-04 9.99971154e-01 5.36915282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.91, Y:2.35, Z:0.54 [[ 9.99943625e-01 8.90378472e-03 -5.78526877e-03 8.09067720e+01] [-8.90638023e-03 9.99960248e-01 -4.23032567e-04 2.35273167e+00] [ 5.78127220e-03 4.74534521e-04 9.99983176e-01 5.38277607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.93, Y:2.35, Z:0.54 [[ 9.99964355e-01 7.22439864e-03 -4.36990475e-03 8.09348085e+01] [-7.22261638e-03 9.99973827e-01 4.23494271e-04 2.35433109e+00] [ 4.37284986e-03 -3.91917030e-04 9.99990362e-01 5.35988469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.95, Y:2.35, Z:0.54 [[ 9.99928322e-01 1.13954821e-02 -3.67350170e-03 8.09477143e+01] [-1.13970589e-02 9.99934968e-01 -4.08599166e-04 2.35438867e+00] [ 3.66860662e-03 4.50436994e-04 9.99993169e-01 5.38192480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.99, Y:2.36, Z:0.55 [[ 9.99988826e-01 3.76619795e-03 -2.85714718e-03 8.09906275e+01] [-3.77178380e-03 9.99990981e-01 -1.95218277e-03 2.36085052e+00] [ 2.84976911e-03 1.96293750e-03 9.99994013e-01 5.45707860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.02, Y:2.36, Z:0.55 [[ 9.99992116e-01 2.75899312e-03 -2.85599588e-03 8.10205295e+01] [-2.75788170e-03 9.99996120e-01 3.93020606e-04 2.36388831e+00] [ 2.85706913e-03 -3.85141009e-04 9.99995844e-01 5.45086773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.04, Y:2.36, Z:0.55 [[ 9.99953844e-01 9.07133408e-03 -3.16570663e-03 8.10368753e+01] [-9.07449323e-03 9.99958341e-01 -9.84994989e-04 2.36408139e+00] [ 3.15663953e-03 1.01367671e-03 9.99994504e-01 5.50214634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.345336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.08, Y:2.37, Z:0.54 [[ 9.99982734e-01 2.63573037e-04 -5.87051813e-03 8.10785260e+01] [-2.66339873e-04 9.99999854e-01 -4.70533657e-04 2.36704181e+00] [ 5.87039325e-03 4.72089086e-04 9.99982658e-01 5.43058729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.11, Y:2.37, Z:0.54 [[ 9.99983622e-01 -7.20274521e-04 -5.67771417e-03 8.11082177e+01] [ 7.20169054e-04 9.99999740e-01 -2.06199430e-05 2.36712994e+00] [ 5.67772755e-03 1.65306912e-05 9.99983881e-01 5.39657274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.13, Y:2.37, Z:0.53 [[ 9.99980958e-01 -3.31620359e-03 -5.20449885e-03 8.11261628e+01] [ 3.34262603e-03 9.99981528e-01 5.07638561e-03 2.36652176e+00] [ 5.18756839e-03 -5.09368564e-03 9.99973571e-01 5.29231039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.16, Y:2.38, Z:0.54 [[ 9.99983339e-01 -4.22376878e-03 -3.93453504e-03 8.11617165e+01] [ 4.20977727e-03 9.99984811e-01 -3.55759895e-03 2.37506899e+00] [ 3.94950175e-03 3.54097616e-03 9.99985931e-01 5.42532830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.19, Y:2.37, Z:0.54 [[ 9.99993599e-01 -3.57686437e-03 -8.52485736e-05 8.11891051e+01] [ 3.57707813e-03 9.99990077e-01 2.65527732e-03 2.37487888e+00] [ 7.57501607e-05 -2.65556527e-03 9.99996471e-01 5.35761594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.20, Y:2.39, Z:0.57 [[ 9.99978347e-01 6.31453046e-03 -1.85251355e-03 8.12026707e+01] [-6.34454168e-03 9.99840945e-01 -1.66682669e-02 2.38639161e+00] [ 1.74696662e-03 1.66796593e-02 9.99859359e-01 5.66397493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.25, Y:2.38, Z:0.52 [[ 9.99997212e-01 -2.00277710e-03 -1.25071496e-03 8.12469870e+01] [ 2.02328372e-03 9.99859902e-01 1.66157431e-02 2.37503346e+00] [ 1.21726211e-03 -1.66182274e-02 9.99861167e-01 5.16741012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.28, Y:2.39, Z:0.55 [[ 9.99999665e-01 -5.57472929e-04 -5.99848085e-04 8.12824785e+01] [ 5.55576250e-04 9.99994861e-01 -3.15746626e-03 2.39192455e+00] [ 6.01605204e-04 3.15713194e-03 9.99994835e-01 5.46017283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.30, Y:2.39, Z:0.54 [[ 9.99986196e-01 5.24713382e-03 -2.76320760e-04 8.12985425e+01] [-5.24755152e-03 9.99985056e-01 -1.53324014e-03 2.39119515e+00] [ 2.68271515e-04 1.53466898e-03 9.99998786e-01 5.44581169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.34, Y:2.40, Z:0.54 [[ 9.99993775e-01 -1.07052104e-03 -3.36216545e-03 8.13353198e+01] [ 1.08380138e-03 9.99991609e-01 3.95060137e-03 2.39771433e+00] [ 3.35790804e-03 -3.95422070e-03 9.99986544e-01 5.38549922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.36, Y:2.40, Z:0.55 [[ 9.99996536e-01 3.06235134e-04 -2.61424125e-03 8.13594739e+01] [-3.12416740e-04 9.99997156e-01 -2.36450792e-03 2.40140143e+00] [ 2.61350972e-03 2.36531646e-03 9.99993787e-01 5.46538863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.40, Y:2.40, Z:0.54 [[ 9.99965324e-01 -7.27009283e-03 -4.06165929e-03 8.13956272e+01] [ 7.27144355e-03 9.99973512e-01 3.17885004e-04 2.40281662e+00] [ 4.05924065e-03 -3.47408107e-04 9.99991701e-01 5.36344128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.42, Y:2.40, Z:0.53 [[ 9.99974151e-01 -6.70071405e-03 -2.60742875e-03 8.14165898e+01] [ 6.70339941e-03 9.99977009e-01 1.02251559e-03 2.40275959e+00] [ 2.60051722e-03 -1.03996780e-03 9.99996078e-01 5.34191702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.44, Y:2.41, Z:0.56 [[ 9.99985590e-01 -1.83539319e-03 -5.04490110e-03 8.14392062e+01] [ 1.75147156e-03 9.99860854e-01 -1.65893191e-02 2.41074800e+00] [ 5.07464705e-03 1.65802440e-02 9.99849660e-01 5.55538016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.49, Y:2.39, Z:0.51 [[ 9.99937351e-01 -1.11504768e-02 -9.80529793e-04 8.14890242e+01] [ 1.11627006e-02 9.99846589e-01 1.34978959e-02 2.39342579e+00] [ 8.29871393e-04 -1.35079956e-02 9.99908418e-01 5.05839486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.50, Y:2.41, Z:0.55 [[ 9.99994615e-01 -3.26641016e-03 -3.15892480e-04 8.14974799e+01] [ 3.26176898e-03 9.99900561e-01 -1.37196332e-02 2.41302926e+00] [ 3.60675017e-04 1.37185290e-02 9.99905832e-01 5.53465343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.54, Y:2.41, Z:0.52 [[ 9.99954803e-01 -9.24538396e-03 2.21704091e-03 8.15394727e+01] [ 9.22048114e-03 9.99897082e-01 1.09912501e-02 2.40834248e+00] [-2.31843106e-03 -1.09703111e-02 9.99937137e-01 5.19769596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.56, Y:2.42, Z:0.55 [[ 9.99999812e-01 -4.47903670e-04 4.19486516e-04 8.15551395e+01] [ 4.52487319e-04 9.99939492e-01 -1.09912138e-02 2.41774674e+00] [-4.14538129e-04 1.09914016e-02 9.99939507e-01 5.51214133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.59, Y:2.41, Z:0.53 [[ 9.99999251e-01 -7.13925333e-04 -9.94533984e-04 8.15868356e+01] [ 7.13845339e-04 9.99999742e-01 -8.07862008e-05 2.41266067e+00] [ 9.94591402e-04 8.00761968e-05 9.99999502e-01 5.33179433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.62, Y:2.42, Z:0.53 [[ 9.99999005e-01 -6.79179626e-04 -1.23606933e-03 8.16171357e+01] [ 6.79055991e-04 9.99999764e-01 -1.00439633e-04 2.41534376e+00] [ 1.23613725e-03 9.96001726e-05 9.99999231e-01 5.34556527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.65, Y:2.42, Z:0.53 [[ 9.99999014e-01 -6.67159389e-04 -1.23605958e-03 8.16480526e+01] [ 6.67035598e-04 9.99999772e-01 -1.00559257e-04 2.41785819e+00] [ 1.23612639e-03 9.97346620e-05 9.99999231e-01 5.34231428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.68, Y:2.42, Z:0.53 [[ 9.99998048e-01 -8.23876044e-04 -1.79577926e-03 8.16788019e+01] [ 8.23614678e-04 9.99999650e-01 -1.46278915e-04 2.42088722e+00] [ 1.79589915e-03 1.44799599e-04 9.99998377e-01 5.34878467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.71, Y:2.42, Z:0.53 [[ 9.99994488e-01 1.23286236e-03 -3.08275904e-03 8.17088843e+01] [-1.23364230e-03 9.99999208e-01 -2.51112515e-04 2.42335124e+00] [ 3.08244701e-03 2.54914153e-04 9.99995217e-01 5.33014774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.75, Y:2.43, Z:0.52 [[ 9.99984812e-01 -5.36670724e-03 -1.25482431e-03 8.17517906e+01] [ 5.37755842e-03 9.99946729e-01 8.81031223e-03 2.42595659e+00] [ 1.20747510e-03 -8.81692631e-03 9.99960401e-01 5.17766027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.77, Y:2.43, Z:0.54 [[ 9.99990663e-01 2.79852032e-03 -3.29276109e-03 8.17679362e+01] [-2.82893081e-03 9.99953055e-01 -9.26743505e-03 2.43068126e+00] [ 3.26667140e-03 9.27666351e-03 9.99951635e-01 5.40859375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.095336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.80, Y:2.43, Z:0.53 [[ 9.99985930e-01 3.33898836e-03 -4.12191684e-03 8.17958823e+01] [-3.34041521e-03 9.99994363e-01 -3.39325337e-04 2.42634595e+00] [ 4.12076061e-03 3.53089476e-04 9.99991447e-01 5.25237830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:81.84, Y:2.43, Z:0.51 [[ 9.99990560e-01 -4.24457957e-03 -9.28930521e-04 8.18375135e+01] [ 4.25393769e-03 9.99937747e-01 1.03153061e-02 2.42845853e+00] [ 8.85088555e-04 -1.03191603e-02 9.99946364e-01 5.12024188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.85, Y:2.44, Z:0.55 [[ 9.99973595e-01 7.24781798e-03 -5.27819047e-04 8.18521138e+01] [-7.25295693e-03 9.99918673e-01 -1.04900975e-02 2.44175342e+00] [ 4.51745803e-04 1.04936488e-02 9.99944838e-01 5.54661597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.88, Y:2.44, Z:0.54 [[ 9.99965814e-01 8.20150501e-03 -1.05137884e-03 8.18789744e+01] [-8.20160098e-03 9.99966363e-01 -8.69956635e-05 2.43823392e+00] [ 1.05062998e-03 9.56156792e-05 9.99999444e-01 5.37781134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.91, Y:2.44, Z:0.53 [[ 9.99933330e-01 1.14759176e-02 -1.28014891e-03 8.19063915e+01] [-1.14760624e-02 9.99934142e-01 -1.05818850e-04 2.43586269e+00] [ 1.27885024e-03 1.20502864e-04 9.99999175e-01 5.26595671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.95, Y:2.43, Z:0.51 [[ 9.99978565e-01 6.53156096e-03 4.57379521e-04 8.19499504e+01] [-6.53516294e-03 9.99943576e-01 8.37472683e-03 2.43263919e+00] [-4.02653676e-04 -8.37753636e-03 9.99964827e-01 5.09878201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.96, Y:2.45, Z:0.54 [[ 9.99901679e-01 1.39891925e-02 9.66514662e-04 8.19635416e+01] [-1.39806045e-02 9.99867114e-01 -8.38433514e-03 2.44603268e+00] [-1.08367630e-03 8.36999832e-03 9.99964384e-01 5.41324537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.305336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:82.01, Y:2.44, Z:0.52 [[ 9.99979594e-01 6.29958499e-03 1.06163390e-03 8.20081475e+01] [-6.30675312e-03 9.99956378e-01 6.88960065e-03 2.44284562e+00] [-1.01818596e-03 -6.89615552e-03 9.99975703e-01 5.18488853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.335336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:82.03, Y:2.45, Z:0.53 [[ 9.99963331e-01 8.40238954e-03 1.65404000e-03 8.20344409e+01] [-8.40316229e-03 9.99964587e-01 4.60795326e-04 2.44973807e+00] [-1.65010964e-03 -4.74677596e-04 9.99998526e-01 5.30213424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.05, Y:2.46, Z:0.54 [[ 9.99858159e-01 1.68106833e-02 1.03078122e-03 8.20481089e+01] [-1.68026763e-02 9.99831895e-01 -7.33842776e-03 2.45575780e+00] [-1.15397193e-03 7.32006699e-03 9.99972542e-01 5.44559809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.09, Y:2.46, Z:0.51 [[ 9.99976444e-01 6.85790432e-03 -2.85577448e-04 8.20853131e+01] [-6.85324452e-03 9.99878876e-01 1.39737578e-02 2.45505523e+00] [ 3.81373552e-04 -1.39714715e-02 9.99902321e-01 5.14199257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.11, Y:2.46, Z:0.53 [[ 9.99977707e-01 6.21006504e-03 -2.45348828e-03 8.21119753e+01] [-6.20938152e-03 9.99980681e-01 2.86111985e-04 2.46227380e+00] [ 2.45521766e-03 -2.70870962e-04 9.99996949e-01 5.27886586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.455336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:82.13, Y:2.46, Z:0.54 [[ 9.99887963e-01 1.49651239e-02 -3.24955332e-04 8.21313858e+01] [-1.49681559e-02 9.99795888e-01 -1.35696811e-02 2.46187520e+00] [ 1.21817045e-04 1.35730248e-02 9.99907875e-01 5.44164688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.485336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:82.16, Y:2.46, Z:0.52 [[ 9.99909221e-01 1.34699190e-02 -3.33409749e-04 8.21588332e+01] [-1.34699295e-02 9.99909276e-01 -2.93233098e-05 2.45702735e+00] [ 3.32984518e-04 3.38116536e-05 9.99999944e-01 5.24950606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.19, Y:2.46, Z:0.52 [[ 9.99908010e-01 1.35217376e-02 -1.06490942e-03 8.21861967e+01] [-1.35218442e-02 9.99908571e-01 -9.29683207e-05 2.45905307e+00] [ 1.06355496e-03 1.07359308e-04 9.99999429e-01 5.23976014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.22, Y:2.46, Z:0.51 [[ 9.99970159e-01 7.63496712e-03 1.17813492e-03 8.22234267e+01] [-7.64114127e-03 9.99956610e-01 5.32826579e-03 2.46102063e+00] [-1.13740267e-03 -5.33710909e-03 9.99985111e-01 5.13133779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:82.24, Y:2.47, Z:0.53 [[ 9.99920626e-01 1.25275927e-02 1.34242775e-03 8.22422260e+01] [-1.25206796e-02 9.99908911e-01 -5.04003123e-03 2.46531702e+00] [-1.40544493e-03 5.02282307e-03 9.99986398e-01 5.30824024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.27, Y:2.47, Z:0.51 [[ 9.99982568e-01 5.87240229e-03 6.15430717e-04 8.22702076e+01] [-5.87969139e-03 9.99903333e-01 1.25997610e-02 2.46623884e+00] [-5.41380360e-04 -1.26031599e-02 9.99920430e-01 5.08668795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.30, Y:2.48, Z:0.53 [[ 9.99987936e-01 4.90751193e-03 2.12093035e-04 8.22975897e+01] [-4.90808324e-03 9.99984083e-01 2.78278439e-03 2.47831363e+00] [-1.98433111e-04 -2.78379179e-03 9.99996106e-01 5.30185387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.33, Y:2.48, Z:0.55 [[ 9.99949395e-01 9.71747101e-03 2.60368303e-03 8.23259879e+01] [-9.67772614e-03 9.99842663e-01 -1.48657494e-02 2.48231858e+00] [-2.74773086e-03 1.48397994e-02 9.99886109e-01 5.53910691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.35, Y:2.47, Z:0.52 [[ 9.99966968e-01 7.73845263e-03 2.48581754e-03 8.23535366e+01] [-7.73900546e-03 9.99970031e-01 2.12851914e-04 2.47274587e+00] [-2.48409590e-03 -2.32082639e-04 9.99996888e-01 5.24368231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.38, Y:2.47, Z:0.52 [[ 9.99963653e-01 8.11012676e-03 2.63033064e-03 8.23800631e+01] [-8.11074817e-03 9.99967082e-01 2.25664731e-04 2.47458952e+00] [-2.62841388e-03 -2.46990478e-04 9.99996515e-01 5.23956734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.41, Y:2.48, Z:0.52 [[ 9.99953599e-01 9.34310842e-03 2.34663792e-03 8.24074277e+01] [-9.34360649e-03 9.99956327e-01 2.01373691e-04 2.47738743e+00] [-2.34465397e-03 -2.23290408e-04 9.99997226e-01 5.22967323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.43, Y:2.48, Z:0.51 [[ 9.99987105e-01 5.01967527e-03 -7.69736665e-04 8.24311867e+01] [-5.01111782e-03 9.99929735e-01 1.07430942e-02 2.48097385e+00] [ 8.23609423e-04 -1.07390985e-02 9.99941995e-01 5.08804058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.47, Y:2.49, Z:0.53 [[ 9.99968256e-01 7.38563306e-03 2.98991812e-03 8.24696975e+01] [-7.36609534e-03 9.99951785e-01 -6.49363988e-03 2.48779435e+00] [-3.03773360e-03 6.47140972e-03 9.99974446e-01 5.32131068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.845336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.50, Y:2.49, Z:0.52 [[ 9.99955557e-01 9.24140736e-03 1.86575954e-03 8.24957589e+01] [-9.23908269e-03 9.99956537e-01 -1.25076103e-03 2.48672916e+00] [-1.87723724e-03 1.23346754e-03 9.99997477e-01 5.23847184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.52, Y:2.49, Z:0.52 [[ 9.99929067e-01 1.18065224e-02 1.57072577e-03 8.25179412e+01] [-1.18032926e-02 9.99928238e-01 -2.04985484e-03 2.48773125e+00] [-1.59481470e-03 2.03116970e-03 9.99996665e-01 5.24593062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.55, Y:2.49, Z:0.52 [[ 9.99921313e-01 1.23166333e-02 2.38081609e-03 8.25450176e+01] [-1.23171585e-02 9.99924120e-01 2.06062837e-04 2.48989836e+00] [-2.37809743e-03 -2.35371511e-04 9.99997145e-01 5.24565305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.57, Y:2.50, Z:0.52 [[ 9.99962827e-01 8.61509029e-03 3.54195502e-04 8.25667214e+01] [-8.61799735e-03 9.99920118e-01 9.24599710e-03 2.49564645e+00] [-2.74512109e-04 -9.24870585e-03 9.99957192e-01 5.16641244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:82.60, Y:2.50, Z:0.54 [[ 9.99904585e-01 1.27855340e-02 5.22973446e-03 8.26005070e+01] [-1.27407035e-02 9.99882556e-01 -8.51756215e-03 2.50088498e+00] [-5.33802184e-03 8.45011896e-03 9.99950049e-01 5.38853765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.63, Y:2.50, Z:0.52 [[ 9.99906182e-01 1.29586607e-02 4.43840426e-03 8.26278100e+01] [-1.29604977e-02 9.99915935e-01 3.85368018e-04 2.49613813e+00] [-4.43303730e-03 -4.42855791e-04 9.99990076e-01 5.19679265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.025336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:82.66, Y:2.50, Z:0.52 [[ 9.99905223e-01 1.32237573e-02 3.83117922e-03 8.26553950e+01] [-1.32251252e-02 9.99912489e-01 3.31935073e-04 2.49655073e+00] [-3.82645452e-03 -3.82571438e-04 9.99992606e-01 5.15139227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.68, Y:2.50, Z:0.51 [[ 9.99890724e-01 1.43740154e-02 3.45377585e-03 8.26823178e+01] [-1.43751373e-02 9.99896627e-01 3.00230949e-04 2.49699756e+00] [-3.44910330e-03 -3.49846643e-04 9.99993991e-01 5.11889687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.085336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:82.71, Y:2.50, Z:0.52 [[ 9.99880556e-01 1.49192788e-02 4.03604503e-03 8.27098672e+01] [-1.49208167e-02 9.99888617e-01 3.51199614e-04 2.50134929e+00] [-4.03035583e-03 -4.11378753e-04 9.99991793e-01 5.16356969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.74, Y:2.51, Z:0.53 [[ 9.99856309e-01 1.62483324e-02 4.83253154e-03 8.27370601e+01] [-1.62505589e-02 9.99867862e-01 4.21826837e-04 2.51109389e+00] [-4.82503899e-03 -5.00297563e-04 9.99988234e-01 5.30004589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.75, Y:2.51, Z:0.52 [[ 9.99843167e-01 1.67751090e-02 5.67779970e-03 8.27531448e+01] [-1.68044905e-02 9.99845442e-01 5.16726810e-03 2.51410519e+00] [-5.59024067e-03 -5.26187024e-03 9.99970531e-01 5.23494755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.79, Y:2.51, Z:0.52 [[ 9.99820890e-01 1.83558430e-02 4.60997542e-03 8.27919088e+01] [-1.83370362e-02 9.99823500e-01 -4.08925862e-03 2.51403747e+00] [-4.68422355e-03 4.00399291e-03 9.99981013e-01 5.23356849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.205336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:82.82, Y:2.51, Z:0.51 [[ 9.99824350e-01 1.83240671e-02 3.93677172e-03 8.28200488e+01] [-1.83255649e-02 9.99832013e-01 3.44717193e-04 2.51329784e+00] [-3.92979377e-03 -4.16800209e-04 9.99992191e-01 5.13748635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.235336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:82.85, Y:2.52, Z:0.52 [[ 9.99835136e-01 1.77385043e-02 3.87887502e-03 8.28470948e+01] [-1.77399567e-02 9.99842577e-01 3.40346619e-04 2.51749084e+00] [-3.87222715e-03 -4.09101583e-04 9.99992419e-01 5.16115932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.87, Y:2.52, Z:0.52 [[ 9.99876854e-01 1.48203334e-02 5.16088037e-03 8.28731076e+01] [-1.48228796e-02 9.99890031e-01 4.55475104e-04 2.52351350e+00] [-5.15356254e-03 -5.31918122e-04 9.99986579e-01 5.21473801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.90, Y:2.53, Z:0.52 [[ 9.99906083e-01 1.26251966e-02 5.33188963e-03 8.29008946e+01] [-1.26278821e-02 9.99920155e-01 4.70310260e-04 2.52612237e+00] [-5.32552614e-03 -5.37596563e-04 9.99985675e-01 5.21912683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32533619499999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:82.93, Y:2.53, Z:0.52 [[ 9.99957482e-01 7.92054750e-03 4.72215983e-03 8.29290077e+01] [-7.92260940e-03 9.99968528e-01 4.18096628e-04 2.52735176e+00] [-4.71869966e-03 -4.55490679e-04 9.99988763e-01 5.19476064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.96, Y:2.53, Z:0.52 [[ 9.99977745e-01 5.08193418e-03 4.32241565e-03 8.29562024e+01] [-5.08363613e-03 9.99987005e-01 3.82852911e-04 2.52845581e+00] [-4.32041385e-03 -4.04817979e-04 9.99990585e-01 5.16283563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.385336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:82.98, Y:2.53, Z:0.51 [[ 9.99989429e-01 1.68721747e-03 4.27734372e-03 8.29848045e+01] [-1.68885658e-03 9.99998502e-01 3.79622681e-04 2.52959460e+00] [-4.27669680e-03 -3.86842488e-04 9.99990780e-01 5.13775496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.01, Y:2.53, Z:0.52 [[ 9.99965487e-01 -5.55206424e-03 6.18057080e-03 8.30147740e+01] [ 5.54877513e-03 9.99984455e-01 5.49188413e-04 2.53208587e+00] [-6.18352385e-03 -5.14874861e-04 9.99980749e-01 5.16965490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.05, Y:2.54, Z:0.52 [[ 9.99933279e-01 -8.36111426e-03 7.97051768e-03 8.30464950e+01] [ 8.35572626e-03 9.99964839e-01 7.09053264e-04 2.53635548e+00] [-7.97616590e-03 -6.42406492e-04 9.99967984e-01 5.20744594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.08, Y:2.54, Z:0.52 [[ 9.99900332e-01 -1.11244190e-02 8.69331780e-03 8.30798935e+01] [ 1.11181327e-02 9.99937894e-01 7.71113378e-04 2.53911703e+00] [-8.70135609e-03 -6.74383062e-04 9.99961915e-01 5.19647057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.11, Y:2.54, Z:0.51 [[ 9.99905675e-01 -1.15620573e-02 7.41354304e-03 8.31118262e+01] [ 1.15574977e-02 9.99932994e-01 6.57584231e-04 2.53886186e+00] [-7.42064931e-03 -5.71840198e-04 9.99972303e-01 5.12620495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.15, Y:2.54, Z:0.51 [[ 9.99880129e-01 -1.46920002e-02 4.88607568e-03 8.31454274e+01] [ 1.46900569e-02 9.99892001e-01 4.33369446e-04 2.53722813e+00] [-4.89191505e-03 -3.61540768e-04 9.99987969e-01 5.05017130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.18, Y:2.54, Z:0.51 [[ 9.99838496e-01 -1.74754455e-02 4.19403308e-03 8.31790201e+01] [ 1.74740402e-02 9.99847248e-01 3.71483058e-04 2.54032137e+00] [-4.19988426e-03 -2.98136360e-04 9.99991136e-01 5.07679249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.595336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.21, Y:2.54, Z:0.51 [[ 9.99784003e-01 -2.03788275e-02 4.08053771e-03 8.32121245e+01] [ 2.03775244e-02 9.99792292e-01 3.60682021e-04 2.54433100e+00] [-4.08704042e-03 -2.77452858e-04 9.99991610e-01 5.13183100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.24, Y:2.55, Z:0.52 [[ 9.99602750e-01 -2.77499308e-02 4.92783386e-03 8.32444142e+01] [ 2.77481297e-02 9.99614853e-01 4.33508681e-04 2.54738562e+00] [-4.93796575e-03 -2.96598297e-04 9.99987764e-01 5.19387204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.28, Y:2.55, Z:0.52 [[ 9.99542603e-01 -2.98259693e-02 4.99959658e-03 8.32763727e+01] [ 2.98241426e-02 9.99555065e-01 4.39534086e-04 2.54791953e+00] [-5.01048161e-03 -2.90224363e-04 9.99987405e-01 5.16435905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.31, Y:2.54, Z:0.51 [[ 9.99456433e-01 -3.21301006e-02 7.38202679e-03 8.33097879e+01] [ 3.21261976e-02 9.99483611e-01 6.46715781e-04 2.54331437e+00] [-7.39899384e-03 -4.09207796e-04 9.99972543e-01 5.05520428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.34, Y:2.54, Z:0.50 [[ 9.99455311e-01 -3.17112402e-02 9.13661336e-03 8.33435969e+01] [ 3.17052643e-02 9.99496943e-01 7.98202719e-04 2.54366621e+00] [-9.15732912e-03 -5.08089206e-04 9.99957942e-01 5.02175206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.38, Y:2.54, Z:0.50 [[ 9.99531191e-01 -2.89381290e-02 9.99916437e-03 8.33762374e+01] [ 2.89308555e-02 9.99581035e-01 8.71331475e-04 2.54485889e+00] [-1.00201898e-02 -5.81638608e-04 9.99949627e-01 5.03390103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.41, Y:2.55, Z:0.51 [[ 9.99563074e-01 -2.77968634e-02 1.00496370e-02 8.34080294e+01] [ 2.77894775e-02 9.99613416e-01 8.73863585e-04 2.54742483e+00] [-1.00700426e-02 -5.94207609e-04 9.99949119e-01 5.05874971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.44, Y:2.55, Z:0.51 [[ 9.99595549e-01 -2.66852883e-02 9.83021253e-03 8.34400643e+01] [ 2.66781850e-02 9.99643710e-01 8.53051535e-04 2.55039419e+00] [-9.84947404e-03 -5.90454290e-04 9.99951318e-01 5.10006634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.47, Y:2.55, Z:0.51 [[ 9.99597689e-01 -2.66049727e-02 9.83038214e-03 8.34735835e+01] [ 2.65978847e-02 9.99645851e-01 8.51092109e-04 2.55318042e+00] [-9.84954400e-03 -5.89282334e-04 9.99951318e-01 5.09596951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.51, Y:2.56, Z:0.51 [[ 9.99671585e-01 -2.45055050e-02 7.49679364e-03 8.35063657e+01] [ 2.45013266e-02 9.99699587e-01 6.48709551e-04 2.55515169e+00] [-7.51043846e-03 -4.64815116e-04 9.99971688e-01 5.14317054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.54, Y:2.56, Z:0.51 [[ 9.99691660e-01 -2.40820525e-02 6.05310669e-03 8.35395692e+01] [ 2.40793183e-02 9.99709914e-01 5.24188608e-04 2.55683522e+00] [-6.06397430e-03 -3.78272296e-04 9.99981542e-01 5.13924578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.57, Y:2.56, Z:0.51 [[ 9.99730943e-01 -2.25926872e-02 5.25465257e-03 8.35723728e+01] [ 2.25906106e-02 9.99744696e-01 4.54209365e-04 2.55806600e+00] [-5.26357285e-03 -3.35381347e-04 9.99986091e-01 5.13084526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.61, Y:2.56, Z:0.51 [[ 9.99751919e-01 -2.14968282e-02 5.82978622e-03 8.36054836e+01] [ 2.14942613e-02 9.99768845e-01 5.02597034e-04 2.56079282e+00] [-5.83924288e-03 -3.77165401e-04 9.99982880e-01 5.12258898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.64, Y:2.56, Z:0.51 [[ 9.99791141e-01 -1.94928957e-02 6.14017957e-03 8.36385627e+01] [ 1.94900188e-02 9.99809912e-01 5.28030081e-04 2.56301831e+00] [-6.14930523e-03 -4.08247582e-04 9.99981010e-01 5.09282723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.67, Y:2.56, Z:0.50 [[ 9.99876425e-01 -1.44162087e-02 6.26954776e-03 8.36713338e+01] [ 1.44131185e-02 9.99895981e-01 5.37805687e-04 2.55898983e+00] [-6.27664872e-03 -4.47375494e-04 9.99980202e-01 4.95685188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.70, Y:2.56, Z:0.49 [[ 9.99905058e-01 -1.17484019e-02 7.20072944e-03 8.37039610e+01] [ 1.17442719e-02 9.99930844e-01 6.15560743e-04 2.56034359e+00] [-7.20746332e-03 -5.30934976e-04 9.99973885e-01 4.93935350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.74, Y:2.57, Z:0.51 [[ 9.99941615e-01 -5.29261020e-03 9.42096856e-03 8.37367331e+01] [ 5.28526327e-03 9.99985709e-01 8.04574674e-04 2.57329635e+00] [-9.42509222e-03 -7.54735400e-04 9.99955298e-01 5.14101538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10533619499999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:83.77, Y:2.58, Z:0.52 [[ 9.99951082e-01 -2.05039392e-03 9.67619713e-03 8.37681165e+01] [ 2.04251277e-03 9.99997574e-01 8.24300704e-04 2.58188992e+00] [-9.67786380e-03 -8.04496625e-04 9.99952845e-01 5.23457835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.80, Y:2.59, Z:0.52 [[ 9.99964464e-01 2.45670381e-03 8.06448200e-03 8.38005511e+01] [-2.46231060e-03 9.99996734e-01 6.85389458e-04 2.58542917e+00] [-8.06277186e-03 -7.05222361e-04 9.99967247e-01 5.17253313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.83, Y:2.58, Z:0.51 [[ 9.99968895e-01 3.73561810e-03 6.94656775e-03 8.38323185e+01] [-3.73980432e-03 9.99992833e-01 5.89740361e-04 2.58448519e+00] [-6.94431492e-03 -6.15700821e-04 9.99975698e-01 5.08091650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.86, Y:2.59, Z:0.50 [[ 9.99965571e-01 4.50851761e-03 6.96638945e-03 8.38606512e+01] [-4.51274241e-03 9.99989643e-01 5.90855218e-04 2.58645632e+00] [-6.96365342e-03 -6.22272396e-04 9.99975560e-01 5.03084888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.89, Y:2.59, Z:0.51 [[ 9.99970329e-01 3.57460080e-03 6.82380720e-03 8.38885872e+01] [-3.57863377e-03 9.99993429e-01 5.78895601e-04 2.59220020e+00] [-6.82169304e-03 -6.03298331e-04 9.99976550e-01 5.06221826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.92, Y:2.60, Z:0.51 [[ 9.99975812e-01 2.34788179e-03 6.54694716e-03 8.39170464e+01] [-2.35157365e-03 9.99997080e-01 5.56264688e-04 2.59785757e+00] [-6.54562200e-03 -5.71646861e-04 9.99978414e-01 5.08659373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.95, Y:2.60, Z:0.51 [[ 9.99974834e-01 -1.55559540e-03 6.92185375e-03 8.39472857e+01] [ 1.55155916e-03 9.99998623e-01 5.88447750e-04 2.60244387e+00] [-6.92275961e-03 -5.77693275e-04 9.99975871e-01 5.08458326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.98, Y:2.60, Z:0.51 [[ 9.99967561e-01 -3.10496542e-03 7.43205650e-03 8.39790715e+01] [ 3.10035025e-03 9.99994994e-01 6.32421622e-04 2.60356850e+00] [-7.43398294e-03 -6.09359129e-04 9.99972182e-01 5.05278630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.345336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.01, Y:2.60, Z:0.50 [[ 9.99949354e-01 -7.78181978e-03 6.38221264e-03 8.40119741e+01] [ 7.77851231e-03 9.99969600e-01 5.42891059e-04 2.60456855e+00] [-6.38624330e-03 -4.93219444e-04 9.99979486e-01 5.01560451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.04, Y:2.61, Z:0.50 [[ 9.99917620e-01 -1.04616631e-02 7.43681356e-03 8.40447097e+01] [ 1.04572633e-02 9.99945123e-01 6.30261864e-04 2.60907618e+00] [-7.44299903e-03 -5.52441226e-04 9.99972148e-01 5.03851449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.08, Y:2.61, Z:0.51 [[ 9.99881443e-01 -1.21125267e-02 9.50723896e-03 8.40773862e+01] [ 1.21054178e-02 9.99926403e-01 8.04923436e-04 2.61388025e+00] [-9.51628891e-03 -6.89738906e-04 9.99954481e-01 5.07908282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.11, Y:2.62, Z:0.51 [[ 9.99832952e-01 -1.49906832e-02 1.04569109e-02 8.41105932e+01] [ 1.49822657e-02 9.99887370e-01 8.82846262e-04 2.61802046e+00] [-1.04689676e-02 -7.26030567e-04 9.99944935e-01 5.08226782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.14, Y:2.62, Z:0.50 [[ 9.99842950e-01 -1.64383945e-02 6.62224403e-03 8.41440710e+01] [ 1.64350475e-02 9.99864779e-01 5.59536670e-04 2.61561482e+00] [-6.63054645e-03 -4.50611900e-04 9.99977916e-01 4.96613944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.18, Y:2.62, Z:0.50 [[ 9.99836530e-01 -1.67487798e-02 6.81111174e-03 8.41764343e+01] [ 1.67452563e-02 9.99859624e-01 5.74018806e-04 2.61780340e+00] [-6.81976973e-03 -4.59871160e-04 9.99976639e-01 4.96416421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.21, Y:2.62, Z:0.50 [[ 9.99826546e-01 -1.68374722e-02 7.96094731e-03 8.42086813e+01] [ 1.68326761e-02 9.99858097e-01 6.69079405e-04 2.62254548e+00] [-7.97108323e-03 -5.34959304e-04 9.99968087e-01 5.00831594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.24, Y:2.63, Z:0.51 [[ 9.99824614e-01 -1.71198873e-02 7.59275992e-03 8.42415385e+01] [ 1.71155419e-02 9.99853316e-01 6.36917907e-04 2.62846189e+00] [-7.60255015e-03 -5.06852000e-04 9.99970972e-01 5.05262007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.27, Y:2.63, Z:0.50 [[ 9.99824550e-01 -1.74425558e-02 6.82830326e-03 8.42748178e+01] [ 1.74390562e-02 9.99847765e-01 5.71722120e-04 2.62999826e+00] [-6.83723605e-03 -4.52542647e-04 9.99976523e-01 5.03041289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.31, Y:2.63, Z:0.50 [[ 9.99803622e-01 -1.80980840e-02 8.07318908e-03 8.43085255e+01] [ 1.80932294e-02 9.99836077e-01 6.73971518e-04 2.63132111e+00] [-8.08406329e-03 -5.27769103e-04 9.99967184e-01 5.02170093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.34, Y:2.63, Z:0.50 [[ 9.99800573e-01 -1.81514816e-02 8.32689309e-03 8.43412025e+01] [ 1.81463333e-02 9.99835101e-01 6.93413654e-04 2.63376097e+00] [-8.33810648e-03 -5.42172791e-04 9.99965090e-01 5.00873670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.37, Y:2.64, Z:0.50 [[ 9.99804219e-01 -1.83194783e-02 7.47800917e-03 8.43742537e+01] [ 1.83153388e-02 9.99832067e-01 6.21661189e-04 2.63516196e+00] [-7.48814187e-03 -4.84577208e-04 9.99971846e-01 4.97799596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.41, Y:2.63, Z:0.50 [[ 9.99780236e-01 -1.95194426e-02 7.64660636e-03 8.44065183e+01] [ 1.95151616e-02 9.99809360e-01 6.34089465e-04 2.63472894e+00] [-7.65752569e-03 -4.84725356e-04 9.99970563e-01 4.95375003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.44, Y:2.64, Z:0.50 [[ 9.99758440e-01 -1.98131546e-02 9.51322108e-03 8.44401106e+01] [ 1.98065622e-02 9.99803521e-01 7.86695670e-04 2.63753487e+00] [-9.52693885e-03 -5.98081431e-04 9.99954439e-01 4.98910389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.47, Y:2.64, Z:0.51 [[ 9.99744960e-01 -1.89744161e-02 1.22468908e-02 8.44723051e+01] [ 1.89634673e-02 9.99819668e-01 1.00952487e-03 2.64160082e+00] [-1.22638374e-02 -7.77023890e-04 9.99924494e-01 5.05449099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.51, Y:2.64, Z:0.51 [[ 9.99762391e-01 -1.81666001e-02 1.20472128e-02 8.45059255e+01] [ 1.81559743e-02 9.99834676e-01 9.90805773e-04 2.64371822e+00] [-1.20632207e-02 -7.71841463e-04 9.99926939e-01 5.05434653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.54, Y:2.64, Z:0.50 [[ 9.99785442e-01 -1.75118098e-02 1.10637623e-02 8.45392136e+01] [ 1.75028308e-02 9.99846402e-01 9.07882598e-04 2.64474185e+00] [-1.10779616e-02 -7.14040644e-04 9.99938383e-01 5.03659208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.57, Y:2.64, Z:0.50 [[ 9.99823574e-01 -1.60202871e-02 9.80668664e-03 8.45725831e+01] [ 1.60131779e-02 9.99871458e-01 8.03026976e-04 2.64278625e+00] [-9.81829079e-03 -6.45849084e-04 9.99951591e-01 4.97862177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.60, Y:2.64, Z:0.50 [[ 9.99833923e-01 -1.52393331e-02 9.99444315e-03 8.46048056e+01] [ 1.52319329e-02 9.99883654e-01 8.16142472e-04 2.64329549e+00] [-1.00057178e-02 -6.63772243e-04 9.99949721e-01 4.95593635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.64, Y:2.64, Z:0.49 [[ 9.99852748e-01 -1.48036888e-02 8.67949964e-03 8.46379920e+01] [ 1.47981004e-02 9.99890252e-01 7.07731609e-04 2.64297509e+00] [-8.68902411e-03 -5.79187287e-04 9.99962082e-01 4.94979827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.67, Y:2.64, Z:0.50 [[ 9.99861973e-01 -1.47952930e-02 7.55866603e-03 8.46716348e+01] [ 1.47910543e-02 9.99890416e-01 6.16373184e-04 2.64424039e+00] [-7.56695715e-03 -5.04487469e-04 9.99971243e-01 4.95384259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.70, Y:2.65, Z:0.49 [[ 9.99861821e-01 -1.47688765e-02 7.63015709e-03 8.47042925e+01] [ 1.47645717e-02 9.99890805e-01 6.20210385e-04 2.64522528e+00] [-7.63848373e-03 -5.07468683e-04 9.99970698e-01 4.94387157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.74, Y:2.64, Z:0.50 [[ 9.99844101e-01 -1.54440426e-02 8.55895902e-03 8.47379679e+01] [ 1.54386593e-02 9.99880575e-01 6.94677998e-04 2.64439694e+00] [-8.56866551e-03 -5.62430845e-04 9.99963130e-01 4.95265771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.77, Y:2.65, Z:0.50 [[ 9.99840214e-01 -1.52052423e-02 9.39934121e-03 8.47714618e+01] [ 1.51987603e-02 9.99884203e-01 7.60681061e-04 2.64623818e+00] [-9.40981914e-03 -6.17701181e-04 9.99955536e-01 4.97428475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.80, Y:2.65, Z:0.50 [[ 9.99869095e-01 -1.29763090e-02 9.66474966e-03 8.48040779e+01] [ 1.29693723e-02 9.99915590e-01 7.80064549e-04 2.64711410e+00] [-9.67405622e-03 -6.54616698e-04 9.99952991e-01 4.99619752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.095336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.84, Y:2.65, Z:0.50 [[ 9.99904664e-01 -1.05931990e-02 8.85707845e-03 8.48378151e+01] [ 1.05872932e-02 9.99943699e-01 7.13413219e-04 2.64781688e+00] [-8.86413711e-03 -6.19572719e-04 9.99960521e-01 4.97106406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.87, Y:2.65, Z:0.49 [[ 9.99928794e-01 -8.78586050e-03 8.07557194e-03 8.48710072e+01] [ 8.78090768e-03 9.99961237e-01 6.48561705e-04 2.64886137e+00] [-8.08095708e-03 -5.77604672e-04 9.99967182e-01 4.94323476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.90, Y:2.65, Z:0.49 [[ 9.99946305e-01 -6.08210047e-03 8.39019835e-03 8.49044752e+01] [ 6.07666211e-03 9.99981310e-01 6.73520074e-04 2.64780148e+00] [-8.39413796e-03 -6.22499509e-04 9.99964575e-01 4.90766524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.94, Y:2.65, Z:0.49 [[ 9.99946474e-01 -4.14474252e-03 9.47995655e-03 8.49370466e+01] [ 4.13773907e-03 9.99991152e-01 7.58257860e-04 2.64828512e+00] [-9.48301546e-03 -7.18991687e-04 9.99954777e-01 4.88519817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.97, Y:2.65, Z:0.49 [[ 9.99939388e-01 1.03063249e-03 1.09616420e-02 8.49693859e+01] [-1.04029573e-03 9.99999075e-01 8.75884921e-04 2.64845999e+00] [-1.09607292e-02 -8.87235181e-04 9.99939536e-01 4.88704549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.00, Y:2.65, Z:0.49 [[ 9.99936027e-01 3.78436793e-03 1.06593115e-02 8.50016660e+01] [-3.79363793e-03 9.99992443e-01 8.49577247e-04 2.65123298e+00] [-1.06560159e-02 -8.89960466e-04 9.99942827e-01 4.90757964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.03, Y:2.66, Z:0.49 [[ 9.99920852e-01 8.07234605e-03 9.65028309e-03 8.50316641e+01] [-8.08013708e-03 9.99967060e-01 7.68620848e-04 2.65521430e+00] [-9.64376064e-03 -8.46535623e-04 9.99953140e-01 4.94663756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.06, Y:2.66, Z:0.50 [[ 9.99918616e-01 9.21248197e-03 8.82567455e-03 8.50581706e+01] [-9.21903856e-03 9.99957257e-01 7.02504874e-04 2.65772285e+00] [-8.81882550e-03 -7.83811935e-04 9.99960806e-01 4.95388158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.09, Y:2.66, Z:0.49 [[ 9.99915245e-01 1.02131552e-02 8.07431825e-03 8.50856057e+01] [-1.02186806e-02 9.99947581e-01 6.43364865e-04 2.65934711e+00] [-8.06732421e-03 -7.25819216e-04 9.99967195e-01 4.94234104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.11, Y:2.66, Z:0.49 [[ 9.99896874e-01 1.15283090e-02 8.56386708e-03 8.51133580e+01] [-1.15345784e-02 9.99933241e-01 6.83046815e-04 2.65761885e+00] [-8.55542099e-03 -7.81756972e-04 9.99963096e-01 4.90118463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.14, Y:2.66, Z:0.49 [[ 9.99889205e-01 1.16654151e-02 9.24639738e-03 8.51416150e+01] [-1.16727366e-02 9.99931599e-01 7.38249124e-04 2.65884482e+00] [-9.23715293e-03 -8.46098090e-04 9.99956979e-01 4.89875349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.17, Y:2.66, Z:0.49 [[ 9.99872692e-01 1.20542272e-02 1.04544402e-02 8.51684278e+01] [-1.20636170e-02 9.99926883e-01 8.35574198e-04 2.66170333e+00] [-1.04436036e-02 -9.61586186e-04 9.99945002e-01 4.93752183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.20, Y:2.66, Z:0.49 [[ 9.99855117e-01 1.25004567e-02 1.15535363e-02 8.51960420e+01] [-1.25119673e-02 9.99921295e-01 9.24535428e-04 2.66415745e+00] [-1.15410699e-02 -1.06895895e-03 9.99932828e-01 4.94427658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.22, Y:2.67, Z:0.49 [[ 9.99845025e-01 1.27509769e-02 1.21383330e-02 8.52224074e+01] [-1.27637122e-02 9.99918068e-01 9.72285086e-04 2.66534036e+00] [-1.21249409e-02 -1.12706459e-03 9.99925855e-01 4.93028490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.25, Y:2.66, Z:0.49 [[ 9.99858765e-01 1.31310029e-02 1.04894130e-02 8.52494597e+01] [-1.31405408e-02 9.99913306e-01 8.40882446e-04 2.66270256e+00] [-1.04774620e-02 -9.78600243e-04 9.99944631e-01 4.86442275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.28, Y:2.66, Z:0.49 [[ 9.99856406e-01 1.46098798e-02 8.58600843e-03 8.52775417e+01] [-1.46163333e-02 9.99892938e-01 6.89364009e-04 2.66416628e+00] [-8.57501767e-03 -8.14760982e-04 9.99962902e-01 4.87788476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.31, Y:2.67, Z:0.49 [[ 9.99857129e-01 1.47869533e-02 8.18945139e-03 8.53051304e+01] [-1.47928309e-02 9.99890364e-01 6.57589391e-04 2.66769256e+00] [-8.17882978e-03 -7.78640610e-04 9.99966250e-01 4.90944266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.33, Y:2.67, Z:0.49 [[ 9.99867257e-01 1.42253474e-02 7.94403746e-03 8.53326221e+01] [-1.42308720e-02 9.99898532e-01 6.39344029e-04 2.67089502e+00] [-7.93413650e-03 -7.52309741e-04 9.99968241e-01 4.93726490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.36, Y:2.67, Z:0.49 [[ 9.99885084e-01 1.29230681e-02 7.92545473e-03 8.53596510e+01] [-1.29285423e-02 9.99916218e-01 6.39854404e-04 2.67219426e+00] [-7.91652184e-03 -7.42245451e-04 9.99968388e-01 4.92555468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.39, Y:2.67, Z:0.49 [[ 9.99893174e-01 1.19131442e-02 8.46863311e-03 8.53880588e+01] [-1.19193654e-02 9.99928728e-01 6.84532342e-04 2.67085483e+00] [-8.45987460e-03 -7.85399948e-04 9.99963906e-01 4.86116372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.42, Y:2.67, Z:0.48 [[ 9.99888211e-01 1.00238528e-02 1.10945368e-02 8.54163216e+01] [-1.00344276e-02 9.99949251e-01 8.97898763e-04 2.66533034e+00] [-1.10849734e-02 -1.00912571e-03 9.99938051e-01 4.77279677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.44, Y:2.67, Z:0.48 [[ 9.99891766e-01 9.19660083e-03 1.14838632e-02 8.54440536e+01] [-9.20788705e-03 9.99957174e-01 9.30302128e-04 2.66821154e+00] [-1.14748157e-02 -1.03594355e-03 9.99933626e-01 4.79877990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.47, Y:2.67, Z:0.48 [[ 9.99892330e-01 9.13519170e-03 1.14837935e-02 8.54723492e+01] [-9.14648368e-03 9.99957736e-01 9.31161706e-04 2.67060677e+00] [-1.14748018e-02 -1.03609778e-03 9.99933626e-01 4.79527731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.50, Y:2.68, Z:0.48 [[ 9.99904541e-01 8.25201963e-03 1.10820846e-02 8.54988323e+01] [-8.26248873e-03 9.99965461e-01 8.99233832e-04 2.67513057e+00] [-1.10742814e-02 -9.90713592e-04 9.99938187e-01 4.84637170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.53, Y:2.68, Z:0.49 [[ 9.99912031e-01 7.98962855e-03 1.05875099e-02 8.55262650e+01] [-7.99917722e-03 9.99967636e-01 8.59840414e-04 2.67953039e+00] [-1.05802974e-02 -9.44456143e-04 9.99943581e-01 4.89663750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.845336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.55, Y:2.68, Z:0.49 [[ 9.99901090e-01 8.43713837e-03 1.12527878e-02 8.55537761e+01] [-8.44796333e-03 9.99963897e-01 9.14793667e-04 2.68001685e+00] [-1.12446633e-02 -1.00976632e-03 9.99936267e-01 4.86820358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.58, Y:2.68, Z:0.48 [[ 9.99910360e-01 9.34489689e-03 9.58882356e-03 8.55816192e+01] [-9.35280276e-03 9.99955957e-01 7.79976987e-04 2.67885227e+00] [-9.58111244e-03 -8.69589446e-04 9.99953722e-01 4.80830815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.61, Y:2.68, Z:0.48 [[ 9.99919902e-01 8.96814558e-03 8.93100584e-03 8.56095594e+01] [-8.97499447e-03 9.99959460e-01 7.27082807e-04 2.68030497e+00] [-8.92412319e-03 -8.07180297e-04 9.99959853e-01 4.79453693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.64, Y:2.68, Z:0.48 [[ 9.99939802e-01 7.92260372e-03 7.59112552e-03 8.56358592e+01] [-7.92752472e-03 9.99968385e-01 6.18386067e-04 2.68301646e+00] [-7.58598630e-03 -6.78527676e-04 9.99970996e-01 4.81010455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.66, Y:2.69, Z:0.48 [[ 9.99941170e-01 7.81097747e-03 7.52630684e-03 8.56631648e+01] [-7.81581714e-03 9.99969268e-01 6.13835890e-04 2.68601918e+00] [-7.52128088e-03 -6.72624016e-04 9.99971489e-01 4.81763547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.69, Y:2.69, Z:0.48 [[ 9.99943848e-01 7.81024360e-03 7.16245004e-03 8.56902353e+01] [-7.81463010e-03 9.99969294e-01 5.84648045e-04 2.68817629e+00] [-7.15766387e-03 -6.40587113e-04 9.99974178e-01 4.81484691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.72, Y:2.69, Z:0.48 [[ 9.99951403e-01 7.81468270e-03 6.01013866e-03 8.57184333e+01] [-7.81777308e-03 9.99969320e-01 4.90872233e-04 2.68840141e+00] [-6.00611826e-03 -5.37834278e-04 9.99981818e-01 4.78830531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.75, Y:2.69, Z:0.48 [[ 9.99948698e-01 7.54403760e-03 6.75933268e-03 8.57457596e+01] [-7.54794458e-03 9.99971361e-01 5.52687843e-04 2.69033085e+00] [-6.75496960e-03 -6.03678557e-04 9.99977003e-01 4.79366948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.77, Y:2.69, Z:0.48 [[ 9.99932627e-01 4.61398348e-03 1.06514047e-02 8.57727400e+01] [-4.62353484e-03 9.99988931e-01 8.72272954e-04 2.69476822e+00] [-1.06472621e-02 -9.21461327e-04 9.99942892e-01 4.84023761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.80, Y:2.70, Z:0.48 [[ 9.99919528e-01 2.45256303e-03 1.24467860e-02 8.58020892e+01] [-2.46545565e-03 9.99996440e-01 1.02058062e-03 2.69764693e+00] [-1.24442387e-02 -1.05118549e-03 9.99922015e-01 4.84953250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.84, Y:2.70, Z:0.48 [[ 9.99887292e-01 -1.97724988e-03 1.48826790e-02 8.58358481e+01] [ 1.95930635e-03 9.99997336e-01 1.22014950e-03 2.69792333e+00] [-1.48850519e-02 -1.19085225e-03 9.99888502e-01 4.80745764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.87, Y:2.70, Z:0.48 [[ 9.99881116e-01 -4.23399785e-03 1.48265972e-02 8.58694124e+01] [ 4.21647549e-03 9.99990375e-01 1.21287990e-03 2.69939784e+00] [-1.48315898e-02 -1.15021972e-03 9.99889344e-01 4.77531339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.90, Y:2.70, Z:0.48 [[ 9.99911183e-01 -7.95181022e-03 1.06955831e-02 8.59018221e+01] [ 7.94290901e-03 9.99968072e-01 8.74454054e-04 2.70268471e+00] [-1.07021951e-02 -7.89422344e-04 9.99942418e-01 4.75035777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.93, Y:2.71, Z:0.48 [[ 9.99916760e-01 -1.07632077e-02 7.11525565e-03 8.59343691e+01] [ 1.07593428e-02 9.99941948e-01 5.81243506e-04 2.70882038e+00] [-7.12109863e-03 -5.04639648e-04 9.99974517e-01 4.78273377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.97, Y:2.72, Z:0.49 [[ 9.99926006e-01 -1.03514398e-02 6.38985401e-03 8.59659140e+01] [ 1.03483217e-02 9.99946319e-01 5.20840337e-04 2.71656728e+00] [-6.39490244e-03 -4.54677533e-04 9.99979449e-01 4.85073082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.00, Y:2.72, Z:0.49 [[ 9.99960737e-01 -8.48817644e-03 2.54456646e-03 8.59987696e+01] [ 8.48767321e-03 9.99963957e-01 2.08499450e-04 2.72495635e+00] [-2.54624452e-03 -1.86893815e-04 9.99996741e-01 4.87096337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:2.73, Z:0.47 [[ 9.99988035e-01 -3.92953496e-03 2.91355800e-03 8.60308973e+01] [ 3.92886097e-03 9.99992254e-01 2.37015792e-04 2.73067106e+00] [-2.91446679e-03 -2.25565992e-04 9.99995727e-01 4.72822047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35533619499999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:86.06, Y:2.74, Z:0.47 [[ 9.99993394e-01 -2.42394116e-03 2.70862170e-03 8.60633174e+01] [ 2.42335517e-03 9.99997040e-01 2.19600965e-04 2.73670958e+00] [-2.70914598e-03 -2.13035561e-04 9.99996308e-01 4.73762761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.09, Y:2.74, Z:0.47 [[ 9.99995805e-01 -1.02779989e-03 2.70818868e-03 8.60947976e+01] [ 1.02720991e-03 9.99999448e-01 2.19232768e-04 2.74077352e+00] [-2.70841252e-03 -2.16449970e-04 9.99996309e-01 4.72498655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.13, Y:2.74, Z:0.47 [[ 9.99995632e-01 3.07761016e-04 2.93954559e-03 8.61266728e+01] [-3.08460699e-04 9.99999924e-01 2.37573711e-04 2.74348420e+00] [-2.93947226e-03 -2.38479408e-04 9.99995651e-01 4.70717428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.16, Y:2.75, Z:0.47 [[ 9.99995620e-01 3.45026256e-04 2.93956692e-03 8.61584658e+01] [-3.45725326e-04 9.99999912e-01 2.37309265e-04 2.74600977e+00] [-2.93948478e-03 -2.38324509e-04 9.99995651e-01 4.70326622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.19, Y:2.75, Z:0.47 [[ 9.99993535e-01 1.77653005e-03 3.12621584e-03 8.61900460e+01] [-1.77732686e-03 9.99998389e-01 2.52120915e-04 2.74883674e+00] [-3.12576290e-03 -2.57675592e-04 9.99995082e-01 4.69689482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.22, Y:2.75, Z:0.47 [[ 9.99989243e-01 2.90968262e-03 3.61203107e-03 8.62190638e+01] [-2.91075197e-03 9.99995721e-01 2.90830969e-04 2.75207226e+00] [-3.61116939e-03 -3.01341567e-04 9.99993434e-01 4.70423325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.25, Y:2.76, Z:0.47 [[ 9.99984456e-01 3.70386896e-03 4.16769435e-03 8.62467577e+01] [-3.70529811e-03 9.99993079e-01 3.35242573e-04 2.75562073e+00] [-4.16642381e-03 -3.50679912e-04 9.99991259e-01 4.72033195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.28, Y:2.76, Z:0.47 [[ 9.99981581e-01 3.95335689e-03 4.60538919e-03 8.62757733e+01] [-3.95510678e-03 9.99992110e-01 3.70920023e-04 2.75913655e+00] [-4.60388647e-03 -3.89127996e-04 9.99989326e-01 4.73341636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.595336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.30, Y:2.76, Z:0.47 [[ 9.99926651e-01 5.18334565e-03 1.09465129e-02 8.63045779e+01] [-5.19332073e-03 9.99986125e-01 8.83027874e-04 2.76126569e+00] [-1.09417839e-02 -9.39811857e-04 9.99939695e-01 4.73868185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.33, Y:2.75, Z:0.48 [[ 9.99378483e-01 3.25782551e-02 1.34649870e-02 8.63332690e+01] [-3.25958197e-02 9.99468024e-01 1.08700994e-03 2.74589211e+00] [-1.34224110e-02 -1.52523664e-03 9.99908752e-01 4.80809797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.36, Y:2.73, Z:0.48 [[ 9.99599123e-01 2.69307493e-02 8.73657913e-03 8.63622472e+01] [-2.69379284e-02 9.99636860e-01 7.05076341e-04 2.73192546e+00] [-8.71441829e-03 -9.40139035e-04 9.99961587e-01 4.83473491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.39, Y:2.73, Z:0.49 [[ 9.99637126e-01 2.54567486e-02 8.80744087e-03 8.63893559e+01] [-2.54640073e-02 9.99675485e-01 7.12981635e-04 2.73242139e+00] [-8.78643253e-03 -9.36995651e-04 9.99960960e-01 4.85248798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.42, Y:2.73, Z:0.49 [[ 9.99671753e-01 2.39111912e-02 9.20001459e-03 8.64174578e+01] [-2.39190516e-02 9.99713621e-01 7.45296615e-04 2.73228577e+00] [-9.17955896e-03 -9.65107598e-04 9.99957401e-01 4.85456403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.45, Y:2.73, Z:0.48 [[ 9.99691868e-01 2.28776274e-02 9.63242048e-03 8.64453160e+01] [-2.28862155e-02 9.99737770e-01 7.82289288e-04 2.73100685e+00] [-9.61199765e-03 -1.00249789e-03 9.99953301e-01 4.83552417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.47, Y:2.73, Z:0.48 [[ 9.99714319e-01 2.17988432e-02 9.80260006e-03 8.64730270e+01] [-2.18077049e-02 9.99761865e-01 7.98026829e-04 2.72779066e+00] [-9.78286966e-03 -1.01157106e-03 9.99951635e-01 4.78181673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.50, Y:2.72, Z:0.47 [[ 9.99731049e-01 2.11177610e-02 9.58490702e-03 8.65007295e+01] [-2.11262234e-02 9.99776510e-01 7.82488466e-04 2.72340777e+00] [-9.56624048e-03 -9.84770901e-04 9.99953758e-01 4.71186426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.53, Y:2.72, Z:0.47 [[ 9.99748189e-01 2.06195386e-02 8.85400403e-03 8.65283884e+01] [-2.06267464e-02 9.99786984e-01 7.23515050e-04 2.71958266e+00] [-8.83719944e-03 -9.05962156e-04 9.99960541e-01 4.65888081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.56, Y:2.72, Z:0.47 [[ 9.99751894e-01 2.04391209e-02 8.85396750e-03 8.65564914e+01] [-2.04463255e-02 9.99790690e-01 7.23962161e-04 2.72198560e+00] [-8.83731712e-03 -9.04813644e-04 9.99960541e-01 4.65539971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:2.72, Z:0.47 [[ 9.99755568e-01 2.02586883e-02 8.85383650e-03 8.65845941e+01] [-2.02659000e-02 9.99794362e-01 7.25560008e-04 2.72439287e+00] [-8.83731693e-03 -9.04813623e-04 9.99960541e-01 4.65190089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.61, Y:2.72, Z:0.46 [[ 9.99771920e-01 1.98353916e-02 7.91617354e-03 8.66127491e+01] [-1.98411523e-02 9.99802934e-01 6.49844515e-04 2.72278449e+00] [-7.90172361e-03 -8.06762304e-04 9.99968455e-01 4.64832903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.64, Y:2.73, Z:0.46 [[ 9.99775591e-01 1.96495180e-02 7.91603977e-03 8.66408440e+01] [-1.96552858e-02 9.99806604e-01 6.51468840e-04 2.72519181e+00] [-7.90170779e-03 -8.06914669e-04 9.99968455e-01 4.64482787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.67, Y:2.73, Z:0.47 [[ 9.99789498e-01 1.89721742e-02 7.81130215e-03 8.66673643e+01] [-1.89777844e-02 9.99819698e-01 6.44725849e-04 2.72640045e+00] [-7.79766190e-03 -7.92831342e-04 9.99969283e-01 4.69818458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.70, Y:2.73, Z:0.47 [[ 9.99792974e-01 1.87880877e-02 7.81128246e-03 8.66954610e+01] [-1.87936943e-02 9.99823175e-01 6.44964963e-04 2.72882023e+00] [-7.79778357e-03 -7.91634293e-04 9.99969283e-01 4.69470418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.72, Y:2.73, Z:0.47 [[ 9.99796418e-01 1.86039860e-02 7.81116336e-03 8.67235573e+01] [-1.86095981e-02 9.99826617e-01 6.46403258e-04 2.73124441e+00] [-7.79778336e-03 -7.91634272e-04 9.99969283e-01 4.69120538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.75, Y:2.73, Z:0.48 [[ 9.99799762e-01 1.79638656e-02 8.81673836e-03 8.67510425e+01] [-1.79710078e-02 9.99838241e-01 7.31505025e-04 2.73314466e+00] [-8.80217151e-03 -8.89804224e-04 9.99960864e-01 4.76069920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.78, Y:2.74, Z:0.48 [[ 9.99803043e-01 1.77804173e-02 8.81659122e-03 8.67791390e+01] [-1.77875678e-02 9.99841520e-01 7.33273309e-04 2.73558040e+00] [-8.80215606e-03 -8.89954600e-04 9.99960864e-01 4.75719808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.81, Y:2.74, Z:0.48 [[ 9.99806290e-01 1.75969701e-02 8.81645633e-03 8.68072350e+01] [-1.76041277e-02 9.99844765e-01 7.34890911e-04 2.73802138e+00] [-8.80215586e-03 -8.89954579e-04 9.99960864e-01 4.75369927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.84, Y:2.74, Z:0.48 [[ 9.99805838e-01 1.64100671e-02 1.09085225e-02 8.68350544e+01] [-1.64209824e-02 9.99864751e-01 9.11805357e-04 2.73865908e+00] [-1.08920843e-02 -1.09075697e-03 9.99940085e-01 4.79765322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.86, Y:2.74, Z:0.48 [[ 9.99808882e-01 1.62236526e-02 1.09083393e-02 8.68631457e+01] [-1.62345806e-02 9.99867793e-01 9.13991327e-04 2.74110523e+00] [-1.08920688e-02 -1.09090896e-03 9.99940085e-01 4.79415208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:2.74, Z:0.48 [[ 9.99805652e-01 1.49364466e-02 1.28670046e-02 8.68901913e+01] [-1.49515816e-02 9.99887635e-01 1.08086991e-03 2.73807957e+00] [-1.28494145e-02 -1.27304191e-03 9.99916632e-01 4.78142447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.92, Y:2.74, Z:0.48 [[ 9.99808367e-01 1.47537184e-02 1.28669061e-02 8.69182878e+01] [-1.47688534e-02 9.99890349e-01 1.08204219e-03 2.74054151e+00] [-1.28495310e-02 -1.27186429e-03 9.99916632e-01 4.77794368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.285336195 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.95, Y:2.73, Z:0.47 [[ 9.99830416e-01 1.25402002e-02 1.34863629e-02 8.69462262e+01] [-1.25566613e-02 9.99920516e-01 1.13658818e-03 2.73469920e+00] [-1.34710379e-02 -1.30573912e-03 9.99908409e-01 4.72505035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.315336195 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.97, Y:2.74, Z:0.47 [[ 9.99831932e-01 1.24188616e-02 1.34862750e-02 8.69744219e+01] [-1.24353257e-02 9.99922031e-01 1.13763086e-03 2.73717758e+00] [-1.34710954e-02 -1.30514589e-03 9.99908409e-01 4.72155987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.345336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.00, Y:2.73, Z:0.47 [[ 9.99857769e-01 1.00261176e-02 1.35616716e-02 8.70028754e+01] [-1.00425699e-02 9.99948916e-01 1.14559182e-03 2.73161088e+00] [-1.35494929e-02 -1.28162291e-03 9.99907380e-01 4.67725600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:2.73, Z:0.47 [[ 9.99858374e-01 9.96569037e-03 1.35615897e-02 8.70311682e+01] [-9.98215020e-03 9.99949520e-01 1.14655956e-03 2.73410316e+00] [-1.35494789e-02 -1.28177101e-03 9.99907380e-01 4.67375362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.06, Y:2.74, Z:0.47 [[ 9.99858976e-01 9.90526492e-03 1.35615204e-02 8.70594607e+01] [-9.92173026e-03 9.99950120e-01 1.14737907e-03 2.73659723e+00] [-1.35494789e-02 -1.28177100e-03 9.99907380e-01 4.67025347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.09, Y:2.73, Z:0.47 [[ 9.99871035e-01 7.84552006e-03 1.40129152e-02 8.70876302e+01] [-7.86291162e-03 9.99968383e-01 1.18644663e-03 2.73274986e+00] [-1.40031638e-02 -1.29647593e-03 9.99901110e-01 4.66110581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46533619499999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:87.12, Y:2.73, Z:0.47 [[ 9.99868613e-01 6.12063089e-03 1.50098056e-02 8.71167253e+01] [-6.14040646e-03 9.99980339e-01 1.27177806e-03 2.73156445e+00] [-1.50017264e-02 -1.36377727e-03 9.99886538e-01 4.68479115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.495336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:87.15, Y:2.73, Z:0.47 [[ 9.99868541e-01 6.13251731e-03 1.50097590e-02 8.71476310e+01] [-6.15230239e-03 9.99980265e-01 1.27232767e-03 2.73418334e+00] [-1.50016603e-02 -1.36450498e-03 9.99886538e-01 4.68097230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.525336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:87.18, Y:2.74, Z:0.47 [[ 9.99868468e-01 6.14441262e-03 1.50097742e-02 8.71785366e+01] [-6.16419637e-03 9.99980192e-01 1.27214912e-03 2.73680233e+00] [-1.50016603e-02 -1.36450498e-03 9.99886538e-01 4.67716437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.555336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.21, Y:2.74, Z:0.47 [[ 9.99881164e-01 4.27727057e-03 1.48109206e-02 8.72092387e+01] [-4.29632823e-03 9.99989983e-01 1.25515064e-03 2.73684465e+00] [-1.48054036e-02 -1.31863406e-03 9.99889525e-01 4.72296420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.24, Y:2.74, Z:0.47 [[ 9.99909726e-01 2.26796488e-03 1.32437023e-02 8.72416555e+01] [-2.28302588e-03 9.99996764e-01 1.12221174e-03 2.73574697e+00] [-1.32411143e-02 -1.15234615e-03 9.99911669e-01 4.73921230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.28, Y:2.72, Z:0.47 [[ 9.99966461e-01 -1.74698256e-03 8.00154298e-03 8.72758080e+01] [ 1.74161323e-03 9.99998254e-01 6.77955693e-04 2.72475822e+00] [-8.00271338e-03 -6.63997362e-04 9.99967757e-01 4.65392162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.31, Y:2.73, Z:0.46 [[ 9.99966611e-01 -1.65824181e-03 8.00171988e-03 8.73093322e+01] [ 1.65288631e-03 9.99998406e-01 6.75860317e-04 2.72749384e+00] [-8.00282786e-03 -6.62611817e-04 9.99967757e-01 4.64982636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.34, Y:2.71, Z:0.46 [[ 9.99951471e-01 -4.80128914e-03 8.60253802e-03 8.73424465e+01] [ 4.79521888e-03 9.99988239e-01 7.26123174e-04 2.71381087e+00] [-8.60592317e-03 -6.84836883e-04 9.99962734e-01 4.56946698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.705336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.38, Y:2.71, Z:0.46 [[ 9.99925913e-01 -6.28691574e-03 1.04231832e-02 8.73750263e+01] [ 6.27811010e-03 9.99979908e-01 8.77318162e-04 2.71006269e+00] [-1.04284894e-02 -8.11815273e-04 9.99945292e-01 4.57463381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73533619499999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:87.41, Y:2.71, Z:0.46 [[ 9.99908763e-01 -7.29012359e-03 1.13718825e-02 8.74083914e+01] [ 7.27973250e-03 9.99973046e-01 9.54879658e-04 2.70759201e+00] [-1.13785371e-02 -8.72008275e-04 9.99934882e-01 4.59876166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.44, Y:2.71, Z:0.46 [[ 9.99908903e-01 -8.12319021e-03 1.07795694e-02 8.74423879e+01] [ 8.11392324e-03 9.99966674e-01 9.03135302e-04 2.70655437e+00] [-1.07865465e-02 -8.15588431e-04 9.99941491e-01 4.63981164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.47, Y:2.70, Z:0.47 [[ 9.99910200e-01 -8.89471059e-03 1.00238233e-02 8.74747728e+01] [ 8.88675501e-03 9.99960161e-01 8.37929802e-04 2.70260325e+00] [-1.00308771e-02 -7.48775294e-04 9.99949409e-01 4.70252625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82533619499999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:87.51, Y:2.69, Z:0.46 [[ 9.99868741e-01 -9.36972982e-03 1.32177416e-02 8.75088258e+01] [ 9.35598040e-03 9.99955625e-01 1.10167847e-03 2.69147074e+00] [-1.32274775e-02 -9.77868930e-04 9.99912035e-01 4.64050168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.54, Y:2.69, Z:0.46 [[ 9.99848914e-01 -9.87477872e-03 1.43051636e-02 8.75420129e+01] [ 9.85876673e-03 9.99950694e-01 1.18940431e-03 2.68539383e+00] [-1.43162034e-02 -1.04819334e-03 9.99896968e-01 4.58403322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.885336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.58, Y:2.68, Z:0.46 [[ 9.99851198e-01 -1.00497815e-02 1.40208609e-02 8.75760475e+01] [ 1.00344427e-02 9.99948976e-01 1.16392111e-03 2.68133738e+00] [-1.40318426e-02 -1.02305639e-03 9.99901025e-01 4.55352245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.61, Y:2.68, Z:0.46 [[ 9.99883384e-01 -8.87204032e-03 1.24300178e-02 8.76099783e+01] [ 8.85992165e-03 9.99960220e-01 1.02968055e-03 2.67785423e+00] [-1.24386587e-02 -9.19431485e-04 9.99922214e-01 4.58801643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.945336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:87.64, Y:2.68, Z:0.46 [[ 9.99876140e-01 -8.47048699e-03 1.32648121e-02 8.76426130e+01] [ 8.45668796e-03 9.99963641e-01 1.09601913e-03 2.67883196e+00] [-1.32736136e-02 -9.83706996e-04 9.99911418e-01 4.62445204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.68, Y:2.67, Z:0.46 [[ 9.99868245e-01 -7.73262711e-03 1.42723133e-02 8.76764121e+01] [ 7.71661812e-03 9.99969534e-01 1.17641101e-03 2.67363597e+00] [-1.42809752e-02 -1.06612202e-03 9.99897453e-01 4.60307103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.71, Y:2.67, Z:0.46 [[ 9.99883805e-01 -7.17513997e-03 1.34497063e-02 8.77100995e+01] [ 7.16090625e-03 9.99973749e-01 1.10615225e-03 2.67019395e+00] [-1.34572900e-02 -1.00971164e-03 9.99908937e-01 4.55308999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.035336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:87.74, Y:2.67, Z:0.45 [[ 9.99898934e-01 -6.70862334e-03 1.25346218e-02 8.77439248e+01] [ 6.69625297e-03 9.99977051e-01 1.02860502e-03 2.66654106e+00] [-1.25412347e-02 -9.44566068e-04 9.99920909e-01 4.50287727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.78, Y:2.66, Z:0.45 [[ 9.99911546e-01 -6.44146097e-03 1.16365075e-02 8.77762451e+01] [ 6.43080764e-03 9.99978868e-01 9.52695854e-04 2.66083461e+00] [-1.16423984e-02 -8.77779443e-04 9.99931840e-01 4.49519787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.095336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:87.81, Y:2.66, Z:0.45 [[ 9.99927289e-01 -6.05375693e-03 1.04292373e-02 8.78100243e+01] [ 6.04518920e-03 9.99981364e-01 8.52839658e-04 2.66183592e+00] [-1.04342058e-02 -7.89730935e-04 9.99945250e-01 4.52239008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.84, Y:2.66, Z:0.46 [[ 9.99973720e-01 -4.62771681e-03 5.58060015e-03 8.78423811e+01] [ 4.62524206e-03 9.99989199e-01 4.56280877e-04 2.66295533e+00] [-5.58265142e-03 -4.30457260e-04 9.99984324e-01 4.56792105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15533619499999 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:87.88, Y:2.66, Z:0.45 [[ 9.99983848e-01 -3.72538117e-03 4.29246373e-03 8.78750544e+01] [ 3.72391000e-03 9.99993005e-01 3.50676628e-04 2.66233886e+00] [-4.29374010e-03 -3.34686215e-04 9.99990726e-01 4.54103684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18533619499999 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:87.91, Y:2.66, Z:0.45 [[ 9.99989064e-01 -2.97417490e-03 3.60923398e-03 8.79084914e+01] [ 2.97313441e-03 9.99995537e-01 2.93618779e-04 2.65895318e+00] [-3.61009114e-03 -2.82884830e-04 9.99993444e-01 4.48528557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:87.94, Y:2.65, Z:0.44 [[ 9.99994700e-01 -3.04691297e-03 1.14758439e-03 8.79419603e+01] [ 3.04680721e-03 9.99995354e-01 9.38910945e-05 2.64847105e+00] [-1.14786514e-03 -9.03941285e-05 9.99999337e-01 4.39482463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.245336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:87.98, Y:2.65, Z:0.44 [[ 9.99994642e-01 -3.27251410e-03 8.45609889e-05 8.79752677e+01] [ 3.27251345e-03 9.99994645e-01 7.75192840e-06 2.64769823e+00] [-8.45859046e-05 -7.47515989e-06 9.99999996e-01 4.40280853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.275336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:88.01, Y:2.65, Z:0.45 [[ 9.99995433e-01 -3.00003503e-03 -3.66095993e-04 8.80077333e+01] [ 3.00002492e-03 9.99995500e-01 -2.81595451e-05 2.64922023e+00] [ 3.66178825e-04 2.70611194e-05 9.99999933e-01 4.45074568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.305336195 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:88.07, Y:2.29, Z:0.46 [[ 9.99704112e-01 2.39743754e-02 4.11302113e-03 8.80671051e+01] [-2.39759440e-02 9.99712480e-01 3.32482145e-04 2.28821634e+00] [-4.10386750e-03 -4.30997332e-04 9.99991486e-01 4.57410135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.09, Y:2.29, Z:0.46 [[ 9.99785369e-01 1.99451139e-02 5.60429272e-03 8.80945858e+01] [-1.99479604e-02 9.99800917e-01 4.52456021e-04 2.28808015e+00] [-5.59415272e-03 -5.64153119e-04 9.99984193e-01 4.61974291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.365336195 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:88.12, Y:2.29, Z:0.46 [[ 9.99825057e-01 1.76450530e-02 6.20543176e-03 8.81225238e+01] [-1.76485035e-02 9.99844127e-01 5.01712275e-04 2.28852578e+00] [-6.19561176e-03 -6.11141088e-04 9.99980620e-01 4.62333170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.395336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:88.15, Y:2.28, Z:0.46 [[ 9.99876733e-01 1.43756342e-02 6.31349937e-03 8.81510730e+01] [-1.43791442e-02 9.99896484e-01 5.10919465e-04 2.28364664e+00] [-6.30550103e-03 -6.01639204e-04 9.99979939e-01 4.61114479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.425336195 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:88.18, Y:2.28, Z:0.46 [[ 9.99899637e-01 1.33761270e-02 4.66861815e-03 8.81790734e+01] [-1.33780356e-02 9.99910439e-01 3.77828974e-04 2.27514030e+00] [-4.66314614e-03 -4.40247994e-04 9.99989031e-01 4.55670777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.455336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:88.21, Y:2.27, Z:0.45 [[ 9.99891299e-01 1.41547845e-02 4.12706767e-03 8.82059341e+01] [-1.41562836e-02 9.99899739e-01 3.34254306e-04 2.27257625e+00] [-4.12192259e-03 -3.92641912e-04 9.99991428e-01 4.54442952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48533619499999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:88.23, Y:2.27, Z:0.46 [[ 9.99843954e-01 1.71383747e-02 4.28301945e-03 8.82334773e+01] [-1.71400186e-02 9.99853039e-01 3.47411436e-04 2.27356699e+00] [-4.27643595e-03 -4.20768256e-04 9.99990767e-01 4.60310989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51533619499999 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:88.26, Y:2.28, Z:0.46 [[ 9.99793664e-01 1.97622261e-02 4.69926932e-03 8.82609880e+01] [-1.97642358e-02 9.99804596e-01 3.81618193e-04 2.27690812e+00] [-4.69080944e-03 -4.74416919e-04 9.99988886e-01 4.63600705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54533619499999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:88.29, Y:2.28, Z:0.46 [[ 9.99583455e-01 2.83108899e-02 5.60440233e-03 8.82890146e+01] [-2.83138803e-02 9.99598978e-01 4.54947923e-04 2.27746944e+00] [-5.58927486e-03 -6.13440794e-04 9.99984192e-01 4.64441342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57533619499999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:88.32, Y:2.28, Z:0.46 [[ 9.99255847e-01 3.81580025e-02 5.63193875e-03 8.83159796e+01] [-3.81611823e-02 9.99271492e-01 4.58194406e-04 2.27564607e+00] [-5.61035205e-03 -6.72774880e-04 9.99984036e-01 4.61293034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60533619499999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:88.34, Y:2.28, Z:0.46 [[ 9.99084998e-01 4.23715905e-02 5.81503419e-03 8.83432786e+01] [-4.23750581e-02 9.99101661e-01 4.74341949e-04 2.27734942e+00] [-5.78971170e-03 -7.20320337e-04 9.99982980e-01 4.60404786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.635336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:88.37, Y:2.28, Z:0.46 [[ 9.98661091e-01 5.14374320e-02 5.49692193e-03 8.83703548e+01] [-5.14406711e-02 9.98675951e-01 4.49408996e-04 2.28017005e+00] [-5.46652730e-03 -7.31572631e-04 9.99984791e-01 4.60618029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.665336195 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:88.40, Y:2.28, Z:0.46 [[ 9.98483776e-01 5.48182005e-02 5.01147850e-03 8.83971287e+01] [-5.48209412e-02 9.98496117e-01 4.11059745e-04 2.28466671e+00] [-4.98140826e-03 -6.85170455e-04 9.99987358e-01 4.62250032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.42, Y:2.29, Z:0.47 [[ 9.98256941e-01 5.86605420e-02 6.48236759e-03 8.84247634e+01] [-5.86652134e-02 9.98277571e-01 5.32680956e-04 2.29330330e+00] [-6.43995482e-03 -9.12041940e-04 9.99978847e-01 4.69779235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.725336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:88.45, Y:2.30, Z:0.47 [[ 9.98214413e-01 5.92777763e-02 7.35734190e-03 8.84512882e+01] [-5.92838285e-02 9.98240983e-01 6.07074265e-04 2.29793488e+00] [-7.30841419e-03 -1.04216168e-03 9.99972750e-01 4.71424955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.755336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.48, Y:2.30, Z:0.47 [[ 9.98275999e-01 5.83313886e-02 6.51760361e-03 8.84792654e+01] [-5.83361173e-02 9.98296854e-01 5.37626971e-04 2.29652558e+00] [-6.47514265e-03 -9.16911790e-04 9.99978616e-01 4.65610749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.785336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:88.51, Y:2.29, Z:0.46 [[ 9.98567496e-01 5.30345206e-02 7.09198946e-03 8.85073704e+01] [-5.30399997e-02 9.98592216e-01 5.86604293e-04 2.29283079e+00] [-7.05089520e-03 -9.61923099e-04 9.99974679e-01 4.59897707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.815336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.53, Y:2.30, Z:0.46 [[ 9.98919226e-01 4.57404921e-02 8.25752922e-03 8.85346501e+01] [-4.57476932e-02 9.98952791e-01 6.85194249e-04 2.29668386e+00] [-8.21754075e-03 -1.06221662e-03 9.99965671e-01 4.62937308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.845336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:88.56, Y:2.30, Z:0.47 [[ 9.99077276e-01 4.21133880e-02 8.42966193e-03 8.85611371e+01] [-4.21207848e-02 9.99112279e-01 7.01781793e-04 2.30042616e+00] [-8.39262433e-03 -1.05619822e-03 9.99964224e-01 4.65214377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87533619499999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:88.59, Y:2.30, Z:0.46 [[ 9.99351460e-01 3.52000528e-02 7.59056291e-03 8.85877571e+01] [-3.52058582e-02 9.99379881e-01 6.32518163e-04 2.30032058e+00] [-7.56359119e-03 -8.99340230e-04 9.99970991e-01 4.63713844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90533619499999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:88.62, Y:2.30, Z:0.46 [[ 9.99457175e-01 3.21109495e-02 7.36492207e-03 8.86159920e+01] [-3.21163327e-02 9.99483949e-01 6.13784411e-04 2.29891448e+00] [-7.34141220e-03 -8.49985521e-04 9.99972690e-01 4.60772661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93533619499999 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:88.64, Y:2.30, Z:0.46 [[ 9.99597318e-01 2.72495002e-02 7.91627099e-03 8.86433036e+01] [-2.72555874e-02 9.99628278e-01 6.62057727e-04 2.29722769e+00] [-7.89528759e-03 -8.77553744e-04 9.99968447e-01 4.61177783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96533619499999 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:88.67, Y:2.30, Z:0.46 [[ 9.99642119e-01 2.56185725e-02 7.70215813e-03 8.86711682e+01] [-2.56242879e-02 9.99671436e-01 6.44271281e-04 2.29964437e+00] [-7.68312217e-03 -8.41403026e-04 9.99970130e-01 4.62982581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.995336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:88.70, Y:2.30, Z:0.47 [[ 9.99698584e-01 2.35506024e-02 6.93611508e-03 8.86983862e+01] [-2.35552008e-02 9.99722368e-01 5.82008945e-04 2.30192780e+00] [-6.92048273e-03 -7.45215102e-04 9.99975775e-01 4.66133904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.025336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:88.73, Y:2.30, Z:0.47 [[ 9.99715027e-01 2.25386251e-02 7.86612094e-03 8.87264510e+01] [-2.25445156e-02 9.99745622e-01 6.60966891e-04 2.30132074e+00] [-7.84922269e-03 -8.38116420e-04 9.99968843e-01 4.65337894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.055336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:88.75, Y:2.30, Z:0.46 [[ 9.99704385e-01 2.32597959e-02 7.07987708e-03 8.87538513e+01] [-2.32645883e-02 9.99729166e-01 5.95292069e-04 2.29821165e+00] [-7.06411323e-03 -7.59826517e-04 9.99974760e-01 4.61459993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.085336195 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:88.78, Y:2.30, Z:0.46 [[ 9.99702119e-01 2.31753555e-02 7.65350058e-03 8.87814568e+01] [-2.31809599e-02 9.99731078e-01 6.44364014e-04 2.29838847e+00] [-7.63650902e-03 -8.21587560e-04 9.99970504e-01 4.60594143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.115336195 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:88.81, Y:2.30, Z:0.46 [[ 9.99692181e-01 2.26295154e-02 1.01709586e-02 8.88080333e+01] [-2.26393962e-02 9.99743328e-01 8.57371830e-04 2.29832233e+00] [-1.01489461e-02 -1.08737228e-03 9.99947907e-01 4.63273700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.145336195 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:88.84, Y:2.30, Z:0.46 [[ 9.99712335e-01 2.23212618e-02 8.77549122e-03 8.88355836e+01] [-2.23286113e-02 9.99750411e-01 7.40413277e-04 2.29932510e+00] [-8.75677400e-03 -9.36144819e-04 9.99961221e-01 4.63509165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.175336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.86, Y:2.30, Z:0.46 [[ 9.99737338e-01 2.21436350e-02 5.90892256e-03 8.88636920e+01] [-2.21469649e-02 9.99754602e-01 4.98691620e-04 2.29556977e+00] [-5.89642968e-03 -6.29425333e-04 9.99982418e-01 4.60013039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.205336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:88.89, Y:2.29, Z:0.46 [[ 9.99734191e-01 2.18187749e-02 7.44901875e-03 8.88921808e+01] [-2.18240639e-02 9.99761629e-01 6.29466225e-04 2.29442230e+00] [-7.43350894e-03 -7.91866768e-04 9.99972058e-01 4.59289435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23533619499999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:88.92, Y:2.29, Z:0.46 [[ 9.99717077e-01 2.15677644e-02 1.00298634e-02 8.89208928e+01] [-2.15773515e-02 9.99766822e-01 8.48617492e-04 2.29152584e+00] [-1.00092218e-02 -1.06479529e-03 9.99949340e-01 4.60032210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26533619499999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:88.95, Y:2.29, Z:0.46 [[ 9.99668555e-01 2.42421788e-02 8.66583750e-03 8.89491528e+01] [-2.42494395e-02 9.99705670e-01 7.33753903e-04 2.28859404e+00] [-8.64549909e-03 -9.43652407e-04 9.99962182e-01 4.57502007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29533619499999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:88.98, Y:2.29, Z:0.46 [[ 9.99595686e-01 2.65925143e-02 1.00649739e-02 8.89758777e+01] [-2.66024358e-02 9.99645729e-01 8.53125951e-04 2.28711591e+00] [-1.00387214e-02 -1.12053384e-03 9.99948983e-01 4.57058424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.00, Y:2.28, Z:0.46 [[ 9.99447369e-01 3.04113856e-02 1.34202670e-02 8.90046022e+01] [-3.04293860e-02 9.99536270e-01 1.13908836e-03 2.28428906e+00] [-1.33794024e-02 -1.54682935e-03 9.99909295e-01 4.58837641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35533619499999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:89.03, Y:2.28, Z:0.46 [[ 9.99417615e-01 3.30393970e-02 8.53397596e-03 8.90324684e+01] [-3.30467689e-02 9.99453544e-01 7.24224967e-04 2.28386676e+00] [-8.50538456e-03 -1.00582352e-03 9.99963323e-01 4.58999449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.385336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.06, Y:2.28, Z:0.46 [[ 9.99382695e-01 3.44969461e-02 6.64748914e-03 8.90593970e+01] [-3.45014598e-02 9.99404487e-01 5.65491103e-04 2.28410072e+00] [-6.62402276e-03 -7.94490102e-04 9.99977745e-01 4.58667708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.415336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:89.09, Y:2.28, Z:0.46 [[ 9.99300684e-01 3.65458013e-02 7.90864887e-03 8.90869906e+01] [-3.65522567e-02 9.99331516e-01 6.73208614e-04 2.28235117e+00] [-7.87875912e-03 -9.61816793e-04 9.99968500e-01 4.60246443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.445336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:89.11, Y:2.28, Z:0.46 [[ 9.99275756e-01 3.71944561e-02 8.03344498e-03 8.91143961e+01] [-3.72011512e-02 9.99307562e-01 6.85535444e-04 2.28325594e+00] [-8.00238420e-03 -9.83892350e-04 9.99967496e-01 4.60149203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.475336195 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:89.14, Y:2.28, Z:0.46 [[ 9.99238568e-01 3.84567205e-02 6.58512732e-03 8.91418127e+01] [-3.84612565e-02 9.99259933e-01 5.63530236e-04 2.27969754e+00] [-6.55858236e-03 -8.16373417e-04 9.99978159e-01 4.55600135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.505336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:89.17, Y:2.27, Z:0.45 [[ 9.99163208e-01 3.96885791e-02 9.88435557e-03 8.91696657e+01] [-3.96988730e-02 9.99211330e-01 8.47331085e-04 2.27309785e+00] [-9.84293070e-03 -1.23901982e-03 9.99950790e-01 4.50099766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.535336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:89.20, Y:2.27, Z:0.45 [[ 9.99157489e-01 3.95821022e-02 1.08428972e-02 8.91973574e+01] [-3.95944931e-02 9.99215397e-01 9.30403626e-04 2.27316606e+00] [-1.07975625e-02 -1.35893877e-03 9.99940781e-01 4.49598309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.565336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:89.23, Y:2.28, Z:0.45 [[ 9.99165267e-01 3.93853463e-02 1.08426989e-02 8.92255514e+01] [-3.93977503e-02 9.99223172e-01 9.32708809e-04 2.27575774e+00] [-1.07975409e-02 -1.35910819e-03 9.99940781e-01 4.49248280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.595336195 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:89.25, Y:2.28, Z:0.45 [[ 9.99220412e-01 3.83480657e-02 9.38056427e-03 8.92527049e+01] [-3.83573220e-02 9.99263760e-01 8.08770976e-04 2.27611312e+00] [-9.34264312e-03 -1.16795379e-03 9.99955674e-01 4.52381775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:89.28, Y:2.28, Z:0.45 [[ 9.99264300e-01 3.73314491e-02 8.78763515e-03 8.92803596e+01] [-3.73395366e-02 9.99302349e-01 7.58013202e-04 2.27795365e+00] [-8.75320672e-03 -1.08558176e-03 9.99961101e-01 4.54967114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.31, Y:2.28, Z:0.46 [[ 9.99322016e-01 3.57887540e-02 8.64142635e-03 8.93088004e+01] [-3.57965322e-02 9.99358820e-01 7.47068625e-04 2.27611648e+00] [-8.60914898e-03 -1.05589522e-03 9.99962383e-01 4.56606442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:89.34, Y:2.27, Z:0.45 [[ 9.99386098e-01 3.43624288e-02 6.83008578e-03 8.93361426e+01] [-3.43672654e-02 9.99409096e-01 5.91987168e-04 2.27023194e+00] [-6.80570774e-03 -8.26355117e-04 9.99976499e-01 4.51446304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71533619499999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:89.36, Y:2.27, Z:0.45 [[ 9.99409621e-01 3.36942960e-02 6.71598889e-03 8.93642347e+01] [-3.36989569e-02 9.99431859e-01 5.82014938e-04 2.26835307e+00] [-6.69256268e-03 -8.07993149e-04 9.99977278e-01 4.49008223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.745336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:89.39, Y:2.27, Z:0.45 [[ 9.99407321e-01 3.33699308e-02 8.45305209e-03 8.93912995e+01] [-3.33773274e-02 9.99442551e-01 7.35425121e-04 2.26549215e+00] [-8.42379886e-03 -1.01712954e-03 9.99964002e-01 4.48522477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.775336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:89.42, Y:2.27, Z:0.45 [[ 9.99392233e-01 3.35661523e-02 9.40626699e-03 8.94188944e+01] [-3.35753259e-02 9.99435854e-01 8.19005714e-04 2.26577581e+00] [-9.37346962e-03 -1.13432643e-03 9.99955425e-01 4.50873520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.805336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:89.45, Y:2.26, Z:0.45 [[ 9.99374544e-01 3.40763886e-02 9.45095201e-03 8.94468140e+01] [-3.40856905e-02 9.99418574e-01 8.24857795e-04 2.26446815e+00] [-9.41734881e-03 -1.14648411e-03 9.99954999e-01 4.49262885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.835336195 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:89.47, Y:2.26, Z:0.45 [[ 9.99357029e-01 3.42393468e-02 1.06393297e-02 8.94748421e+01] [-3.42511728e-02 9.99412823e-01 9.31266404e-04 2.25675138e+00] [-1.06011965e-02 -1.29507715e-03 9.99942967e-01 4.45331298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.865336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.50, Y:2.26, Z:0.45 [[ 9.99377561e-01 3.36237987e-02 1.06738243e-02 8.95014051e+01] [-3.36356834e-02 9.99433722e-01 9.35839715e-04 2.25645360e+00] [-1.06363135e-02 -1.29427859e-03 9.99942595e-01 4.46110489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.895336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:89.53, Y:2.26, Z:0.45 [[ 9.99482475e-01 3.10766604e-02 8.30800194e-03 8.95298332e+01] [-3.10837822e-02 9.99516516e-01 7.29447404e-04 2.25766880e+00] [-8.28131636e-03 -9.87314019e-04 9.99965222e-01 4.49512708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.925336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:89.56, Y:2.25, Z:0.45 [[ 9.99586934e-01 2.83185638e-02 4.90111564e-03 8.95583033e+01] [-2.83210094e-02 9.99598787e-01 4.30300837e-04 2.25219197e+00] [-4.88696375e-03 -5.68927637e-04 9.99987897e-01 4.46408874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.955336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:89.59, Y:2.25, Z:0.44 [[ 9.99628470e-01 2.71151090e-02 2.77372861e-03 8.95853187e+01] [-2.71158869e-02 9.99632267e-01 2.43206644e-04 2.24776799e+00] [-2.76611405e-03 -3.18328397e-04 9.99996124e-01 4.42932952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.61, Y:2.24, Z:0.44 [[ 9.99690325e-01 2.46372566e-02 3.50146455e-03 8.96130928e+01] [-2.46384818e-02 9.99696379e-01 3.07202580e-04 2.23775622e+00] [-3.49283281e-03 -3.93378218e-04 9.99993823e-01 4.40498230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01533619499999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:89.64, Y:2.24, Z:0.44 [[ 9.99689844e-01 2.40993671e-02 6.27976186e-03 8.96408358e+01] [-2.41033139e-02 9.99709320e-01 5.53549738e-04 2.23751015e+00] [-6.26459626e-03 -7.04741123e-04 9.99980129e-01 4.43148330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:89.67, Y:2.24, Z:0.45 [[ 9.99682807e-01 2.34230208e-02 9.25460187e-03 8.96692415e+01] [-2.34315747e-02 9.99725109e-01 8.16923235e-04 2.24024731e+00] [-9.23292305e-03 -1.03351401e-03 9.99956842e-01 4.51535716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.70, Y:2.24, Z:0.45 [[ 9.99668186e-01 2.37272962e-02 1.00266415e-02 8.96965454e+01] [-2.37373604e-02 9.99717837e-01 8.85912234e-04 2.23790706e+00] [-1.00027920e-02 -1.12362428e-03 9.99949340e-01 4.51755505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10533619499999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:89.72, Y:2.23, Z:0.45 [[ 9.99658385e-01 2.42377779e-02 9.77974596e-03 8.97247921e+01] [-2.42473854e-02 9.99705615e-01 8.65000930e-04 2.23414808e+00] [-9.75590124e-03 -1.10183870e-03 9.99951803e-01 4.47371002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.135336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:89.75, Y:2.22, Z:0.44 [[ 9.99638247e-01 2.55948078e-02 8.26326382e-03 8.97523032e+01] [-2.56017160e-02 9.99671955e-01 7.31299859e-04 2.22295589e+00] [-8.24183561e-03 -9.42589043e-04 9.99965591e-01 4.39933055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.165336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:89.78, Y:2.22, Z:0.44 [[ 9.99606073e-01 2.67165171e-02 8.59810398e-03 8.97806263e+01] [-2.67240446e-02 9.99642559e-01 7.61768045e-04 2.22169775e+00] [-8.57467888e-03 -9.91244079e-04 9.99962745e-01 4.39531003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.195336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:89.81, Y:2.22, Z:0.45 [[ 9.99535948e-01 2.92956554e-02 8.34586584e-03 8.98081638e+01] [-2.93028412e-02 9.99570306e-01 7.39995739e-04 2.22327031e+00] [-8.32060101e-03 -9.84209924e-04 9.99964899e-01 4.46096166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:2.22, Z:0.45 [[ 9.99479561e-01 3.14029915e-02 7.37968948e-03 8.98358175e+01] [-3.14086698e-02 9.99506412e-01 6.54781346e-04 2.22344772e+00] [-7.35548486e-03 -8.86226803e-04 9.99972555e-01 4.49922790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.255336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:89.86, Y:2.22, Z:0.45 [[ 9.99472971e-01 3.16087482e-02 7.39375194e-03 8.98640640e+01] [-3.16144578e-02 9.99499922e-01 6.56592603e-04 2.22296267e+00] [-7.36930042e-03 -8.89996018e-04 9.99972450e-01 4.49064436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.285336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:89.89, Y:2.22, Z:0.45 [[ 9.99484661e-01 3.14813908e-02 6.27170931e-03 8.98919950e+01] [-3.14854981e-02 9.99504053e-01 5.57214890e-04 2.21737388e+00] [-6.25105697e-03 -7.54395627e-04 9.99980177e-01 4.45487450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.92, Y:2.21, Z:0.44 [[ 9.99458739e-01 3.23737248e-02 5.84562728e-03 8.99205928e+01] [-3.23773110e-02 9.99475582e-01 5.19875936e-04 2.21141818e+00] [-5.82573140e-03 -7.08860239e-04 9.99982779e-01 4.42024383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.345336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:89.95, Y:2.21, Z:0.44 [[ 9.99411568e-01 3.35803341e-02 6.99133335e-03 8.99486616e+01] [-3.35854933e-02 9.99435655e-01 6.21818650e-04 2.21263832e+00] [-6.96650695e-03 -8.56260131e-04 9.99975367e-01 4.43093411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37533619499999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:89.98, Y:2.22, Z:0.45 [[ 9.99298557e-01 3.67448862e-02 7.22542449e-03 8.99755177e+01] [-3.67504919e-02 9.99324265e-01 6.44549915e-04 2.21812208e+00] [-7.19685811e-03 -9.09635705e-04 9.99973689e-01 4.47826498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:2.22, Z:0.45 [[ 9.99260055e-01 3.78378894e-02 6.90186062e-03 9.00031665e+01] [-3.78430339e-02 9.99283506e-01 6.16265557e-04 2.22132112e+00] [-6.87359729e-03 -8.76996900e-04 9.99975992e-01 4.48047558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.03, Y:2.22, Z:0.45 [[ 9.99159939e-01 4.02325572e-02 7.79475059e-03 9.00307249e+01] [-4.02392046e-02 9.99189832e-01 6.97802382e-04 2.22152140e+00] [-7.76036115e-03 -1.01087075e-03 9.99969377e-01 4.46454887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.06, Y:2.22, Z:0.44 [[ 9.99110241e-01 4.16101832e-02 6.87894800e-03 9.00587212e+01] [-4.16154001e-02 9.99133514e-01 6.16938157e-04 2.22264837e+00] [-6.84731658e-03 -9.02659404e-04 9.99976149e-01 4.43855377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.09, Y:2.23, Z:0.44 [[ 9.99138183e-01 4.09820980e-02 6.58468943e-03 9.00859174e+01] [-4.09868774e-02 9.99159509e-01 5.92481679e-04 2.22518385e+00] [-6.55487391e-03 -8.61856927e-04 9.99978145e-01 4.42940100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.11, Y:2.23, Z:0.44 [[ 9.99314618e-01 3.64219883e-02 6.61316454e-03 9.01137195e+01] [-3.64267106e-02 9.99336150e-01 5.95001572e-04 2.22870139e+00] [-6.58710325e-03 -8.35489599e-04 9.99977956e-01 4.42842661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.555336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:90.14, Y:2.23, Z:0.44 [[ 9.99421093e-01 3.34821440e-02 6.03526918e-03 9.01406881e+01] [-3.34860348e-02 9.99439037e-01 5.44749957e-04 2.23102480e+00] [-6.01364422e-03 -7.46531831e-04 9.99981639e-01 4.42319255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.585336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:90.17, Y:2.23, Z:0.44 [[ 9.99632666e-01 2.66537454e-02 4.91037086e-03 9.01680829e+01] [-2.66562414e-02 9.99644561e-01 4.43542156e-04 2.23363462e+00] [-4.89680346e-03 -5.74271259e-04 9.99987846e-01 4.42057012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.615336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.19, Y:2.24, Z:0.44 [[ 9.99790536e-01 2.00877383e-02 3.92018395e-03 9.01945840e+01] [-2.00892793e-02 9.99798127e-01 3.54116506e-04 2.23614902e+00] [-3.91227917e-03 -4.32796002e-04 9.99992253e-01 4.41390632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.645336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:90.22, Y:2.24, Z:0.44 [[ 9.99838641e-01 1.72540684e-02 4.99888729e-03 9.02226625e+01] [-1.72565434e-02 9.99850992e-01 4.52399427e-04 2.23941452e+00] [-4.99033669e-03 -5.38589944e-04 9.99987403e-01 4.41757733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.675336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.25, Y:2.25, Z:0.45 [[ 9.99858100e-01 1.42164389e-02 9.03727200e-03 9.02498799e+01] [-1.42244182e-02 9.99898492e-01 8.19262557e-04 2.24577342e+00] [-9.02470765e-03 -9.47696240e-04 9.99958827e-01 4.45187397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:2.25, Z:0.45 [[ 9.99876209e-01 1.26125617e-02 9.40695072e-03 9.02775590e+01] [-1.26211445e-02 9.99919986e-01 8.53584867e-04 2.24982198e+00] [-9.39543214e-03 -9.72205685e-04 9.99955389e-01 4.45071354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:2.25, Z:0.44 [[ 9.99923940e-01 8.94013896e-03 8.49641483e-03 9.03049005e+01] [-8.94701347e-03 9.99959677e-01 7.71441627e-04 2.25345570e+00] [-8.48917543e-03 -8.47400488e-04 9.99963607e-01 4.42894650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.33, Y:2.26, Z:0.44 [[ 9.99946962e-01 6.74979591e-03 7.77909634e-03 9.03328989e+01] [-6.75549754e-03 9.99976932e-01 7.06899715e-04 2.25600544e+00] [-7.77414546e-03 -7.59413888e-04 9.99969493e-01 4.38941526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.36, Y:2.26, Z:0.44 [[ 9.99964954e-01 4.93443790e-03 6.76329690e-03 9.03634578e+01] [-4.93870830e-03 9.99987615e-01 6.14850953e-04 2.25745868e+00] [-6.76017920e-03 -6.48231356e-04 9.99976940e-01 4.36413593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82533619499999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:90.39, Y:2.26, Z:0.44 [[ 9.99968997e-01 1.91596500e-03 7.63764933e-03 9.03935950e+01] [-1.92132412e-03 9.99997913e-01 6.94395598e-04 2.26396539e+00] [-7.63630296e-03 -7.09048470e-04 9.99970592e-01 4.40555328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.43, Y:2.27, Z:0.44 [[ 9.99960581e-01 1.84969533e-03 8.68414469e-03 9.04266411e+01] [-1.85662601e-03 9.99997964e-01 7.90091327e-04 2.27085246e+00] [-8.68266559e-03 -8.06183391e-04 9.99961980e-01 4.43464766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.46, Y:2.27, Z:0.44 [[ 9.99952766e-01 1.90144255e-03 9.53156448e-03 9.04586551e+01] [-1.90977302e-03 9.99997802e-01 8.64961710e-04 2.27327130e+00] [-9.52989886e-03 -8.83123979e-04 9.99954200e-01 4.40381403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:2.27, Z:0.44 [[ 9.99955011e-01 2.96367475e-03 9.01074224e-03 9.04917970e+01] [-2.97114485e-03 9.99995253e-01 8.15748975e-04 2.27190495e+00] [-9.00828185e-03 -8.42484495e-04 9.99959070e-01 4.35489594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.945336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.52, Y:2.28, Z:0.44 [[ 9.99957948e-01 3.82335316e-03 8.33567697e-03 9.05236982e+01] [-3.82977445e-03 9.99992382e-01 7.54511893e-04 2.27607010e+00] [-8.33272870e-03 -7.86403928e-04 9.99964973e-01 4.35506637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.975336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.56, Y:2.29, Z:0.44 [[ 9.99979737e-01 4.77764708e-03 4.20703801e-03 9.05550456e+01] [-4.77929250e-03 9.99988506e-01 3.81144663e-04 2.28746780e+00] [-4.20516868e-03 -4.01243605e-04 9.99991078e-01 4.38549328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:2.29, Z:0.44 [[ 9.99970966e-01 7.18142824e-03 2.54840927e-03 9.05837634e+01] [-7.18203556e-03 9.99974183e-01 2.29241971e-04 2.29339474e+00] [-2.54669719e-03 -2.47538081e-04 9.99996727e-01 4.35220335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.035336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:90.61, Y:2.30, Z:0.43 [[ 9.99957916e-01 8.78864518e-03 2.63178117e-03 9.06110372e+01] [-8.78929765e-03 9.99961345e-01 2.36458425e-04 2.29507540e+00] [-2.62960129e-03 -2.59579982e-04 9.99996509e-01 4.32138966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.065336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:90.64, Y:2.30, Z:0.43 [[ 9.99920180e-01 1.18884128e-02 4.27782852e-03 9.06385063e+01] [-1.18901675e-02 9.99929235e-01 3.85001970e-04 2.30037686e+00] [-4.27294874e-03 -4.35835336e-04 9.99990776e-01 4.31242705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.095336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:2.31, Z:0.43 [[ 9.99904815e-01 1.25545370e-02 5.72227237e-03 9.06656745e+01] [-1.25576923e-02 9.99921016e-01 5.15819192e-04 2.30729906e+00] [-5.71534453e-03 -5.87628629e-04 9.99983495e-01 4.33206370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12533619499999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:90.69, Y:2.32, Z:0.44 [[ 9.99899277e-01 1.21910868e-02 7.26721980e-03 9.06929555e+01] [-1.21961716e-02 9.99925409e-01 6.55794602e-04 2.32044155e+00] [-7.25868288e-03 -7.44360809e-04 9.99973378e-01 4.36913030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15533619499999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:90.72, Y:2.33, Z:0.44 [[ 9.99911418e-01 1.12186142e-02 7.16226802e-03 9.07198757e+01] [-1.12235311e-02 9.99936805e-01 6.46673726e-04 2.32785237e+00] [-7.15456062e-03 -7.27002380e-04 9.99974142e-01 4.37209146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18533619499999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:90.75, Y:2.33, Z:0.43 [[ 9.99948833e-01 5.55516197e-03 8.45408672e-03 9.07479562e+01] [-5.56181643e-03 9.99984241e-01 7.63822321e-04 2.33340001e+00] [-8.44971034e-03 -8.10803317e-04 9.99963972e-01 4.32308962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21533619499999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:90.78, Y:2.33, Z:0.43 [[ 9.99937648e-01 -3.79182580e-03 1.05034786e-02 9.07796998e+01] [ 3.78205415e-03 9.99992397e-01 9.50032607e-04 2.33379148e+00] [-1.05070011e-02 -9.10248646e-04 9.99944386e-01 4.28024356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.245336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:90.81, Y:2.34, Z:0.43 [[ 9.99835573e-01 -1.48340590e-02 1.04296757e-02 9.08131720e+01] [ 1.48250379e-02 9.99889660e-01 9.41732663e-04 2.33734049e+00] [-1.04424946e-02 -7.86957480e-04 9.99945166e-01 4.29519197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.275336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:90.85, Y:2.34, Z:0.43 [[ 9.99741078e-01 -2.01638423e-02 1.05449747e-02 9.08455779e+01] [ 2.01549380e-02 9.99796417e-01 9.50011745e-04 2.34135809e+00] [-1.05619838e-02 -7.37232454e-04 9.99943949e-01 4.30684311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.305336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:90.88, Y:2.34, Z:0.43 [[ 9.99489030e-01 -2.98179001e-02 1.15140021e-02 9.08775660e+01] [ 2.98079484e-02 9.99555109e-01 1.03499484e-03 2.34270198e+00] [-1.15397410e-02 -6.91257204e-04 9.99933176e-01 4.31372110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.335336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:90.91, Y:2.34, Z:0.43 [[ 9.99359426e-01 -3.38487718e-02 1.16188607e-02 9.09110018e+01] [ 3.38389340e-02 9.99426756e-01 1.04231445e-03 2.34315733e+00] [-1.16474814e-02 -6.48476907e-04 9.99931956e-01 4.30929851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.365336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:90.94, Y:2.34, Z:0.43 [[ 9.99134730e-01 -4.00620365e-02 1.11724892e-02 9.09442010e+01] [ 4.00533510e-02 9.99197042e-01 1.00016188e-03 2.34067354e+00] [-1.12035867e-02 -5.51800836e-04 9.99937086e-01 4.30179886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.395336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:90.98, Y:2.34, Z:0.43 [[ 9.99075201e-01 -4.17807512e-02 1.01544133e-02 9.09765682e+01] [ 4.17736838e-02 9.99126687e-01 9.07189498e-04 2.33981610e+00] [-1.01834484e-02 -4.82163280e-04 9.99948031e-01 4.28728883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.425336195 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:91.01, Y:2.34, Z:0.43 [[ 9.99087906e-01 -4.17461044e-02 8.97875051e-03 9.10106122e+01] [ 4.17405899e-02 9.99128161e-01 8.00764933e-04 2.33551469e+00] [-9.00435130e-03 -4.25256217e-04 9.99959370e-01 4.26945301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.455336195 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:91.04, Y:2.34, Z:0.43 [[ 9.99091355e-01 -4.16634434e-02 8.97893204e-03 9.10440586e+01] [ 4.16579439e-02 9.99131612e-01 7.98723626e-04 2.33836469e+00] [-9.00441242e-03 -4.23954022e-04 9.99959370e-01 4.26534714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.08, Y:2.34, Z:0.43 [[ 9.99241053e-01 -3.74736080e-02 1.06323750e-02 9.10762238e+01] [ 3.74656696e-02 9.99297469e-01 9.44901968e-04 2.33609310e+00] [-1.06603143e-02 -5.45835789e-04 9.99943028e-01 4.29163544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51533619499999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:91.11, Y:2.34, Z:0.43 [[ 9.99322683e-01 -3.49398868e-02 1.15489917e-02 9.11092376e+01] [ 3.49303794e-02 9.99389224e-01 1.02397945e-03 2.33604281e+00] [-1.15777156e-02 -6.19875231e-04 9.99932784e-01 4.29947567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54533619499999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:91.14, Y:2.33, Z:0.43 [[ 9.99485493e-01 -3.00129815e-02 1.13124235e-02 9.11423139e+01] [ 3.00035699e-02 9.99549291e-01 1.00080289e-03 2.33173309e+00] [-1.13373619e-02 -6.60874884e-04 9.99935512e-01 4.29789814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57533619499999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:91.17, Y:2.33, Z:0.43 [[ 9.99579097e-01 -2.69168148e-02 1.08219104e-02 9.11745341e+01] [ 2.69080414e-02 9.99637456e-01 9.55513528e-04 2.33119596e+00] [-1.08437064e-02 -6.63914936e-04 9.99940985e-01 4.29144576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:2.33, Z:0.43 [[ 9.99704439e-01 -2.15766349e-02 1.12019702e-02 9.12083961e+01] [ 2.15669245e-02 9.99766920e-01 9.86943216e-04 2.32527948e+00] [-1.12206542e-02 -7.45059468e-04 9.99936769e-01 4.27303577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.635336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.24, Y:2.32, Z:0.43 [[ 9.99817374e-01 -1.61335601e-02 1.02433591e-02 9.12412086e+01] [ 1.61251746e-02 9.99869575e-01 9.00695684e-04 2.31715459e+00] [-1.02565546e-02 -7.35355240e-04 9.99947130e-01 4.25777522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.27, Y:2.31, Z:0.42 [[ 9.99880482e-01 -1.26479337e-02 8.89106630e-03 9.12742852e+01] [ 1.26414939e-02 9.99919789e-01 7.80121451e-04 2.31477964e+00] [-8.90022006e-03 -6.67631852e-04 9.99960169e-01 4.24210506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.695336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:91.31, Y:2.31, Z:0.42 [[ 9.99960923e-01 -4.37481464e-03 7.68207776e-03 9.13072377e+01] [ 4.36976795e-03 9.99990226e-01 6.73605221e-04 2.30991276e+00] [-7.68494957e-03 -6.40010001e-04 9.99970266e-01 4.24613577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.725336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:91.34, Y:2.31, Z:0.43 [[ 9.99939931e-01 5.06700249e-03 9.71901431e-03 9.13399257e+01] [-5.07551367e-03 9.99986757e-01 8.51259605e-04 2.31148562e+00] [-9.71457227e-03 -9.00537461e-04 9.99952407e-01 4.29546852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.755336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.37, Y:2.31, Z:0.43 [[ 9.99899734e-01 9.83952864e-03 1.01835851e-02 9.13708093e+01] [-9.84911076e-03 9.99951099e-01 8.91213483e-04 2.31396995e+00] [-1.01743180e-02 -9.91423382e-04 9.99947749e-01 4.30596858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.785336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:91.40, Y:2.31, Z:0.43 [[ 9.99769146e-01 1.84626817e-02 1.09901859e-02 9.14006178e+01] [-1.84743517e-02 9.99828872e-01 9.61282566e-04 2.31360973e+00] [-1.09705573e-02 -1.16409721e-03 9.99939144e-01 4.30271949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.815336195 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:91.43, Y:2.31, Z:0.43 [[ 9.99695330e-01 2.20170338e-02 1.11577993e-02 9.14288153e+01] [-2.20292822e-02 9.99756850e-01 9.76017704e-04 2.31356102e+00] [-1.11335973e-02 -1.22151865e-03 9.99937273e-01 4.28099333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.845336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.46, Y:2.31, Z:0.42 [[ 9.99573548e-01 2.75566388e-02 9.66193485e-03 9.14572428e+01] [-2.75660845e-02 9.99619625e-01 8.45779719e-04 2.30887864e+00] [-9.63495285e-03 -1.11176075e-03 9.99952965e-01 4.22555346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87533619499999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:91.49, Y:2.31, Z:0.42 [[ 9.99491440e-01 3.02416323e-02 1.01145772e-02 9.14856239e+01] [-3.02521275e-02 9.99541907e-01 8.86219822e-04 2.30851455e+00] [-1.00831430e-02 -1.19175661e-03 9.99948454e-01 4.22716525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90533619499999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:91.51, Y:2.31, Z:0.43 [[ 9.99509693e-01 2.95931054e-02 1.02284428e-02 9.15134120e+01] [-2.96038129e-02 9.99561309e-01 8.96989171e-04 2.31214975e+00] [-1.01974110e-02 -1.19935028e-03 9.99947286e-01 4.25209470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.54, Y:2.32, Z:0.43 [[ 9.99575828e-01 2.69625273e-02 1.10084928e-02 9.15399451e+01] [-2.69747828e-02 9.99635647e-01 9.66292019e-04 2.31956795e+00] [-1.09784281e-02 -1.26283385e-03 9.99938938e-01 4.31504600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96533619499999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:91.57, Y:2.32, Z:0.43 [[ 9.99674160e-01 2.38438916e-02 9.11277933e-03 9.15681024e+01] [-2.38521676e-02 9.99715176e-01 8.00554336e-04 2.31890067e+00] [-9.09109546e-03 -1.01765302e-03 9.99958157e-01 4.27239734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.995336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:91.60, Y:2.31, Z:0.42 [[ 9.99731077e-01 2.17938476e-02 7.92475981e-03 9.15962556e+01] [-2.18000464e-02 9.99762108e-01 6.96656568e-04 2.31358168e+00] [-7.90769175e-03 -8.69229353e-04 9.99968356e-01 4.20500083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.025336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:91.62, Y:2.30, Z:0.41 [[ 9.99821367e-01 1.72566084e-02 7.71000905e-03 9.16241780e+01] [-1.72623455e-02 9.99850765e-01 6.78177537e-04 2.30266615e+00] [-7.69715540e-03 -8.11149232e-04 9.99970047e-01 4.14446798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.055336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.65, Y:2.31, Z:0.42 [[ 9.99865496e-01 1.46158960e-02 7.44073286e-03 9.16519693e+01] [-1.46211749e-02 9.99892890e-01 6.55551292e-04 2.30584134e+00] [-7.43035441e-03 -7.64255374e-04 9.99972102e-01 4.17636461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.085336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:91.68, Y:2.32, Z:0.43 [[ 9.99931468e-01 8.71257551e-03 7.81989951e-03 9.16796052e+01] [-8.71823180e-03 9.99961758e-01 6.89523103e-04 2.31734064e+00] [-7.81359293e-03 -7.57651545e-04 9.99969186e-01 4.28982118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.71, Y:2.32, Z:0.43 [[ 9.99941313e-01 2.98436065e-03 1.04146480e-02 9.17092416e+01] [-2.99409369e-03 9.99995095e-01 9.19086533e-04 2.31806150e+00] [-1.04118540e-02 -9.50215027e-04 9.99945344e-01 4.30201875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:2.31, Z:0.43 [[ 9.99935257e-01 1.24114059e-03 1.13110858e-02 9.17416259e+01] [-1.25251654e-03 9.99998717e-01 9.98705500e-04 2.31279347e+00] [-1.13098317e-02 -1.01280816e-03 9.99935529e-01 4.25544889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.175336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.78, Y:2.30, Z:0.42 [[ 9.99932468e-01 -6.95890666e-04 1.16006687e-02 9.17763523e+01] [ 6.84079957e-04 9.99999244e-01 1.02204282e-03 2.30019725e+00] [-1.16013712e-02 -1.01403802e-03 9.99932188e-01 4.18451360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.205336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:91.81, Y:2.30, Z:0.42 [[ 9.99931407e-01 -8.23994727e-04 1.16834336e-02 9.18097114e+01] [ 8.12051770e-04 9.99999143e-01 1.02692012e-03 2.30304000e+00] [-1.16842697e-02 -1.01736212e-03 9.99931219e-01 4.23246817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23533619499999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:91.84, Y:2.31, Z:0.43 [[ 9.99932141e-01 -2.44582160e-04 1.16470111e-02 9.18423576e+01] [ 2.32684720e-04 9.99999450e-01 1.02284576e-03 2.30939470e+00] [-1.16472549e-02 -1.02006627e-03 9.99931648e-01 4.27050887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.87, Y:2.31, Z:0.43 [[ 9.99936843e-01 1.62246903e-03 1.11210713e-02 9.18747566e+01] [-1.63342178e-03 9.99998190e-01 9.75852077e-04 2.31412101e+00] [-1.11194679e-02 -9.93955845e-04 9.99937683e-01 4.29904408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.91, Y:2.31, Z:0.43 [[ 9.99932041e-01 2.38278895e-03 1.14120868e-02 9.19068724e+01] [-2.39436237e-03 9.99996633e-01 1.00058186e-03 2.31176544e+00] [-1.14096642e-02 -1.02783854e-03 9.99934379e-01 4.26720875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:91.94, Y:2.30, Z:0.42 [[ 9.99951531e-01 1.37137007e-03 9.74961648e-03 9.19413078e+01] [-1.37975480e-03 9.99998684e-01 8.53332282e-04 2.29951006e+00] [-9.74843341e-03 -8.66743002e-04 9.99952107e-01 4.17853703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.97, Y:2.30, Z:0.42 [[ 9.99959989e-01 -4.88801209e-04 8.93207189e-03 9.19734899e+01] [ 4.81852287e-04 9.99999580e-01 7.80109756e-04 2.29617070e+00] [-8.93244945e-03 -7.75774604e-04 9.99959804e-01 4.18939940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.385336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:92.01, Y:2.30, Z:0.42 [[ 9.99949595e-01 -1.15203703e-03 9.97401615e-03 9.20062896e+01] [ 1.14342639e-03 9.99998969e-01 8.68966833e-04 2.29866610e+00] [-9.97500694e-03 -8.57518479e-04 9.99949881e-01 4.22053079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.04, Y:2.30, Z:0.43 [[ 9.99948179e-01 -1.62736004e-03 1.00494680e-02 9.20398163e+01] [ 1.61866565e-03 9.99998309e-01 8.73232163e-04 2.29776798e+00] [-1.00508721e-02 -8.56920182e-04 9.99949122e-01 4.25414340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.445336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:92.07, Y:2.30, Z:0.42 [[ 9.99957147e-01 -1.37188380e-03 9.15549430e-03 9.20715667e+01] [ 1.36466281e-03 9.99998753e-01 7.94905974e-04 2.29725466e+00] [-9.15657340e-03 -7.82377747e-04 9.99957772e-01 4.24912646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.11, Y:2.29, Z:0.42 [[ 9.99963912e-01 -8.06566405e-04 8.45714170e-03 9.21051497e+01] [ 8.00388528e-04 9.99999410e-01 7.33851468e-04 2.28841877e+00] [-8.45772862e-03 -7.27055986e-04 9.99963968e-01 4.20872347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.505336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.14, Y:2.28, Z:0.42 [[ 9.99956228e-01 2.59565711e-03 8.98917808e-03 9.21398552e+01] [-2.60276669e-03 9.99996309e-01 7.79295456e-04 2.27554407e+00] [-8.98712212e-03 -8.02658077e-04 9.99959293e-01 4.16157068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.17, Y:2.27, Z:0.42 [[ 9.99948806e-01 5.44345942e-03 8.52957737e-03 9.21708683e+01] [-5.44995699e-03 9.99984876e-01 7.38711858e-04 2.27339004e+00] [-8.52542723e-03 -7.85159870e-04 9.99963350e-01 4.16746281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.20, Y:2.27, Z:0.42 [[ 9.99885187e-01 1.32771583e-02 7.30278143e-03 9.22027126e+01] [-1.32821266e-02 9.99911589e-01 6.32250764e-04 2.27264243e+00] [-7.29374128e-03 -7.29174641e-04 9.99973134e-01 4.20663288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.595336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.23, Y:2.27, Z:0.42 [[ 9.99742505e-01 2.09898339e-02 8.62271834e-03 9.22308077e+01] [-2.09970334e-02 9.99779260e-01 7.45265267e-04 2.26813701e+00] [-8.60517197e-03 -9.26124870e-04 9.99962546e-01 4.21229063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.26, Y:2.27, Z:0.42 [[ 9.99661266e-01 2.42555971e-02 9.43502979e-03 9.22583545e+01] [-2.42643838e-02 9.99705242e-01 8.17919144e-04 2.26710674e+00] [-9.41240963e-03 -1.04657727e-03 9.99955155e-01 4.21212075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.29, Y:2.26, Z:0.42 [[ 9.99548313e-01 2.86717311e-02 9.00564184e-03 9.22863668e+01] [-2.86799202e-02 9.99588341e-01 7.81476532e-04 2.26427869e+00] [-8.97952830e-03 -1.03940464e-03 9.99959143e-01 4.20650047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68533619499999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:92.31, Y:2.26, Z:0.42 [[ 9.99424769e-01 3.29719712e-02 7.93599801e-03 9.23133863e+01] [-3.29784675e-02 9.99455825e-01 6.89093313e-04 2.26237445e+00] [-7.90895868e-03 -9.50413978e-04 9.99968272e-01 4.19738505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.34, Y:2.26, Z:0.42 [[ 9.99346567e-01 3.55276894e-02 6.64999923e-03 9.23416299e+01] [-3.55323098e-02 9.99368361e-01 5.77906449e-04 2.26336688e+00] [-6.62526715e-03 -8.13818659e-04 9.99977722e-01 4.19112828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.37, Y:2.26, Z:0.42 [[ 9.99185175e-01 4.01903144e-02 3.70463341e-03 9.23695436e+01] [-4.01917793e-02 9.99191932e-01 3.21805115e-04 2.26389452e+00] [-3.68870636e-03 -4.70438708e-04 9.99993086e-01 4.17110795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.40, Y:2.27, Z:0.42 [[ 9.99115621e-01 4.19423607e-02 2.96904474e-03 9.23977543e+01] [-4.19433059e-02 9.99119959e-01 2.56776369e-04 2.26625578e+00] [-2.95566205e-03 -3.81080833e-04 9.99995559e-01 4.16738542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.42, Y:2.27, Z:0.42 [[ 9.98954014e-01 4.54109208e-02 5.35977454e-03 9.24246053e+01] [-4.54140707e-02 9.98968139e-01 4.67403193e-04 2.27304787e+00] [-5.33301879e-03 -7.10323476e-04 9.99985527e-01 4.18785265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.45, Y:2.28, Z:0.42 [[ 9.98786555e-01 4.85434033e-02 8.30389033e-03 9.24511522e+01] [-4.85510816e-02 9.98820437e-01 7.25468323e-04 2.27981300e+00] [-8.25887867e-03 -1.12775086e-03 9.99965259e-01 4.19059151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.48, Y:2.28, Z:0.42 [[ 9.98736056e-01 4.94587779e-02 8.95094511e-03 9.24784636e+01] [-4.94677432e-02 9.98775415e-01 7.82856211e-04 2.28215006e+00] [-8.90126481e-03 -1.22464978e-03 9.99959633e-01 4.17168981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.51, Y:2.29, Z:0.42 [[ 9.98729344e-01 4.96262491e-02 8.77118650e-03 9.25057510e+01] [-4.96348708e-02 9.98767135e-01 7.67896441e-04 2.28818703e+00] [-8.72226499e-03 -1.20227742e-03 9.99961238e-01 4.16594745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.925336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.53, Y:2.30, Z:0.42 [[ 9.98844960e-01 4.74542020e-02 7.53957665e-03 9.25326973e+01] [-4.74605105e-02 9.98872897e-01 6.59913845e-04 2.30207283e+00] [-7.49976308e-03 -1.01698377e-03 9.99971359e-01 4.19192073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.955336195 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:92.56, Y:2.31, Z:0.42 [[ 9.98906278e-01 4.63211172e-02 6.37193559e-03 9.25589539e+01] [-4.63256103e-02 9.98926236e-01 5.59286510e-04 2.30890716e+00] [-6.33918686e-03 -8.53858612e-04 9.99979543e-01 4.18564548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:92.59, Y:2.32, Z:0.42 [[ 9.99092935e-01 4.23050721e-02 4.85678385e-03 9.25865079e+01] [-4.23076371e-02 9.99104540e-01 4.26558853e-04 2.31856395e+00] [-4.83438919e-03 -6.31650984e-04 9.99988115e-01 4.16129135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.61, Y:2.33, Z:0.42 [[ 9.99219835e-01 3.91327072e-02 5.32478931e-03 9.26131850e+01] [-3.91357482e-02 9.99233794e-01 4.68068085e-04 2.32607520e+00] [-5.30239265e-03 -6.76092528e-04 9.99985714e-01 4.15766131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:92.64, Y:2.34, Z:0.41 [[ 9.99459939e-01 3.20205435e-02 7.38338351e-03 9.26393609e+01] [-3.20262071e-02 9.99486818e-01 6.50090442e-04 2.33706028e+00] [-7.35877824e-03 -8.86201123e-04 9.99972531e-01 4.14586556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.67, Y:2.34, Z:0.41 [[ 9.99713881e-01 2.29650827e-02 6.69036099e-03 9.26668158e+01] [-2.29695366e-02 9.99735992e-01 5.89630093e-04 2.34235326e+00] [-6.67505378e-03 -7.43135880e-04 9.99977445e-01 4.10076000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.69, Y:2.35, Z:0.41 [[ 9.99838622e-01 1.72210083e-02 5.11528524e-03 9.26944915e+01] [-1.72235383e-02 9.99851562e-01 4.50955755e-04 2.34686164e+00] [-5.10676003e-03 -5.38986292e-04 9.99986815e-01 4.08512971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.135336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:92.72, Y:2.36, Z:0.41 [[ 9.99967727e-01 5.40781635e-03 5.94136082e-03 9.27211650e+01] [-5.41102716e-03 9.99985223e-01 5.24473937e-04 2.36092081e+00] [-5.93843676e-03 -5.56605875e-04 9.99982212e-01 4.13679032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.165336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:92.75, Y:2.37, Z:0.42 [[ 9.99968434e-01 -7.66506789e-05 7.94515501e-03 9.27510066e+01] [ 7.10722841e-05 9.99999751e-01 7.02392739e-04 2.37085995e+00] [-7.94520687e-03 -7.01805886e-04 9.99968190e-01 4.17975358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.78, Y:2.38, Z:0.42 [[ 9.99902977e-01 -8.99362632e-03 1.06372657e-02 9.27839441e+01] [ 8.98412454e-03 9.99959199e-01 9.40702220e-04 2.37948114e+00] [-1.06452920e-02 -8.45044430e-04 9.99942980e-01 4.18414917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.225336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:92.82, Y:2.38, Z:0.41 [[ 9.99818716e-01 -1.49975116e-02 1.17306980e-02 9.28173713e+01] [ 1.49863965e-02 9.99887162e-01 1.03485698e-03 2.37524604e+00] [-1.17448946e-02 -8.58868487e-04 9.99930657e-01 4.09043680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.255336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:92.85, Y:2.38, Z:0.41 [[ 9.99761333e-01 -1.83936282e-02 1.17877395e-02 9.28491787e+01] [ 1.83826673e-02 9.99830486e-01 1.03753753e-03 2.37776480e+00] [-1.18048254e-02 -8.20599815e-04 9.99929984e-01 4.06616911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.88, Y:2.38, Z:0.41 [[ 9.99753364e-01 -1.86762771e-02 1.20169843e-02 9.28808841e+01] [ 1.86649332e-02 9.99825238e-01 1.05546375e-03 2.38464127e+00] [-1.20345963e-02 -8.30907229e-04 9.99927236e-01 4.09238422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.315336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:92.91, Y:2.40, Z:0.41 [[ 9.99739001e-01 -1.99265176e-02 1.11742538e-02 9.29135213e+01] [ 1.99168071e-02 9.99801161e-01 9.79625783e-04 2.39577922e+00] [-1.11915524e-02 -7.56814645e-04 9.99937086e-01 4.14440741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.345336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:92.95, Y:2.40, Z:0.42 [[ 9.99744801e-01 -2.02436491e-02 1.00263450e-02 9.29458995e+01] [ 2.02358651e-02 9.99794849e-01 8.77215194e-04 2.39959589e+00] [-1.00420461e-02 -6.74099566e-04 9.99949350e-01 4.15242746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:92.98, Y:2.40, Z:0.41 [[ 9.99746446e-01 -2.01621556e-02 1.00265260e-02 9.29793424e+01] [ 2.01543881e-02 9.99796497e-01 8.75140333e-04 2.40237771e+00] [-1.00421303e-02 -6.72839940e-04 9.99949350e-01 4.14831994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40533619499999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:93.01, Y:2.40, Z:0.41 [[ 9.99782213e-01 -1.87178103e-02 9.22878060e-03 9.30130551e+01] [ 1.87111749e-02 9.99824607e-01 8.04808829e-04 2.40042383e+00] [-9.24222620e-03 -6.31952223e-04 9.99957090e-01 4.10802470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.05, Y:2.40, Z:0.41 [[ 9.99830677e-01 -1.61094509e-02 8.89395094e-03 9.30458200e+01] [ 1.61031880e-02 9.99870035e-01 7.75348962e-04 2.39781280e+00] [-8.90528548e-03 -6.31996714e-04 9.99960147e-01 4.07491786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.08, Y:2.40, Z:0.41 [[ 9.99861606e-01 -1.40001022e-02 8.98694858e-03 9.30784331e+01] [ 1.39936410e-02 9.99901779e-01 7.81433954e-04 2.40148052e+00] [-8.99700602e-03 -6.55565677e-04 9.99959311e-01 4.07870457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.495336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:93.11, Y:2.41, Z:0.41 [[ 9.99919620e-01 -7.73786448e-03 1.00438789e-02 9.31106272e+01] [ 7.72948857e-03 9.99969746e-01 8.72482908e-04 2.40934429e+00] [-1.00503262e-02 -7.94778730e-04 9.99949178e-01 4.11010698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.14, Y:2.41, Z:0.41 [[ 9.99966183e-01 -6.09155415e-04 8.20130606e-03 9.31434915e+01] [ 6.03336367e-04 9.99999565e-01 7.11982371e-04 2.41146599e+00] [-8.20173619e-03 -7.07010147e-04 9.99966115e-01 4.09567558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.555336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:93.18, Y:2.41, Z:0.41 [[ 9.99974067e-01 2.89471508e-03 6.59433436e-03 9.31755087e+01] [-2.89855016e-03 9.99995636e-01 5.72088713e-04 2.41256498e+00] [-6.59264954e-03 -5.91187887e-04 9.99978093e-01 4.08319065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.585336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.21, Y:2.41, Z:0.41 [[ 9.99964345e-01 6.06529901e-03 5.87549895e-03 9.32066872e+01] [-6.06839518e-03 9.99981457e-01 5.09278346e-04 2.41437726e+00] [-5.87230107e-03 -5.44915037e-04 9.99982609e-01 4.07424655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.24, Y:2.42, Z:0.41 [[ 9.99910266e-01 1.09662630e-02 7.69417991e-03 9.32360828e+01] [-1.09717119e-02 9.99939587e-01 6.66327610e-04 2.41913362e+00] [-7.68640796e-03 -7.50686143e-04 9.99970177e-01 4.09734727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.645336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.26, Y:2.42, Z:0.41 [[ 9.99836542e-01 1.53807045e-02 9.50383998e-03 9.32645486e+01] [-1.53892141e-02 9.99881240e-01 8.22897275e-04 2.42439384e+00] [-9.49005456e-03 -9.69019393e-04 9.99954499e-01 4.10851330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.29, Y:2.43, Z:0.41 [[ 9.99740730e-01 2.05201730e-02 9.86891482e-03 9.32917990e+01] [-2.05296013e-02 9.99788880e-01 8.54986782e-04 2.42788295e+00] [-9.84928681e-03 -1.05737000e-03 9.99950936e-01 4.09533984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.32, Y:2.43, Z:0.41 [[ 9.99703485e-01 2.23265799e-02 9.71934023e-03 9.33193081e+01] [-2.23358143e-02 9.99750170e-01 8.42579534e-04 2.43156576e+00] [-9.69810012e-03 -1.05941907e-03 9.99952411e-01 4.09023241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.35, Y:2.44, Z:0.41 [[ 9.99658687e-01 2.48972129e-02 7.91446233e-03 9.33457161e+01] [-2.49034184e-02 9.99689626e-01 6.86471962e-04 2.43878182e+00] [-7.89491465e-03 -8.83334826e-04 9.99968445e-01 4.09286202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.37, Y:2.45, Z:0.41 [[ 9.99635541e-01 2.58288293e-02 7.85216463e-03 9.33736586e+01] [-2.58349713e-02 9.99665989e-01 6.81767254e-04 2.44587059e+00] [-7.83193268e-03 -8.84379226e-04 9.99968939e-01 4.09717233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79533619499999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:93.40, Y:2.45, Z:0.41 [[ 9.99592361e-01 2.70402508e-02 9.16171066e-03 9.34004595e+01] [-2.70486701e-02 9.99633801e-01 7.96276689e-04 2.45399585e+00] [-9.13682412e-03 -1.04376418e-03 9.99957714e-01 4.08808607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82533619499999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:93.43, Y:2.46, Z:0.41 [[ 9.99587981e-01 2.71674512e-02 9.26269574e-03 9.34281336e+01] [-2.71760704e-02 9.99630338e-01 8.05910268e-04 2.45647846e+00] [-9.23737714e-03 -1.05730189e-03 9.99956776e-01 4.06324166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.45, Y:2.46, Z:0.41 [[ 9.99593500e-01 2.75301825e-02 7.41106470e-03 9.34548562e+01] [-2.75357123e-02 9.99620612e-01 6.45133424e-04 2.46344515e+00] [-7.39049240e-03 -8.48940122e-04 9.99972330e-01 4.05300599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.885336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.48, Y:2.48, Z:0.41 [[ 9.99667336e-01 2.51401235e-02 5.76116073e-03 9.34811999e+01] [-2.51434281e-02 9.99683728e-01 5.01868588e-04 2.47913284e+00] [-5.74672160e-03 -6.46556965e-04 9.99983278e-01 4.09340047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.915336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:93.51, Y:2.49, Z:0.41 [[ 9.99742633e-01 2.08610631e-02 8.91539232e-03 9.35086084e+01] [-2.08688195e-02 9.99781920e-01 7.77849421e-04 2.49078932e+00] [-8.89722128e-03 -9.63702941e-04 9.99959955e-01 4.10555274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.945336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:93.54, Y:2.50, Z:0.41 [[ 9.99769902e-01 1.88924147e-02 1.01597566e-02 9.35351242e+01] [-1.89023956e-02 9.99820940e-01 8.87261750e-04 2.49516925e+00] [-1.01411748e-02 -1.07910133e-03 9.99947995e-01 4.08767227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.56, Y:2.50, Z:0.40 [[ 9.99836109e-01 1.47741563e-02 1.04632342e-02 9.35632678e+01] [-1.47845327e-02 9.99890284e-01 9.15047038e-04 2.49856364e+00] [-1.04485672e-02 -1.06959110e-03 9.99944840e-01 4.02620603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.005336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:93.59, Y:2.51, Z:0.40 [[ 9.99886279e-01 9.71656162e-03 1.15333083e-02 9.35912278e+01] [-9.72884333e-03 9.99952164e-01 1.00926279e-03 2.50705475e+00] [-1.15229500e-02 -1.12135377e-03 9.99932980e-01 4.02323081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.035336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:93.62, Y:2.52, Z:0.40 [[ 9.99909776e-01 6.06833661e-03 1.19839446e-02 9.36213302e+01] [-6.08134486e-03 9.99980958e-01 1.04933051e-03 2.51603567e+00] [-1.19773487e-02 -1.12211434e-03 9.99927639e-01 4.04917446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.065336195 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:93.65, Y:2.53, Z:0.41 [[ 9.99951412e-01 -2.99288757e-03 9.39231181e-03 9.36532611e+01] [ 2.98528865e-03 9.99995205e-01 8.22972644e-04 2.52770282e+00] [-9.39472985e-03 -7.94893896e-04 9.99955553e-01 4.07951548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.095336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:93.69, Y:2.53, Z:0.41 [[ 9.99940719e-01 -7.50318647e-03 7.89056558e-03 9.36850185e+01] [ 7.49797266e-03 9.99971652e-01 6.90140107e-04 2.52843659e+00] [-7.89552014e-03 -6.30935950e-04 9.99968631e-01 4.05159596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12533619499999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:93.72, Y:2.52, Z:0.40 [[ 9.99838497e-01 -1.61868859e-02 7.80797393e-03 9.37180427e+01] [ 1.61820553e-02 9.99868830e-01 6.81461516e-04 2.52344131e+00] [-7.81798050e-03 -5.55002392e-04 9.99969285e-01 3.99252418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.75, Y:2.53, Z:0.40 [[ 9.99762404e-01 -1.99122069e-02 8.86795071e-03 9.37514410e+01] [ 1.99061381e-02 9.99801555e-01 7.72100211e-04 2.52535978e+00] [-8.88156513e-03 -5.95390111e-04 9.99960381e-01 3.99830111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.78, Y:2.53, Z:0.40 [[ 9.99631123e-01 -2.49582888e-02 1.07098472e-02 9.37833491e+01] [ 2.49497528e-02 9.99688274e-01 9.29912609e-04 2.52786934e+00] [-1.07297177e-02 -6.62361547e-04 9.99942216e-01 4.02889968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21533619499999 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:93.82, Y:2.53, Z:0.40 [[ 9.99559658e-01 -2.79425020e-02 9.98527387e-03 9.38166563e+01] [ 2.79352464e-02 9.99609360e-01 8.65394940e-04 2.52830264e+00] [-1.00055545e-02 -5.86072785e-04 9.99949771e-01 4.03504417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.245336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.85, Y:2.53, Z:0.40 [[ 9.99525351e-01 -2.81454860e-02 1.25261075e-02 9.38498964e+01] [ 2.81341209e-02 9.99603571e-01 1.08263890e-03 2.52710025e+00] [-1.25516132e-02 -7.29714006e-04 9.99920959e-01 4.04674239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.275336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:93.88, Y:2.53, Z:0.41 [[ 9.99548066e-01 -2.68840280e-02 1.34503871e-02 9.38820636e+01] [ 2.68708472e-02 9.99638241e-01 1.15974677e-03 2.52876739e+00] [-1.34766999e-02 -7.97799350e-04 9.99908867e-01 4.05125609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.305336195 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:93.91, Y:2.53, Z:0.40 [[ 9.99684757e-01 -2.14967631e-02 1.29721276e-02 9.39147825e+01] [ 2.14840808e-02 9.99768567e-01 1.11623533e-03 2.52852386e+00] [-1.29931209e-02 -8.37189205e-04 9.99915235e-01 4.03438044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.335336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.95, Y:2.53, Z:0.40 [[ 9.99770480e-01 -1.78212560e-02 1.18907918e-02 9.39482930e+01] [ 1.78103656e-02 9.99840861e-01 1.02114814e-03 2.52824256e+00] [-1.19070977e-02 -8.09134412e-04 9.99928781e-01 4.01510501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.98, Y:2.53, Z:0.40 [[ 9.99904796e-01 -1.13322753e-02 7.87265368e-03 9.39807630e+01] [ 1.13273077e-02 9.99935616e-01 6.75293917e-04 2.52822975e+00] [-7.87979942e-03 -5.86053655e-04 9.99968782e-01 4.00752819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.395336195 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:94.01, Y:2.53, Z:0.40 [[ 9.99944565e-01 -7.93017977e-03 6.92670291e-03 9.40135162e+01] [ 7.92626401e-03 9.99968411e-01 5.92583102e-04 2.53299742e+00] [-6.93118340e-03 -5.37647376e-04 9.99975835e-01 4.03022226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.425336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:94.05, Y:2.54, Z:0.41 [[ 9.99961938e-01 -2.91962965e-03 8.22185946e-03 9.40461050e+01] [ 2.91395080e-03 9.99995508e-01 7.02595402e-04 2.53716384e+00] [-8.22387384e-03 -6.78610565e-04 9.99965953e-01 4.06422850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.455336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.08, Y:2.54, Z:0.41 [[ 9.99956997e-01 -9.88596247e-04 9.22100337e-03 9.40789048e+01] [ 9.81379184e-04 9.99999209e-01 7.87168459e-04 2.53663531e+00] [-9.22177427e-03 -7.78085308e-04 9.99957176e-01 4.05002950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48533619499999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:94.11, Y:2.53, Z:0.40 [[ 9.99937188e-01 4.53576787e-03 1.02492180e-02 9.41115422e+01] [-4.54496275e-03 9.99989290e-01 8.74015914e-04 2.53157078e+00] [-1.02451439e-02 -9.20543330e-04 9.99947093e-01 4.01274963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.14, Y:2.53, Z:0.40 [[ 9.99872624e-01 9.03315173e-03 1.31581567e-02 9.41439940e+01] [-9.04868231e-03 9.99958431e-01 1.12124346e-03 2.53300813e+00] [-1.31474814e-02 -1.24016462e-03 9.99912799e-01 4.01553846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.18, Y:2.53, Z:0.40 [[ 9.99857944e-01 1.01337472e-02 1.34684396e-02 9.41760666e+01] [-1.01501065e-02 9.99947829e-01 1.14683596e-03 2.53465413e+00] [-1.34561152e-02 -1.28337914e-03 9.99908639e-01 4.01129122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.21, Y:2.53, Z:0.40 [[ 9.99887535e-01 1.00297915e-02 1.11498982e-02 9.42074962e+01] [-1.00409769e-02 9.99949139e-01 9.47656087e-04 2.53111397e+00] [-1.11398264e-02 -1.05950538e-03 9.99937389e-01 3.97436283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:2.53, Z:0.40 [[ 9.99911411e-01 8.75492934e-03 1.00260199e-02 9.42378024e+01] [-8.76390706e-03 9.99961233e-01 8.51857490e-04 2.53029095e+00] [-1.00181733e-02 -9.39649132e-04 9.99949375e-01 3.96717850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.27, Y:2.53, Z:0.40 [[ 9.99947595e-01 5.47628471e-03 8.64976807e-03 9.42684276e+01] [-5.48284557e-03 9.99984699e-01 7.34969768e-04 2.53017344e+00] [-8.64561082e-03 -7.82356594e-04 9.99962320e-01 3.99150816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.665336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.30, Y:2.53, Z:0.40 [[ 9.99962290e-01 3.72883052e-03 7.84312848e-03 9.43006117e+01] [-3.73417639e-03 9.99992805e-01 6.67065386e-04 2.53174522e+00] [-7.84058468e-03 -6.96327856e-04 9.99969020e-01 3.99958418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.695336195 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:94.33, Y:2.53, Z:0.40 [[ 9.99960769e-01 1.43932887e-03 8.74002430e-03 9.43336664e+01] [-1.44586531e-03 9.99998680e-01 7.41601397e-04 2.52653897e+00] [-8.73894535e-03 -7.54209201e-04 9.99961530e-01 3.97644429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.725336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:94.37, Y:2.52, Z:0.40 [[ 9.99957130e-01 1.61180689e-03 9.11810764e-03 9.43661850e+01] [-1.61891155e-03 9.99998392e-01 7.71854203e-04 2.52371432e+00] [-9.11684890e-03 -7.86582524e-04 9.99958131e-01 3.95756443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.40, Y:2.52, Z:0.39 [[ 9.99944003e-01 2.48044443e-03 1.02878210e-02 9.44000470e+01] [-2.48950987e-03 9.99996524e-01 8.68469286e-04 2.51706101e+00] [-1.02856311e-02 -8.94032286e-04 9.99946702e-01 3.93055416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.785336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:94.43, Y:2.51, Z:0.39 [[ 9.99932186e-01 3.67216876e-03 1.10516351e-02 9.44338307e+01] [-3.68269277e-03 9.99992784e-01 9.32058869e-04 2.51363997e+00] [-1.10481327e-02 -9.72695439e-04 9.99938494e-01 3.93976387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.815336195 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:94.47, Y:2.52, Z:0.40 [[ 9.99937992e-01 4.48947069e-03 1.01910384e-02 9.44661505e+01] [-4.49845555e-03 9.99989513e-01 8.58891725e-04 2.51504730e+00] [-1.01870755e-02 -9.04682400e-04 9.99947701e-01 3.95804308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.845336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.50, Y:2.52, Z:0.40 [[ 9.99946876e-01 6.20489629e-03 8.23076195e-03 9.44994443e+01] [-6.21081112e-03 9.99980472e-01 6.93258593e-04 2.51590175e+00] [-8.22629963e-03 -7.44341472e-04 9.99965886e-01 3.98346257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.53, Y:2.51, Z:0.40 [[ 9.99945102e-01 7.05536267e-03 7.74689513e-03 9.45307709e+01] [-7.06061120e-03 9.99974862e-01 6.50360343e-04 2.51493142e+00] [-7.74211186e-03 -7.05022454e-04 9.99969781e-01 3.96979781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.56, Y:2.51, Z:0.39 [[ 9.99941929e-01 6.85083654e-03 8.31898698e-03 9.45624864e+01] [-6.85687920e-03 9.99976248e-01 6.98065529e-04 2.50515042e+00] [-8.31400705e-03 -7.55067280e-04 9.99965153e-01 3.92030904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.59, Y:2.50, Z:0.39 [[ 9.99935729e-01 6.18944481e-03 9.49882784e-03 9.45947548e+01] [-6.19729415e-03 9.99980479e-01 7.97135802e-04 2.49818073e+00] [-9.49370859e-03 -8.55951600e-04 9.99954567e-01 3.90950166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96533619499999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:94.63, Y:2.50, Z:0.39 [[ 9.99932558e-01 6.38502860e-03 9.70106378e-03 9.46259650e+01] [-6.39322425e-03 9.99979232e-01 8.14042939e-04 2.49741291e+00] [-9.69566462e-03 -8.76009114e-04 9.99952612e-01 3.90986068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.66, Y:2.50, Z:0.39 [[ 9.99924889e-01 7.04567654e-03 1.00286675e-02 9.46587922e+01] [-7.05445980e-03 9.99974764e-01 8.40710875e-04 2.49723297e+00] [-1.00224910e-02 -9.11394560e-04 9.99949358e-01 3.91732465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.69, Y:2.50, Z:0.39 [[ 9.99905893e-01 8.11362616e-03 1.10622839e-02 9.46913766e+01] [-8.12435467e-03 9.99966569e-01 9.25233429e-04 2.49644932e+00] [-1.10544070e-02 -1.01502028e-03 9.99938383e-01 3.94136892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.72, Y:2.49, Z:0.39 [[ 9.99912570e-01 8.56191810e-03 1.00769998e-02 9.47244162e+01] [-8.57082750e-03 9.99962916e-01 8.41278819e-04 2.49095195e+00] [-1.00694231e-02 -9.27573492e-04 9.99948872e-01 3.92767362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:2.49, Z:0.39 [[ 9.99924790e-01 8.10863735e-03 9.20128763e-03 9.47558022e+01] [-8.11603330e-03 9.99966771e-01 7.66739497e-04 2.48757130e+00] [-9.19476466e-03 -8.41359788e-04 9.99957373e-01 3.91131632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:2.48, Z:0.39 [[ 9.99927928e-01 6.22011117e-03 1.02688036e-02 9.47873203e+01] [-6.22920251e-03 9.99980234e-01 8.53588370e-04 2.48090393e+00] [-1.02632912e-02 -9.17493307e-04 9.99946910e-01 3.91579606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.145336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.82, Y:2.48, Z:0.39 [[ 9.99914336e-01 5.84513098e-03 1.17113278e-02 9.48205488e+01] [-5.85692788e-03 9.99982374e-01 9.73262300e-04 2.47973009e+00] [-1.17054325e-02 -1.04177133e-03 9.99930946e-01 3.91818168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.175336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.85, Y:2.47, Z:0.39 [[ 9.99905937e-01 5.96976110e-03 1.23482404e-02 9.48532605e+01] [-5.98285416e-03 9.99981579e-01 1.02364916e-03 2.47459076e+00] [-1.23419020e-02 -1.09743059e-03 9.99923234e-01 3.90809539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.205336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:94.89, Y:2.47, Z:0.39 [[ 9.99879391e-01 7.11893186e-03 1.38030323e-02 9.48859560e+01] [-7.13536237e-03 9.99973891e-01 1.14147301e-03 2.46986093e+00] [-1.37945459e-02 -1.23982498e-03 9.99904082e-01 3.90917184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23533619499999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:94.92, Y:2.47, Z:0.39 [[ 9.99872675e-01 7.94814816e-03 1.38369446e-02 9.49190943e+01] [-7.96470370e-03 9.99967629e-01 1.14177801e-03 2.47035309e+00] [-1.38274217e-02 -1.25183980e-03 9.99903613e-01 3.91068446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26533619499999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:94.95, Y:2.47, Z:0.39 [[ 9.99872010e-01 8.03105698e-03 1.38371465e-02 9.49525439e+01] [-8.04758675e-03 9.99966969e-01 1.13932641e-03 2.47296713e+00] [-1.38275395e-02 -1.25053622e-03 9.99903613e-01 3.90657603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.99, Y:2.47, Z:0.39 [[ 9.99916876e-01 9.47733385e-03 8.74188797e-03 9.49862108e+01] [-9.48398602e-03 9.99954767e-01 7.19812442e-04 2.46950854e+00] [-8.73467064e-03 -8.02660551e-04 9.99961530e-01 3.88367786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.02, Y:2.47, Z:0.39 [[ 9.99926236e-01 1.00009203e-02 6.89225471e-03 9.50173277e+01] [-1.00050549e-02 9.99949788e-01 5.65675464e-04 2.46728640e+00] [-6.88625136e-03 -6.34591124e-04 9.99976088e-01 3.86537207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.05, Y:2.46, Z:0.38 [[ 9.99911107e-01 1.13001478e-02 7.07712859e-03 9.50468079e+01] [-1.13045381e-02 9.99935933e-01 5.80651171e-04 2.45778251e+00] [-7.07011374e-03 -6.60603224e-04 9.99974788e-01 3.84481512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.08, Y:2.45, Z:0.38 [[ 9.99900741e-01 1.18576582e-02 7.60946886e-03 9.50764571e+01] [-1.18627520e-02 9.99929440e-01 6.24612361e-04 2.45462985e+00] [-7.60152550e-03 -7.14819605e-04 9.99970852e-01 3.83801398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.415336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:95.11, Y:2.45, Z:0.39 [[ 9.99872400e-01 1.30490248e-02 9.21444574e-03 9.51059387e+01] [-1.30565493e-02 9.99914473e-01 7.56906518e-04 2.45143843e+00] [-9.20378077e-03 -8.77118801e-04 9.99957260e-01 3.87050866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.445336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:95.14, Y:2.45, Z:0.39 [[ 9.99776934e-01 1.40651050e-02 1.57561382e-02 9.51361125e+01] [-1.40872501e-02 9.99899931e-01 1.29537998e-03 2.45180927e+00] [-1.57363418e-02 -1.51705168e-03 9.99875025e-01 3.92726996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.475336195 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:95.17, Y:2.45, Z:0.39 [[ 9.99723966e-01 1.53371002e-02 1.77978802e-02 9.51675677e+01] [-1.53655473e-02 9.99880873e-01 1.46269296e-03 2.45162810e+00] [-1.77733265e-02 -1.73576338e-03 9.99840535e-01 3.93212381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.505336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:95.20, Y:2.45, Z:0.39 [[ 9.99725683e-01 1.67198926e-02 1.64013701e-02 9.52004755e+01] [-1.67442006e-02 9.99858900e-01 1.34585743e-03 2.44998445e+00] [-1.63765533e-02 -1.62011607e-03 9.99864583e-01 3.90878230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.23, Y:2.44, Z:0.38 [[ 9.99789691e-01 1.86811202e-02 8.46109057e-03 9.52328574e+01] [-1.86876600e-02 9.99825129e-01 6.94516057e-04 2.43862536e+00] [-8.44663663e-03 -8.52487978e-04 9.99963963e-01 3.81811459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.26, Y:2.44, Z:0.38 [[ 9.99775333e-01 2.00137783e-02 6.98089549e-03 9.52612001e+01] [-2.00182485e-02 9.99799452e-01 5.71054759e-04 2.43585257e+00] [-6.96806652e-03 -7.10671762e-04 9.99975470e-01 3.82528255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.595336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.29, Y:2.44, Z:0.39 [[ 9.99755058e-01 2.06766761e-02 7.89294689e-03 9.52896665e+01] [-2.06824161e-02 9.99785887e-01 6.46290656e-04 2.44103721e+00] [-7.87789377e-03 -8.09377564e-04 9.99968641e-01 3.86448621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62533619499999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:95.32, Y:2.45, Z:0.39 [[ 9.99741578e-01 2.09305786e-02 8.87062486e-03 9.53176557e+01] [-2.09378429e-02 9.99780515e-01 7.26831480e-04 2.44623456e+00] [-8.85346489e-03 -9.12375400e-04 9.99960391e-01 3.90459468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.35, Y:2.44, Z:0.39 [[ 9.99735899e-01 2.10113335e-02 9.30887851e-03 9.53462711e+01] [-2.10193430e-02 9.99778778e-01 7.63403526e-04 2.44381106e+00] [-9.29077905e-03 -9.58868421e-04 9.99956380e-01 3.88087257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.38, Y:2.43, Z:0.38 [[ 9.99739934e-01 2.05128906e-02 9.96418272e-03 9.53754358e+01] [-2.05220481e-02 9.99789066e-01 8.17661551e-04 2.43225599e+00] [-9.94530834e-03 -1.02193434e-03 9.99950022e-01 3.81434994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.41, Y:2.43, Z:0.38 [[ 9.99792877e-01 1.85826549e-02 8.29993802e-03 9.54053163e+01] [-1.85889466e-02 9.99826978e-01 6.81536766e-04 2.42582976e+00] [-8.28583719e-03 -8.35682708e-04 9.99965323e-01 3.77908654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.43, Y:2.43, Z:0.38 [[ 9.99826233e-01 1.70942454e-02 7.43571374e-03 9.54327797e+01] [-1.70992560e-02 9.99853610e-01 6.10796515e-04 2.42689381e+00] [-7.42418412e-03 -7.37835551e-04 9.99972168e-01 3.78467543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.46, Y:2.43, Z:0.38 [[ 9.99915657e-01 1.15042042e-02 6.02757713e-03 9.54613111e+01] [-1.15073982e-02 9.99933665e-01 4.95482722e-04 2.42922852e+00] [-6.02147716e-03 -5.64802662e-04 9.99981711e-01 3.81862513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:2.43, Z:0.38 [[ 9.99947579e-01 8.32984457e-03 5.95428764e-03 9.54896453e+01] [-8.33290773e-03 9.99965161e-01 4.89822607e-04 2.42871626e+00] [-5.95000005e-03 -5.39413459e-04 9.99982153e-01 3.82556682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.52, Y:2.42, Z:0.38 [[ 9.99955774e-01 4.05474596e-03 8.48583832e-03 9.55199268e+01] [-4.06081999e-03 9.99991511e-01 6.98676063e-04 2.41878879e+00] [-8.48293333e-03 -7.33104625e-04 9.99963751e-01 3.82325922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.865336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.55, Y:2.41, Z:0.38 [[ 9.99941698e-01 3.66980673e-03 1.01554017e-02 9.55531826e+01] [-3.67849235e-03 9.99992884e-01 8.36724328e-04 2.41457566e+00] [-1.01522588e-02 -8.74032113e-04 9.99948083e-01 3.82229249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.895336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.59, Y:2.41, Z:0.38 [[ 9.99916437e-01 3.90926061e-03 1.23222165e-02 9.55873710e+01] [-3.92203005e-03 9.99991796e-01 1.01229923e-03 2.40648636e+00] [-1.23181581e-02 -1.06054274e-03 9.99923566e-01 3.81167140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:2.40, Z:0.38 [[ 9.99928969e-01 4.38520189e-03 1.10827475e-02 9.56193984e+01] [-4.39553850e-03 9.99989927e-01 9.08489865e-04 2.40447359e+00] [-1.10786520e-02 -9.57139978e-04 9.99938172e-01 3.79640313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:2.40, Z:0.38 [[ 9.99943713e-01 6.75734565e-03 8.17982765e-03 9.56525915e+01] [-6.76304382e-03 9.99976906e-01 6.69152007e-04 2.40403357e+00] [-8.17511705e-03 -7.24434875e-04 9.99966321e-01 3.80138776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:2.41, Z:0.38 [[ 9.99899819e-01 1.14787652e-02 8.28194673e-03 9.56850599e+01] [-1.14847611e-02 9.99933819e-01 6.76774885e-04 2.40615818e+00] [-8.27363008e-03 -7.71823264e-04 9.99965475e-01 3.82501842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:2.40, Z:0.38 [[ 9.99853911e-01 1.63008122e-02 5.14197069e-03 9.57155449e+01] [-1.63031851e-02 9.99867006e-01 4.19895522e-04 2.39921328e+00] [-5.13444220e-03 -5.03664680e-04 9.99986692e-01 3.79658041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:2.40, Z:0.38 [[ 9.99811921e-01 1.90135276e-02 3.82221245e-03 9.57433693e+01] [-1.90148560e-02 9.99819153e-01 3.11498134e-04 2.39546209e+00] [-3.81559854e-03 -3.84118367e-04 9.99992647e-01 3.77827235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.77, Y:2.39, Z:0.38 [[ 9.99692421e-01 2.41498763e-02 5.64325946e-03 9.57726371e+01] [-2.41528574e-02 9.99708171e-01 4.60686274e-04 2.39203022e+00] [-5.63048707e-03 -5.96845418e-04 9.99983971e-01 3.78341656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:2.40, Z:0.38 [[ 9.99639079e-01 2.58759620e-02 7.22119011e-03 9.58003474e+01] [-2.58808906e-02 9.99664860e-01 5.89895458e-04 2.39611991e+00] [-7.20350588e-03 -7.76573384e-04 9.99973753e-01 3.80460853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:2.40, Z:0.38 [[ 9.99550193e-01 2.82841747e-02 9.97081770e-03 9.58288335e+01] [-2.82937012e-02 9.99599320e-01 8.15646791e-04 2.40384356e+00] [-9.94375270e-03 -1.09739124e-03 9.99949958e-01 3.84378985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:2.41, Z:0.38 [[ 9.99528372e-01 2.88132035e-02 1.06223281e-02 9.58560051e+01] [-2.88240510e-02 9.99584123e-01 8.69489920e-04 2.40684325e+00] [-1.05928577e-02 -1.17525837e-03 9.99943203e-01 3.84724691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.88, Y:2.40, Z:0.38 [[ 9.99546552e-01 2.89040536e-02 8.44069281e-03 9.58838794e+01] [-2.89109089e-02 9.99581753e-01 6.91259982e-04 2.40334170e+00] [-8.41718230e-03 -9.34974633e-04 9.99964138e-01 3.79380748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.91, Y:2.40, Z:0.38 [[ 9.99574280e-01 2.83880247e-02 6.73640576e-03 9.59126743e+01] [-2.83923820e-02 9.99596703e-01 5.52053486e-04 2.40045427e+00] [-6.71801728e-03 -7.43081071e-04 9.99977158e-01 3.75338014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:2.40, Z:0.37 [[ 9.99647979e-01 2.60318562e-02 5.12457704e-03 9.59420828e+01] [-2.60343477e-02 9.99660961e-01 4.20068270e-04 2.39706974e+00] [-5.11190445e-03 -5.53335418e-04 9.99986781e-01 3.72220516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.97, Y:2.40, Z:0.37 [[ 9.99720539e-01 2.34370566e-02 3.08993748e-03 9.59692437e+01] [-2.34379495e-02 9.99725261e-01 2.53088095e-04 2.40463570e+00] [-3.08315692e-03 -3.25439166e-04 9.99995194e-01 3.74741799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.00, Y:2.41, Z:0.38 [[ 9.99760819e-01 2.17277745e-02 2.49156662e-03 9.59971637e+01] [-2.17283502e-02 9.99763891e-01 2.04201967e-04 2.41097875e+00] [-2.48654149e-03 -2.58290758e-04 9.99996875e-01 3.76306612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.345336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:2.42, Z:0.38 [[ 9.99811364e-01 1.84039752e-02 6.20725411e-03 9.60245791e+01] [-1.84074918e-02 9.99830438e-01 5.09869363e-04 2.41788069e+00] [-6.19681797e-03 -6.24033163e-04 9.99980605e-01 3.80162514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:2.42, Z:0.38 [[ 9.99849732e-01 1.42203277e-02 9.91442468e-03 9.60534954e+01] [-1.42291064e-02 9.99898429e-01 8.15472271e-04 2.41851823e+00] [-9.90182138e-03 -9.56423135e-04 9.99950518e-01 3.78788405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.08, Y:2.42, Z:0.38 [[ 9.99882759e-01 1.15731531e-02 1.00264467e-02 9.60838090e+01] [-1.15820058e-02 9.99932586e-01 8.25320085e-04 2.41869158e+00] [-1.00162192e-02 -9.41349688e-04 9.99949393e-01 3.76308204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.11, Y:2.42, Z:0.37 [[ 9.99940867e-01 4.93560031e-03 9.69030620e-03 9.61149703e+01] [-4.94355943e-03 9.99987462e-01 7.97567246e-04 2.41861974e+00] [-9.68624823e-03 -8.45424688e-04 9.99952730e-01 3.73492362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:2.42, Z:0.37 [[ 9.99957987e-01 2.19048767e-03 8.90091338e-03 9.61482487e+01] [-2.19709831e-03 9.99997318e-01 7.32981615e-04 2.42101119e+00] [-8.89928392e-03 -7.52507002e-04 9.99960117e-01 3.72957794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.495336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.18, Y:2.43, Z:0.37 [[ 9.99974026e-01 -2.79638347e-03 6.64293332e-03 9.61808678e+01] [ 2.79281518e-03 9.99995951e-01 5.46372591e-04 2.42682736e+00] [-6.64443429e-03 -5.27805915e-04 9.99977786e-01 3.74253766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.21, Y:2.43, Z:0.38 [[ 9.99965299e-01 -5.11975537e-03 6.57187781e-03 9.62122176e+01] [ 5.11632416e-03 9.99986766e-01 5.38810432e-04 2.43138918e+00] [-6.57454942e-03 -5.05167877e-04 9.99978260e-01 3.75295096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.24, Y:2.43, Z:0.37 [[ 9.99935292e-01 -8.81344734e-03 7.19276005e-03 9.62449311e+01] [ 8.80943713e-03 9.99961023e-01 5.89027516e-04 2.43179577e+00] [-7.19767105e-03 -5.25625233e-04 9.99973958e-01 3.74277806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.28, Y:2.43, Z:0.37 [[ 9.99922880e-01 -8.87695075e-03 8.68528099e-03 9.62786775e+01] [ 8.87112866e-03 9.99960400e-01 7.08635485e-04 2.42757460e+00] [-8.69122757e-03 -6.31532590e-04 9.99962031e-01 3.71352891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.615336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.31, Y:2.43, Z:0.37 [[ 9.99925549e-01 -8.05025290e-03 9.17001664e-03 9.63120510e+01] [ 8.04373485e-03 9.99967369e-01 7.47460900e-04 2.42747598e+00] [-9.17573467e-03 -6.73644068e-04 9.99957675e-01 3.70080511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:2.43, Z:0.37 [[ 9.99947741e-01 -5.52143810e-03 8.60395367e-03 9.63437362e+01] [ 5.51561228e-03 9.99984543e-01 7.00691642e-04 2.42793121e+00] [-8.60768950e-03 -6.53198952e-04 9.99962740e-01 3.70617722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.38, Y:2.43, Z:0.37 [[ 9.99948282e-01 -4.38503444e-03 9.17627904e-03 9.63764858e+01] [ 4.37836551e-03 9.99990136e-01 7.46720527e-04 2.43183062e+00] [-9.17946292e-03 -7.06504805e-04 9.99957618e-01 3.71094391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.41, Y:2.44, Z:0.37 [[ 9.99952795e-01 -3.08001532e-03 9.21525803e-03 9.64088257e+01] [ 3.07324083e-03 9.99994997e-01 7.49208611e-04 2.43698211e+00] [-9.21751950e-03 -7.20852537e-04 9.99957258e-01 3.73052984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73533619499999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:96.44, Y:2.44, Z:0.37 [[ 9.99972516e-01 -2.46238162e-03 6.99314226e-03 9.64411186e+01] [ 2.45846795e-03 9.99996817e-01 5.68184654e-04 2.43616009e+00] [-6.99451909e-03 -5.50976622e-04 9.99975386e-01 3.72209222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:2.44, Z:0.37 [[ 9.99982034e-01 -1.59746278e-03 5.77752064e-03 9.64738046e+01] [ 1.59477848e-03 9.99998618e-01 4.69189196e-04 2.43515035e+00] [-5.77826217e-03 -4.59966901e-04 9.99983200e-01 3.70776859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.51, Y:2.43, Z:0.37 [[ 9.99993433e-01 2.71917402e-04 3.61399596e-03 9.65067125e+01] [-2.72979678e-04 9.99999920e-01 2.93444017e-04 2.43254516e+00] [-3.61391587e-03 -2.94428637e-04 9.99993426e-01 3.68687211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.54, Y:2.43, Z:0.37 [[ 9.99972323e-01 2.47200117e-03 7.01730161e-03 9.65383315e+01] [-2.47605334e-03 9.99996773e-01 5.68824864e-04 2.43221365e+00] [-7.01587283e-03 -5.86184334e-04 9.99975217e-01 3.69055225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.57, Y:2.43, Z:0.37 [[ 9.99948081e-01 3.75579960e-03 9.47256130e-03 9.65708085e+01] [-3.76323706e-03 9.99992625e-01 7.67456337e-04 2.43462642e+00] [-9.46960902e-03 -8.03063985e-04 9.99954840e-01 3.69917555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:2.44, Z:0.37 [[ 9.99934301e-01 5.76234259e-03 9.90908419e-03 9.66021730e+01] [-5.77057408e-03 9.99983028e-01 8.02310440e-04 2.43911300e+00] [-9.90429283e-03 -8.59438833e-04 9.99950582e-01 3.70808146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.63, Y:2.44, Z:0.37 [[ 9.99948957e-01 5.99636134e-03 8.13181203e-03 9.66346041e+01] [-6.00190434e-03 9.99981772e-01 6.57411275e-04 2.44251539e+00] [-8.12772173e-03 -7.06184077e-04 9.99966720e-01 3.69470395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:2.45, Z:0.37 [[ 9.99967177e-01 5.56689259e-03 5.88683908e-03 9.66664210e+01] [-5.56978667e-03 9.99984376e-01 4.75337990e-04 2.44554955e+00] [-5.88410095e-03 -5.08110826e-04 9.99982559e-01 3.67434556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:2.45, Z:0.37 [[ 9.99976670e-01 4.92900993e-03 4.72904824e-03 9.66980248e+01] [-4.93086318e-03 9.99987771e-01 3.80307236e-04 2.44683620e+00] [-4.72711587e-03 -4.03616653e-04 9.99988746e-01 3.65414556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.73, Y:2.45, Z:0.36 [[ 9.99991466e-01 3.42815680e-03 2.30558410e-03 9.67283229e+01] [-3.42859311e-03 9.99994105e-01 1.85316783e-04 2.44601996e+00] [-2.30493521e-03 -1.93220111e-04 9.99997325e-01 3.62653207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.76, Y:2.45, Z:0.36 [[ 9.99995679e-01 2.23466497e-03 1.90987523e-03 9.67584948e+01] [-2.23496197e-03 9.99997491e-01 1.53387240e-04 2.44824533e+00] [-1.90952767e-03 -1.57655076e-04 9.99998164e-01 3.62287035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.79, Y:2.45, Z:0.37 [[ 9.99978563e-01 -2.41922787e-03 6.08451648e-03 9.67884098e+01] [ 2.41629903e-03 9.99996961e-01 4.88663958e-04 2.45445476e+00] [-6.08568018e-03 -4.73951471e-04 9.99981370e-01 3.65091133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.095336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.82, Y:2.46, Z:0.37 [[ 9.99900709e-01 -7.70422210e-03 1.17990619e-02 9.68201008e+01] [ 7.69357293e-03 9.99969955e-01 9.47669058e-04 2.45834884e+00] [-1.18060084e-02 -8.56798019e-04 9.99929940e-01 3.68251677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.85, Y:2.46, Z:0.37 [[ 9.99875008e-01 -1.03095994e-02 1.19866699e-02 9.68518052e+01] [ 1.02988129e-02 9.99946504e-01 9.61259237e-04 2.45827088e+00] [-1.19959388e-02 -8.37690617e-04 9.99927695e-01 3.67251515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:2.45, Z:0.36 [[ 9.99810667e-01 -1.62486973e-02 1.07055617e-02 9.68857116e+01] [ 1.62404504e-02 9.99867748e-01 8.56832347e-04 2.45485602e+00] [-1.07180683e-02 -6.82806977e-04 9.99942327e-01 3.64263110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.92, Y:2.46, Z:0.36 [[ 9.99812758e-01 -1.61194071e-02 1.07057349e-02 9.69191766e+01] [ 1.61111759e-02 9.99869841e-01 8.54662558e-04 2.45736734e+00] [-1.07181181e-02 -6.82020552e-04 9.99942327e-01 3.63851791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.95, Y:2.46, Z:0.36 [[ 9.99767132e-01 -1.91735716e-02 9.90232858e-03 9.69519740e+01] [ 1.91666916e-02 9.99815991e-01 7.89221985e-04 2.45836148e+00] [-9.91563866e-03 -5.99243322e-04 9.99950659e-01 3.62913381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.99, Y:2.46, Z:0.36 [[ 9.99681192e-01 -2.43806136e-02 6.56507541e-03 9.69850607e+01] [ 2.43777026e-02 9.99702683e-01 5.23067157e-04 2.45760790e+00] [-6.57587620e-03 -3.62858943e-04 9.99978313e-01 3.61459389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:2.46, Z:0.36 [[ 9.99629880e-01 -2.67327101e-02 5.04625277e-03 9.70183199e+01] [ 2.67310209e-02 9.99642582e-01 4.01901270e-04 2.45637172e+00] [-5.05519306e-03 -2.66861030e-04 9.99987187e-01 3.59863320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.305336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.05, Y:2.45, Z:0.36 [[ 9.99510981e-01 -3.09482862e-02 4.47246236e-03 9.70506286e+01] [ 3.09470029e-02 9.99520963e-01 3.55872624e-04 2.45081166e+00] [-4.48133353e-03 -2.17289290e-04 9.99989935e-01 3.60320297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:2.45, Z:0.36 [[ 9.99463988e-01 -3.22784410e-02 5.46245413e-03 9.70826936e+01] [ 3.22765493e-02 9.99478882e-01 4.34128005e-04 2.44995276e+00] [-5.47362052e-03 -2.57586137e-04 9.99984986e-01 3.60734971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.365336195 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:97.12, Y:2.45, Z:0.36 [[ 9.99405191e-01 -3.34206934e-02 8.50424846e-03 9.71155150e+01] [ 3.34161575e-02 9.99441296e-01 6.74946505e-04 2.44514539e+00] [-8.52205429e-03 -3.90365735e-04 9.99963610e-01 3.61168187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.15, Y:2.44, Z:0.36 [[ 9.99458462e-01 -3.11320726e-02 1.06572773e-02 9.71495619e+01] [ 3.11248277e-02 9.99515148e-01 8.45028672e-04 2.43925830e+00] [-1.06784176e-02 -5.12865137e-04 9.99942853e-01 3.62542256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.18, Y:2.44, Z:0.36 [[ 9.99533065e-01 -2.84804541e-02 1.10686774e-02 9.71817056e+01] [ 2.84724865e-02 9.99594192e-01 8.76780206e-04 2.43667371e+00] [-1.10891567e-02 -5.61218039e-04 9.99938356e-01 3.61671957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:2.43, Z:0.36 [[ 9.99719424e-01 -2.15511625e-02 9.82958050e-03 9.72146674e+01] [ 2.15445502e-02 9.99767586e-01 7.78101242e-04 2.42916396e+00] [-9.84406496e-03 -5.66109034e-04 9.99951386e-01 3.61431340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.25, Y:2.42, Z:0.36 [[ 9.99891062e-01 -1.28380511e-02 7.28348629e-03 9.72478591e+01] [ 1.28341917e-02 9.99917472e-01 5.76384720e-04 2.42494452e+00] [-7.29028486e-03 -4.82844270e-04 9.99973309e-01 3.61384582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.28, Y:2.42, Z:0.36 [[ 9.99937550e-01 -9.55419915e-03 5.79770462e-03 9.72804152e+01] [ 9.55170065e-03 9.99954276e-01 4.58483442e-04 2.42435690e+00] [-5.80181997e-03 -4.03076871e-04 9.99983088e-01 3.61205642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:2.42, Z:0.36 [[ 9.99978888e-01 -3.87293783e-03 5.21755986e-03 9.73126355e+01] [ 3.87083914e-03 9.99992423e-01 4.12274239e-04 2.41912256e+00] [-5.21911704e-03 -3.92069201e-04 9.99986303e-01 3.61531313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:2.42, Z:0.36 [[ 9.99979964e-01 -1.00038777e-03 6.25063412e-03 9.73444044e+01] [ 9.97321427e-04 9.99999381e-01 4.93662719e-04 2.41710914e+00] [-6.25112411e-03 -4.87418936e-04 9.99980343e-01 3.61050407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.38, Y:2.41, Z:0.36 [[ 9.99963946e-01 2.58263537e-03 8.08930352e-03 9.73762244e+01] [-2.58787861e-03 9.99996448e-01 6.37770173e-04 2.40882294e+00] [-8.08762766e-03 -6.58681315e-04 9.99967078e-01 3.60010015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:2.40, Z:0.36 [[ 9.99935136e-01 4.60311121e-03 1.04180373e-02 9.74094677e+01] [-4.61191196e-03 9.99989028e-01 8.20894034e-04 2.40263312e+00] [-1.04141443e-02 -8.68887858e-04 9.99945394e-01 3.60232645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:2.40, Z:0.36 [[ 9.99925128e-01 5.69294074e-03 1.08318051e-02 9.74413457e+01] [-5.70251427e-03 9.99983377e-01 8.53155363e-04 2.40131898e+00] [-1.08267681e-02 -9.14860010e-04 9.99940970e-01 3.59639714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:2.40, Z:0.36 [[ 9.99918547e-01 6.80879883e-03 1.07953316e-02 9.74745400e+01] [-6.81835055e-03 9.99976395e-01 8.48243649e-04 2.39629918e+00] [-1.07893013e-02 -9.21780912e-04 9.99941369e-01 3.59840819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:2.39, Z:0.36 [[ 9.99912817e-01 7.60557686e-03 1.07941703e-02 9.75077733e+01] [-7.61515015e-03 9.99970646e-01 8.46069877e-04 2.39469630e+00] [-1.07874186e-02 -9.28195341e-04 9.99941383e-01 3.59987992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:2.39, Z:0.36 [[ 9.99925838e-01 8.87701927e-03 8.33764385e-03 9.75413667e+01] [-8.88276585e-03 9.99960335e-01 6.52453828e-04 2.38613137e+00] [-8.33152129e-03 -7.26466779e-04 9.99965028e-01 3.58748237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.785336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.58, Y:2.38, Z:0.36 [[ 9.99923626e-01 8.18381483e-03 9.26103873e-03 9.75752110e+01] [-8.19085667e-03 9.99966193e-01 7.22699088e-04 2.37875122e+00] [-9.25481121e-03 -7.98499734e-04 9.99956855e-01 3.57877591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.61, Y:2.38, Z:0.36 [[ 9.99914615e-01 7.42489087e-03 1.07532943e-02 9.76076376e+01] [-7.43431484e-03 9.99972015e-01 8.36672427e-04 2.37627961e+00] [-1.07467811e-02 -9.16544363e-04 9.99941832e-01 3.57304019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.845336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:97.64, Y:2.37, Z:0.36 [[ 9.99933871e-01 5.23008856e-03 1.02420833e-02 9.76401211e+01] [-5.23850560e-03 9.99985963e-01 7.95154887e-04 2.36934180e+00] [-1.02377808e-02 -8.48755515e-04 9.99947232e-01 3.56229641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:2.37, Z:0.36 [[ 9.99945927e-01 5.02068557e-03 9.10690785e-03 9.76738609e+01] [-5.02731937e-03 9.99987114e-01 7.05689488e-04 2.36792596e+00] [-9.10324745e-03 -7.51434663e-04 9.99958282e-01 3.55265389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.71, Y:2.36, Z:0.35 [[ 9.99949806e-01 6.59850852e-03 7.53956916e-03 9.77071955e+01] [-6.60309165e-03 9.99978029e-01 5.83145420e-04 2.35827005e+00] [-7.53555562e-03 -6.32900616e-04 9.99971407e-01 3.53873401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.74, Y:2.35, Z:0.35 [[ 9.99949403e-01 8.51676169e-03 5.35315823e-03 9.77413406e+01] [-8.51909805e-03 9.99963626e-01 4.13795253e-04 2.35036169e+00] [-5.34943932e-03 -4.59378397e-04 9.99985586e-01 3.53610977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:2.35, Z:0.35 [[ 9.99929498e-01 1.04593171e-02 5.62147311e-03 9.77731237e+01] [-1.04619113e-02 9.99945179e-01 4.32263267e-04 2.35019425e+00] [-5.61664375e-03 -4.91044145e-04 9.99984106e-01 3.53940953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:2.35, Z:0.36 [[ 9.99803004e-01 1.69654354e-02 1.03017586e-02 9.78045346e+01] [-1.69744852e-02 9.99855610e-01 7.91668983e-04 2.34625505e+00] [-1.02868402e-02 -9.66380078e-04 9.99946622e-01 3.55851262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:2.34, Z:0.36 [[ 9.99660417e-01 2.37994993e-02 1.06129867e-02 9.78365188e+01] [-2.38094855e-02 9.99716181e-01 8.15574069e-04 2.34355124e+00] [-1.05905643e-02 -1.06798687e-03 9.99943348e-01 3.56009034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:2.34, Z:0.35 [[ 9.99611524e-01 2.65539375e-02 8.46702109e-03 9.78675558e+01] [-2.65603773e-02 9.99647000e-01 6.49023571e-04 2.34491591e+00] [-8.44679810e-03 -8.73658715e-04 9.99963944e-01 3.54674462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:2.34, Z:0.35 [[ 9.99447789e-01 3.26289705e-02 6.28223021e-03 9.78973654e+01] [-3.26326333e-02 9.99467298e-01 4.81400521e-04 2.34496456e+00] [-6.26317605e-03 -6.86140402e-04 9.99980151e-01 3.53800867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:2.35, Z:0.35 [[ 9.99356624e-01 3.53092195e-02 6.29264138e-03 9.79256315e+01] [-3.53129443e-02 9.99376187e-01 4.81771169e-04 2.34724795e+00] [-6.27170499e-03 -7.03672903e-04 9.99980085e-01 3.53987416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:2.35, Z:0.35 [[ 9.99293942e-01 3.70870972e-02 6.01378893e-03 9.79544334e+01] [-3.70905325e-02 9.99311803e-01 4.60678421e-04 2.34885571e+00] [-5.99256503e-03 -6.83407789e-04 9.99981811e-01 3.53842628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:2.35, Z:0.35 [[ 9.99383458e-01 3.45772281e-02 6.09253496e-03 9.79824589e+01] [-3.45807090e-02 9.99401799e-01 4.66883516e-04 2.34943021e+00] [-6.07274687e-03 -6.77279841e-04 9.99981331e-01 3.53770965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:2.35, Z:0.35 [[ 9.99460579e-01 3.22365193e-02 6.27355758e-03 9.80108999e+01] [-3.22401679e-02 9.99480035e-01 4.81306952e-04 2.35165979e+00] [-6.25477989e-03 -6.83307875e-04 9.99980205e-01 3.53546324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.04, Y:2.35, Z:0.35 [[ 9.99657451e-01 2.51617558e-02 7.20178558e-03 9.80393842e+01] [-2.51663859e-02 9.99683123e-01 5.52996096e-04 2.35216228e+00] [-7.18558915e-03 -7.34049583e-04 9.99973914e-01 3.52166089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:2.35, Z:0.35 [[ 9.99829581e-01 1.60599037e-02 9.10426055e-03 9.80699689e+01] [-1.60669342e-02 9.99870674e-01 6.99612635e-04 2.35313225e+00] [-9.09184742e-03 -8.45770964e-04 9.99958311e-01 3.53050354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:2.36, Z:0.35 [[ 9.99878084e-01 1.25909800e-02 9.23491782e-03 9.81022347e+01] [-1.25980704e-02 9.99920389e-01 7.10004637e-04 2.35633015e+00] [-9.22524297e-03 -8.26260221e-04 9.99957105e-01 3.53171511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:2.36, Z:0.35 [[ 9.99939652e-01 7.55857789e-03 7.97250582e-03 9.81347786e+01] [-7.56369972e-03 9.99971207e-01 6.12480429e-04 2.35763819e+00] [-7.96764679e-03 -6.72745107e-04 9.99968031e-01 3.50902514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:2.36, Z:0.35 [[ 9.99956620e-01 5.42302882e-03 7.57290479e-03 9.81678303e+01] [-5.42757981e-03 9.99985102e-01 5.80535135e-04 2.35761121e+00] [-7.56964371e-03 -6.21612497e-04 9.99971157e-01 3.50122174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:2.36, Z:0.35 [[ 9.99967698e-01 3.43750874e-03 7.26550042e-03 9.82014936e+01] [-3.44163717e-03 9.99993923e-01 5.55798607e-04 2.35738183e+00] [-7.26354571e-03 -5.80785870e-04 9.99973451e-01 3.50745333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:2.36, Z:0.35 [[ 9.99972701e-01 4.08337705e-03 6.15822909e-03 9.82331995e+01] [-4.08634966e-03 9.99991540e-01 4.70200198e-04 2.36028955e+00] [-6.15625699e-03 -4.95352040e-04 9.99980927e-01 3.50609245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:2.37, Z:0.35 [[ 9.99975139e-01 6.24272150e-03 3.27864564e-03 9.82661856e+01] [-6.24357394e-03 9.99980477e-01 2.49825276e-04 2.36690917e+00] [-3.27702204e-03 -2.70289532e-04 9.99994594e-01 3.49410269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:2.37, Z:0.35 [[ 9.99953522e-01 8.46789426e-03 4.60970583e-03 9.82977229e+01] [-8.46959791e-03 9.99964071e-01 3.50184167e-04 2.37158879e+00] [-4.60657489e-03 -3.89210246e-04 9.99989314e-01 3.48693819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:2.37, Z:0.35 [[ 9.99934087e-01 1.01138557e-02 5.43423872e-03 9.83291697e+01] [-1.01162513e-02 9.99948744e-01 4.13532381e-04 2.37477300e+00] [-5.42977778e-03 -4.68479248e-04 9.99985149e-01 3.48861857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:2.38, Z:0.35 [[ 9.99884835e-01 1.44886129e-02 4.51618685e-03 9.83601554e+01] [-1.44903054e-02 9.99894951e-01 3.42270995e-04 2.38110054e+00] [-4.51075339e-03 -4.07672504e-04 9.99989743e-01 3.48868675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.39, Y:2.39, Z:0.35 [[ 9.99791981e-01 2.00985286e-02 3.47042490e-03 9.83888651e+01] [-2.00995601e-02 9.99797949e-01 2.62587731e-04 2.39133441e+00] [-3.46444607e-03 -3.32287122e-04 9.99993944e-01 3.49447419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.595336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:2.40, Z:0.35 [[ 9.99748490e-01 2.21846661e-02 3.28603193e-03 9.84173140e+01] [-2.21856019e-02 9.99753838e-01 2.48594879e-04 2.39825206e+00] [-3.27970804e-03 -3.21434952e-04 9.99994570e-01 3.49065112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.44, Y:2.41, Z:0.35 [[ 9.99735010e-01 2.29116142e-02 2.22903567e-03 9.84442052e+01] [-2.29120458e-02 9.99737470e-01 1.68291739e-04 2.40581369e+00] [-2.22459465e-03 -2.19318911e-04 9.99997502e-01 3.46263051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:2.41, Z:0.35 [[ 9.99770563e-01 2.13332432e-02 1.92695962e-03 9.84724410e+01] [-2.13335632e-02 9.99772403e-01 1.45661170e-04 2.40964665e+00] [-1.92341363e-03 -1.86736665e-04 9.99998133e-01 3.45084118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:2.42, Z:0.35 [[ 9.99881542e-01 1.47122292e-02 4.52248861e-03 9.85002317e+01] [-1.47139292e-02 9.99891686e-01 3.42846428e-04 2.42031462e+00] [-4.51695473e-03 -4.09349393e-04 9.99989715e-01 3.46666975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:2.43, Z:0.35 [[ 9.99959926e-01 5.41149297e-03 7.13180838e-03 9.85288597e+01] [-5.41549201e-03 9.99985189e-01 5.41540996e-04 2.42875442e+00] [-7.12877220e-03 -5.80141546e-04 9.99974422e-01 3.47737390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:2.43, Z:0.35 [[ 9.99972344e-01 6.95747475e-04 7.40454190e-03 9.85608931e+01] [-6.99937329e-04 9.99999596e-01 5.63272942e-04 2.43009657e+00] [-7.40414701e-03 -5.68440079e-04 9.99972427e-01 3.47170414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:2.43, Z:0.35 [[ 9.99926171e-01 -8.84252100e-03 8.33437733e-03 9.85939042e+01] [ 8.83755661e-03 9.99960748e-01 6.32292976e-04 2.43005274e+00] [-8.33964126e-03 -5.58590763e-04 9.99965069e-01 3.47383412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.63, Y:2.43, Z:0.35 [[ 9.99868716e-01 -1.33362258e-02 9.20302118e-03 9.86265845e+01] [ 1.33303841e-02 9.99910904e-01 6.95809908e-04 2.43393090e+00] [-9.21148071e-03 -5.73038753e-04 9.99957409e-01 3.47771449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:2.44, Z:0.35 [[ 9.99777909e-01 -1.87750263e-02 9.57245533e-03 9.86592142e+01] [ 1.87689615e-02 9.99823586e-01 7.23015977e-04 2.44113522e+00] [-9.58434126e-03 -5.43190356e-04 9.99953922e-01 3.47204699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:2.44, Z:0.35 [[ 9.99768610e-01 -1.99127562e-02 8.13692849e-03 9.86924101e+01] [ 1.99084153e-02 9.99801619e-01 6.14138290e-04 2.44344941e+00] [-8.14754347e-03 -4.52002833e-04 9.99966706e-01 3.45008454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:2.44, Z:0.34 [[ 9.99749427e-01 -2.11844481e-02 7.23200018e-03 9.87248429e+01] [ 2.11810559e-02 9.99775508e-01 5.45333997e-04 2.43819013e+00] [-7.24192925e-03 -3.92015951e-04 9.99973700e-01 3.42684011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.76, Y:2.44, Z:0.34 [[ 9.99732423e-01 -2.20680287e-02 6.93425509e-03 9.87572157e+01] [ 2.20649341e-02 9.99756403e-01 5.22472512e-04 2.43858984e+00] [-6.94409586e-03 -3.69328829e-04 9.99975821e-01 3.42833854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:2.44, Z:0.34 [[ 9.99691481e-01 -2.39028632e-02 6.75251141e-03 9.87896914e+01] [ 2.38999726e-02 9.99714226e-01 5.08456028e-04 2.44439867e+00] [-6.76273527e-03 -3.46914322e-04 9.99977072e-01 3.44871811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:2.45, Z:0.34 [[ 9.99671503e-01 -2.46990213e-02 6.84424569e-03 9.88222130e+01] [ 2.46960738e-02 9.99694873e-01 5.14855487e-04 2.44667496e+00] [-6.85487375e-03 -3.45660363e-04 9.99976445e-01 3.44763729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.85, Y:2.44, Z:0.34 [[ 9.99638444e-01 -2.49741155e-02 9.96366951e-03 9.88546456e+01] [ 2.49678938e-02 9.99687973e-01 7.48356830e-04 2.44017657e+00] [-9.97925013e-03 -4.99314415e-04 9.99950081e-01 3.42544927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:2.44, Z:0.34 [[ 9.99651684e-01 -2.37544986e-02 1.14992846e-02 9.88878758e+01] [ 2.37461399e-02 9.99717648e-01 8.62900507e-04 2.43739298e+00] [-1.15165355e-02 -5.89536324e-04 9.99933509e-01 3.42548821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:2.44, Z:0.34 [[ 9.99653763e-01 -2.36668203e-02 1.14993490e-02 9.89213163e+01] [ 2.36584656e-02 9.99719728e-01 8.62041679e-04 2.43976299e+00] [-1.15165278e-02 -5.89686256e-04 9.99933509e-01 3.42137212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.95, Y:2.44, Z:0.34 [[ 9.99732089e-01 -2.04125358e-02 1.09123086e-02 9.89538622e+01] [ 2.04048294e-02 9.99791466e-01 8.17093312e-04 2.43544627e+00] [-1.09267120e-02 -5.94210608e-04 9.99940125e-01 3.42229889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:2.44, Z:0.34 [[ 9.99868874e-01 -1.50382733e-02 6.00706877e-03 9.89857271e+01] [ 1.50358397e-02 9.99886854e-01 4.50092207e-04 2.43677341e+00] [-6.01315771e-03 -3.59711866e-04 9.99981856e-01 3.42119708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.02, Y:2.44, Z:0.34 [[ 9.99941110e-01 -9.82924321e-03 4.60034890e-03 9.90180824e+01] [ 9.82776426e-03 9.99951647e-01 3.43982354e-04 2.44034269e+00] [-4.60350755e-03 -2.98750952e-04 9.99989359e-01 3.43224483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:2.44, Z:0.34 [[ 9.99956997e-01 -7.98969860e-03 4.70835278e-03 9.90496965e+01] [ 7.98813066e-03 9.99968033e-01 3.51723725e-04 2.44095073e+00] [-4.71101243e-03 -3.14097662e-04 9.99988854e-01 3.43588808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:2.44, Z:0.34 [[ 9.99967690e-01 -6.08955467e-03 5.24742718e-03 9.90806742e+01] [ 6.08758095e-03 9.99981394e-01 3.92021369e-04 2.43992615e+00] [-5.24971678e-03 -3.60064565e-04 9.99986155e-01 3.43109030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:2.43, Z:0.34 [[ 9.99959416e-01 -3.13647601e-03 8.44561543e-03 9.91135019e+01] [ 3.13126917e-03 9.99994899e-01 6.29667028e-04 2.43372967e+00] [-8.44754729e-03 -6.03195979e-04 9.99964137e-01 3.42393769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.15, Y:2.43, Z:0.34 [[ 9.99941602e-01 -2.58156909e-03 1.04942198e-02 9.91462199e+01] [ 2.57350559e-03 9.99996383e-01 7.81806645e-04 2.43223279e+00] [-1.04962002e-02 -7.54754056e-04 9.99944629e-01 3.41541350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.18, Y:2.43, Z:0.34 [[ 9.99961599e-01 -4.01892693e-03 7.78771558e-03 9.91783954e+01] [ 4.01452869e-03 9.99991773e-01 5.80316283e-04 2.43430577e+00] [-7.78998377e-03 -5.49029991e-04 9.99969507e-01 3.40265583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.345336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.21, Y:2.44, Z:0.34 [[ 9.99961413e-01 -5.70791842e-03 6.67772781e-03 9.92102070e+01] [ 5.70473246e-03 9.99983605e-01 4.96051962e-04 2.43566231e+00] [-6.68044975e-03 -4.57938171e-04 9.99977581e-01 3.39572025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.24, Y:2.43, Z:0.34 [[ 9.99945286e-01 -9.33052387e-03 4.72936406e-03 9.92436221e+01] [ 9.32896192e-03 9.99956422e-01 3.52219716e-04 2.43008150e+00] [-4.73244436e-03 -3.08080387e-04 9.99988754e-01 3.37566805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:2.42, Z:0.34 [[ 9.99933259e-01 -1.08697390e-02 3.91498385e-03 9.92754149e+01] [ 1.08686868e-02 9.99940892e-01 2.89948722e-04 2.42481965e+00] [-3.91790411e-03 -2.47378637e-04 9.99992294e-01 3.35650986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:2.42, Z:0.34 [[ 9.99896292e-01 -1.38175364e-02 4.05967540e-03 9.93082257e+01] [ 1.38164294e-02 9.99904503e-01 3.00595059e-04 2.41509598e+00] [-4.06344119e-03 -2.44473666e-04 9.99991714e-01 3.35039663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.34, Y:2.41, Z:0.34 [[ 9.99883168e-01 -1.40743044e-02 5.96365184e-03 9.93400031e+01] [ 1.40719238e-02 9.99900888e-01 4.40955982e-04 2.41289879e+00] [-5.96926692e-03 -3.56984410e-04 9.99982120e-01 3.37421095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:2.41, Z:0.34 [[ 9.99898216e-01 -1.25239595e-02 6.83433819e-03 9.93718408e+01] [ 1.25207985e-02 9.99921484e-01 5.05106798e-04 2.41381763e+00] [-6.84012752e-03 -4.19484014e-04 9.99976518e-01 3.38767411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.40, Y:2.41, Z:0.34 [[ 9.99951935e-01 -5.78166765e-03 7.91837444e-03 9.94035854e+01] [ 5.77721797e-03 9.99983141e-01 5.84702095e-04 2.41247988e+00] [-7.92162149e-03 -5.38927816e-04 9.99968478e-01 3.39732673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:2.41, Z:0.34 [[ 9.99970466e-01 -9.38000225e-04 7.62806450e-03 9.94359276e+01] [ 9.33732167e-04 9.99999406e-01 5.63062554e-04 2.41128294e+00] [-7.62858811e-03 -5.55923356e-04 9.99970747e-01 3.39445562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.47, Y:2.41, Z:0.34 [[ 9.99923562e-01 1.06116629e-02 6.34525563e-03 9.94674322e+01] [-1.06148455e-02 9.99943551e-01 4.68099769e-04 2.40890311e+00] [-6.33993013e-03 -5.35417897e-04 9.99979759e-01 3.39141676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.50, Y:2.42, Z:0.34 [[ 9.99743608e-01 2.21506024e-02 4.69778397e-03 9.94978006e+01] [-2.21524725e-02 9.99754544e-01 3.46421440e-04 2.41652801e+00] [-4.68895743e-03 -4.50400150e-04 9.99988905e-01 3.39049628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:2.42, Z:0.34 [[ 9.99640994e-01 2.66033093e-02 3.18546392e-03 9.95267215e+01] [-2.66041903e-02 9.99646018e-01 2.34489639e-04 2.42202309e+00] [-3.17809813e-03 -3.19152144e-04 9.99994899e-01 3.38240154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.55, Y:2.43, Z:0.34 [[ 9.99421726e-01 3.39345454e-02 2.15884469e-03 9.95542511e+01] [-3.39349660e-02 9.99424031e-01 1.58474818e-04 2.42581548e+00] [-2.15222349e-03 -2.31643497e-04 9.99997657e-01 3.36085505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:2.43, Z:0.34 [[ 9.99242525e-01 3.87283420e-02 3.80692001e-03 9.95832756e+01] [-3.87296879e-02 9.99249685e-01 2.80430783e-04 2.42927154e+00] [-3.79320300e-03 -4.27659187e-04 9.99992714e-01 3.35555974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:2.43, Z:0.34 [[ 9.99222469e-01 3.91189322e-02 4.91602246e-03 9.96109052e+01] [-3.91211827e-02 9.99234408e-01 3.62420843e-04 2.43400473e+00] [-4.89808128e-03 -5.54459663e-04 9.99987851e-01 3.35850078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:2.44, Z:0.34 [[ 9.99315114e-01 3.63205237e-02 7.07977744e-03 9.96387414e+01] [-3.63251278e-02 9.99339888e-01 5.22778642e-04 2.44461296e+00] [-7.05611640e-03 -7.79594419e-04 9.99974801e-01 3.36265165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:2.45, Z:0.34 [[ 9.99407886e-01 3.36147586e-02 7.34342027e-03 9.96679103e+01] [-3.36196433e-02 9.99434553e-01 5.42720361e-04 2.44973909e+00] [-7.32102454e-03 -7.89282179e-04 9.99972889e-01 3.35238501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.70, Y:2.45, Z:0.33 [[ 9.99649267e-01 2.58492415e-02 5.75836562e-03 9.96959323e+01] [-2.58521180e-02 9.99665688e-01 4.25648453e-04 2.45312482e+00] [-5.74543784e-03 -5.74365111e-04 9.99983330e-01 3.32294310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:2.46, Z:0.33 [[ 9.99845021e-01 1.71069341e-02 4.15782047e-03 9.97252303e+01] [-1.71083593e-02 9.99853594e-01 3.07447033e-04 2.46131793e+00] [-4.15195227e-03 -3.78532871e-04 9.99991309e-01 3.31411709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.76, Y:2.47, Z:0.33 [[ 9.99905194e-01 1.35128569e-02 2.64693018e-03 9.97551660e+01] [-1.35134223e-02 9.99908670e-01 1.95817782e-04 2.46688704e+00] [-2.64404238e-03 -2.31568303e-04 9.99996478e-01 3.30704435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.78, Y:2.47, Z:0.33 [[ 9.99967417e-01 8.07194685e-03 9.37065739e-05 9.97844546e+01] [-8.07194752e-03 9.99967421e-01 6.78686142e-06 2.46981703e+00] [-9.36487380e-05 -7.54303482e-06 9.99999996e-01 3.28314264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:2.47, Z:0.33 [[ 9.99988373e-01 4.39304379e-03 1.98886175e-03 9.98139528e+01] [-4.39334463e-03 9.99990338e-01 1.46919571e-04 2.47057452e+00] [-1.98819711e-03 -1.55655618e-04 9.99998011e-01 3.27723342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:2.48, Z:0.33 [[ 9.99984352e-01 -1.91904555e-03 5.25486653e-03 9.98442589e+01] [ 1.91702765e-03 9.99998087e-01 3.89016683e-04 2.47733513e+00] [-5.25560302e-03 -3.78936871e-04 9.99986117e-01 3.30115531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:2.48, Z:0.33 [[ 9.99960563e-01 -5.26175150e-03 7.15444855e-03 9.98770588e+01] [ 5.25809064e-03 9.99986035e-01 5.30403576e-04 2.48408826e+00] [-7.15713949e-03 -4.92763920e-04 9.99974266e-01 3.31408894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:2.49, Z:0.33 [[ 9.99898775e-01 -1.13050978e-02 8.63907563e-03 9.99088685e+01] [ 1.13000030e-02 9.99935949e-01 6.38331720e-04 2.49131256e+00] [-8.64573869e-03 -5.40645525e-04 9.99962479e-01 3.31729699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:2.49, Z:0.33 [[ 9.99859085e-01 -1.49076958e-02 7.71816537e-03 9.99413825e+01] [ 1.49037486e-02 9.99888771e-01 5.68686725e-04 2.49281594e+00] [-7.72578470e-03 -4.53576993e-04 9.99970053e-01 3.30136609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.095336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.97, Y:2.49, Z:0.33 [[ 9.99731714e-01 -2.20013966e-02 7.24143179e-03 9.99745431e+01] [ 2.19981107e-02 9.99757870e-01 5.33108463e-04 2.48692155e+00] [-7.25140756e-03 -3.73667619e-04 9.99973638e-01 3.26374267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.01, Y:2.49, Z:0.33 [[ 9.99642848e-01 -2.53957820e-02 8.32045576e-03 1.00006452e+02] [ 2.53915675e-02 9.99677395e-01 6.11787578e-04 2.48520609e+00] [-8.33330837e-03 -4.00299663e-04 9.99965197e-01 3.27151640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.04, Y:2.49, Z:0.33 [[ 9.99631085e-01 -2.58415856e-02 8.36102334e-03 1.00038783e+02] [ 2.58373491e-02 9.99665971e-01 6.14326241e-04 2.49083071e+00] [-8.37410568e-03 -3.98072927e-04 9.99964857e-01 3.28668553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:2.50, Z:0.33 [[ 9.99683619e-01 -2.41685117e-02 6.96740292e-03 1.00070135e+02] [ 2.41655322e-02 9.99707840e-01 5.11521908e-04 2.49898899e+00] [-6.97773005e-03 -3.42989073e-04 9.99975597e-01 3.29187638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.10, Y:2.50, Z:0.33 [[ 9.99719400e-01 -2.30625346e-02 5.40743217e-03 1.00103549e+02] [ 2.30607241e-02 9.99733987e-01 3.96934091e-04 2.50089392e+00] [-5.41514803e-03 -2.72123411e-04 9.99985301e-01 3.27330072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:2.50, Z:0.32 [[ 9.99769707e-01 -2.12299153e-02 3.13442081e-03 1.00136589e+02] [ 2.12292982e-02 9.99774607e-01 2.30011162e-04 2.49663202e+00] [-3.13859745e-03 -1.63416638e-04 9.99995061e-01 3.24344831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.17, Y:2.49, Z:0.32 [[ 9.99779433e-01 -2.07980474e-02 2.92015004e-03 1.00167817e+02] [ 2.07975106e-02 9.99783685e-01 2.14071178e-04 2.49225479e+00] [-2.92397063e-03 -1.53292109e-04 9.99995713e-01 3.24619572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.20, Y:2.50, Z:0.33 [[ 9.99767622e-01 -2.10571704e-02 4.61487107e-03 1.00200152e+02] [ 2.10558340e-02 9.99778244e-01 3.37979465e-04 2.49522921e+00] [-4.62096459e-03 -2.40730967e-04 9.99989294e-01 3.27346206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.23, Y:2.50, Z:0.33 [[ 9.99756635e-01 -2.11829337e-02 6.16061104e-03 1.00231596e+02] [ 2.11805580e-02 9.99775565e-01 4.50619048e-04 2.49773936e+00] [-6.16877382e-03 -3.20024204e-04 9.99980922e-01 3.27806347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:2.49, Z:0.33 [[ 9.99718721e-01 -2.22291236e-02 8.26708331e-03 1.00264154e+02] [ 2.22248845e-02 9.99752814e-01 6.04300188e-04 2.49439459e+00] [-8.27847287e-03 -4.20395240e-04 9.99965644e-01 3.27232308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:2.49, Z:0.33 [[ 9.99694622e-01 -2.30484343e-02 8.91244374e-03 1.00297213e+02] [ 2.30435442e-02 9.99734250e-01 6.50998165e-04 2.48659278e+00] [-8.92507975e-03 -4.45425074e-04 9.99960071e-01 3.25278435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:2.49, Z:0.32 [[ 9.99701509e-01 -2.29568610e-02 8.35914798e-03 1.00329661e+02] [ 2.29525587e-02 9.99736369e-01 6.10263293e-04 2.48623422e+00] [-8.37095398e-03 -4.18217301e-04 9.99964875e-01 3.24796765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:2.49, Z:0.33 [[ 9.99732790e-01 -2.19326692e-02 7.30114364e-03 1.00362496e+02] [ 2.19293620e-02 9.99759381e-01 5.32725470e-04 2.48905214e+00] [-7.31107094e-03 -3.72473699e-04 9.99973204e-01 3.25616740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:2.49, Z:0.33 [[ 9.99761240e-01 -2.05316045e-02 7.47772658e-03 1.00394662e+02] [ 2.05281011e-02 9.99789128e-01 5.44970770e-04 2.48933914e+00] [-7.48733886e-03 -3.91337125e-04 9.99971893e-01 3.25257119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.43, Y:2.48, Z:0.32 [[ 9.99836136e-01 -1.72477573e-02 5.49682277e-03 1.00427845e+02] [ 1.72458152e-02 9.99851200e-01 4.00507606e-04 2.47863028e+00] [-5.50291270e-03 -3.05644787e-04 9.99984812e-01 3.22160749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.46, Y:2.48, Z:0.32 [[ 9.99874283e-01 -1.53107739e-02 4.12279222e-03 1.00459211e+02] [ 1.53096657e-02 9.99882755e-01 3.00237315e-04 2.47527481e+00] [-4.12690571e-03 -2.37081000e-04 9.99991456e-01 3.23400038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:2.48, Z:0.32 [[ 9.99888569e-01 -1.38626926e-02 5.53844752e-03 1.00491272e+02] [ 1.38606720e-02 9.99903855e-01 4.03039002e-04 2.47725022e+00] [-5.54350223e-03 -3.26227486e-04 9.99984581e-01 3.24861052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.52, Y:2.47, Z:0.32 [[ 9.99910670e-01 -1.18355312e-02 6.21065286e-03 1.00524269e+02] [ 1.18329537e-02 9.99929886e-01 4.51594681e-04 2.47294208e+00] [-6.21556227e-03 -3.78063972e-04 9.99980612e-01 3.24146796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.56, Y:2.46, Z:0.32 [[ 9.99939650e-01 -9.74802530e-03 5.06673083e-03 1.00557373e+02] [ 9.74628378e-03 9.99952436e-01 3.68295317e-04 2.46497949e+00] [-5.07007998e-03 -3.18891294e-04 9.99987096e-01 3.22394015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:2.46, Z:0.32 [[ 9.99952228e-01 -8.20612830e-03 5.31047060e-03 1.00589151e+02] [ 8.20419551e-03 9.99966271e-01 3.85639439e-04 2.46330053e+00] [-5.31345608e-03 -3.42052877e-04 9.99985825e-01 3.21390763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:2.46, Z:0.32 [[ 9.99974944e-01 -4.59950199e-03 5.38105145e-03 1.00621394e+02] [ 4.59746618e-03 9.99989355e-01 3.90638525e-04 2.45760855e+00] [-5.38279091e-03 -3.65889535e-04 9.99985446e-01 3.19525515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:2.45, Z:0.32 [[ 9.99991248e-01 4.79982685e-05 4.18358860e-03 1.00653847e+02] [-4.92689990e-05 9.99999953e-01 3.03639224e-04 2.45405995e+00] [-4.18357382e-03 -3.03842688e-04 9.99991203e-01 3.20426006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:2.45, Z:0.32 [[ 9.99986031e-01 3.07148833e-03 4.30170970e-03 1.00684847e+02] [-3.07285829e-03 9.99995230e-01 3.11895697e-04 2.45352347e+00] [-4.30073120e-03 -3.25109885e-04 9.99990699e-01 3.20838055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:2.45, Z:0.32 [[ 9.99949128e-01 9.11052720e-03 4.32895983e-03 1.00716664e+02] [-9.11197013e-03 9.99958436e-01 3.13715525e-04 2.44822421e+00] [-4.32592179e-03 -3.53144918e-04 9.99990581e-01 3.20637782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:2.44, Z:0.32 [[ 9.99892017e-01 1.39709227e-02 4.55707669e-03 1.00749001e+02] [-1.39725714e-02 9.99902324e-01 3.30168376e-04 2.44334535e+00] [-4.55201882e-03 -3.93806803e-04 9.99989562e-01 3.20036557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.845336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:2.44, Z:0.32 [[ 9.99849042e-01 1.63068131e-02 5.99838613e-03 1.00780283e+02] [-1.63097127e-02 9.99866893e-01 4.34786840e-04 2.43919664e+00] [-5.99049772e-03 -5.32553160e-04 9.99981915e-01 3.19908917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:2.44, Z:0.32 [[ 9.99841852e-01 1.68671570e-02 5.63642191e-03 1.00812223e+02] [-1.68697218e-02 9.99857613e-01 4.07819053e-04 2.43926142e+00] [-5.62874061e-03 -5.02839427e-04 9.99984032e-01 3.19971264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:2.44, Z:0.32 [[ 9.99813142e-01 1.89077568e-02 4.02228839e-03 1.00843126e+02] [-1.89090786e-02 9.99821165e-01 2.90847782e-04 2.43958027e+00] [-4.01606978e-03 -3.66851202e-04 9.99991868e-01 3.19396843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:2.44, Z:0.32 [[ 9.99784193e-01 2.04526279e-02 3.64105924e-03 1.00874984e+02] [-2.04537160e-02 9.99790767e-01 2.61856105e-04 2.44006501e+00] [-3.63494176e-03 -3.36272786e-04 9.99993337e-01 3.18444928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.91, Y:2.44, Z:0.32 [[ 9.99722423e-01 2.30965043e-02 4.65069512e-03 1.00905400e+02] [-2.30983067e-02 9.99733143e-01 3.34189930e-04 2.43733154e+00] [-4.64173543e-03 -4.41520349e-04 9.99989130e-01 3.18339139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.94, Y:2.44, Z:0.32 [[ 9.99722162e-01 2.31077879e-02 4.65069911e-03 1.00936320e+02] [-2.31095900e-02 9.99732882e-01 3.34134400e-04 2.43954800e+00] [-4.64173571e-03 -4.41517314e-04 9.99989130e-01 3.17958348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.97, Y:2.44, Z:0.32 [[ 9.99665162e-01 2.54743312e-02 4.54127001e-03 1.00967645e+02] [-2.54760740e-02 9.99675379e-01 3.26311139e-04 2.43831802e+00] [-4.53148326e-03 -4.41895608e-04 9.99989635e-01 3.16775166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:2.44, Z:0.32 [[ 9.99652236e-01 2.62691434e-02 2.31046792e-03 1.00998582e+02] [-2.62695962e-02 9.99654881e-01 1.65876670e-04 2.43895359e+00] [-2.30531310e-03 -2.26514044e-04 9.99997317e-01 3.15277006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:2.44, Z:0.31 [[ 9.99622813e-01 2.74560149e-02 -6.31780256e-04 1.01028081e+02] [-2.74560489e-02 9.99623011e-01 -4.52236957e-05 2.44069281e+00] [ 6.30300419e-04 6.25528275e-05 9.99999799e-01 3.13658337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:2.45, Z:0.31 [[ 9.99614165e-01 2.77748028e-02 2.87007978e-04 1.01056921e+02] [-2.77748097e-02 9.99614205e-01 2.00425119e-05 2.44835271e+00] [-2.86340575e-04 -2.80063707e-05 9.99999959e-01 3.14579989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:2.45, Z:0.31 [[ 9.99634975e-01 2.69891928e-02 1.22515318e-03 1.01086748e+02] [-2.69893204e-02 9.99635718e-01 8.77420691e-05 2.45344704e+00] [-1.22233879e-03 -1.20776093e-04 9.99999246e-01 3.14876255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:2.46, Z:0.31 [[ 9.99719156e-01 2.35661291e-02 2.49922997e-03 1.01116108e+02] [-2.35666504e-02 9.99722252e-01 1.79346083e-04 2.45593834e+00] [-2.49430932e-03 -2.38194193e-04 9.99996861e-01 3.14326781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:2.46, Z:0.31 [[ 9.99866777e-01 1.61197492e-02 2.56541232e-03 1.01146039e+02] [-1.61202753e-02 9.99870043e-01 1.84510211e-04 2.45677824e+00] [-2.56210467e-03 -2.25840782e-04 9.99996692e-01 3.12541266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:2.46, Z:0.31 [[ 9.99936170e-01 1.10754901e-02 2.23380172e-03 1.01176803e+02] [-1.10758762e-02 9.99938648e-01 1.60533337e-04 2.45997888e+00] [-2.23188669e-03 -1.85264401e-04 9.99997492e-01 3.11399331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:2.46, Z:0.31 [[ 9.99996858e-01 -3.33248254e-04 2.48441580e-03 1.01208419e+02] [ 3.32804865e-04 9.99999929e-01 1.78879596e-04 2.46409733e+00] [-2.48447524e-03 -1.78052209e-04 9.99996898e-01 3.10453508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.24, Y:2.46, Z:0.31 [[ 9.99934114e-01 -1.12868018e-02 2.09196127e-03 1.01239673e+02] [ 1.12865088e-02 9.99936294e-01 1.51782433e-04 2.46398910e+00] [-2.09354114e-03 -1.28161494e-04 9.99997800e-01 3.10439891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.27, Y:2.46, Z:0.31 [[ 9.99869669e-01 -1.60255370e-02 1.95620707e-03 1.01272027e+02] [ 1.60252923e-02 9.99871577e-01 1.40697371e-04 2.46261748e+00] [-1.95821060e-03 -1.09330244e-04 9.99998077e-01 3.09897863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:2.46, Z:0.31 [[ 9.99721034e-01 -2.31668092e-02 4.59923714e-03 1.01305206e+02] [ 2.31655364e-02 9.99731589e-01 3.29826063e-04 2.45614032e+00] [-4.60564367e-03 -2.23190257e-04 9.99989369e-01 3.09965582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.34, Y:2.46, Z:0.31 [[ 9.99624630e-01 -2.59077172e-02 8.91012197e-03 1.01337717e+02] [ 2.59030572e-02 9.99664256e-01 6.38029105e-04 2.45802175e+00] [-8.92366033e-03 -4.06990209e-04 9.99960101e-01 3.13560143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:2.46, Z:0.31 [[ 9.99629456e-01 -2.53652594e-02 9.87696160e-03 1.01370226e+02] [ 2.53595118e-02 9.99678146e-01 7.06748426e-04 2.46144246e+00] [-9.89170952e-03 -4.56011621e-04 9.99950972e-01 3.13895363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.40, Y:2.46, Z:0.31 [[ 9.99726205e-01 -2.21934587e-02 7.41393216e-03 1.01401756e+02] [ 2.21901353e-02 9.99753628e-01 5.30236903e-04 2.46106442e+00] [-7.42387337e-03 -3.65575569e-04 9.99972376e-01 3.12314758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:2.46, Z:0.31 [[ 9.99834042e-01 -1.73657793e-02 5.50618130e-03 1.01434346e+02] [ 1.73638733e-02 9.99849159e-01 3.93784704e-04 2.45603360e+00] [-5.51218912e-03 -2.98110718e-04 9.99984763e-01 3.10555494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.47, Y:2.46, Z:0.31 [[ 9.99882871e-01 -1.43947015e-02 5.19968499e-03 1.01466574e+02] [ 1.43929628e-02 9.99896347e-01 3.71656274e-04 2.45525411e+00] [-5.20449591e-03 -2.96773869e-04 9.99986412e-01 3.10597625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:2.46, Z:0.31 [[ 9.99951619e-01 -9.27512459e-03 3.27600441e-03 1.01498182e+02] [ 9.27440719e-03 9.99956964e-01 2.34110422e-04 2.45580675e+00] [-3.27803483e-03 -2.03716096e-04 9.99994606e-01 3.10650955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:2.46, Z:0.31 [[ 9.99988744e-01 -3.76498623e-03 2.88718356e-03 1.01529372e+02] [ 3.76440599e-03 9.99992893e-01 2.06377825e-04 2.46430165e+00] [-2.88794005e-03 -1.95506972e-04 9.99995811e-01 3.12194873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:2.47, Z:0.31 [[ 9.99990190e-01 -5.98389717e-04 4.38892313e-03 1.01560037e+02] [ 5.97021491e-04 9.99999773e-01 3.13048924e-04 2.46947409e+00] [-4.38910945e-03 -3.10425572e-04 9.99990320e-01 3.11881459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:2.47, Z:0.31 [[ 9.99958685e-01 4.30941889e-03 8.00363493e-03 1.01592110e+02] [-4.31412290e-03 9.99990531e-01 5.70562701e-04 2.46797197e+00] [-8.00110035e-03 -6.05067793e-04 9.99967808e-01 3.10313816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:2.47, Z:0.31 [[ 9.99945046e-01 6.45657507e-03 8.25940375e-03 1.01625664e+02] [-6.46165485e-03 9.99978950e-01 5.88492500e-04 2.46562217e+00] [-8.25543025e-03 -6.41829576e-04 9.99965717e-01 3.10108334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:2.47, Z:0.31 [[ 9.99946097e-01 7.23473092e-03 7.44724389e-03 1.01658480e+02] [-7.23888313e-03 9.99973658e-01 5.30745721e-04 2.46813996e+00] [-7.44320791e-03 -5.84626841e-04 9.99972128e-01 3.09853844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:2.47, Z:0.31 [[ 9.99956308e-01 6.85182488e-03 6.35885585e-03 1.01691129e+02] [-6.85483913e-03 9.99976403e-01 4.52349848e-04 2.46923700e+00] [-6.35560637e-03 -4.95919018e-04 9.99979680e-01 3.08621674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.72, Y:2.47, Z:0.31 [[ 9.99977934e-01 3.74725599e-03 5.48541553e-03 1.01724676e+02] [-3.74944904e-03 9.99992895e-01 3.89567345e-04 2.46956333e+00] [-5.48391675e-03 -4.10126034e-04 9.99984879e-01 3.08017627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.76, Y:2.47, Z:0.31 [[ 9.99986219e-01 1.50925481e-03 5.02839996e-03 1.01757605e+02] [-1.51106591e-03 9.99998795e-01 3.56394656e-04 2.47379414e+00] [-5.02785601e-03 -3.63987988e-04 9.99987294e-01 3.08703636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:2.48, Z:0.31 [[ 9.99976491e-01 -4.50938501e-03 5.16549292e-03 1.01789098e+02] [ 4.50756183e-03 9.99989774e-01 3.64542127e-04 2.47773720e+00] [-5.16708396e-03 -3.41249778e-04 9.99986592e-01 3.07968828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:2.47, Z:0.31 [[ 9.99926919e-01 -9.90715909e-03 6.92850962e-03 1.01822004e+02] [ 9.90401508e-03 9.99950835e-01 4.87943103e-04 2.47207025e+00] [-6.93300311e-03 -4.19287380e-04 9.99975879e-01 3.08042103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:2.47, Z:0.31 [[ 9.99908365e-01 -1.14649801e-02 7.19836182e-03 1.01854194e+02] [ 1.14616412e-02 9.99934186e-01 5.04926831e-04 2.46913597e+00] [-7.20367704e-03 -4.22375521e-04 9.99973964e-01 3.07456593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:2.46, Z:0.31 [[ 9.99883299e-01 -1.41694177e-02 5.71102855e-03 1.01887049e+02] [ 1.41673608e-02 9.99899558e-01 4.00450024e-04 2.46347760e+00] [-5.71612907e-03 -3.19493089e-04 9.99983612e-01 3.06228204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:2.47, Z:0.31 [[ 9.99847987e-01 -1.65929357e-02 5.35520973e-03 1.01918212e+02] [ 1.65911635e-02 9.99862287e-01 3.75200911e-04 2.46583005e+00] [-5.36069793e-03 -2.86294716e-04 9.99985590e-01 3.07064497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:2.47, Z:0.31 [[ 9.99841591e-01 -1.69749360e-02 5.35212845e-03 1.01950007e+02] [ 1.69731718e-02 9.99855875e-01 3.74874379e-04 2.47054215e+00] [-5.35772055e-03 -2.83972400e-04 9.99985607e-01 3.07175380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:2.47, Z:0.31 [[ 9.99871051e-01 -1.53650794e-02 4.66859285e-03 1.01980711e+02] [ 1.53637206e-02 9.99881918e-01 3.26765367e-04 2.47169875e+00] [-4.67306235e-03 -2.54996275e-04 9.99989049e-01 3.06406186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.01, Y:2.47, Z:0.31 [[ 9.99894580e-01 -1.32170826e-02 6.01138034e-03 1.02012627e+02] [ 1.31834694e-02 9.99897428e-01 5.59726508e-03 2.46685839e+00] [-6.08474326e-03 -5.51742417e-03 9.99966266e-01 3.05774738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.04, Y:2.47, Z:0.31 [[ 9.99949285e-01 -7.57433957e-03 6.63746558e-03 1.02044286e+02] [ 7.60534682e-03 9.99960226e-01 -4.65882792e-03 2.47212087e+00] [-6.60191404e-03 4.70907188e-03 9.99967119e-01 3.07952448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.08, Y:2.47, Z:0.31 [[ 9.99983109e-01 -2.31213184e-03 5.33249433e-03 1.02076265e+02] [ 2.31017770e-03 9.99997262e-01 3.72588991e-04 2.47121888e+00] [-5.33334121e-03 -3.60263688e-04 9.99985713e-01 3.06637574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.11, Y:2.47, Z:0.31 [[ 9.99980944e-01 2.48045791e-03 5.65321482e-03 1.02107538e+02] [-2.48272822e-03 9.99996840e-01 3.94613953e-04 2.47461584e+00] [-5.65221813e-03 -4.08641829e-04 9.99983943e-01 3.06758129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.14, Y:2.48, Z:0.31 [[ 9.99957225e-01 5.93073781e-03 7.09746075e-03 1.02139234e+02] [-5.93440062e-03 9.99982269e-01 4.95125635e-04 2.48219254e+00] [-7.09439844e-03 -5.37223631e-04 9.99974690e-01 3.06750393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.17, Y:2.49, Z:0.31 [[ 9.99952079e-01 6.98453842e-03 6.85968038e-03 1.02171274e+02] [-6.98798728e-03 9.99975469e-01 4.78932217e-04 2.48649026e+00] [-6.85616698e-03 -5.26844625e-04 9.99976357e-01 3.06298538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:2.49, Z:0.31 [[ 9.99953044e-01 7.42516415e-03 6.22705608e-03 1.02204276e+02] [-7.42800933e-03 9.99972318e-01 4.33904025e-04 2.48829289e+00] [-6.22366189e-03 -4.80138281e-04 9.99980518e-01 3.05236692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.24, Y:2.49, Z:0.30 [[ 9.99951568e-01 7.16483978e-03 6.74740571e-03 1.02237052e+02] [-7.16816535e-03 9.99974198e-01 4.68811900e-04 2.48960193e+00] [-6.74387266e-03 -5.17155714e-04 9.99977126e-01 3.04505852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.27, Y:2.49, Z:0.30 [[ 9.99958127e-01 5.84624068e-03 7.04028876e-03 1.02269861e+02] [-5.84981863e-03 9.99982771e-01 4.87725037e-04 2.49298875e+00] [-7.03731610e-03 -5.28889027e-04 9.99975098e-01 3.04706315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.30, Y:2.50, Z:0.30 [[ 9.99964557e-01 5.30418660e-03 6.53831479e-03 1.02301740e+02] [-5.30725358e-03 9.99985814e-01 4.51817063e-04 2.49771872e+00] [-6.53582552e-03 -4.86501544e-04 9.99978523e-01 3.04381229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.33, Y:2.51, Z:0.30 [[ 9.99974457e-01 4.75212672e-03 5.33877673e-03 1.02334640e+02] [-4.75416108e-03 9.99988631e-01 3.68428910e-04 2.50603105e+00] [-5.33696521e-03 -3.93800904e-04 9.99985681e-01 3.03261546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.37, Y:2.51, Z:0.30 [[ 9.99974437e-01 3.97425572e-03 5.94399535e-03 1.02367877e+02] [-3.97675602e-03 9.99992009e-01 4.08882050e-04 2.50852044e+00] [-5.94232286e-03 -4.32509417e-04 9.99982251e-01 3.01942687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.40, Y:2.51, Z:0.30 [[ 9.99980970e-01 3.32879528e-03 5.19411991e-03 1.02401177e+02] [-3.33069261e-03 9.99994390e-01 3.56677462e-04 2.50985543e+00] [-5.19290347e-03 -3.73970691e-04 9.99986447e-01 3.01987510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.43, Y:2.51, Z:0.30 [[ 9.99994355e-01 -4.67103409e-04 3.32748207e-03 1.02433594e+02] [ 4.66345339e-04 9.99999865e-01 2.28593140e-04 2.51150086e+00] [-3.32758840e-03 -2.27040094e-04 9.99994438e-01 3.01049821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.47, Y:2.52, Z:0.30 [[ 9.99970393e-01 -3.95403693e-03 6.60144272e-03 1.02465335e+02] [ 3.95115088e-03 9.99992093e-01 4.50169595e-04 2.51958375e+00] [-6.60317051e-03 -4.24072970e-04 9.99978109e-01 3.02594557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.50, Y:2.52, Z:0.30 [[ 9.99951913e-01 -5.23467345e-03 8.29279117e-03 1.02498022e+02] [ 5.20501883e-03 9.99979997e-01 3.59350779e-03 2.52446475e+00] [-8.31143613e-03 -3.55017086e-03 9.99959157e-01 3.02619000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.53, Y:2.53, Z:0.30 [[ 9.99956418e-01 -6.36547148e-03 6.82950367e-03 1.02528967e+02] [ 6.38324055e-03 9.99976290e-01 -2.58317479e-03 2.53340417e+00] [-6.81289862e-03 2.62665657e-03 9.99973342e-01 3.01105668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.56, Y:2.53, Z:0.30 [[ 9.99944111e-01 -8.48596947e-03 6.30578231e-03 1.02561075e+02] [ 8.48344628e-03 9.99963924e-01 4.26780022e-04 2.52609131e+00] [-6.30917646e-03 -3.73261404e-04 9.99980027e-01 2.99686769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.59, Y:2.53, Z:0.30 [[ 9.99920915e-01 -1.05022558e-02 6.91856490e-03 1.02591753e+02] [ 1.04992684e-02 9.99944772e-01 4.67965061e-04 2.52814891e+00] [-6.92309748e-03 -3.95288182e-04 9.99975957e-01 3.01630729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.62, Y:2.53, Z:0.30 [[ 9.99911915e-01 -1.14208425e-02 6.76215931e-03 1.02623249e+02] [ 1.14180107e-02 9.99934708e-01 4.57228477e-04 2.53470869e+00] [-6.76693973e-03 -3.79977794e-04 9.99977032e-01 3.01486577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.65, Y:2.54, Z:0.30 [[ 9.99906436e-01 -1.23178454e-02 5.94901861e-03 1.02654961e+02] [ 1.23156707e-02 9.99924078e-01 4.02051503e-04 2.53940204e+00] [-5.95351936e-03 -3.28747731e-04 9.99982224e-01 3.00013764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.69, Y:2.54, Z:0.30 [[ 9.99907667e-01 -1.20496664e-02 6.28192754e-03 1.02686596e+02] [ 1.20472387e-02 9.99927339e-01 4.24145622e-04 2.53933466e+00] [-6.28658191e-03 -3.48426578e-04 9.99980179e-01 2.99264091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.72, Y:2.54, Z:0.30 [[ 9.99919386e-01 -1.12303198e-02 5.92465513e-03 1.02719020e+02] [ 1.12281467e-02 9.99936882e-01 3.99913169e-04 2.53587550e+00] [-5.92877233e-03 -3.33358033e-04 9.99982369e-01 2.97227427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.75, Y:2.54, Z:0.30 [[ 9.99908048e-01 -1.25255583e-02 5.19677943e-03 1.02750504e+02] [ 1.25239052e-02 9.99921511e-01 3.50521379e-04 2.53914962e+00] [-5.20076202e-03 -2.85405175e-04 9.99986435e-01 2.96935963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.78, Y:2.55, Z:0.30 [[ 9.99890157e-01 -1.31742282e-02 6.79071388e-03 1.02782823e+02] [ 1.31714225e-02 9.99913148e-01 4.57713554e-04 2.54503766e+00] [-6.79615412e-03 -3.68219915e-04 9.99976838e-01 2.97965960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.82, Y:2.55, Z:0.30 [[ 9.99868471e-01 -1.40205188e-02 8.15271140e-03 1.02815249e+02] [ 1.40165068e-02 9.99901613e-01 5.49036473e-04 2.54861201e+00] [-8.15960706e-03 -4.34691724e-04 9.99966615e-01 2.98363212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.85, Y:2.54, Z:0.30 [[ 9.99885921e-01 -1.43989856e-02 4.56236333e-03 1.02847408e+02] [ 1.43977333e-02 9.99896300e-01 3.07195934e-04 2.54155070e+00] [-4.56631352e-03 -2.41473199e-04 9.99989545e-01 2.96714924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.88, Y:2.54, Z:0.30 [[ 9.99897073e-01 -1.39301472e-02 3.43426239e-03 1.02878621e+02] [ 1.39294350e-02 9.99902954e-01 2.31213232e-04 2.54105482e+00] [-3.43714994e-03 -1.83352100e-04 9.99994076e-01 2.96217338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.91, Y:2.55, Z:0.30 [[ 9.99926675e-01 -1.12834837e-02 4.39630794e-03 1.02910333e+02] [ 1.12822918e-02 9.99936309e-01 2.95815443e-04 2.54652132e+00] [-4.39936577e-03 -2.46193323e-04 9.99990292e-01 2.96791080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.94, Y:2.55, Z:0.30 [[ 9.99927394e-01 -1.12195670e-02 4.39631298e-03 1.02942939e+02] [ 1.12183749e-02 9.99937028e-01 2.95740712e-04 2.54861616e+00] [-4.39935422e-03 -2.46399752e-04 9.99990292e-01 2.96387763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.97, Y:2.56, Z:0.30 [[ 9.99956379e-01 -8.58803275e-03 3.67223486e-03 1.02974081e+02] [ 8.58718412e-03 9.99963099e-01 2.46796054e-04 2.55790566e+00] [-3.67421884e-03 -2.15251131e-04 9.99993227e-01 2.95687176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.01, Y:2.56, Z:0.29 [[ 9.99960929e-01 -7.44062868e-03 4.77250770e-03 1.03005337e+02] [ 7.43918476e-03 9.99972278e-01 3.20229761e-04 2.55768563e+00] [-4.77475810e-03 -2.84713682e-04 9.99988560e-01 2.94958084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.04, Y:2.55, Z:0.29 [[ 9.99950337e-01 -7.87446380e-03 6.10868156e-03 1.03038234e+02] [ 7.87210802e-03 9.99968931e-01 4.09593323e-04 2.55498499e+00] [-6.11171709e-03 -3.61484780e-04 9.99981258e-01 2.94593321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.07, Y:2.55, Z:0.29 [[ 9.99943874e-01 -9.13088000e-03 5.37356177e-03 1.03070382e+02] [ 9.12907611e-03 9.99958264e-01 3.60129368e-04 2.54976478e+00] [-5.37662580e-03 -3.11053501e-04 9.99985497e-01 2.93714045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.10, Y:2.55, Z:0.29 [[ 9.99944496e-01 -9.83931103e-03 3.76730612e-03 1.03101861e+02] [ 9.83842936e-03 9.99951570e-01 2.52494309e-04 2.55370232e+00] [-3.76960804e-03 -2.15415919e-04 9.99992872e-01 2.92848765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.13, Y:2.56, Z:0.29 [[ 9.99948929e-01 -9.38464084e-03 3.75076659e-03 1.03132428e+02] [ 9.38376477e-03 9.99955940e-01 2.51102066e-04 2.55785934e+00] [-3.75295783e-03 -2.15892930e-04 9.99992934e-01 2.92201171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.16, Y:2.56, Z:0.29 [[ 9.99959351e-01 -7.75507810e-03 4.59949513e-03 1.03164071e+02] [ 7.75374438e-03 9.99969892e-01 3.07732948e-04 2.56122223e+00] [-4.60174314e-03 -2.72057129e-04 9.99989375e-01 2.92512585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.19, Y:2.56, Z:0.29 [[ 9.99982299e-01 -4.55092748e-03 3.83284117e-03 1.03194895e+02] [ 4.54997857e-03 9.99989616e-01 2.56256778e-04 2.56179921e+00] [-3.83396757e-03 -2.38812897e-04 9.99992622e-01 2.93817149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:2.56, Z:0.29 [[ 9.99992785e-01 -2.48498559e-03 2.87298663e-03 1.03226909e+02] [ 2.48444357e-03 9.99996895e-01 1.92216495e-04 2.56434946e+00] [-2.87345537e-03 -1.85077335e-04 9.99995854e-01 2.93711604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:2.56, Z:0.29 [[ 9.99996282e-01 1.83937866e-03 2.01327994e-03 1.03258308e+02] [-1.83965322e-03 9.99998299e-01 1.34529246e-04 2.56495235e+00] [-2.01302906e-03 -1.38232483e-04 9.99997964e-01 2.92329104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.29, Y:2.57, Z:0.29 [[ 9.99991332e-01 3.44255122e-03 2.34205829e-03 1.03289737e+02] [-3.44292718e-03 9.99994061e-01 1.56512004e-04 2.56733462e+00] [-2.34150558e-03 -1.64574183e-04 9.99997245e-01 2.91103192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.32, Y:2.57, Z:0.29 [[ 9.99991294e-01 2.80051746e-03 3.09348515e-03 1.03320518e+02] [-2.80116921e-03 9.99996055e-01 2.06371626e-04 2.57093635e+00] [-3.09289500e-03 -2.15035204e-04 9.99995194e-01 2.91425456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:2.57, Z:0.29 [[ 9.99988588e-01 1.93596520e-03 4.36761073e-03 1.03352127e+02] [-1.93725971e-03 9.99998081e-01 2.92177919e-04 2.57257598e+00] [-4.36703670e-03 -3.00635781e-04 9.99990419e-01 2.91566231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:2.57, Z:0.29 [[ 9.99993639e-01 9.58804323e-04 3.43535592e-03 1.03385710e+02] [-9.59600063e-04 9.99999513e-01 2.29991812e-04 2.56968051e+00] [-3.43513373e-03 -2.33286917e-04 9.99994073e-01 2.90210760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:2.57, Z:0.29 [[ 9.99992648e-01 1.57165963e-04 3.83142991e-03 1.03418049e+02] [-1.58143823e-04 9.99999955e-01 2.54919004e-04 2.57052618e+00] [-3.83138967e-03 -2.55523047e-04 9.99992628e-01 2.89634833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:2.57, Z:0.29 [[ 9.99986879e-01 -9.56118354e-04 5.03265889e-03 1.03450656e+02] [ 9.54448879e-04 9.99999489e-01 3.34119546e-04 2.57267617e+00] [-5.03297577e-03 -3.29311746e-04 9.99987280e-01 2.89841486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.48, Y:2.58, Z:0.29 [[ 9.99992559e-01 -3.78970719e-04 3.83913311e-03 1.03482987e+02] [ 3.77999194e-04 9.99999896e-01 2.53780949e-04 2.57568397e+00] [-3.83922888e-03 -2.52327871e-04 9.99992598e-01 2.89903262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.51, Y:2.58, Z:0.29 [[ 9.99996499e-01 3.49209140e-04 2.62310901e-03 1.03513739e+02] [-3.49665035e-04 9.99999924e-01 1.73342809e-04 2.57791242e+00] [-2.62304828e-03 -1.74259411e-04 9.99996545e-01 2.89522729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.55, Y:2.58, Z:0.29 [[ 9.99994059e-01 2.04591438e-03 2.77417617e-03 1.03545890e+02] [-2.04643074e-03 9.99997889e-01 1.83304588e-04 2.57725766e+00] [-2.77379529e-03 -1.88980658e-04 9.99996135e-01 2.88050231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.58, Y:2.58, Z:0.29 [[ 9.99988776e-01 3.69043785e-03 2.97124520e-03 1.03577628e+02] [-3.69103771e-03 9.99993169e-01 1.96432925e-04 2.57597048e+00] [-2.97049998e-03 -2.07397698e-04 9.99995567e-01 2.86759830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.61, Y:2.58, Z:0.29 [[ 9.99994596e-01 2.85682680e-03 1.62706688e-03 1.03609472e+02] [-2.85700754e-03 9.99995913e-01 1.08772677e-04 2.57976763e+00] [-1.62674948e-03 -1.13420632e-04 9.99998670e-01 2.85221593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.64, Y:2.58, Z:0.28 [[ 9.99997095e-01 1.45754282e-03 1.91967787e-03 1.03639661e+02] [-1.45778759e-03 9.99998929e-01 1.26114890e-04 2.58248129e+00] [-1.91949200e-03 -1.28913007e-04 9.99998149e-01 2.84955347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.67, Y:2.59, Z:0.28 [[ 9.99999672e-01 -8.09479972e-04 -3.67484825e-05 1.03670972e+02] [ 8.09479895e-04 9.99999672e-01 -2.12134424e-06 2.58506701e+00] [ 3.67501876e-05 2.09159639e-06 9.99999999e-01 2.84666576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:2.58, Z:0.28 [[ 9.99982476e-01 -3.36202944e-03 -4.87280757e-03 1.03701295e+02] [ 3.36051158e-03 9.99994302e-01 -3.19650030e-04 2.58196212e+00] [ 4.87385448e-03 3.03269302e-04 9.99988077e-01 2.80997196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:2.58, Z:0.28 [[ 9.99971372e-01 -5.50588341e-03 -5.19032569e-03 1.03729055e+02] [ 5.50418474e-03 9.99984794e-01 -3.41504970e-04 2.57934191e+00] [ 5.19212705e-03 3.12926682e-04 9.99986472e-01 2.79675276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:2.58, Z:0.28 [[ 9.99944885e-01 -1.04573339e-02 -9.33055926e-04 1.03757624e+02] [ 1.04572807e-02 9.99945319e-01 -6.18770732e-05 2.57887335e+00] [ 9.33651974e-04 5.21164351e-05 9.99999563e-01 2.81824513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:2.58, Z:0.28 [[ 9.99917818e-01 -1.27383425e-02 1.44606734e-03 1.03787400e+02] [ 1.27382186e-02 9.99918861e-01 9.48864414e-05 2.58289169e+00] [-1.44715871e-03 -7.64583215e-05 9.99998950e-01 2.83116428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.725336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.82, Y:2.59, Z:0.28 [[ 9.99837966e-01 -1.74328467e-02 4.48756458e-03 1.03818050e+02] [ 1.74316971e-02 9.99848013e-01 2.95170216e-04 2.58574399e+00] [-4.49202819e-03 -2.16896522e-04 9.99989887e-01 2.83825543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.85, Y:2.58, Z:0.28 [[ 9.99703988e-01 -2.32221033e-02 7.25747796e-03 1.03850379e+02] [ 2.32192520e-02 9.99730283e-01 4.76912792e-04 2.58267955e+00] [-7.26659541e-03 -3.08258410e-04 9.99973550e-01 2.84150932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:2.58, Z:0.28 [[ 9.99642155e-01 -2.54897706e-02 8.11373708e-03 1.03882828e+02] [ 2.54862848e-02 9.99675030e-01 5.32737305e-04 2.58198171e+00] [-8.12467971e-03 -3.25757654e-04 9.99966941e-01 2.83988056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.91, Y:2.58, Z:0.28 [[ 9.99581037e-01 -2.81476552e-02 6.74247473e-03 1.03914839e+02] [ 2.81453099e-02 9.99603744e-01 4.42498994e-04 2.57793852e+00] [-6.75225829e-03 -2.52544563e-04 9.99977171e-01 2.82742074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:2.58, Z:0.28 [[ 9.99615953e-01 -2.76302814e-02 2.12451821e-03 1.03945845e+02] [ 2.76300460e-02 9.99618208e-01 1.40065361e-04 2.57760290e+00] [-2.12757713e-03 -8.13110332e-05 9.99997733e-01 2.81826712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:103.98, Y:2.58, Z:0.28 [[ 9.99668937e-01 -2.57079964e-02 1.05591193e-03 1.03975539e+02] [ 2.57079376e-02 9.99669494e-01 6.92522549e-05 2.58080608e+00] [-1.05734328e-03 -4.20840100e-05 9.99999440e-01 2.81221555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.00, Y:2.58, Z:0.28 [[ 9.99786051e-01 -2.04075500e-02 3.37392337e-03 1.04004710e+02] [ 2.04069212e-02 9.99791733e-01 2.20712604e-04 2.58259048e+00] [-3.37772490e-03 -1.51813994e-04 9.99994284e-01 2.81204957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:2.58, Z:0.28 [[ 9.99876982e-01 -1.50725752e-02 4.34027600e-03 1.04036815e+02] [ 1.50714828e-02 9.99886378e-01 2.84295068e-04 2.57884442e+00] [-4.34406791e-03 -2.18845699e-04 9.99990541e-01 2.81311933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:2.58, Z:0.28 [[ 9.99918150e-01 -1.20688584e-02 4.24681929e-03 1.04068682e+02] [ 1.20677851e-02 9.99927143e-01 2.78266315e-04 2.57710776e+00] [-4.24986824e-03 -2.26993837e-04 9.99990944e-01 2.81354785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:2.58, Z:0.28 [[ 9.99961900e-01 -7.14618289e-03 5.01313257e-03 1.04100439e+02] [ 7.14462725e-03 9.99974423e-01 3.28152945e-04 2.57701948e+00] [-5.01534939e-03 -2.92323478e-04 9.99987380e-01 2.81433124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.13, Y:2.58, Z:0.28 [[ 9.99984708e-01 -4.04539598e-03 3.77085452e-03 1.04131966e+02] [ 4.04449397e-03 9.99991791e-01 2.46799137e-04 2.58463419e+00] [-3.77182196e-03 -2.31544164e-04 9.99992860e-01 2.80792767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.16, Y:2.59, Z:0.28 [[ 9.99990705e-01 -2.74975356e-03 3.32105445e-03 1.04164330e+02] [ 2.74904704e-03 9.99996198e-01 2.17287214e-04 2.58800606e+00] [-3.32163931e-03 -2.08155460e-04 9.99994462e-01 2.79852360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:2.58, Z:0.28 [[ 9.99993654e-01 -4.54979261e-04 3.53353166e-03 1.04195490e+02] [ 4.54166261e-04 9.99999870e-01 2.30880315e-04 2.58473878e+00] [-3.53363625e-03 -2.29274038e-04 9.99993730e-01 2.79268961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:2.58, Z:0.28 [[ 9.99990536e-01 2.09341348e-03 3.81396972e-03 1.04226905e+02] [-2.09437844e-03 9.99997776e-01 2.49028931e-04 2.57883251e+00] [-3.81343992e-03 -2.57014470e-04 9.99992696e-01 2.78868173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:2.58, Z:0.28 [[ 9.99989245e-01 3.07574280e-03 3.47128918e-03 1.04259565e+02] [-3.07655155e-03 9.99995241e-01 2.27669184e-04 2.57916229e+00] [-3.47057241e-03 -2.38346336e-04 9.99993949e-01 2.78329995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:2.58, Z:0.28 [[ 9.99984299e-01 1.91621944e-03 5.26597586e-03 1.04291567e+02] [-1.91805536e-03 9.99998102e-01 3.43608830e-04 2.58083221e+00] [-5.26530743e-03 -3.53703868e-04 9.99986076e-01 2.77899068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:2.58, Z:0.28 [[ 9.99973620e-01 2.21288036e-04 7.26022156e-03 1.04324560e+02] [-2.24719141e-04 9.99999863e-01 4.71777129e-04 2.58244721e+00] [-7.26011617e-03 -4.73396194e-04 9.99973533e-01 2.77843005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:2.58, Z:0.28 [[ 9.99965202e-01 -4.84975601e-03 6.78780770e-03 1.04358118e+02] [ 4.84688055e-03 9.99988157e-01 4.40006842e-04 2.58061217e+00] [-6.78986124e-03 -4.07091838e-04 9.99976866e-01 2.77394812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.39, Y:2.58, Z:0.28 [[ 9.99959687e-01 -7.61611344e-03 4.75596333e-03 1.04390975e+02] [ 7.61473361e-03 9.99970960e-01 3.08166650e-04 2.57767505e+00] [-4.75817225e-03 -2.71938833e-04 9.99988643e-01 2.75451847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.42, Y:2.56, Z:0.28 [[ 9.99896052e-01 -1.32394275e-02 5.70988860e-03 1.04423763e+02] [ 1.32375395e-02 9.99912312e-01 3.68319759e-04 2.56442432e+00] [-5.71426425e-03 -2.92696597e-04 9.99983631e-01 2.75454742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.45, Y:2.56, Z:0.28 [[ 9.99892227e-01 -1.29791323e-02 6.86117331e-03 1.04454521e+02] [ 1.29764171e-02 9.99915706e-01 4.40113725e-04 2.56493935e+00] [-6.86630725e-03 -3.51032846e-04 9.99976365e-01 2.76125884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:2.57, Z:0.28 [[ 9.99906144e-01 -1.16469959e-02 7.21461171e-03 1.04487119e+02] [ 1.16439606e-02 9.99932100e-01 4.62577383e-04 2.56561007e+00] [-7.21950948e-03 -3.78527313e-04 9.99973867e-01 2.76621576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.52, Y:2.56, Z:0.28 [[ 9.99970188e-01 -5.87814622e-03 5.00708571e-03 1.04518158e+02] [ 5.87661145e-03 9.99982681e-01 3.21176476e-04 2.56187659e+00] [-5.00888692e-03 -2.91742204e-04 9.99987413e-01 2.76298212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.55, Y:2.56, Z:0.28 [[ 9.99993018e-01 1.80077919e-03 3.27417455e-03 1.04550217e+02] [-1.80147593e-03 9.99998355e-01 2.09860517e-04 2.56103645e+00] [-3.27379125e-03 -2.15757398e-04 9.99994618e-01 2.76294982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:2.56, Z:0.28 [[ 9.99980082e-01 5.45218467e-03 3.17960861e-03 1.04582304e+02] [-5.45285969e-03 9.99985112e-01 2.03664276e-04 2.56383627e+00] [-3.17845086e-03 -2.20998179e-04 9.99994924e-01 2.75366677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.61, Y:2.57, Z:0.28 [[ 9.99918150e-01 1.23459493e-02 3.35731396e-03 1.04613667e+02] [-1.23467396e-02 9.99923753e-01 2.14746089e-04 2.56602260e+00] [-3.35440674e-03 -2.56180393e-04 9.99994341e-01 2.75066968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.65, Y:2.57, Z:0.28 [[ 9.99868210e-01 1.58330929e-02 3.58834093e-03 1.04645615e+02] [-1.58340212e-02 9.99874607e-01 2.30436105e-04 2.56682701e+00] [-3.58424246e-03 -2.87223602e-04 9.99993535e-01 2.75462077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:2.57, Z:0.28 [[ 9.99752204e-01 2.18680613e-02 4.16166377e-03 1.04678075e+02] [-2.18693578e-02 9.99760802e-01 2.66289917e-04 2.56896234e+00] [-4.15484506e-03 -3.57236845e-04 9.99991305e-01 2.75277975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.71, Y:2.58, Z:0.27 [[ 9.99637538e-01 2.64582829e-02 4.97522015e-03 1.04710755e+02] [-2.64601874e-02 9.99649818e-01 3.17353841e-04 2.57608538e+00] [-4.96508127e-03 -4.48884070e-04 9.99987573e-01 2.74465785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:2.58, Z:0.27 [[ 9.99618981e-01 2.71867940e-02 4.77197299e-03 1.04743644e+02] [-2.71885505e-02 9.99630277e-01 3.03596205e-04 2.58220280e+00] [-4.76195488e-03 -4.33223558e-04 9.99988568e-01 2.73464250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.77, Y:2.59, Z:0.27 [[ 9.99661136e-01 2.58815897e-02 2.78506551e-03 1.04774728e+02] [-2.58821838e-02 9.99664984e-01 1.77496417e-04 2.59151764e+00] [-2.77953858e-03 -2.49519847e-04 9.99996106e-01 2.72014068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.81, Y:2.59, Z:0.27 [[ 9.99772663e-01 2.10925474e-02 3.11880677e-03 1.04806483e+02] [-2.10932667e-02 9.99777493e-01 1.97916337e-04 2.59476468e+00] [-3.11393825e-03 -2.63657166e-04 9.99995117e-01 2.71854851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:2.60, Z:0.27 [[ 9.99841675e-01 1.73730323e-02 3.84733230e-03 1.04838709e+02] [-1.73740957e-02 9.99849029e-01 2.43152327e-04 2.59534467e+00] [-3.84252718e-03 -3.09957749e-04 9.99992569e-01 2.71897090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:2.60, Z:0.27 [[ 9.99962324e-01 7.95678327e-03 3.47001769e-03 1.04870647e+02] [-7.95759052e-03 9.99968314e-01 2.18891587e-04 2.59854247e+00] [-3.46816606e-03 -2.46496320e-04 9.99993956e-01 2.71002383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:2.60, Z:0.27 [[ 9.99991588e-01 -1.58548407e-03 3.78280955e-03 1.04901261e+02] [ 1.58459631e-03 9.99998716e-01 2.37668190e-04 2.60390663e+00] [-3.78318151e-03 -2.31671965e-04 9.99992817e-01 2.69766099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:2.61, Z:0.27 [[ 9.99967757e-01 -5.52228276e-03 5.83003294e-03 1.04932976e+02] [ 5.52025228e-03 9.99984697e-01 3.64314710e-04 2.60538513e+00] [-5.83195557e-03 -3.32119711e-04 9.99982939e-01 2.69412280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.97, Y:2.61, Z:0.27 [[ 9.99968069e-01 -5.46544910e-03 5.83013187e-03 1.04965587e+02] [ 5.46342691e-03 9.99985010e-01 3.62723199e-04 2.60732058e+00] [-5.83202691e-03 -3.30859118e-04 9.99982939e-01 2.69008963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.00, Y:2.61, Z:0.27 [[ 9.99892779e-01 -1.21065283e-02 8.23790406e-03 1.04998874e+02] [ 1.21027211e-02 9.99926628e-01 5.11859167e-04 2.60802908e+00] [-8.24349647e-03 -4.12103230e-04 9.99965937e-01 2.69548177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.03, Y:2.61, Z:0.27 [[ 9.99862409e-01 -1.50291296e-02 7.02055289e-03 1.05031500e+02] [ 1.50264405e-02 9.99887002e-01 4.35631069e-04 2.60969029e+00] [-7.02630673e-03 -3.30077210e-04 9.99975261e-01 2.69204213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.06, Y:2.61, Z:0.27 [[ 9.99768743e-01 -2.06917846e-02 5.85756202e-03 1.05062469e+02] [ 2.06900095e-02 9.99785873e-01 3.63489881e-04 2.60961968e+00] [-5.86382901e-03 -2.42212808e-04 9.99982778e-01 2.68667126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.09, Y:2.61, Z:0.27 [[ 9.99640157e-01 -2.61264705e-02 6.07979397e-03 1.05093990e+02] [ 2.61246620e-02 9.99658622e-01 3.76703645e-04 2.60948842e+00] [-6.08756040e-03 -2.17735528e-04 9.99981447e-01 2.68699051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.13, Y:2.61, Z:0.27 [[ 9.99573052e-01 -2.87328434e-02 5.30453797e-03 1.05125912e+02] [ 2.87315057e-02 9.99587111e-01 3.28222353e-04 2.61060452e+00] [-5.31177855e-03 -1.75674856e-04 9.99985877e-01 2.67400409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.16, Y:2.61, Z:0.27 [[ 9.99428306e-01 -3.35356673e-02 4.29194083e-03 1.05157653e+02] [ 3.35348371e-02 9.99437514e-01 2.65280485e-04 2.60614556e+00] [-4.29842303e-03 -1.21199289e-04 9.99990754e-01 2.65426576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.19, Y:2.60, Z:0.27 [[ 9.99365569e-01 -3.52207475e-02 5.28761540e-03 1.05187586e+02] [ 3.52195133e-02 9.99379547e-01 3.26369507e-04 2.60009297e+00] [-5.29582966e-03 -1.39935207e-04 9.99985967e-01 2.66665935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.22, Y:2.60, Z:0.27 [[ 9.99387889e-01 -3.45010436e-02 5.79018083e-03 1.05217600e+02] [ 3.44995503e-02 9.99404649e-01 3.57628656e-04 2.60057417e+00] [-5.79907221e-03 -1.57651113e-04 9.99983173e-01 2.67575897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.25, Y:2.60, Z:0.27 [[ 9.99499672e-01 -3.11591319e-02 5.43274911e-03 1.05247524e+02] [ 3.11577686e-02 9.99514423e-01 3.35417681e-04 2.60392057e+00] [-5.44056241e-03 -1.65977522e-04 9.99985186e-01 2.68453930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.28, Y:2.61, Z:0.27 [[ 9.99568361e-01 -2.89595619e-02 4.94312849e-03 1.05279130e+02] [ 2.89584055e-02 9.99580571e-01 3.05358135e-04 2.60524142e+00] [-4.94989823e-03 -1.62081212e-04 9.99987736e-01 2.67835234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:2.60, Z:0.27 [[ 9.99693573e-01 -2.42538759e-02 4.95078072e-03 1.05310316e+02] [ 2.42526597e-02 9.99705814e-01 3.05547150e-04 2.60118582e+00] [-4.95673497e-03 -1.85383922e-04 9.99987698e-01 2.66035004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.34, Y:2.60, Z:0.27 [[ 9.99748308e-01 -2.17424398e-02 5.53051229e-03 1.05340693e+02] [ 2.17408823e-02 9.99763581e-01 3.41588258e-04 2.59976942e+00] [-5.53663173e-03 -2.21264066e-04 9.99984648e-01 2.65885874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.37, Y:2.60, Z:0.27 [[ 9.99829079e-01 -1.72087557e-02 6.75800429e-03 1.05370912e+02] [ 1.72063302e-02 9.99851873e-01 4.16886568e-04 2.59830753e+00] [-6.76417734e-03 -3.00534860e-04 9.99977078e-01 2.67267300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.40, Y:2.60, Z:0.27 [[ 9.99860761e-01 -1.53443161e-02 6.55825236e-03 1.05402788e+02] [ 1.53419909e-02 9.99882223e-01 4.04700632e-04 2.59923107e+00] [-6.56368980e-03 -3.04027633e-04 9.99978413e-01 2.67234537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.43, Y:2.60, Z:0.27 [[ 9.99916562e-01 -1.18865023e-02 5.05771390e-03 1.05434113e+02] [ 1.18850748e-02 9.99929321e-01 3.12201937e-04 2.59844769e+00] [-5.06106742e-03 -2.52064580e-04 9.99987161e-01 2.66287995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.47, Y:2.60, Z:0.27 [[ 9.99930746e-01 -1.01475703e-02 5.96067008e-03 1.05465642e+02] [ 1.01455625e-02 9.99948465e-01 3.66989008e-04 2.59598166e+00] [-5.96408694e-03 -3.06489242e-04 9.99982168e-01 2.65473946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.50, Y:2.59, Z:0.26 [[ 9.99923237e-01 -8.99825411e-03 8.51773410e-03 1.05497630e+02] [ 8.99411432e-03 9.99959415e-01 5.24201505e-04 2.59202333e+00] [-8.52210530e-03 -4.47551791e-04 9.99963586e-01 2.64665445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.53, Y:2.59, Z:0.26 [[ 9.99927097e-01 -9.10006059e-03 7.93658137e-03 1.05528718e+02] [ 9.09647272e-03 9.99958507e-01 4.88048407e-04 2.58995215e+00] [-7.94069333e-03 -4.15817931e-04 9.99968386e-01 2.63203124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.56, Y:2.58, Z:0.26 [[ 9.99939614e-01 -9.42462829e-03 5.65196058e-03 1.05560095e+02] [ 9.42281441e-03 9.99955544e-01 3.47472397e-04 2.58045787e+00] [-5.65498411e-03 -2.94194039e-04 9.99983967e-01 2.62151935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.59, Y:2.58, Z:0.26 [[ 9.99950492e-01 -8.78858865e-03 4.66625022e-03 1.05592860e+02] [ 8.78734526e-03 9.99961349e-01 2.86899723e-04 2.57896038e+00] [-4.66859132e-03 -2.45881568e-04 9.99989072e-01 2.62629626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:2.58, Z:0.26 [[ 9.99976244e-01 -5.34111077e-03 4.35709782e-03 1.05623633e+02] [ 5.33999520e-03 9.99985706e-01 2.67627173e-04 2.58274004e+00] [-4.35846497e-03 -2.44353934e-04 9.99990472e-01 2.63238811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:2.58, Z:0.26 [[ 9.99980904e-01 -3.23084187e-03 5.26821531e-03 1.05655402e+02] [ 3.22918285e-03 9.99994734e-01 3.23387433e-04 2.58412537e+00] [-5.26923238e-03 -3.06369227e-04 9.99986071e-01 2.63133585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:2.58, Z:0.26 [[ 9.99972653e-01 1.48904877e-03 7.24396640e-03 1.05687333e+02] [-1.49230609e-03 9.99998788e-01 4.44275455e-04 2.57533358e+00] [-7.24329607e-03 -4.55073521e-04 9.99973663e-01 2.63312029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:2.57, Z:0.26 [[ 9.99938992e-01 7.77505698e-03 7.84605800e-03 1.05719370e+02] [-7.77906405e-03 9.99969627e-01 4.80322766e-04 2.56922170e+00] [-7.84208516e-03 -5.41328450e-04 9.99969104e-01 2.63509939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:2.57, Z:0.26 [[ 9.99911822e-01 1.12611383e-02 7.03809852e-03 1.05752716e+02] [-1.12644526e-02 9.99936461e-01 4.31443922e-04 2.57142789e+00] [-7.03279277e-03 -5.10686205e-04 9.99975139e-01 2.62925855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.79, Y:2.58, Z:0.26 [[ 9.99844698e-01 1.73592131e-02 3.03934148e-03 1.05785154e+02] [-1.73598582e-02 9.99849289e-01 1.85984752e-04 2.57766308e+00] [-3.03565486e-03 -2.38718406e-04 9.99995364e-01 2.61140443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:2.58, Z:0.26 [[ 9.99717986e-01 2.36738573e-02 1.86991783e-03 1.05817238e+02] [-2.36741137e-02 9.99719722e-01 1.15091132e-04 2.58150771e+00] [-1.86666909e-03 -1.59327322e-04 9.99998245e-01 2.59174526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:2.58, Z:0.26 [[ 9.99645107e-01 2.65621628e-02 2.02745960e-03 1.05850448e+02] [-2.65624709e-02 9.99647147e-01 1.25147813e-04 2.58205198e+00] [-2.02342001e-03 -1.78957736e-04 9.99997937e-01 2.59397736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.88, Y:2.58, Z:0.26 [[ 9.99533637e-01 3.03563574e-02 3.31652442e-03 1.05883271e+02] [-3.03571956e-02 9.99539094e-01 2.02687640e-04 2.58355123e+00] [-3.30884295e-03 -3.03273495e-04 9.99994480e-01 2.59967666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.92, Y:2.59, Z:0.26 [[ 9.99474406e-01 3.21719824e-02 3.98428109e-03 1.05915005e+02] [-3.21732014e-02 9.99482279e-01 2.42207258e-04 2.58862965e+00] [-3.97442606e-03 -3.70267034e-04 9.99992033e-01 2.60208036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.95, Y:2.60, Z:0.26 [[ 9.99391057e-01 3.46333477e-02 4.24817849e-03 1.05946783e+02] [-3.46347522e-02 9.99400004e-01 2.57464592e-04 2.59925227e+00] [-4.23671274e-03 -4.04442420e-04 9.99990943e-01 2.59773056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.98, Y:2.61, Z:0.26 [[ 9.99444509e-01 3.30985928e-02 3.89319312e-03 1.05979422e+02] [-3.30997588e-02 9.99452025e-01 2.35432575e-04 2.60938896e+00] [-3.88326726e-03 -3.64165548e-04 9.99992394e-01 2.58431168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.01, Y:2.62, Z:0.26 [[ 9.99506698e-01 3.12165576e-02 3.44778855e-03 1.06011622e+02] [-3.12174598e-02 9.99512595e-01 2.08162110e-04 2.61553869e+00] [-3.43960997e-03 -3.15690624e-04 9.99994035e-01 2.57854908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.04, Y:2.62, Z:0.26 [[ 9.99674499e-01 2.51670411e-02 4.18532908e-03 1.06043866e+02] [-2.51683111e-02 9.99683196e-01 2.51022101e-04 2.62093857e+00] [-4.17768567e-03 -3.56278057e-04 9.99991210e-01 2.56852598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.08, Y:2.62, Z:0.26 [[ 9.99758945e-01 2.14810375e-02 4.54053362e-03 1.06075297e+02] [-2.14824905e-02 9.99769188e-01 2.71482957e-04 2.62348635e+00] [-4.53365387e-03 -3.68959486e-04 9.99989655e-01 2.56383670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.11, Y:2.63, Z:0.26 [[ 9.99902437e-01 1.30251422e-02 5.04607809e-03 1.06107969e+02] [-1.30268285e-02 9.99915102e-01 3.01453955e-04 2.63094326e+00] [-5.04172320e-03 -3.67158938e-04 9.99987223e-01 2.55468622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.14, Y:2.64, Z:0.25 [[ 9.99971207e-01 4.81505406e-03 5.86522062e-03 1.06139826e+02] [-4.81718298e-03 9.99988336e-01 3.48901880e-04 2.63718830e+00] [-5.86347223e-03 -3.77145675e-04 9.99982739e-01 2.54219030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.17, Y:2.64, Z:0.25 [[ 9.99976433e-01 -2.50190102e-03 6.39323189e-03 1.06172205e+02] [ 2.49952802e-03 9.99996804e-01 3.79137018e-04 2.64072530e+00] [-6.39416003e-03 -3.63148021e-04 9.99979491e-01 2.54606009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.20, Y:2.64, Z:0.25 [[ 9.99959751e-01 -5.44313102e-03 7.13224507e-03 1.06203585e+02] [ 5.44026380e-03 9.99985113e-01 4.21347242e-04 2.64450555e+00] [-7.13443234e-03 -3.82528989e-04 9.99974476e-01 2.54558075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.24, Y:2.65, Z:0.25 [[ 9.99933230e-01 -9.99258385e-03 5.80380957e-03 1.06236669e+02] [ 9.99076433e-03 9.99950032e-01 3.42411990e-04 2.64925898e+00] [-5.80694115e-03 -2.84404633e-04 9.99983099e-01 2.53595340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.27, Y:2.65, Z:0.25 [[ 9.99923921e-01 -1.15375340e-02 4.36312421e-03 1.06268066e+02] [ 1.15365269e-02 9.99933419e-01 2.55922709e-04 2.65094913e+00] [-4.36578643e-03 -2.05567939e-04 9.99990449e-01 2.52536835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.30, Y:2.65, Z:0.25 [[ 9.99894392e-01 -1.38733071e-02 4.32858134e-03 1.06300115e+02] [ 1.38723380e-02 9.99903742e-01 2.53821993e-04 2.65132704e+00] [-4.33168603e-03 -1.93747644e-04 9.99990599e-01 2.51795810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.33, Y:2.65, Z:0.25 [[ 9.99865541e-01 -1.58374375e-02 4.25151024e-03 1.06331778e+02] [ 1.58365219e-02 9.99874563e-01 2.48934145e-04 2.65316837e+00] [-4.25491942e-03 -1.81571538e-04 9.99990931e-01 2.51436988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.36, Y:2.66, Z:0.25 [[ 9.99856175e-01 -1.66574198e-02 3.18727381e-03 1.06363113e+02] [ 1.66569094e-02 9.99861247e-01 1.86621290e-04 2.65601971e+00] [-3.18994020e-03 -1.33504318e-04 9.99994903e-01 2.50637149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.39, Y:2.66, Z:0.25 [[ 9.99846202e-01 -1.72467335e-02 3.18145895e-03 1.06394300e+02] [ 1.72462282e-02 9.99851255e-01 1.86216779e-04 2.65947202e+00] [-3.18419736e-03 -1.31319972e-04 9.99994922e-01 2.49867180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.42, Y:2.66, Z:0.25 [[ 9.99839671e-01 -1.72734200e-02 4.71819461e-03 1.06424679e+02] [ 1.72723104e-02 9.99850784e-01 2.75814406e-04 2.65781334e+00] [-4.72225484e-03 -1.94276063e-04 9.99988831e-01 2.49732068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.46, Y:2.66, Z:0.25 [[ 9.99848087e-01 -1.69262907e-02 4.15982453e-03 1.06456072e+02] [ 1.69254250e-02 9.99856725e-01 2.43232868e-04 2.65738003e+00] [-4.16334556e-03 -1.72789120e-04 9.99991318e-01 2.49518775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.49, Y:2.66, Z:0.25 [[ 9.99867404e-01 -1.59152665e-02 3.44655489e-03 1.06487316e+02] [ 1.59146664e-02 9.99873333e-01 2.01495123e-04 2.65686802e+00] [-3.44932518e-03 -1.46617635e-04 9.99994040e-01 2.49453177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.52, Y:2.66, Z:0.25 [[ 9.99935959e-01 -1.07973824e-02 3.39039556e-03 1.06517979e+02] [ 1.07967732e-02 9.99941694e-01 1.97928776e-04 2.65594049e+00] [-3.39233499e-03 -1.61310768e-04 9.99994233e-01 2.48624274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.55, Y:2.66, Z:0.25 [[ 9.99955071e-01 -8.40979361e-03 4.37390941e-03 1.06548737e+02] [ 8.40875561e-03 9.99964613e-01 2.55652043e-04 2.65714131e+00] [-4.37590461e-03 -2.18861422e-04 9.99990402e-01 2.48558767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.58, Y:2.65, Z:0.25 [[ 9.99987229e-01 -3.36152231e-03 3.77398799e-03 1.06580144e+02] [ 3.36071443e-03 9.99994329e-01 2.20384653e-04 2.65499349e+00] [-3.77470741e-03 -2.07698543e-04 9.99992854e-01 2.48263508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.61, Y:2.65, Z:0.25 [[ 9.99994766e-01 -1.00180520e-03 3.07650085e-03 1.06611634e+02] [ 1.00125693e-03 9.99999483e-01 1.79746255e-04 2.65465525e+00] [-3.07667933e-03 -1.76664946e-04 9.99995251e-01 2.47781255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.64, Y:2.66, Z:0.25 [[ 9.99994872e-01 2.43511658e-03 2.07989408e-03 1.06643578e+02] [-2.43537491e-03 9.99997027e-01 1.21679341e-04 2.65658691e+00] [-2.07959159e-03 -1.26744039e-04 9.99997830e-01 2.47212181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.67, Y:2.66, Z:0.25 [[ 9.99989844e-01 4.09246608e-03 1.88776543e-03 1.06674781e+02] [-4.09268133e-03 9.99991619e-01 1.10173766e-04 2.65959672e+00] [-1.88729872e-03 -1.17898670e-04 9.99998212e-01 2.46730672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.71, Y:2.66, Z:0.25 [[ 9.99977068e-01 5.95861965e-03 3.21838781e-03 1.06706174e+02] [-5.95925770e-03 9.99982226e-01 1.88699516e-04 2.66137536e+00] [-3.21720621e-03 -2.07874391e-04 9.99994803e-01 2.45815192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.74, Y:2.66, Z:0.25 [[ 9.99970568e-01 6.35241027e-03 4.30229405e-03 1.06738913e+02] [-6.35354907e-03 9.99979784e-01 2.51078842e-04 2.66065636e+00] [-4.30061212e-03 -2.78406289e-04 9.99990714e-01 2.45327541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.77, Y:2.66, Z:0.25 [[ 9.99948435e-01 7.25485143e-03 7.10591532e-03 1.06771927e+02] [-7.25796459e-03 9.99973576e-01 4.12418103e-04 2.65900152e+00] [-7.10273552e-03 -4.63971319e-04 9.99974668e-01 2.46215142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.80, Y:2.66, Z:0.25 [[ 9.99930432e-01 7.78288326e-03 8.86333615e-03 1.06804426e+02] [-7.78772509e-03 9.99969544e-01 5.11893450e-04 2.66150017e+00] [-8.85908220e-03 -5.80883063e-04 9.99960589e-01 2.47539574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:2.66, Z:0.25 [[ 9.99957845e-01 7.06832025e-03 5.86062786e-03 1.06837998e+02] [-7.07042814e-03 9.99974947e-01 3.39029480e-04 2.65858894e+00] [-5.85808466e-03 -3.80452337e-04 9.99982769e-01 2.45303054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.87, Y:2.66, Z:0.24 [[ 9.99975491e-01 6.05500478e-03 3.51499431e-03 1.06869908e+02] [-6.05575731e-03 9.99981643e-01 2.03489732e-04 2.65643422e+00] [-3.51369765e-03 -2.24770697e-04 9.99993802e-01 2.43313372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.90, Y:2.65, Z:0.24 [[ 9.99994240e-01 2.29902318e-03 2.49681060e-03 1.06903470e+02] [-2.29939188e-03 9.99997346e-01 1.44810508e-04 2.65471738e+00] [-2.49647105e-03 -1.50550820e-04 9.99996872e-01 2.41971325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.94, Y:2.66, Z:0.24 [[ 9.99994741e-01 2.97741109e-04 3.22932494e-03 1.06935939e+02] [-2.98342934e-04 9.99999938e-01 1.85882394e-04 2.65731582e+00] [-3.22926939e-03 -1.86844863e-04 9.99994768e-01 2.42025014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.97, Y:2.66, Z:0.24 [[ 9.99994728e-01 3.39784560e-04 3.22941785e-03 1.06967721e+02] [-3.40381352e-04 9.99999925e-01 1.84250715e-04 2.65907671e+00] [-3.22935500e-03 -1.85348978e-04 9.99994768e-01 2.41631907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:2.66, Z:0.24 [[ 9.99994271e-01 -2.77914596e-03 1.93220446e-03 1.06999521e+02] [ 2.77893638e-03 9.99996133e-01 1.11143228e-04 2.65887091e+00] [-1.93250587e-03 -1.05773118e-04 9.99998127e-01 2.39646687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.03, Y:2.65, Z:0.24 [[ 9.99992182e-01 -3.81940854e-03 1.02363821e-03 1.07031613e+02] [ 3.81935078e-03 9.99992705e-01 5.83802551e-05 2.65493741e+00] [-1.02385372e-03 -5.44701653e-05 9.99999474e-01 2.39374128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.06, Y:2.64, Z:0.24 [[ 9.99987371e-01 -4.91438529e-03 1.05229646e-03 1.07062610e+02] [ 4.91432516e-03 9.99987923e-01 5.97208752e-05 2.64177542e+00] [-1.05257725e-03 -5.45487940e-05 9.99999445e-01 2.40569567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.09, Y:2.64, Z:0.24 [[ 9.99989874e-01 -4.48277324e-03 3.94761452e-04 1.07093655e+02] [ 4.48276469e-03 9.99989952e-01 2.25416031e-05 2.63510118e+00] [-3.94858534e-04 -2.07717522e-05 9.99999922e-01 2.41141125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.12, Y:2.64, Z:0.24 [[ 9.99993694e-01 -3.51665536e-03 4.95970492e-04 1.07124344e+02] [ 3.51664183e-03 9.99993816e-01 2.81420362e-05 2.63683071e+00] [-4.96066391e-04 -2.63977081e-05 9.99999877e-01 2.41009111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:2.64, Z:0.24 [[ 9.99996688e-01 -4.22656293e-04 2.53886575e-03 1.07155195e+02] [ 4.22291904e-04 9.99999900e-01 1.44058675e-04 2.63973478e+00] [-2.53892639e-03 -1.42986055e-04 9.99996767e-01 2.39523979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.19, Y:2.63, Z:0.24 [[ 9.99989607e-01 3.07740709e-03 3.36383593e-03 1.07186400e+02] [-3.07806753e-03 9.99995244e-01 1.91178012e-04 2.63162559e+00] [-3.36323160e-03 -2.01530139e-04 9.99994324e-01 2.38292724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.22, Y:2.63, Z:0.24 [[ 9.99983595e-01 4.46726463e-03 3.58500854e-03 1.07219347e+02] [-4.46802707e-03 9.99989997e-01 2.04693174e-04 2.62511062e+00] [-3.58405826e-03 -2.20707731e-04 9.99993553e-01 2.38887317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.25, Y:2.62, Z:0.24 [[ 9.99963171e-01 6.63514760e-03 5.44354205e-03 1.07251822e+02] [-6.63692545e-03 9.99977928e-01 3.08598498e-04 2.61595018e+00] [-5.44137430e-03 -3.44715515e-04 9.99985136e-01 2.41357979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.28, Y:2.62, Z:0.24 [[ 9.99948980e-01 8.21784676e-03 5.87404758e-03 1.07284188e+02] [-8.21994154e-03 9.99966160e-01 3.32561926e-04 2.61749662e+00] [-5.87111586e-03 -3.80829287e-04 9.99982692e-01 2.41107810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.32, Y:2.62, Z:0.24 [[ 9.99919884e-01 1.20015093e-02 4.02372236e-03 1.07316795e+02] [-1.20025194e-02 9.99927941e-01 2.26975100e-04 2.61864784e+00] [-4.02070838e-03 -2.75251721e-04 9.99991879e-01 2.38951059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.35, Y:2.62, Z:0.24 [[ 9.99898621e-01 1.39327493e-02 2.93712698e-03 1.07349375e+02] [-1.39332987e-02 9.99902913e-01 1.66668816e-04 2.61692300e+00] [-2.93451967e-03 -2.07575787e-04 9.99995673e-01 2.38062855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.38, Y:2.61, Z:0.24 [[ 9.99850180e-01 1.71255384e-02 2.51644756e-03 1.07381802e+02] [-1.71259500e-02 9.99853330e-01 1.42091744e-04 2.60997815e+00] [-2.51364507e-03 -1.85167010e-04 9.99996824e-01 2.38363811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.41, Y:2.60, Z:0.24 [[ 9.99808553e-01 1.95466835e-02 8.85752952e-04 1.07414918e+02] [-1.95467368e-02 9.99808943e-01 5.15551253e-05 2.60376130e+00] [-8.84575991e-04 -6.88588351e-05 9.99999606e-01 2.38384834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.45, Y:2.60, Z:0.24 [[ 9.99799122e-01 2.00107995e-02 1.13318272e-03 1.07447163e+02] [-2.00108852e-02 9.99799760e-01 6.43979200e-05 2.60328939e+00] [-1.13166716e-03 -8.70609733e-05 9.99999356e-01 2.38108716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.48, Y:2.60, Z:0.24 [[ 9.99773811e-01 2.07012416e-02 4.87698479e-03 1.07480894e+02] [-2.07028164e-02 9.99785637e-01 2.72638799e-04 2.59986205e+00] [-4.87029538e-03 -3.73544452e-04 9.99988070e-01 2.38441572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:2.59, Z:0.24 [[ 9.99749051e-01 2.12728529e-02 7.02151201e-03 1.07513657e+02] [-2.12761149e-02 9.99773562e-01 3.90190665e-04 2.59181037e+00] [-7.01162160e-03 -5.39483243e-04 9.99975273e-01 2.38674966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.55, Y:2.59, Z:0.24 [[ 9.99754710e-01 2.10425945e-02 6.90856123e-03 1.07545706e+02] [-2.10457390e-02 9.99778441e-01 3.82770040e-04 2.58997894e+00] [-6.89897610e-03 -5.28071927e-04 9.99976062e-01 2.38734599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.58, Y:2.59, Z:0.24 [[ 9.99760469e-01 2.07031578e-02 7.09814824e-03 1.07579194e+02] [-2.07064602e-02 9.99785521e-01 3.92063888e-04 2.58875583e+00] [-7.08850888e-03 -5.38947500e-04 9.99974731e-01 2.38192928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.61, Y:2.58, Z:0.24 [[ 9.99770874e-01 2.06209749e-02 5.74235320e-03 1.07612089e+02] [-2.06231316e-02 9.99787270e-01 3.16610188e-04 2.58389811e+00] [-5.73460282e-03 -4.34962950e-04 9.99983462e-01 2.37033526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.65, Y:2.58, Z:0.24 [[ 9.99770408e-01 2.10602947e-02 3.94906252e-03 1.07645382e+02] [-2.10613181e-02 9.99778162e-01 2.17732050e-04 2.58075506e+00] [-3.94360097e-03 -3.00854522e-04 9.99992179e-01 2.36583296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.68, Y:2.57, Z:0.24 [[ 9.99772511e-01 2.12782676e-02 1.46995707e-03 1.07677668e+02] [-2.12784112e-02 9.99773586e-01 8.20703358e-05 2.57371750e+00] [-1.46787794e-03 -1.13330017e-04 9.99998916e-01 2.35282409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.71, Y:2.57, Z:0.23 [[ 9.99773758e-01 2.11234189e-02 2.49682106e-03 1.07709339e+02] [-2.11238276e-02 9.99776858e-01 1.37420475e-04 2.57124122e+00] [-2.49336112e-03 -1.90131803e-04 9.99996873e-01 2.34757546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.74, Y:2.57, Z:0.24 [[ 9.99761212e-01 2.08993307e-02 6.38253865e-03 1.07742487e+02] [-2.09019703e-02 9.99781470e-01 3.47131492e-04 2.56979653e+00] [-6.37388906e-03 -4.80456234e-04 9.99979571e-01 2.36266341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.77, Y:2.57, Z:0.24 [[ 9.99741446e-01 2.18908709e-02 6.15074915e-03 1.07774983e+02] [-2.18933349e-02 9.99760257e-01 3.33533627e-04 2.57070620e+00] [-6.14197321e-03 -4.68107801e-04 9.99981028e-01 2.35589361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.81, Y:2.57, Z:0.24 [[ 9.99722122e-01 2.29858895e-02 5.22760686e-03 1.07806703e+02] [-2.29876786e-02 9.99735709e-01 2.82411534e-04 2.56745696e+00] [-5.21973377e-03 -4.02503604e-04 9.99986296e-01 2.35143303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.84, Y:2.56, Z:0.24 [[ 9.99654906e-01 2.55948464e-02 5.91386077e-03 1.07839292e+02] [-2.55971765e-02 9.99672288e-01 3.18650396e-04 2.56049818e+00] [-5.90376692e-03 -4.69918570e-04 9.99982462e-01 2.36624540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.87, Y:2.56, Z:0.24 [[ 9.99625505e-01 2.63885619e-02 7.24521720e-03 1.07871811e+02] [-2.63920746e-02 9.99651593e-01 3.89642464e-04 2.56416197e+00] [-7.23241081e-03 -5.80712858e-04 9.99973677e-01 2.36021269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.90, Y:2.57, Z:0.23 [[ 9.99629867e-01 2.63291823e-02 6.84857757e-03 1.07904721e+02] [-2.63323123e-02 9.99653177e-01 3.67234108e-04 2.56673268e+00] [-6.83653336e-03 -5.47437065e-04 9.99976481e-01 2.34834803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.94, Y:2.57, Z:0.23 [[ 9.99702940e-01 2.40454532e-02 3.98086126e-03 1.07937459e+02] [-2.40464938e-02 9.99710818e-01 2.13737731e-04 2.56652369e+00] [-3.97457064e-03 -3.09399994e-04 9.99992053e-01 2.32585762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.97, Y:2.56, Z:0.23 [[ 9.99800601e-01 1.97560227e-02 2.90827677e-03 1.07969912e+02] [-1.97565599e-02 9.99804808e-01 1.56115566e-04 2.56277916e+00] [-2.90462487e-03 -2.13541981e-04 9.99995759e-01 2.32014972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.00, Y:2.56, Z:0.23 [[ 9.99843550e-01 1.72517474e-02 3.90542910e-03 1.08003514e+02] [-1.72526920e-02 9.99851140e-01 2.08310047e-04 2.56058290e+00] [-3.90125402e-03 -2.75656622e-04 9.99992352e-01 2.32667736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.04, Y:2.56, Z:0.23 [[ 9.99925729e-01 1.09902787e-02 5.26776467e-03 1.08036618e+02] [-1.09919021e-02 9.99939548e-01 2.79316962e-04 2.55642127e+00] [-5.26437646e-03 -3.37198971e-04 9.99986086e-01 2.34069095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.07, Y:2.56, Z:0.23 [[ 9.99951688e-01 6.60408298e-03 7.28068647e-03 1.08068463e+02] [-6.60705163e-03 9.99978100e-01 3.83765925e-04 2.55646725e+00] [-7.27799260e-03 -4.31851256e-04 9.99973422e-01 2.33775215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.10, Y:2.56, Z:0.23 [[ 9.99950707e-01 6.12865925e-03 7.81178240e-03 1.08100082e+02] [-6.13204828e-03 9.99981115e-01 4.09958026e-04 2.55681547e+00] [-7.80912238e-03 -4.57840045e-04 9.99969404e-01 2.33232719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.13, Y:2.55, Z:0.23 [[ 9.99960031e-01 6.64936626e-03 5.97684947e-03 1.08133180e+02] [-6.65136017e-03 9.99977830e-01 3.13789781e-04 2.55123807e+00] [-5.97463046e-03 -3.53531417e-04 9.99982089e-01 2.32321305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:2.55, Z:0.23 [[ 9.99963328e-01 7.22995994e-03 4.59033581e-03 1.08166851e+02] [-7.23114068e-03 9.99973826e-01 2.40678620e-04 2.54557592e+00] [-4.58847556e-03 -2.73863158e-04 9.99989435e-01 2.32103248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.20, Y:2.54, Z:0.23 [[ 9.99968919e-01 7.23239698e-03 3.13912360e-03 1.08199052e+02] [-7.23294926e-03 9.99973828e-01 1.64615216e-04 2.53699202e+00] [-3.13785088e-03 -1.87315221e-04 9.99995059e-01 2.32330316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.23, Y:2.54, Z:0.23 [[ 9.99956429e-01 8.87038369e-03 2.90794379e-03 1.08230678e+02] [-8.87086194e-03 9.99960642e-01 1.51604872e-04 2.54029908e+00] [-2.90648454e-03 -1.77394235e-04 9.99995760e-01 2.28956698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:2.54, Z:0.23 [[ 9.99949402e-01 9.91855133e-03 1.67812105e-03 1.08263546e+02] [-9.91871409e-03 9.99950804e-01 8.86927085e-05 2.54197236e+00] [-1.67715879e-03 -1.05333024e-04 9.99998588e-01 2.26566783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:2.53, Z:0.23 [[ 9.99921333e-01 1.25220476e-02 -7.24712080e-04 1.08295738e+02] [-1.25220767e-02 9.99921595e-01 -3.57524677e-05 2.53480453e+00] [ 7.24207565e-04 4.48245555e-05 9.99999737e-01 2.25473637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.33, Y:2.52, Z:0.23 [[ 9.99830351e-01 1.84187594e-02 1.32495422e-04 1.08329211e+02] [-1.84187605e-02 9.99830360e-01 7.62218682e-06 2.52400684e+00] [-1.32332554e-04 -1.00612952e-05 9.99999991e-01 2.29646488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.36, Y:2.52, Z:0.23 [[ 9.99720135e-01 2.36476233e-02 6.63870553e-04 1.08362722e+02] [-2.36476525e-02 9.99720355e-01 3.61719993e-05 2.52302346e+00] [-6.62829523e-04 -5.18608562e-05 9.99999779e-01 2.31674923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.39, Y:2.53, Z:0.23 [[ 9.99367246e-01 3.55416587e-02 1.37759085e-03 1.08393992e+02] [-3.55417900e-02 9.99368188e-01 7.10040638e-05 2.53064869e+00] [-1.37419688e-03 -1.19921181e-04 9.99999049e-01 2.32074946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.43, Y:2.54, Z:0.23 [[ 9.99129540e-01 4.16643283e-02 2.06049407e-03 1.08426961e+02] [-4.16646367e-02 9.99131646e-01 1.06979524e-04 2.53821813e+00] [-2.05424760e-03 -1.92736139e-04 9.99997871e-01 2.30526855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.46, Y:2.55, Z:0.23 [[ 9.98665028e-01 5.15110609e-02 3.84344853e-03 1.08459511e+02] [-5.15121964e-02 9.98672346e-01 1.96978096e-04 2.54934963e+00] [-3.82819921e-03 -3.94699611e-04 9.99992595e-01 2.27323407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.49, Y:2.55, Z:0.23 [[ 9.98531333e-01 5.40416882e-02 3.83058147e-03 1.08492611e+02] [-5.40428320e-02 9.98538599e-01 1.95640183e-04 2.55186821e+00] [-3.81441073e-03 -4.02368323e-04 9.99992644e-01 2.26781583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.53, Y:2.55, Z:0.23 [[ 9.98525614e-01 5.42350378e-02 2.27142347e-03 1.08525824e+02] [-5.42354416e-02 9.98528169e-01 1.16529430e-04 2.55052372e+00] [-2.26176034e-03 -2.39549275e-04 9.99997414e-01 2.28330990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.56, Y:2.55, Z:0.23 [[ 9.98724635e-01 5.04434079e-02 2.13667182e-03 1.08557417e+02] [-5.04437559e-02 9.98726897e-01 1.09236028e-04 2.55127906e+00] [-2.12844138e-03 -2.16878464e-04 9.99997711e-01 2.28017417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.59, Y:2.56, Z:0.23 [[ 9.98969882e-01 4.52700264e-02 3.13028008e-03 1.08589947e+02] [-4.52707435e-02 9.98974742e-01 1.58600820e-04 2.55831325e+00] [-3.11989087e-03 -3.00147549e-04 9.99995088e-01 2.26328717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.62, Y:2.56, Z:0.22 [[ 9.99091033e-01 4.24962656e-02 3.34281380e-03 1.08622942e+02] [-4.24970658e-02 9.99096577e-01 1.68663496e-04 2.56476680e+00] [-3.33262626e-03 -3.10569964e-04 9.99994399e-01 2.24974216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.65, Y:2.57, Z:0.22 [[ 9.99358586e-01 3.56965669e-02 2.85877638e-03 1.08654019e+02] [-3.56971221e-02 9.99362644e-01 1.43417409e-04 2.57322394e+00] [-2.85183482e-03 -2.45375509e-04 9.99995903e-01 2.22443806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.69, Y:2.58, Z:0.22 [[ 9.99478942e-01 3.21795043e-02 2.51477488e-03 1.08686521e+02] [-3.21799241e-02 9.99482084e-01 1.26639708e-04 2.57539909e+00] [-2.50939724e-03 -2.07498986e-04 9.99996830e-01 2.22318444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.72, Y:2.57, Z:0.22 [[ 9.99677950e-01 2.53761590e-02 2.18066661e-04 1.08719616e+02] [-2.53761624e-02 9.99677973e-01 1.29865223e-05 2.57431373e+00] [-2.17666890e-04 -1.85160350e-05 9.99999976e-01 2.22241150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.75, Y:2.57, Z:0.22 [[ 9.99765741e-01 2.16228539e-02 -9.56524076e-04 1.08751981e+02] [-2.16229068e-02 9.99766197e-01 -4.49391754e-05 2.57418475e+00] [ 9.55328724e-04 6.56114789e-05 9.99999542e-01 2.21599745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.78, Y:2.58, Z:0.22 [[ 9.99916285e-01 1.29134225e-02 -8.15813015e-04 1.08783449e+02] [-1.29134583e-02 9.99916617e-01 -3.86554700e-05 2.57742080e+00] [ 8.15245815e-04 4.91872014e-05 9.99999666e-01 2.21436059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.82, Y:2.59, Z:0.22 [[ 9.99981806e-01 5.47640630e-03 2.52907327e-03 1.08816044e+02] [-5.47674211e-03 9.99984995e-01 1.25874136e-04 2.58538925e+00] [-2.52834598e-03 -1.39722927e-04 9.99996794e-01 2.21402560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.85, Y:2.59, Z:0.22 [[ 9.99984637e-01 2.64950897e-03 4.86896985e-03 1.08848016e+02] [-2.65070513e-03 9.99996458e-01 2.39233077e-04 2.58871114e+00] [-4.86831876e-03 -2.52135605e-04 9.99988118e-01 2.21668533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.88, Y:2.59, Z:0.22 [[ 9.99979936e-01 -1.51446071e-03 6.15093077e-03 1.08880957e+02] [ 1.51263992e-03 9.99998811e-01 3.00660504e-04 2.58682360e+00] [-6.15137879e-03 -2.91350328e-04 9.99981038e-01 2.22513088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.91, Y:2.59, Z:0.22 [[ 9.99983549e-01 -2.65675832e-03 5.08356681e-03 1.08912695e+02] [ 2.65553256e-03 9.99996443e-01 2.47857802e-04 2.58578470e+00] [-5.08420723e-03 -2.34354148e-04 9.99987048e-01 2.22063054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.94, Y:2.59, Z:0.22 [[ 9.99982983e-01 -2.82520859e-03 5.10405568e-03 1.08944258e+02] [ 2.82398430e-03 9.99995982e-01 2.47057606e-04 2.58932645e+00] [-5.10473317e-03 -2.32639629e-04 9.99986944e-01 2.21160446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.97, Y:2.60, Z:0.22 [[ 9.99988321e-01 -1.14848132e-03 4.69446869e-03 1.08974690e+02] [ 1.14742844e-03 9.99999316e-01 2.26968546e-04 2.59694986e+00] [-4.69472615e-03 -2.21579329e-04 9.99988955e-01 2.20097210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.01, Y:2.60, Z:0.22 [[ 9.99994518e-01 7.32701081e-04 3.22921490e-03 1.09006327e+02] [-7.33209453e-04 9.99999719e-01 1.56247844e-04 2.59959667e+00] [-3.22909951e-03 -1.58614679e-04 9.99994774e-01 2.19510074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.04, Y:2.60, Z:0.22 [[ 9.99994474e-01 7.89781316e-04 3.22921702e-03 1.09038949e+02] [-7.90289844e-04 9.99999676e-01 1.56204259e-04 2.60108125e+00] [-3.22909260e-03 -1.58755413e-04 9.99994774e-01 2.19106806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.07, Y:2.60, Z:0.22 [[ 9.99982858e-01 5.63284877e-03 1.59830258e-03 1.09070380e+02] [-5.63297954e-03 9.99984132e-01 7.73313480e-05 2.60287480e+00] [-1.59784162e-03 -8.63332281e-05 9.99998720e-01 2.19536726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.10, Y:2.61, Z:0.22 [[ 9.99945213e-01 9.80081669e-03 3.67626213e-03 1.09102656e+02] [-9.80153451e-03 9.99951948e-01 1.77292743e-04 2.60615467e+00] [-3.67434787e-03 -2.13316039e-04 9.99993227e-01 2.19769172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.13, Y:2.61, Z:0.22 [[ 9.99922200e-01 1.16527002e-02 4.45075522e-03 1.09134396e+02] [-1.16537736e-02 9.99932069e-01 2.15300381e-04 2.61040146e+00] [-4.44794405e-03 -2.67151724e-04 9.99990072e-01 2.19471531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.17, Y:2.62, Z:0.22 [[ 9.99863931e-01 1.48069129e-02 7.27148555e-03 1.09165542e+02] [-1.48098423e-02 9.99890267e-01 3.49170601e-04 2.61914013e+00] [-7.26551749e-03 -4.56812644e-04 9.99973501e-01 2.17938855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.20, Y:2.62, Z:0.22 [[ 9.99837951e-01 1.58904341e-02 8.45966252e-03 1.09198100e+02] [-1.58944235e-02 9.99873594e-01 4.04545430e-04 2.62263892e+00] [-8.45216476e-03 -5.38941332e-04 9.99964135e-01 2.17474278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.23, Y:2.63, Z:0.22 [[ 9.99831887e-01 1.72573114e-02 6.19539218e-03 1.09230839e+02] [-1.72594742e-02 9.99851000e-01 2.95800065e-04 2.62613063e+00] [-6.18936436e-03 -4.02679548e-04 9.99980765e-01 2.15933767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.26, Y:2.63, Z:0.21 [[ 9.99820948e-01 1.87926833e-02 2.21503288e-03 1.09263716e+02] [-1.87929658e-02 9.99823391e-01 1.06786986e-04 2.62760520e+00] [-2.21263487e-03 -1.48394902e-04 9.99997541e-01 2.13853187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.30, Y:2.63, Z:0.21 [[ 9.99816504e-01 1.90796740e-02 1.70994447e-03 1.09295581e+02] [-1.90798429e-02 9.99817960e-01 8.25134836e-05 2.62945415e+00] [-1.70805887e-03 -1.15123815e-04 9.99998535e-01 2.13541528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.33, Y:2.63, Z:0.21 [[ 9.99830772e-01 1.82477033e-02 2.33423960e-03 1.09328000e+02] [-1.82480132e-02 9.99833485e-01 1.11539594e-04 2.63389325e+00] [-2.33181557e-03 -1.54115953e-04 9.99997269e-01 2.13718005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.36, Y:2.64, Z:0.21 [[ 9.99880668e-01 1.48954949e-02 4.09564973e-03 1.09361249e+02] [-1.48964117e-02 9.99889024e-01 1.93419493e-04 2.63654377e+00] [-4.09231413e-03 -2.54406897e-04 9.99991594e-01 2.14360164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.39, Y:2.64, Z:0.21 [[ 9.99906195e-01 1.24178561e-02 5.77902536e-03 1.09394257e+02] [-1.24196287e-02 9.99922837e-01 2.70937820e-04 2.63986215e+00] [-5.77521497e-03 -3.42685754e-04 9.99983265e-01 2.14575267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.43, Y:2.64, Z:0.21 [[ 9.99928168e-01 7.56795707e-03 9.29436114e-03 1.09426329e+02] [-7.57230425e-03 9.99971236e-01 4.32619412e-04 2.64484339e+00] [-9.29081975e-03 -5.02968066e-04 9.99956713e-01 2.13856595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.46, Y:2.64, Z:0.21 [[ 9.99951528e-01 2.84142181e-03 9.42699788e-03 1.09459164e+02] [-2.84566901e-03 9.99995856e-01 4.37153016e-04 2.64211727e+00] [-9.42571667e-03 -4.63957942e-04 9.99955469e-01 2.13129542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.49, Y:2.64, Z:0.21 [[ 9.99963987e-01 1.03432879e-03 8.42343077e-03 1.09492079e+02] [-1.03764554e-03 9.99999386e-01 3.89392780e-04 2.64125839e+00] [-8.42302283e-03 -3.98119293e-04 9.99964446e-01 2.12708621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.52, Y:2.64, Z:0.21 [[ 9.99980382e-01 -2.07940857e-03 5.90858540e-03 1.09523950e+02] [ 2.07783333e-03 9.99997804e-01 2.72726963e-04 2.64334537e+00] [-5.90913954e-03 -2.60444556e-04 9.99982507e-01 2.11259705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09533619499999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:109.56, Y:2.65, Z:0.21 [[ 9.99981038e-01 -4.56723884e-03 4.13077683e-03 1.09556519e+02] [ 4.56649041e-03 9.99989555e-01 1.90597561e-04 2.64671912e+00] [-4.13160419e-03 -1.71730794e-04 9.99991450e-01 2.09921630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.59, Y:2.65, Z:0.21 [[ 9.99972231e-01 -6.04190047e-03 4.36272675e-03 1.09588780e+02] [ 6.04108837e-03 9.99981733e-01 1.99297679e-04 2.64720402e+00] [-4.36385119e-03 -1.72936527e-04 9.99990463e-01 2.09675888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.62, Y:2.65, Z:0.21 [[ 9.99958357e-01 -7.33582786e-03 5.42863214e-03 1.09620542e+02] [ 7.33459253e-03 9.99973071e-01 2.47432287e-04 2.64591679e+00] [-5.43030107e-03 -2.07605178e-04 9.99985234e-01 2.09982632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.65, Y:2.64, Z:0.21 [[ 9.99957066e-01 -7.30473374e-03 5.70155930e-03 1.09651914e+02] [ 7.30336930e-03 9.99973296e-01 2.60094577e-04 2.64433289e+00] [-5.70330697e-03 -2.18442817e-04 9.99983712e-01 2.10076727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.68, Y:2.64, Z:0.21 [[ 9.99956788e-01 -6.90012499e-03 6.22977095e-03 1.09683645e+02] [ 6.89849199e-03 9.99976165e-01 2.83579065e-04 2.63841741e+00] [-6.23157920e-03 -2.40590786e-04 9.99980555e-01 2.10782311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.72, Y:2.64, Z:0.21 [[ 9.99954637e-01 -6.74305548e-03 6.72712930e-03 1.09715579e+02] [ 6.74115296e-03 9.99977232e-01 3.05447552e-04 2.63545810e+00] [-6.72903579e-03 -2.60085089e-04 9.99977326e-01 2.10500520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.75, Y:2.64, Z:0.21 [[ 9.99952262e-01 -6.65824628e-03 7.15129735e-03 1.09747614e+02] [ 6.65609670e-03 9.99977795e-01 3.24344530e-04 2.63647957e+00] [-7.15329812e-03 -2.76729320e-04 9.99974377e-01 2.09720964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.78, Y:2.64, Z:0.21 [[ 9.99944997e-01 -6.28639604e-03 8.39546124e-03 1.09779206e+02] [ 6.28342479e-03 9.99980187e-01 3.80240737e-04 2.63845032e+00] [-8.39768524e-03 -3.27467574e-04 9.99964685e-01 2.08486672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.81, Y:2.63, Z:0.21 [[ 9.99942458e-01 -5.41019904e-03 9.26337298e-03 1.09811564e+02] [ 5.40654720e-03 9.99985297e-01 4.19220265e-04 2.63366106e+00] [-9.26550484e-03 -3.69113279e-04 9.99957006e-01 2.07335860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.84, Y:2.63, Z:0.21 [[ 9.99954352e-01 -4.73836064e-03 8.29708599e-03 1.09842919e+02] [ 4.73541092e-03 9.99988718e-01 3.75122698e-04 2.62778750e+00] [-8.29876985e-03 -3.35815462e-04 9.99965508e-01 2.07278634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.87, Y:2.62, Z:0.21 [[ 9.99982282e-01 -3.62861493e-03 4.71893130e-03 1.09874407e+02] [ 3.62764840e-03 9.99993397e-01 2.13363409e-04 2.61714630e+00] [-4.71967435e-03 -1.96241005e-04 9.99988843e-01 2.07454063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.91, Y:2.62, Z:0.21 [[ 9.99987343e-01 -2.65426762e-03 4.27408237e-03 1.09906815e+02] [ 2.65346591e-03 9.99996461e-01 1.93234589e-04 2.61566674e+00] [-4.27458014e-03 -1.81891011e-04 9.99990847e-01 2.07064801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.94, Y:2.61, Z:0.21 [[ 9.99981981e-01 -6.13866264e-04 5.97174774e-03 1.09939175e+02] [ 6.12267734e-04 9.99999776e-01 2.69506602e-04 2.61481023e+00] [-5.97191185e-03 -2.65845437e-04 9.99982133e-01 2.05842848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.97, Y:2.61, Z:0.20 [[ 9.99968180e-01 1.26087436e-03 7.87716184e-03 1.09971252e+02] [-1.26370970e-03 9.99999139e-01 3.54977474e-04 2.61269013e+00] [-7.87670747e-03 -3.64920624e-04 9.99968912e-01 2.04245036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.00, Y:2.61, Z:0.20 [[ 9.99956016e-01 2.50808983e-03 9.03745759e-03 1.10003048e+02] [-2.51186866e-03 9.99996763e-01 4.06802972e-04 2.60958955e+00] [-9.03640803e-03 -4.29485985e-04 9.99959079e-01 2.04101015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.04, Y:2.60, Z:0.21 [[ 9.99933993e-01 5.76656693e-03 9.93764449e-03 1.10036643e+02] [-5.77129046e-03 9.99983246e-01 4.46705622e-04 2.59898913e+00] [-9.93490204e-03 -5.04029169e-04 9.99950521e-01 2.05440163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.07, Y:2.59, Z:0.20 [[ 9.99921022e-01 1.05154331e-02 6.88293959e-03 1.10069977e+02] [-1.05178098e-02 9.99944639e-01 3.09201475e-04 2.59358695e+00] [-6.87930715e-03 -3.81570505e-04 9.99976264e-01 2.03610436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.10, Y:2.59, Z:0.20 [[ 9.99896839e-01 1.33044820e-02 5.41321498e-03 1.10102557e+02] [-1.33059962e-02 9.99911442e-01 2.43800921e-04 2.59299570e+00] [-5.40949195e-03 -3.15803988e-04 9.99985319e-01 2.02000070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.14, Y:2.59, Z:0.20 [[ 9.99796586e-01 1.87762927e-02 7.36454829e-03 1.10135071e+02] [-1.87792265e-02 9.99823601e-01 3.29411421e-04 2.58956019e+00] [-7.35706406e-03 -4.67644934e-04 9.99972827e-01 2.02495174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.17, Y:2.59, Z:0.20 [[ 9.99737624e-01 2.12175628e-02 8.63128251e-03 1.10167898e+02] [-2.12216674e-02 9.99774721e-01 3.84231460e-04 2.58775195e+00] [-8.62118561e-03 -5.67300854e-04 9.99962676e-01 2.03004295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.20, Y:2.58, Z:0.20 [[ 9.99647591e-01 2.55310994e-02 7.27020159e-03 1.10200274e+02] [-2.55341153e-02 9.99673899e-01 3.22306634e-04 2.58100634e+00] [-7.25960193e-03 -5.07831217e-04 9.99973520e-01 2.03322664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.23, Y:2.58, Z:0.20 [[ 9.99601213e-01 2.75262388e-02 6.30243998e-03 1.10233382e+02] [-2.75285439e-02 9.99620979e-01 2.79277431e-04 2.57839176e+00] [-6.29236377e-03 -4.52663055e-04 9.99980100e-01 2.02690127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.27, Y:2.57, Z:0.20 [[ 9.99508659e-01 3.04119421e-02 7.58643012e-03 1.10266583e+02] [-3.04153509e-02 9.99537290e-01 3.34330351e-04 2.57322322e+00] [-7.57275217e-03 -5.64910014e-04 9.99971167e-01 2.02331109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.30, Y:2.57, Z:0.20 [[ 9.99493110e-01 3.05006119e-02 9.12331684e-03 1.10298854e+02] [-3.05055242e-02 9.99534518e-01 3.99728614e-04 2.57014410e+00] [-9.10687814e-03 -6.77837558e-04 9.99958302e-01 2.01548362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.33, Y:2.57, Z:0.20 [[ 9.99513131e-01 2.98239298e-02 9.16697140e-03 1.10332386e+02] [-2.98288533e-02 9.99554940e-01 4.00815132e-04 2.56888148e+00] [-9.15093766e-03 -6.74060233e-04 9.99957902e-01 2.01045866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.37, Y:2.56, Z:0.20 [[ 9.99563865e-01 2.81297521e-02 8.98869552e-03 1.10365917e+02] [-2.81344038e-02 9.99604073e-01 3.91451012e-04 2.56449005e+00] [-8.97412523e-03 -6.44171877e-04 9.99959524e-01 1.99626854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.40, Y:2.56, Z:0.20 [[ 9.99621997e-01 2.62280122e-02 8.24349086e-03 1.10399476e+02] [-2.62318495e-02 9.99655822e-01 3.57693369e-04 2.55996533e+00] [-8.23127204e-03 -5.73800171e-04 9.99965958e-01 1.98624512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.43, Y:2.56, Z:0.20 [[ 9.99632942e-01 2.61692158e-02 7.01100676e-03 1.10431107e+02] [-2.61719829e-02 9.99657409e-01 3.03205580e-04 2.55885955e+00] [-7.00067020e-03 -4.86586235e-04 9.99975377e-01 1.97640937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.46, Y:2.55, Z:0.20 [[ 9.99605795e-01 2.73974816e-02 6.13455741e-03 1.10464602e+02] [-2.73996189e-02 9.99624525e-01 2.64614570e-04 2.55491421e+00] [-6.12500427e-03 -4.32594793e-04 9.99981148e-01 1.98215383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.50, Y:2.55, Z:0.20 [[ 9.99583861e-01 2.81183892e-02 6.43896682e-03 1.10497952e+02] [-2.81207506e-02 9.99604495e-01 2.76472056e-04 2.55429331e+00] [-6.42864623e-03 -4.57425585e-04 9.99979231e-01 1.98312953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.53, Y:2.55, Z:0.20 [[ 9.99563053e-01 2.89762498e-02 5.83778587e-03 1.10529497e+02] [-2.89781999e-02 9.99580013e-01 2.49717800e-04 2.55444287e+00] [-5.82809818e-03 -4.18777213e-04 9.99982929e-01 1.97511925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.56, Y:2.56, Z:0.20 [[ 9.99563602e-01 2.89489753e-02 5.87891834e-03 1.10562427e+02] [-2.89509469e-02 9.99580802e-01 2.50529259e-04 2.55505568e+00] [-5.86920134e-03 -4.20620181e-04 9.99982688e-01 1.96379556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.59, Y:2.55, Z:0.20 [[ 9.99629322e-01 2.63109502e-02 6.99658169e-03 1.10594371e+02] [-2.63136640e-02 9.99653692e-01 2.96083388e-04 2.55432060e+00] [-6.98636848e-03 -4.80079336e-04 9.99975480e-01 1.95090177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.63, Y:2.55, Z:0.19 [[ 9.99713579e-01 2.22127690e-02 8.90802571e-03 1.10627347e+02] [-2.22169957e-02 9.99753101e-01 3.75792421e-04 2.55204421e+00] [-8.89747894e-03 -5.73594355e-04 9.99960252e-01 1.94190277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.66, Y:2.55, Z:0.19 [[ 9.99741062e-01 2.09241492e-02 8.94365918e-03 1.10660938e+02] [-2.09283444e-02 9.99780908e-01 3.75722645e-04 2.54907895e+00] [-8.93383801e-03 -5.62801336e-04 9.99959934e-01 1.94777598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.69, Y:2.54, Z:0.20 [[ 9.99787823e-01 1.94954076e-02 6.65118992e-03 1.10693350e+02] [-1.94976916e-02 9.99809863e-01 2.78716586e-04 2.54103690e+00] [-6.64449159e-03 -4.08340299e-04 9.99977842e-01 1.96296706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.73, Y:2.54, Z:0.20 [[ 9.99795208e-01 1.98402911e-02 3.98813184e-03 1.10725968e+02] [-1.98411162e-02 9.99803132e-01 1.67419218e-04 2.54221538e+00] [-3.98402506e-03 -2.46513919e-04 9.99992033e-01 1.95033371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.76, Y:2.55, Z:0.19 [[ 9.99784562e-01 2.04479700e-02 3.56524352e-03 1.10758145e+02] [-2.04486295e-02 9.99790894e-01 1.48634003e-04 2.54614198e+00] [-3.56145874e-03 -2.21506325e-04 9.99993633e-01 1.92702064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.79, Y:2.55, Z:0.19 [[ 9.99747036e-01 2.20763256e-02 4.30108206e-03 1.10790937e+02] [-2.20772992e-02 9.99756251e-01 1.79020229e-04 2.55138929e+00] [-4.29608156e-03 -2.73931219e-04 9.99990734e-01 1.89318806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.82, Y:2.55, Z:0.19 [[ 9.99665421e-01 2.49555706e-02 6.80183422e-03 1.10822740e+02] [-2.49580548e-02 9.99688460e-01 2.80565259e-04 2.54849389e+00] [-6.79271351e-03 -4.50231939e-04 9.99976828e-01 1.91006566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.86, Y:2.55, Z:0.19 [[ 9.99614599e-01 2.67484275e-02 7.42803337e-03 1.10855729e+02] [-2.67514291e-02 9.99642070e-01 3.05017229e-04 2.54601616e+00] [-7.41721593e-03 -5.03610183e-04 9.99972365e-01 1.92809634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.89, Y:2.55, Z:0.19 [[ 9.99548270e-01 2.94314097e-02 6.08667717e-03 1.10887964e+02] [-2.94334700e-02 9.99566711e-01 2.49184769e-04 2.54553893e+00] [-6.07670602e-03 -4.28224235e-04 9.99981445e-01 1.94143098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.92, Y:2.55, Z:0.19 [[ 9.99514212e-01 3.08416291e-02 4.48700365e-03 1.10920426e+02] [-3.08427626e-02 9.99524232e-01 1.83617929e-04 2.54921383e+00] [-4.47920580e-03 -3.21920318e-04 9.99989916e-01 1.92177716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.95, Y:2.56, Z:0.19 [[ 9.99440372e-01 3.34124627e-02 1.59720803e-03 1.10952106e+02] [-3.34126112e-02 9.99441641e-01 6.63691494e-05 2.55868530e+00] [-1.59409865e-03 -1.19698898e-04 9.99998722e-01 1.88654407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.98, Y:2.56, Z:0.19 [[ 9.99399022e-01 3.46509060e-02 9.53181846e-04 1.10983514e+02] [-3.46509600e-02 9.99399474e-01 4.02464448e-05 2.56436876e+00] [-9.51214860e-04 -7.32509237e-05 9.99999545e-01 1.87035503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.02, Y:2.57, Z:0.19 [[ 9.99363576e-01 3.56555487e-02 1.06035162e-03 1.11015002e+02] [-3.56556157e-02 9.99364135e-01 4.43396000e-05 2.56988128e+00] [-1.05809643e-03 -8.21188711e-05 9.99999437e-01 1.87068532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.05, Y:2.57, Z:0.19 [[ 9.99432513e-01 3.35576620e-02 2.92168590e-03 1.11048330e+02] [-3.35581505e-02 9.99436760e-01 1.18337669e-04 2.57022930e+00] [-2.91606916e-03 -2.16316889e-04 9.99995725e-01 1.90292913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.08, Y:2.57, Z:0.19 [[ 9.99429905e-01 3.36352163e-02 2.92174364e-03 1.11081786e+02] [-3.36357010e-02 9.99434153e-01 1.16886128e-04 2.57143736e+00] [-2.91615889e-03 -2.15094387e-04 9.99995725e-01 1.89878877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.11, Y:2.57, Z:0.19 [[ 9.99525938e-01 3.01664010e-02 6.15526382e-03 1.11113922e+02] [-3.01684805e-02 9.99544798e-01 2.45247836e-04 2.57477336e+00] [-6.14506368e-03 -4.30826530e-04 9.99981026e-01 1.91121260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.15, Y:2.58, Z:0.19 [[ 9.99582967e-01 2.78417941e-02 7.66331453e-03 1.11146991e+02] [-2.78449365e-02 9.99612208e-01 3.03654507e-04 2.58031919e+00] [-7.65188848e-03 -5.16912380e-04 9.99970590e-01 1.89783228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.18, Y:2.59, Z:0.18 [[ 9.99724475e-01 2.20259001e-02 8.11374790e-03 1.11178311e+02] [-2.20292184e-02 9.99757276e-01 3.19822724e-04 2.59187822e+00] [-8.10473412e-03 -4.98474130e-04 9.99967032e-01 1.84460709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.21, Y:2.59, Z:0.18 [[ 9.99795845e-01 1.89451674e-02 7.02485831e-03 1.11210717e+02] [-1.89475704e-02 9.99820441e-01 2.75659278e-04 2.59387457e+00] [-7.01837452e-03 -4.08706998e-04 9.99975287e-01 1.83105387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.24, Y:2.59, Z:0.18 [[ 9.99907439e-01 1.28199557e-02 4.55656102e-03 1.11243599e+02] [-1.28209038e-02 9.99917793e-01 1.78913247e-04 2.58767582e+00] [-4.55389278e-03 -2.37315917e-04 9.99989603e-01 1.84871657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.28, Y:2.59, Z:0.18 [[ 9.99973926e-01 7.11943435e-03 1.20873999e-03 1.11275215e+02] [-7.11949796e-03 9.99974655e-01 4.83307000e-05 2.58924645e+00] [-1.20836527e-03 -5.69350617e-05 9.99999268e-01 1.84877380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.31, Y:2.59, Z:0.18 [[ 9.99985284e-01 5.35518741e-03 8.68317911e-04 1.11306994e+02] [-5.35522039e-03 9.99985660e-01 3.56566706e-05 2.59495400e+00] [-8.68114511e-04 -4.03061796e-05 9.99999622e-01 1.83187507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.34, Y:2.60, Z:0.18 [[ 9.99991435e-01 3.89326651e-03 1.40416453e-03 1.11338976e+02] [-3.89334889e-03 9.99992419e-01 5.59388475e-05 2.59989158e+00] [-1.40393610e-03 -6.14052709e-05 9.99999013e-01 1.80686650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.37, Y:2.60, Z:0.18 [[ 9.99992443e-01 3.86116370e-03 4.53204485e-04 1.11370701e+02] [-3.86117286e-03 9.99992545e-01 1.93264969e-05 2.59868501e+00] [-4.53126484e-04 -2.10762517e-05 9.99999897e-01 1.80285206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.40, Y:2.60, Z:0.18 [[ 9.99983562e-01 5.57675991e-03 -1.33253385e-03 1.11402532e+02] [-5.57683205e-03 9.99984448e-01 -5.04294149e-05 2.59593554e+00] [ 1.33223189e-03 5.78599034e-05 9.99999111e-01 1.81388448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.43, Y:2.60, Z:0.18 [[ 9.99978033e-01 6.58399680e-03 -7.64241630e-04 1.11432585e+02] [-6.58402096e-03 9.99978325e-01 -2.90971534e-05 2.59718401e+00] [ 7.64033489e-04 3.41282972e-05 9.99999708e-01 1.81605351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.46, Y:2.60, Z:0.18 [[ 9.99944840e-01 1.00182101e-02 3.15460403e-03 1.11463312e+02] [-1.00186415e-02 9.99949805e-01 1.20994661e-04 2.60109450e+00] [-3.15323353e-03 -1.52592834e-04 9.99995017e-01 1.81716810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.50, Y:2.60, Z:0.18 [[ 9.99933545e-01 1.09920023e-02 3.47596312e-03 1.11496147e+02] [-1.09925361e-02 9.99939571e-01 1.34496996e-04 2.60156247e+00] [-3.47427468e-03 -1.72697708e-04 9.99993950e-01 1.81142606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.53, Y:2.60, Z:0.18 [[ 9.99933976e-01 1.06359056e-02 4.34980254e-03 1.11528720e+02] [-1.06367322e-02 9.99943414e-01 1.66927233e-04 2.59997614e+00] [-4.34778098e-03 -2.13183896e-04 9.99990526e-01 1.79828028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.56, Y:2.60, Z:0.18 [[ 9.99942287e-01 9.64868285e-03 4.72492955e-03 1.11560928e+02] [-9.64964167e-03 9.99953425e-01 1.80173027e-04 2.59806635e+00] [-4.72297105e-03 -2.25756505e-04 9.99988821e-01 1.79800440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.59, Y:2.59, Z:0.18 [[ 9.99968656e-01 6.82898174e-03 4.00642722e-03 1.11594505e+02] [-6.82964746e-03 9.99976666e-01 1.52504668e-04 2.59497609e+00] [-4.00529228e-03 -1.79862373e-04 9.99991963e-01 1.80035643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.63, Y:2.59, Z:0.18 [[ 9.99975703e-01 6.18444318e-03 3.21647203e-03 1.11627691e+02] [-6.18486848e-03 9.99980866e-01 1.22297399e-04 2.59491255e+00] [-3.21565414e-03 -1.42187884e-04 9.99994820e-01 1.79275986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.66, Y:2.59, Z:0.18 [[ 9.99972958e-01 6.76325508e-03 2.88824476e-03 1.11661060e+02] [-6.76359955e-03 9.99977121e-01 1.09517499e-04 2.59197037e+00] [-2.88743798e-03 -1.29049468e-04 9.99995823e-01 1.78243825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:2.59, Z:0.18 [[ 9.99969204e-01 7.48188663e-03 2.36891083e-03 1.11692908e+02] [-7.48211867e-03 9.99972005e-01 8.91022188e-05 2.58978633e+00] [-2.36817786e-03 -1.06823947e-04 9.99997190e-01 1.78171320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.73, Y:2.59, Z:0.18 [[ 9.99950727e-01 9.70282396e-03 2.09746764e-03 1.11725533e+02] [-9.70301212e-03 9.99952922e-01 7.95487775e-05 2.58696661e+00] [-2.09659704e-03 -9.98966118e-05 9.99997797e-01 1.78156966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.76, Y:2.59, Z:0.18 [[ 9.99898640e-01 1.40596812e-02 2.24383051e-03 1.11757963e+02] [-1.40599033e-02 9.99901151e-01 8.32319345e-05 2.58629509e+00] [-2.24243849e-03 -1.14771538e-04 9.99997479e-01 1.78407174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.79, Y:2.59, Z:0.18 [[ 9.99784734e-01 2.05766495e-02 2.66202072e-03 1.11791219e+02] [-2.05769846e-02 9.99788267e-01 9.85429636e-05 2.58744499e+00] [-2.65942939e-03 -1.53298110e-04 9.99996452e-01 1.78080282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.82, Y:2.59, Z:0.18 [[ 9.99727786e-01 2.32656372e-02 1.75071224e-03 1.11824255e+02] [-2.32657886e-02 9.99729313e-01 6.61968846e-05 2.58897979e+00] [-1.74869823e-03 -1.06910566e-04 9.99998465e-01 1.77134715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.86, Y:2.59, Z:0.18 [[ 9.99636933e-01 2.69428905e-02 2.88206589e-04 1.11857490e+02] [-2.69428953e-02 9.99636974e-01 1.27261547e-05 2.58811600e+00] [-2.87759084e-04 -2.04866542e-05 9.99999958e-01 1.76027398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:2.59, Z:0.18 [[ 9.99614781e-01 2.77313444e-02 1.12368260e-03 1.11889486e+02] [-2.77314092e-02 9.99615410e-01 4.21077085e-05 2.58694229e+00] [-1.12208274e-03 -7.32527897e-05 9.99999368e-01 1.76914694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.92, Y:2.59, Z:0.18 [[ 9.99615212e-01 2.75710912e-02 3.04360345e-03 1.11922105e+02] [-2.75715594e-02 9.99619826e-01 1.11971275e-04 2.58527640e+00] [-3.03935919e-03 -1.95845084e-04 9.99995362e-01 1.78655725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.95, Y:2.59, Z:0.18 [[ 9.99643036e-01 2.64920576e-02 3.45991753e-03 1.11954603e+02] [-2.64926530e-02 9.99649000e-01 1.26363090e-04 2.58666784e+00] [-3.45535549e-03 -2.17980378e-04 9.99994006e-01 1.78018639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.99, Y:2.59, Z:0.18 [[ 9.99712101e-01 2.34410741e-02 5.12155891e-03 1.11986039e+02] [-2.34423279e-02 9.99725174e-01 1.84917044e-04 2.59063680e+00] [-5.11581672e-03 -3.04925070e-04 9.99986868e-01 1.76705346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.02, Y:2.59, Z:0.18 [[ 9.99735678e-01 2.22394981e-02 5.82912208e-03 1.12018695e+02] [-2.22410948e-02 9.99752614e-01 2.09236082e-04 2.59239203e+00] [-5.82302674e-03 -3.38826833e-04 9.99982989e-01 1.75921655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.05, Y:2.59, Z:0.17 [[ 9.99780690e-01 2.02878686e-02 5.19363741e-03 1.12050441e+02] [-2.02891058e-02 9.99794138e-01 1.85630194e-04 2.59330203e+00] [-5.18880219e-03 -2.90963742e-04 9.99986496e-01 1.74467615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:2.59, Z:0.18 [[ 9.99788750e-01 2.02672166e-02 3.41990359e-03 1.12083540e+02] [-2.02677537e-02 9.99794580e-01 1.22461508e-04 2.59183330e+00] [-3.41671912e-03 -1.91749402e-04 9.99994145e-01 1.75235553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.12, Y:2.59, Z:0.18 [[ 9.99769822e-01 2.13366539e-02 2.24732968e-03 1.12115137e+02] [-2.13368890e-02 9.99772339e-01 8.07097703e-05 2.59207961e+00] [-2.24509597e-03 -1.28642217e-04 9.99997471e-01 1.75940001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:2.59, Z:0.18 [[ 9.99743419e-01 2.26329802e-02 9.18482472e-04 1.12147788e+02] [-2.26330211e-02 9.99743840e-01 3.41550086e-05 2.59381411e+00] [-9.17474164e-04 -5.49342782e-05 9.99999578e-01 1.75816778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.18, Y:2.60, Z:0.18 [[ 9.99739459e-01 2.28160149e-02 6.65294783e-04 1.12180387e+02] [-2.28160368e-02 9.99739680e-01 2.52825753e-05 2.59614955e+00] [-6.64544746e-04 -4.04553784e-05 9.99999778e-01 1.75314608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:2.60, Z:0.17 [[ 9.99749075e-01 2.23705533e-02 1.15978674e-03 1.12212098e+02] [-2.23706163e-02 9.99749746e-01 4.14175541e-05 2.60100958e+00] [-1.15856997e-03 -6.73523056e-05 9.99999327e-01 1.73274020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.24, Y:2.60, Z:0.17 [[ 9.99758756e-01 2.19283762e-02 1.25575616e-03 1.12244610e+02] [-2.19284505e-02 9.99759542e-01 4.53932013e-05 2.60194184e+00] [-1.25445881e-03 -7.29190372e-05 9.99999211e-01 1.72399624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.28, Y:2.60, Z:0.17 [[ 9.99798596e-01 2.00228034e-02 1.36157738e-03 1.12276976e+02] [-2.00228872e-02 9.99799521e-01 4.80017594e-05 2.59676202e+00] [-1.36034329e-03 -7.52548021e-05 9.99999072e-01 1.72626013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.31, Y:2.60, Z:0.17 [[ 9.99830753e-01 1.80813150e-02 3.39592999e-03 1.12310013e+02] [-1.80818190e-02 9.99836504e-01 1.17761742e-04 2.59514739e+00] [-3.39324548e-03 -1.79146403e-04 9.99994227e-01 1.73374311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.34, Y:2.60, Z:0.17 [[ 9.99837526e-01 1.75841341e-02 3.96475371e-03 1.12342919e+02] [-1.75848130e-02 9.99845366e-01 1.36440148e-04 2.59665722e+00] [-3.96174145e-03 -2.06137433e-04 9.99992131e-01 1.72965373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.37, Y:2.59, Z:0.17 [[ 9.99864211e-01 1.61335218e-02 3.35706373e-03 1.12374924e+02] [-1.61339991e-02 9.99869832e-01 1.15142939e-04 2.59388508e+00] [-3.35476909e-03 -1.69290167e-04 9.99994358e-01 1.72150977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.41, Y:2.59, Z:0.17 [[ 9.99890544e-01 1.46380435e-02 2.15130408e-03 1.12408279e+02] [-1.46382371e-02 9.99892853e-01 7.42746461e-05 2.58964515e+00] [-2.14998634e-03 -1.05757815e-04 9.99997683e-01 1.71537138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.44, Y:2.59, Z:0.17 [[ 9.99894790e-01 1.44370158e-02 1.40750587e-03 1.12441613e+02] [-1.44370992e-02 9.99895778e-01 4.91331469e-05 2.58990088e+00] [-1.40664984e-03 -6.94482794e-05 9.99999008e-01 1.70208174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.47, Y:2.59, Z:0.17 [[ 9.99869218e-01 1.60981679e-02 1.54806336e-03 1.12474716e+02] [-1.60982701e-02 9.99870413e-01 5.35331536e-05 2.58796938e+00] [-1.54700096e-03 -7.84472944e-05 9.99998800e-01 1.69882559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.51, Y:2.59, Z:0.17 [[ 9.99831526e-01 1.82025220e-02 2.36365350e-03 1.12507001e+02] [-1.82027618e-02 9.99834313e-01 7.99731693e-05 2.58592402e+00] [-2.36180616e-03 -1.22984717e-04 9.99997203e-01 1.70309175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.54, Y:2.58, Z:0.17 [[ 9.99724544e-01 2.33712023e-02 2.15007378e-03 1.12539207e+02] [-2.33714110e-02 9.99726849e-01 7.19683507e-05 2.58359705e+00] [-2.14780449e-03 -1.22198784e-04 9.99997686e-01 1.71546026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.57, Y:2.59, Z:0.17 [[ 9.99508927e-01 3.10938860e-02 3.88276035e-03 1.12570600e+02] [-3.10946202e-02 9.99516437e-01 1.28868193e-04 2.58900121e+00] [-3.87687578e-03 -2.49537867e-04 9.99992454e-01 1.70961133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.60, Y:2.59, Z:0.17 [[ 9.99361393e-01 3.53578143e-02 5.16048212e-03 1.12602180e+02] [-3.53591599e-02 9.99374655e-01 1.69725959e-04 2.59378761e+00] [-5.15125390e-03 -3.52087884e-04 9.99986670e-01 1.69213867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.64, Y:2.60, Z:0.17 [[ 9.99100711e-01 4.22885845e-02 3.07320886e-03 1.12635352e+02] [-4.22890956e-02 9.99105411e-01 1.01472327e-04 2.59922976e+00] [-3.06616848e-03 -2.31344297e-04 9.99995273e-01 1.66746810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.67, Y:2.60, Z:0.17 [[ 9.99004399e-01 4.45767730e-02 1.76699454e-03 1.12668154e+02] [-4.45769467e-02 9.99005952e-01 5.90088926e-05 2.60000006e+00] [-1.76260764e-03 -1.37717365e-04 9.99998437e-01 1.66258615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.70, Y:2.60, Z:0.17 [[ 9.98926293e-01 4.62524698e-02 2.63997878e-03 1.12700012e+02] [-4.62528589e-02 9.98929760e-01 8.64812885e-05 2.60096066e+00] [-2.63315340e-03 -2.08494999e-04 9.99996512e-01 1.68277840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.73, Y:2.61, Z:0.17 [[ 9.99010757e-01 4.42709375e-02 4.19416351e-03 1.12732124e+02] [-4.42718939e-02 9.99019510e-01 1.35412967e-04 2.60610283e+00] [-4.18405632e-03 -3.20962573e-04 9.99991195e-01 1.69318161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.77, Y:2.61, Z:0.17 [[ 9.99120899e-01 4.17100785e-02 4.20693062e-03 1.12765012e+02] [-4.17110160e-02 9.99129708e-01 1.35314753e-04 2.60985876e+00] [-4.19762538e-03 -3.10671148e-04 9.99991142e-01 1.68418931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.80, Y:2.61, Z:0.17 [[ 9.99419137e-01 3.37458263e-02 4.75486821e-03 1.12797085e+02] [-3.37469283e-02 9.99430399e-01 1.51698898e-04 2.61131562e+00] [-4.74704063e-03 -3.12072978e-04 9.99988684e-01 1.67353849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.83, Y:2.61, Z:0.17 [[ 9.99681324e-01 2.44883362e-02 6.12964829e-03 1.12830448e+02] [-2.44899806e-02 9.99700057e-01 1.93332108e-04 2.60989139e+00] [-6.12307536e-03 -3.43385465e-04 9.99981195e-01 1.68008999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.86, Y:2.61, Z:0.17 [[ 9.99779434e-01 1.97902843e-02 7.03052503e-03 1.12863445e+02] [-1.97923310e-02 9.99804088e-01 2.21654226e-04 2.61132228e+00] [-7.02476106e-03 -3.60755815e-04 9.99975261e-01 1.67890517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.90, Y:2.61, Z:0.17 [[ 9.99925675e-01 1.05797965e-02 6.05914486e-03 1.12895886e+02] [-1.05811426e-02 9.99944000e-01 1.90147419e-04 2.61127385e+00] [-6.05679383e-03 -2.54245962e-04 9.99981625e-01 1.65397801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.93, Y:2.61, Z:0.16 [[ 9.99963261e-01 7.05331321e-03 4.87111131e-03 1.12929217e+02] [-7.05413603e-03 9.99975108e-01 1.51756656e-04 2.61074884e+00] [-4.86991967e-03 -1.86112562e-04 9.99988125e-01 1.64806875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.96, Y:2.61, Z:0.17 [[ 9.99980366e-01 3.78072063e-03 4.99729729e-03 1.12961369e+02] [-3.78154705e-03 9.99992838e-01 1.55935111e-04 2.60718569e+00] [-4.99667195e-03 -1.74829564e-04 9.99987501e-01 1.65551752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.99, Y:2.61, Z:0.17 [[ 9.99985498e-01 3.10761994e-03 4.39840053e-03 1.12993099e+02] [-3.10825133e-03 9.99995160e-01 1.36722803e-04 2.60513808e+00] [-4.39795436e-03 -1.50392155e-04 9.99990318e-01 1.67399673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.03, Y:2.61, Z:0.17 [[ 9.99973012e-01 5.10986445e-03 5.27867124e-03 1.13025230e+02] [-5.11079004e-03 9.99986927e-01 1.61869414e-04 2.60652255e+00] [-5.27777510e-03 -1.88843226e-04 9.99986055e-01 1.65920402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.06, Y:2.61, Z:0.17 [[ 9.99962624e-01 6.26961326e-03 5.95343593e-03 1.13056961e+02] [-6.27081385e-03 9.99980322e-01 1.83016771e-04 2.60564662e+00] [-5.95217134e-03 -2.20342819e-04 9.99982261e-01 1.65864922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.09, Y:2.60, Z:0.17 [[ 9.99958641e-01 7.18142668e-03 5.58059710e-03 1.13089801e+02] [-7.18249164e-03 9.99974191e-01 1.70814545e-04 2.60446036e+00] [-5.57922638e-03 -2.10890073e-04 9.99984414e-01 1.65601560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.12, Y:2.60, Z:0.16 [[ 9.99951760e-01 8.94743379e-03 4.05222407e-03 1.13122128e+02] [-8.94800887e-03 9.99959958e-01 1.23809878e-04 2.60275855e+00] [-4.05095404e-03 -1.60063243e-04 9.99991782e-01 1.63442335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.16, Y:2.60, Z:0.16 [[ 9.99950605e-01 9.07565417e-03 4.05225594e-03 1.13155579e+02] [-9.07622602e-03 9.99958803e-01 1.22750875e-04 2.60361602e+00] [-4.05097496e-03 -1.59524003e-04 9.99991782e-01 1.63028459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.19, Y:2.60, Z:0.16 [[ 9.99944802e-01 9.73871073e-03 3.94347971e-03 1.13188665e+02] [-9.73925747e-03 9.99952565e-01 1.19464004e-04 2.60183299e+00] [-3.94212923e-03 -1.57863974e-04 9.99992217e-01 1.61902887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.22, Y:2.60, Z:0.16 [[ 9.99935042e-01 1.07979167e-02 3.64917355e-03 1.13220169e+02] [-1.07983897e-02 9.99941690e-01 1.09937569e-04 2.60148881e+00] [-3.64777367e-03 -1.49335626e-04 9.99993336e-01 1.61369917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:2.60, Z:0.16 [[ 9.99883921e-01 1.50401520e-02 2.43693974e-03 1.13253278e+02] [-1.50403765e-02 9.99886884e-01 7.38365704e-05 2.59901140e+00] [-2.43555358e-03 -1.10480491e-04 9.99997028e-01 1.60939279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.29, Y:2.60, Z:0.16 [[ 9.99844385e-01 1.74929343e-02 2.28100369e-03 1.13285551e+02] [-1.74931365e-02 9.99846981e-01 6.87038884e-05 2.59727989e+00] [-2.27945282e-03 -1.08595106e-04 9.99997396e-01 1.61770277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.32, Y:2.60, Z:0.16 [[ 9.99749818e-01 2.21566569e-02 3.06324053e-03 1.13317481e+02] [-2.21570394e-02 9.99754499e-01 9.09972011e-05 2.60001404e+00] [-3.06047230e-03 -1.58846776e-04 9.99995304e-01 1.62182702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.35, Y:2.60, Z:0.16 [[ 9.99594931e-01 2.83207853e-02 2.81204047e-03 1.13350737e+02] [-2.83211314e-02 9.99598873e-01 8.33461441e-05 2.60476504e+00] [-2.80855206e-03 -1.62952551e-04 9.99996043e-01 1.59321303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.38, Y:2.60, Z:0.16 [[ 9.99526018e-01 3.06254370e-02 3.13400099e-03 1.13382540e+02] [-3.06258753e-02 9.99530914e-01 9.19331431e-05 2.60437674e+00] [-3.12971538e-03 -1.87871092e-04 9.99995085e-01 1.59296776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.42, Y:2.60, Z:0.16 [[ 9.99426310e-01 3.34553758e-02 5.27157730e-03 1.13415682e+02] [-3.34566431e-02 9.99440158e-01 1.52381586e-04 2.60020126e+00] [-5.26352806e-03 -3.28663446e-04 9.99986094e-01 1.61039759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.45, Y:2.60, Z:0.16 [[ 9.99422727e-01 3.34790289e-02 5.77642316e-03 1.13449155e+02] [-3.34805436e-02 9.99439356e-01 1.65690306e-04 2.59782822e+00] [-5.76763749e-03 -3.58992445e-04 9.99983303e-01 1.61507110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:2.60, Z:0.16 [[ 9.99482169e-01 3.19081219e-02 4.15511068e-03 1.13482422e+02] [-3.19088916e-02 9.99490775e-01 1.19063428e-04 2.59517974e+00] [-4.14919570e-03 -2.51586749e-04 9.99991360e-01 1.60702942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.51, Y:2.60, Z:0.16 [[ 9.99505772e-01 3.12501064e-02 3.41201955e-03 1.13514329e+02] [-3.12506204e-02 9.99511575e-01 9.74406277e-05 2.59666313e+00] [-3.40730800e-03 -2.04020198e-04 9.99994174e-01 1.59173448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.55, Y:2.60, Z:0.16 [[ 9.99497313e-01 3.14864663e-02 3.70468913e-03 1.13547149e+02] [-3.14870711e-02 9.99504154e-01 1.05046255e-04 2.59919181e+00] [-3.69954464e-03 -2.21643259e-04 9.99993132e-01 1.56921191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.58, Y:2.60, Z:0.16 [[ 9.99450244e-01 3.29931560e-02 3.26528522e-03 1.13580506e+02] [-3.29936331e-02 9.99455558e-01 9.23126186e-05 2.59807917e+00] [-3.26046178e-03 -1.99995492e-04 9.99994665e-01 1.57000717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.61, Y:2.59, Z:0.16 [[ 9.99427730e-01 3.37335872e-02 2.50159515e-03 1.13612141e+02] [-3.37338694e-02 9.99430849e-01 7.06683917e-05 2.59486129e+00] [-2.49778747e-03 -1.55016434e-04 9.99996869e-01 1.57632482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.65, Y:2.59, Z:0.16 [[ 9.99393087e-01 3.47847625e-02 1.86513554e-03 1.13645442e+02] [-3.47849217e-02 9.99394820e-01 5.29912797e-05 2.59205026e+00] [-1.86216350e-03 -1.17837712e-04 9.99998259e-01 1.58786233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.68, Y:2.59, Z:0.16 [[ 9.99317425e-01 3.68929843e-02 1.89535991e-03 1.13677756e+02] [-3.68931515e-02 9.99319215e-01 5.33304354e-05 2.59366818e+00] [-1.89210206e-03 -1.23219834e-04 9.99998202e-01 1.58776189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.71, Y:2.60, Z:0.16 [[ 9.99281932e-01 3.78461534e-02 1.81378373e-03 1.13710335e+02] [-3.78463080e-02 9.99283571e-01 5.09427774e-05 2.59936293e+00] [-1.81055630e-03 -1.19551215e-04 9.99998354e-01 1.56367073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.74, Y:2.60, Z:0.16 [[ 9.99243237e-01 3.88005756e-02 2.73280247e-03 1.13741943e+02] [-3.88009252e-02 9.99246958e-01 7.49977503e-05 2.60137438e+00] [-2.72783460e-03 -1.80976259e-04 9.99996263e-01 1.55797136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.77, Y:2.60, Z:0.16 [[ 9.99169674e-01 4.04725681e-02 4.68337548e-03 1.13773940e+02] [-4.04736002e-02 9.99180600e-01 1.25784367e-04 2.60037285e+00] [-4.67444711e-03 -3.15232992e-04 9.99989025e-01 1.57262097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.81, Y:2.60, Z:0.16 [[ 9.99159636e-01 4.07434992e-02 4.47082788e-03 1.13806658e+02] [-4.07444429e-02 9.99169593e-01 1.20159960e-04 2.59867276e+00] [-4.46221954e-03 -3.02220373e-04 9.99989999e-01 1.58062675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.84, Y:2.60, Z:0.16 [[ 9.99177553e-01 4.03251703e-02 4.25415111e-03 1.13839463e+02] [-4.03260182e-02 9.99186569e-01 1.13690391e-04 2.60020874e+00] [-4.24610607e-03 -2.85149862e-04 9.99990945e-01 1.56918340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.87, Y:2.61, Z:0.15 [[ 9.99248299e-01 3.85644662e-02 3.95215044e-03 1.13871473e+02] [-3.85651817e-02 9.99256081e-01 1.04963298e-04 2.61165057e+00] [-3.94516251e-03 -2.57299797e-04 9.99992185e-01 1.53086794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.90, Y:2.62, Z:0.15 [[ 9.99288307e-01 3.75868920e-02 3.17873957e-03 1.13904547e+02] [-3.75873498e-02 9.99293342e-01 8.43799797e-05 2.61649884e+00] [-3.17332171e-03 -2.03800323e-04 9.99994944e-01 1.51220835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.94, Y:2.61, Z:0.15 [[ 9.99374815e-01 3.52453136e-02 2.78340872e-03 1.13936323e+02] [-3.52456532e-02 9.99378676e-01 7.30305228e-05 2.61428198e+00] [-2.77910534e-03 -1.71087924e-04 9.99996124e-01 1.53385545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.97, Y:2.61, Z:0.16 [[ 9.99415032e-01 3.40481614e-02 3.21196816e-03 1.13969701e+02] [-3.40486078e-02 9.99420175e-01 8.43735207e-05 2.61029681e+00] [-3.20723301e-03 -1.93687209e-04 9.99994838e-01 1.56283660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.00, Y:2.61, Z:0.16 [[ 9.99501817e-01 3.10373277e-02 5.72737487e-03 1.14002720e+02] [-3.10386817e-02 9.99518173e-01 1.47654043e-04 2.60923139e+00] [-5.72003248e-03 -3.25350650e-04 9.99983588e-01 1.60200013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.04, Y:2.61, Z:0.16 [[ 9.99537537e-01 2.94519849e-02 7.56917784e-03 1.14035830e+02] [-2.94542887e-02 9.99566110e-01 1.93050946e-04 2.61485224e+00] [-7.56020792e-03 -4.15906416e-04 9.99971335e-01 1.58835968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.07, Y:2.63, Z:0.15 [[ 9.99605317e-01 2.64715359e-02 9.40573268e-03 1.14067517e+02] [-2.64749400e-02 9.99649449e-01 2.37566959e-04 2.62647006e+00] [-9.39614673e-03 -4.86489404e-04 9.99955737e-01 1.51943230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.10, Y:2.63, Z:0.15 [[ 9.99642678e-01 2.53358723e-02 8.52113824e-03 1.14100871e+02] [-2.53386146e-02 9.99678903e-01 2.14001699e-04 2.62883709e+00] [-8.51298021e-03 -4.29839069e-04 9.99963672e-01 1.49350167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:2.62, Z:0.15 [[ 9.99704005e-01 2.36272206e-02 5.80150317e-03 1.14132761e+02] [-2.36284606e-02 9.99720798e-01 1.45281791e-04 2.62269540e+00] [-5.79645078e-03 -2.82319377e-04 9.99983161e-01 1.49816561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.16, Y:2.62, Z:0.15 [[ 9.99744285e-01 2.23652630e-02 3.34051135e-03 1.14164732e+02] [-2.23656681e-02 9.99749854e-01 8.39670796e-05 2.62060456e+00] [-3.33779779e-03 -1.58658376e-04 9.99994417e-01 1.52079589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.20, Y:2.63, Z:0.15 [[ 9.99724872e-01 2.34496198e-02 5.44249755e-04 1.14195995e+02] [-2.34496316e-02 9.99725019e-01 1.53117796e-05 2.63041921e+00] [-5.43741041e-04 -2.80700231e-05 9.99999852e-01 1.49271326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.23, Y:2.63, Z:0.15 [[ 9.99698362e-01 2.45598179e-02 3.47637678e-05 1.14229362e+02] [-2.45598180e-02 9.99698362e-01 3.12528418e-06 2.63343309e+00] [-3.46765254e-05 -3.97813328e-06 9.99999999e-01 1.48175308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.26, Y:2.64, Z:0.15 [[ 9.99627613e-01 2.72762294e-02 -8.01474079e-04 1.14262296e+02] [-2.72762517e-02 9.99627934e-01 -1.69190525e-05 2.63554391e+00] [ 8.00714389e-04 3.87739608e-05 9.99999679e-01 1.48764460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.30, Y:2.64, Z:0.15 [[ 9.99594037e-01 2.84803155e-02 -7.96106531e-04 1.14295140e+02] [-2.84803378e-02 9.99594353e-01 -1.66376832e-05 2.63779668e+00] [ 7.95309746e-04 3.93043118e-05 9.99999683e-01 1.47991254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.33, Y:2.64, Z:0.15 [[ 9.99531944e-01 3.05398300e-02 1.79233787e-03 1.14327411e+02] [-3.05399587e-02 9.99533546e-01 4.44579009e-05 2.64290897e+00] [-1.79014409e-03 -9.91750165e-05 9.99998393e-01 1.48173967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.36, Y:2.65, Z:0.15 [[ 9.99498373e-01 3.13713362e-02 4.34071641e-03 1.14359569e+02] [-3.13720821e-02 9.99507770e-01 1.03842416e-04 2.64513787e+00] [-4.33532210e-03 -2.39967638e-04 9.99990574e-01 1.48749548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.39, Y:2.65, Z:0.15 [[ 9.99530800e-01 3.00510716e-02 5.92559590e-03 1.14392198e+02] [-3.00524285e-02 9.99548314e-01 1.40060108e-04 2.64601162e+00] [-5.91871044e-03 -3.18072938e-04 9.99982434e-01 1.49022400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.42, Y:2.65, Z:0.15 [[ 9.99600521e-01 2.78398722e-02 4.87243897e-03 1.14424927e+02] [-2.78407612e-02 9.99612364e-01 1.14713209e-04 2.64620833e+00] [-4.86735664e-03 -2.50319793e-04 9.99988123e-01 1.47745961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.46, Y:2.65, Z:0.15 [[ 9.99732751e-01 2.24737137e-02 5.41846016e-03 1.14457183e+02] [-2.24747274e-02 9.99747403e-01 1.26253633e-04 2.64841605e+00] [-5.41425409e-03 -2.47998307e-04 9.99985312e-01 1.45844034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.49, Y:2.65, Z:0.15 [[ 9.99814009e-01 1.76585569e-02 7.75390268e-03 1.14490154e+02] [-1.76604718e-02 9.99844026e-01 1.78555082e-04 2.64813720e+00] [-7.74954024e-03 -3.15459452e-04 9.99969922e-01 1.46009997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.52, Y:2.65, Z:0.15 [[ 9.99852599e-01 1.57433207e-02 6.85037641e-03 1.14522031e+02] [-1.57447629e-02 9.99876031e-01 1.56648114e-04 2.64573095e+00] [-6.84706102e-03 -2.64482576e-04 9.99976524e-01 1.46448512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.56, Y:2.64, Z:0.15 [[ 9.99930937e-01 1.10881182e-02 3.89551919e-03 1.14555389e+02] [-1.10885485e-02 9.99938516e-01 8.88819617e-05 2.63846148e+00] [-3.89429415e-03 -1.32071477e-04 9.99992408e-01 1.47192797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.59, Y:2.63, Z:0.15 [[ 9.99946730e-01 8.78365368e-03 5.42082731e-03 1.14588616e+02] [-8.78444828e-03 9.99961408e-01 1.22789050e-04 2.63443123e+00] [-5.41953958e-03 -1.70401486e-04 9.99985300e-01 1.46565161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.62, Y:2.63, Z:0.15 [[ 9.99945954e-01 8.37825557e-03 6.15576362e-03 1.14620178e+02] [-8.37926330e-03 9.99964884e-01 1.37932043e-04 2.63327483e+00] [-6.15439183e-03 -1.89505352e-04 9.99981044e-01 1.45820546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.65, Y:2.63, Z:0.14 [[ 9.99961039e-01 7.02109101e-03 5.35012736e-03 1.14652707e+02] [-7.02183020e-03 9.99975340e-01 1.19392318e-04 2.62987651e+00] [-5.34915716e-03 -1.56955352e-04 9.99985681e-01 1.44082938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.69, Y:2.63, Z:0.14 [[ 9.99958993e-01 6.81910908e-03 5.95914815e-03 1.14685051e+02] [-6.82001376e-03 9.99976735e-01 1.31506327e-04 2.62774857e+00] [-5.95811276e-03 -1.72142406e-04 9.99982235e-01 1.43491326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.72, Y:2.62, Z:0.14 [[ 9.99936475e-01 6.79185237e-03 8.99540863e-03 1.14718106e+02] [-6.79388880e-03 9.99976902e-01 1.95847098e-04 2.62143683e+00] [-8.99387070e-03 -2.56948463e-04 9.99959521e-01 1.44717288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.75, Y:2.62, Z:0.14 [[ 9.99926831e-01 8.17847816e-03 8.91325006e-03 1.14749975e+02] [-8.18051757e-03 9.99966521e-01 1.92372163e-04 2.61873527e+00] [-8.91137833e-03 -2.65273086e-04 9.99960258e-01 1.44726288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.78, Y:2.61, Z:0.14 [[ 9.99881066e-01 1.42521589e-02 5.89313121e-03 1.14781772e+02] [-1.42531496e-02 9.99898411e-01 1.26139267e-04 2.61435460e+00] [-5.89073477e-03 -2.10119946e-04 9.99982627e-01 1.43640810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.82, Y:2.61, Z:0.14 [[ 9.99712042e-01 2.32925229e-02 5.76988684e-03 1.14815061e+02] [-2.32936215e-02 9.99728659e-01 1.23261362e-04 2.61036665e+00] [-5.76545016e-03 -2.57627428e-04 9.99983346e-01 1.42815803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.85, Y:2.61, Z:0.14 [[ 9.99585830e-01 2.82197886e-02 5.64021847e-03 1.14848371e+02] [-2.82209191e-02 9.99601703e-01 1.20927276e-04 2.60933981e+00] [-5.63455945e-03 -2.80049341e-04 9.99984087e-01 1.42159297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.88, Y:2.61, Z:0.14 [[ 9.99297820e-01 3.71678745e-02 4.73466024e-03 1.14880184e+02] [-3.71687683e-02 9.99308998e-01 1.00893798e-04 2.60790228e+00] [-4.72763857e-03 -2.76804442e-04 9.99988786e-01 1.40595546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.91, Y:2.61, Z:0.14 [[ 9.99044893e-01 4.30513062e-02 7.47575183e-03 1.14912367e+02] [-4.30536790e-02 9.99072748e-01 1.56683830e-04 2.60977497e+00] [-7.46207448e-03 -4.78392800e-04 9.99972044e-01 1.39410673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.95, Y:2.61, Z:0.14 [[ 9.98986138e-01 4.43887159e-02 7.50588402e-03 1.14945409e+02] [-4.43911360e-02 9.99014215e-01 1.56048973e-04 2.61043784e+00] [-7.49155802e-03 -4.89085479e-04 9.99971818e-01 1.37796288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.98, Y:2.61, Z:0.14 [[ 9.99026417e-01 4.39065646e-02 4.29327356e-03 1.14978886e+02] [-4.39073530e-02 9.99035603e-01 8.94936451e-05 2.60577919e+00] [-4.28520378e-03 -2.77912793e-04 9.99990780e-01 1.35601289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.01, Y:2.60, Z:0.14 [[ 9.99079247e-01 4.27286494e-02 3.86260829e-03 1.15010581e+02] [-4.27292765e-02 9.99086684e-01 7.99405268e-05 2.60216048e+00] [-3.85566476e-03 -2.44913379e-04 9.99992537e-01 1.35706483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.04, Y:2.59, Z:0.14 [[ 9.99200115e-01 3.97509173e-02 4.35825656e-03 1.15043253e+02] [-3.97516833e-02 9.99209585e-01 8.92472771e-05 2.59451083e+00] [-4.35126407e-03 -2.62423924e-04 9.99990499e-01 1.37264679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.08, Y:2.59, Z:0.14 [[ 9.99247956e-01 3.85555937e-02 4.12165363e-03 1.15075837e+02] [-3.85562664e-02 9.99256427e-01 8.38612232e-05 2.59169790e+00] [-4.11535556e-03 -2.42713731e-04 9.99991502e-01 1.37429125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.11, Y:2.59, Z:0.14 [[ 9.99297422e-01 3.73410133e-02 3.21093819e-03 1.15109154e+02] [-3.73414151e-02 9.99302564e-01 6.52600046e-05 2.58988206e+00] [-3.20626190e-03 -1.85115130e-04 9.99994843e-01 1.36631729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:2.59, Z:0.13 [[ 9.99230197e-01 3.91826699e-02 1.93187386e-03 1.15140723e+02] [-3.91828196e-02 9.99232058e-01 3.96908628e-05 2.59298254e+00] [-1.92883510e-03 -1.15356574e-04 9.99998133e-01 1.32225057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:2.59, Z:0.13 [[ 9.99152034e-01 4.11476586e-02 1.44298201e-03 1.15173358e+02] [-4.11477447e-02 9.99153072e-01 3.00183392e-05 2.59376565e+00] [-1.44052473e-03 -8.93683402e-05 9.99998958e-01 1.30679446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.21, Y:2.59, Z:0.13 [[ 9.99148778e-01 4.12266625e-02 1.44300833e-03 1.15206825e+02] [-4.12267467e-02 9.99149816e-01 2.86536045e-05 2.59429037e+00] [-1.44060022e-03 -8.81197529e-05 9.99998958e-01 1.30265300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.24, Y:2.59, Z:0.13 [[ 9.98966546e-01 4.54328042e-02 1.30359428e-03 1.15239787e+02] [-4.54328779e-02 9.98967393e-01 2.70200646e-05 2.59153285e+00] [-1.30102058e-03 -8.62181805e-05 9.99999150e-01 1.31748865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.27, Y:2.59, Z:0.13 [[ 9.98872164e-01 4.74566060e-02 1.50651333e-03 1.15272631e+02] [-4.74567060e-02 9.98873295e-01 3.06916236e-05 2.58915506e+00] [-1.50335941e-03 -1.02151169e-04 9.99998865e-01 1.34151349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.30, Y:2.59, Z:0.14 [[ 9.98717081e-01 5.05868520e-02 2.27218347e-03 1.15304545e+02] [-5.05870822e-02 9.98719653e-01 4.39256786e-05 2.58867028e+00] [-2.26705222e-03 -1.58812457e-04 9.99997418e-01 1.37256431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.34, Y:2.59, Z:0.14 [[ 9.98660816e-01 5.16671807e-02 2.66009632e-03 1.15336180e+02] [-5.16674999e-02 9.98664341e-01 5.13736350e-05 2.59176398e+00] [-2.65388900e-03 -1.88745363e-04 9.99996461e-01 1.36503781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.37, Y:2.60, Z:0.13 [[ 9.98680188e-01 5.12804135e-02 2.86392452e-03 1.15369428e+02] [-5.12807802e-02 9.98684274e-01 5.46827657e-05 2.59884901e+00] [-2.85735222e-03 -2.01474878e-04 9.99995897e-01 1.32353657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.40, Y:2.61, Z:0.13 [[ 9.98723015e-01 5.02973610e-02 4.74493748e-03 1.15402375e+02] [-5.02983459e-02 9.98734233e-01 8.83927492e-05 2.60587863e+00] [-4.73448558e-03 -3.26942380e-04 9.99988739e-01 1.29082226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.43, Y:2.61, Z:0.13 [[ 9.98743029e-01 4.98081801e-02 5.61307166e-03 1.15434364e+02] [-4.98095402e-02 9.98758729e-01 1.02702539e-04 2.60840055e+00] [-5.60098889e-03 -3.82157963e-04 9.99984241e-01 1.28480142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.47, Y:2.61, Z:0.13 [[ 9.98874584e-01 4.69197458e-02 6.93561820e-03 1.15466434e+02] [-4.69217475e-02 9.98898560e-01 1.26076497e-04 2.60813003e+00] [-6.92206356e-03 -4.51365934e-04 9.99975940e-01 1.32942000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.50, Y:2.61, Z:0.13 [[ 9.98965307e-01 4.49800543e-02 6.71641226e-03 1.15499269e+02] [-4.49818815e-02 9.98987796e-01 1.21166648e-04 2.60836298e+00] [-6.70416379e-03 -4.23158139e-04 9.99977437e-01 1.34635155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.53, Y:2.61, Z:0.14 [[ 9.99115145e-01 4.18792779e-02 3.87989763e-03 1.15531560e+02] [-4.18798649e-02 9.99122651e-01 7.01339722e-05 2.61072640e+00] [-3.87355645e-03 -2.32561502e-04 9.99992471e-01 1.35198519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.56, Y:2.61, Z:0.13 [[ 9.99177720e-01 4.04045640e-02 3.36958915e-03 1.15564008e+02] [-4.04049978e-02 9.99183383e-01 6.07208748e-05 2.61370949e+00] [-3.36438409e-03 -1.96819187e-04 9.99994321e-01 1.33894548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.60, Y:2.62, Z:0.13 [[ 9.99342449e-01 3.58493633e-02 5.43064888e-03 1.15596265e+02] [-3.58504097e-02 9.99357163e-01 9.54219550e-05 2.62103819e+00] [-5.42373704e-03 -2.90050197e-04 9.99985249e-01 1.31404071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.63, Y:2.62, Z:0.13 [[ 9.99432576e-01 3.31871664e-02 5.75654835e-03 1.15628766e+02] [-3.31882922e-02 9.99449112e-01 1.00123686e-04 2.62189956e+00] [-5.75005432e-03 -2.91116883e-04 9.99983426e-01 1.30540035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.66, Y:2.62, Z:0.13 [[ 9.99639309e-01 2.67371274e-02 2.52557202e-03 1.15660883e+02] [-2.67373253e-02 9.99642493e-01 4.46076183e-05 2.61622290e+00] [-2.52347643e-03 -1.12118569e-04 9.99996810e-01 1.31529663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.69, Y:2.61, Z:0.13 [[ 9.99793973e-01 2.02437363e-02 1.48443170e-03 1.15693943e+02] [-2.02437986e-02 9.99795073e-01 2.69329623e-05 2.61372429e+00] [-1.48358227e-03 -5.69779497e-05 9.99998898e-01 1.31549601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.73, Y:2.61, Z:0.13 [[ 9.99836572e-01 1.78871924e-02 2.62259413e-03 1.15726440e+02] [-1.78873731e-02 9.99840007e-01 4.54370430e-05 2.61471011e+00] [-2.62136179e-03 -9.23409369e-05 9.99996560e-01 1.31391435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.76, Y:2.62, Z:0.13 [[ 9.99856656e-01 1.62855946e-02 4.63112065e-03 1.15759485e+02] [-1.62861289e-02 9.99867369e-01 7.76911719e-05 2.61740845e+00] [-4.62924117e-03 -1.53103063e-04 9.99989273e-01 1.31413762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.79, Y:2.62, Z:0.13 [[ 9.99852199e-01 1.65123373e-02 4.78773449e-03 1.15791499e+02] [-1.65129061e-02 9.99863650e-01 7.92869716e-05 2.61728396e+00] [-4.78577247e-03 -1.58334663e-04 9.99988536e-01 1.31344985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.82, Y:2.61, Z:0.13 [[ 9.99844444e-01 1.69216783e-02 4.97441542e-03 1.15824835e+02] [-1.69222934e-02 9.99856804e-01 8.15774274e-05 2.61147515e+00] [-4.97232267e-03 -1.65743254e-04 9.99987624e-01 1.33054660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.86, Y:2.61, Z:0.13 [[ 9.99830876e-01 1.76157659e-02 5.28250865e-03 1.15856737e+02] [-1.76164629e-02 9.99844814e-01 8.54319010e-05 2.60846139e+00] [-5.28018393e-03 -1.78476570e-04 9.99986044e-01 1.34116441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.89, Y:2.61, Z:0.13 [[ 9.99804548e-01 1.92875855e-02 4.34221162e-03 1.15889531e+02] [-1.92880713e-02 9.99813965e-01 7.00298730e-05 2.60569528e+00] [-4.34005311e-03 -1.53769073e-04 9.99990570e-01 1.33816120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.92, Y:2.61, Z:0.13 [[ 9.99764816e-01 2.15704969e-02 2.24213289e-03 1.15921444e+02] [-2.15706335e-02 9.99767326e-01 3.67469969e-05 2.60554408e+00] [-2.24081855e-03 -8.51025813e-05 9.99997486e-01 1.31883556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.95, Y:2.61, Z:0.13 [[ 9.99732967e-01 2.30658002e-02 1.40115253e-03 1.15953060e+02] [-2.30658557e-02 9.99733947e-01 2.34678270e-05 2.60576820e+00] [-1.40023845e-03 -5.57803424e-05 9.99999018e-01 1.30491323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.98, Y:2.61, Z:0.13 [[ 9.99647011e-01 2.65677567e-02 -9.24928700e-05 1.15984662e+02] [-2.65677567e-02 9.99647015e-01 6.85077668e-07 2.60580648e+00] [ 9.24784222e-05 1.77249223e-06 9.99999996e-01 1.30442625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.02, Y:2.61, Z:0.13 [[ 9.99553878e-01 2.98642758e-02 -4.12788720e-04 1.16017991e+02] [-2.98642800e-02 9.99553963e-01 -3.97442744e-06 2.60719482e+00] [ 4.12485907e-04 1.63002923e-05 9.99999915e-01 1.31040014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.05, Y:2.61, Z:0.13 [[ 9.99282045e-01 3.78862337e-02 1.64566186e-04 1.16050856e+02] [-3.78862350e-02 9.99282059e-01 4.62983478e-06 2.60925959e+00] [-1.64272630e-04 -1.08613039e-05 9.99999986e-01 1.33540994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.08, Y:2.61, Z:0.14 [[ 9.99127131e-01 4.17643546e-02 8.44899587e-04 1.16084278e+02] [-4.17643818e-02 9.99127487e-01 1.45260355e-05 2.60916041e+00] [-8.43555731e-04 -4.98000651e-05 9.99999643e-01 1.35036440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.12, Y:2.61, Z:0.14 [[ 9.98876222e-01 4.73421639e-02 2.23893404e-03 1.16116449e+02] [-4.73423591e-02 9.98878721e-01 3.42191610e-05 2.61185738e+00] [-2.23480356e-03 -1.40177125e-04 9.99997493e-01 1.36479946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.15, Y:2.62, Z:0.13 [[ 9.98808389e-01 4.87646564e-02 1.95181490e-03 1.16149624e+02] [-4.87648076e-02 9.98810289e-01 2.99121976e-05 2.61704792e+00] [-1.94803415e-03 -1.25056432e-04 9.99998095e-01 1.34892100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.18, Y:2.63, Z:0.13 [[ 9.98820917e-01 4.85152700e-02 1.74472464e-03 1.16181318e+02] [-4.85153900e-02 9.98822435e-01 2.65328629e-05 2.62610693e+00] [-1.74138286e-03 -1.11147575e-04 9.99998478e-01 1.30757595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.21, Y:2.63, Z:0.13 [[ 9.98992657e-01 4.47456593e-02 3.39077965e-03 1.16214506e+02] [-4.47460827e-02 9.98998391e-01 4.90759066e-05 2.62984825e+00] [-3.38518748e-03 -2.00750577e-04 9.99994250e-01 1.32414698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.25, Y:2.63, Z:0.13 [[ 9.99120768e-01 4.17743284e-02 3.54909505e-03 1.16247060e+02] [-4.17747709e-02 9.99127052e-01 5.06253229e-05 2.63055748e+00] [-3.54388204e-03 -1.98843444e-04 9.99993701e-01 1.33927211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.28, Y:2.63, Z:0.14 [[ 9.99405584e-01 3.41561850e-02 4.67263897e-03 1.16279379e+02] [-3.41568614e-02 9.99416482e-01 6.50129998e-05 2.63064070e+00] [-4.66769181e-03 -2.24577037e-04 9.99989081e-01 1.36698498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.31, Y:2.63, Z:0.14 [[ 9.99524865e-01 3.01910398e-02 6.20852298e-03 1.16312600e+02] [-3.01921474e-02 9.99544110e-01 8.47436751e-05 2.63236924e+00] [-6.20313408e-03 -2.72152052e-04 9.99980723e-01 1.37417072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.34, Y:2.64, Z:0.14 [[ 9.99695092e-01 2.34154849e-02 7.83818489e-03 1.16344358e+02] [-2.34170242e-02 9.99725778e-01 1.04650445e-04 2.63789618e+00] [-7.83358505e-03 -2.88165501e-04 9.99969275e-01 1.36043283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.38, Y:2.64, Z:0.13 [[ 9.99766477e-01 2.04426052e-02 7.00658163e-03 1.16377048e+02] [-2.04437564e-02 9.99791000e-01 9.27155033e-05 2.63851415e+00] [-7.00322191e-03 -2.35934700e-04 9.99975449e-01 1.34615956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.41, Y:2.63, Z:0.13 [[ 9.99892149e-01 1.35849564e-02 5.58018273e-03 1.16409666e+02] [-1.35855827e-02 9.99907709e-01 7.43384157e-05 2.63466374e+00] [-5.57865785e-03 -1.50140432e-04 9.99984428e-01 1.34425712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.44, Y:2.64, Z:0.13 [[ 9.99958904e-01 7.19736211e-03 5.51247529e-03 1.16442023e+02] [-7.19786794e-03 9.99974092e-01 7.19271955e-05 2.63507688e+00] [-5.51181479e-03 -1.11602309e-04 9.99984804e-01 1.34322947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.47, Y:2.64, Z:0.13 [[ 9.99972046e-01 5.98318851e-03 4.48424094e-03 1.16474614e+02] [-5.98351228e-03 9.99982097e-01 5.87903307e-05 2.63629879e+00] [-4.48380891e-03 -8.56201980e-05 9.99989944e-01 1.33246819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.51, Y:2.63, Z:0.13 [[ 9.99983404e-01 5.24790319e-03 2.37722180e-03 1.16506777e+02] [-5.24799334e-03 9.99986229e-01 3.16837573e-05 2.63243111e+00] [-2.37702279e-03 -4.41588757e-05 9.99997174e-01 1.34375929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.54, Y:2.63, Z:0.14 [[ 9.99968102e-01 6.64381990e-03 4.43337421e-03 1.16540034e+02] [-6.64413600e-03 9.99977926e-01 5.65762909e-05 2.62546838e+00] [-4.43290046e-03 -8.60304274e-05 9.99990171e-01 1.38069048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.57, Y:2.63, Z:0.14 [[ 9.99944289e-01 8.56226196e-03 6.17310900e-03 1.16572138e+02] [-8.56289798e-03 9.99963335e-01 7.66069969e-05 2.62639441e+00] [-6.17222673e-03 -1.29462432e-04 9.99980943e-01 1.38119289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.60, Y:2.63, Z:0.14 [[ 9.99905339e-01 1.13029162e-02 7.84586206e-03 1.16604506e+02] [-1.13040103e-02 9.99936103e-01 9.51168074e-05 2.63026451e+00] [-7.84428564e-03 -1.83797509e-04 9.99969216e-01 1.36813226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.64, Y:2.64, Z:0.13 [[ 9.99765552e-01 1.95886845e-02 9.22624745e-03 1.16637855e+02] [-1.95905366e-02 9.99808081e-01 1.10402957e-04 2.63680075e+00] [-9.22231411e-03 -2.91124211e-04 9.99957431e-01 1.33820189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.67, Y:2.64, Z:0.13 [[ 9.99665963e-01 2.42224405e-02 9.01311252e-03 1.16671180e+02] [-2.42243943e-02 9.99706541e-01 1.07655012e-04 2.63668204e+00] [-9.00785987e-03 -3.25956243e-04 9.99959375e-01 1.33711346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.70, Y:2.63, Z:0.14 [[ 9.99433773e-01 3.25043694e-02 8.69483679e-03 1.16704339e+02] [-3.25064873e-02 9.99471519e-01 1.02339483e-04 2.63272828e+00] [-8.68691526e-03 -3.84920138e-04 9.99962194e-01 1.36531040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.74, Y:2.64, Z:0.14 [[ 9.99206528e-01 3.91940813e-02 7.08080577e-03 1.16736813e+02] [-3.91956473e-02 9.99231552e-01 8.24781742e-05 2.63636804e+00] [-7.07213189e-03 -3.59949496e-04 9.99974927e-01 1.36750344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.77, Y:2.64, Z:0.14 [[ 9.99091332e-01 4.21369459e-02 6.40220472e-03 1.16768645e+02] [-4.21382797e-02 9.99111786e-01 7.35287159e-05 2.63991881e+00] [-6.39341991e-03 -3.43239796e-04 9.99979503e-01 1.35005203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.80, Y:2.64, Z:0.13 [[ 9.98899867e-01 4.63133473e-02 7.35724118e-03 1.16801199e+02] [-4.63152104e-02 9.98926871e-01 8.29658489e-05 2.64184930e+00] [-7.34550348e-03 -4.23626748e-04 9.99972932e-01 1.34948849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.83, Y:2.64, Z:0.14 [[ 9.98806011e-01 4.81272878e-02 8.38551794e-03 1.16833897e+02] [-4.81297569e-02 9.98841087e-01 9.27786342e-05 2.64214968e+00] [-8.37133467e-03 -4.96260797e-04 9.99964837e-01 1.35069714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.87, Y:2.65, Z:0.13 [[ 9.98717956e-01 5.00421723e-02 7.63061114e-03 1.16865968e+02] [-5.00442609e-02 9.98746998e-01 8.29121137e-05 2.64650731e+00] [-7.61690086e-03 -4.64674112e-04 9.99970883e-01 1.33455636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.90, Y:2.65, Z:0.13 [[ 9.98681348e-01 5.07801202e-02 7.54615516e-03 1.16897579e+02] [-5.07821795e-02 9.98709749e-01 8.14200595e-05 2.64914140e+00] [-7.53228421e-03 -4.64522901e-04 9.99971524e-01 1.31364111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.93, Y:2.65, Z:0.13 [[ 9.98667785e-01 5.05904432e-02 1.01618005e-02 1.16930707e+02] [-5.05941434e-02 9.98719290e-01 1.07220538e-04 2.65119084e+00] [-1.01433618e-02 -6.21205289e-04 9.99948362e-01 1.30938267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.96, Y:2.65, Z:0.13 [[ 9.98707593e-01 4.99220277e-02 9.53602000e-03 1.16964013e+02] [-4.99252413e-02 9.98752953e-01 9.90894154e-05 2.64978604e+00] [-9.51918138e-03 -5.75049450e-04 9.99954526e-01 1.31526745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.00, Y:2.65, Z:0.13 [[ 9.98722427e-01 4.98380697e-02 8.34746545e-03 1.16997296e+02] [-4.98405195e-02 9.98757185e-01 8.55816191e-05 2.64916349e+00] [-8.33282587e-03 -5.01514297e-04 9.99965156e-01 1.31342380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.03, Y:2.65, Z:0.13 [[ 9.98713738e-01 5.00220725e-02 8.28618304e-03 1.17029390e+02] [-5.00244802e-02 9.98747988e-01 8.34330764e-05 2.65324137e+00] [-8.27163514e-03 -4.97837759e-04 9.99965666e-01 1.30278822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.06, Y:2.66, Z:0.13 [[ 9.98682113e-01 5.06195669e-02 8.46744331e-03 1.17061444e+02] [-5.06220899e-02 9.98717877e-01 8.37725134e-05 2.65785032e+00] [-8.45234648e-03 -5.12301787e-04 9.99964147e-01 1.28247828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.09, Y:2.66, Z:0.13 [[ 9.98639653e-01 5.18413535e-02 5.59612714e-03 1.17093933e+02] [-5.18424700e-02 9.98655274e-01 5.45326682e-05 2.66211436e+00] [-5.58577484e-03 -3.44575538e-04 9.99984340e-01 1.25339804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.13, Y:2.66, Z:0.13 [[ 9.98609828e-01 5.25501729e-02 4.10989843e-03 1.17126610e+02] [-5.25507842e-02 9.98618252e-01 4.07944806e-05 2.66144573e+00] [-4.10207583e-03 -2.56716155e-04 9.99991553e-01 1.25389355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.16, Y:2.66, Z:0.13 [[ 9.98603347e-01 5.25787695e-02 5.17961054e-03 1.17159930e+02] [-5.25797334e-02 9.98616728e-01 4.99893255e-05 2.66481112e+00] [-5.16981735e-03 -3.22262049e-04 9.99986584e-01 1.26826039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.19, Y:2.67, Z:0.13 [[ 9.98603451e-01 5.24170446e-02 6.60306695e-03 1.17192497e+02] [-5.24185956e-02 9.98625198e-01 6.19267595e-05 2.66990166e+00] [-6.59074302e-03 -4.07963772e-04 9.99978198e-01 1.26713448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.22, Y:2.68, Z:0.12 [[ 9.98581802e-01 5.29631793e-02 5.41166350e-03 1.17224297e+02] [-5.29642256e-02 9.98596409e-01 5.00960607e-05 2.67923507e+00] [-5.40141449e-03 -3.36649581e-04 9.99985356e-01 1.24569554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.26, Y:2.69, Z:0.12 [[ 9.98511287e-01 5.45177388e-02 1.73962962e-03 1.17257618e+02] [-5.45178513e-02 9.98512796e-01 1.72875098e-05 2.68595492e+00] [-1.73609996e-03 -1.12102643e-04 9.99998487e-01 1.21438514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.29, Y:2.69, Z:0.12 [[ 9.98507110e-01 5.45941857e-02 1.73964134e-03 1.17291096e+02] [-5.45942960e-02 9.98508619e-01 1.59442345e-05 2.68612094e+00] [-1.73617641e-03 -1.10894926e-04 9.99998487e-01 1.21024473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:2.69, Z:0.12 [[ 9.98469631e-01 5.52793412e-02 1.60966695e-03 1.17324395e+02] [-5.52794382e-02 9.98470923e-01 1.57923167e-05 2.68965708e+00] [-1.60633266e-03 -1.04749633e-04 9.99998704e-01 1.19743505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.36, Y:2.70, Z:0.12 [[ 9.98454228e-01 5.53903552e-02 4.58940297e-03 1.17356528e+02] [-5.53911220e-02 9.98464732e-01 4.00435020e-05 2.69756203e+00] [-4.58013899e-03 -2.94193784e-04 9.99989468e-01 1.20035886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.39, Y:2.70, Z:0.12 [[ 9.98491495e-01 5.45969682e-02 5.82285628e-03 1.17388865e+02] [-5.45981781e-02 9.98508406e-01 4.89005906e-05 2.70212769e+00] [-5.81150111e-03 -3.66744168e-04 9.99983046e-01 1.20346402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.42, Y:2.71, Z:0.12 [[ 9.98627036e-01 5.21847229e-02 4.56038393e-03 1.17421453e+02] [-5.21854414e-02 9.98637411e-01 3.86067973e-05 2.71131046e+00] [-4.55215531e-03 -2.76539440e-04 9.99989601e-01 1.20180714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.45, Y:2.72, Z:0.12 [[ 9.98720969e-01 5.04343171e-02 3.57856543e-03 1.17454501e+02] [-5.04347447e-02 9.98727358e-01 2.93002724e-05 2.71540495e+00] [-3.57253346e-03 -2.09746830e-04 9.99993596e-01 1.18737191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.49, Y:2.72, Z:0.12 [[ 9.98952701e-01 4.56985209e-02 2.26864741e-03 1.17487659e+02] [-4.56986835e-02 9.98955269e-01 1.98441901e-05 2.72082317e+00] [-2.26537043e-03 -1.23497607e-04 9.99997426e-01 1.17315004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.52, Y:2.73, Z:0.12 [[ 9.99185268e-01 4.02808236e-02 2.50111815e-03 1.17519321e+02] [-4.02810007e-02 9.99188391e-01 2.04796137e-05 2.72603931e+00] [-2.49826329e-03 -1.21210470e-04 9.99996872e-01 1.17561597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:2.73, Z:0.12 [[ 9.99264620e-01 3.81552808e-02 3.79381086e-03 1.17551091e+02] [-3.81556705e-02 9.99271807e-01 3.03702120e-05 2.72914430e+00] [-3.78988945e-03 -1.75103276e-04 9.99992803e-01 1.18243378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.58, Y:2.74, Z:0.12 [[ 9.99414932e-01 3.37089799e-02 5.78783697e-03 1.17584293e+02] [-3.37098006e-02 9.99431662e-01 4.42708959e-05 2.73795275e+00] [-5.78305519e-03 -2.39351824e-04 9.99983249e-01 1.18489596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.62, Y:2.74, Z:0.12 [[ 9.99483569e-01 3.15977161e-02 5.84639412e-03 1.17616938e+02] [-3.15985110e-02 9.99500641e-01 4.36299565e-05 2.74167675e+00] [-5.84209607e-03 -2.28344774e-04 9.99982909e-01 1.17862355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.65, Y:2.75, Z:0.12 [[ 9.99613520e-01 2.71879154e-02 5.79894376e-03 1.17648889e+02] [-2.71886168e-02 9.99630320e-01 4.21450378e-05 2.74678311e+00] [-5.79565417e-03 -1.99794009e-04 9.99983185e-01 1.17668000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.68, Y:2.75, Z:0.12 [[ 9.99728178e-01 2.22337358e-02 7.01645647e-03 1.17682289e+02] [-2.22346297e-02 9.99752779e-01 4.94115577e-05 2.75265944e+00] [-7.01362325e-03 -2.05406438e-04 9.99975383e-01 1.16071081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.71, Y:2.75, Z:0.12 [[ 9.99779741e-01 1.97840331e-02 7.00439480e-03 1.17714394e+02] [-1.97848541e-02 9.99804259e-01 4.79405333e-05 2.75451577e+00] [-7.00207530e-03 -1.86510903e-04 9.99975468e-01 1.15177609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.75, Y:2.75, Z:0.11 [[ 9.99830194e-01 1.74495708e-02 5.92411632e-03 1.17746518e+02] [-1.74501105e-02 9.99847734e-01 3.94310465e-05 2.75499619e+00] [-5.92252623e-03 -1.42800835e-04 9.99982451e-01 1.14832750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.78, Y:2.76, Z:0.11 [[ 9.99878523e-01 1.50210841e-02 4.16019077e-03 1.17779803e+02] [-1.50213314e-02 9.99887173e-01 2.81986337e-05 2.75541502e+00] [-4.15929781e-03 -9.06868124e-05 9.99991346e-01 1.14860609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:2.76, Z:0.11 [[ 9.99897714e-01 1.42003602e-02 1.70618491e-03 1.17812445e+02] [-1.42004024e-02 9.99899169e-01 1.25997460e-05 2.75611146e+00] [-1.70583395e-03 -3.68269694e-05 9.99998544e-01 1.13739122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:2.75, Z:0.11 [[ 9.99905393e-01 1.37242518e-02 9.22233995e-04 1.17843981e+02] [-1.37242640e-02 9.99905818e-01 6.89426216e-06 2.75490759e+00] [-9.22052519e-04 -1.95505928e-05 9.99999575e-01 1.13513029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.88, Y:2.75, Z:0.11 [[ 9.99905639e-01 1.36667822e-02 1.38999013e-03 1.17876511e+02] [-1.36668096e-02 9.99906605e-01 1.02247654e-05 2.75421130e+00] [-1.38972057e-03 -2.92205310e-05 9.99999034e-01 1.13814093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:2.76, Z:0.11 [[ 9.99902403e-01 1.39113136e-02 1.28833088e-03 1.17909936e+02] [-1.39113372e-02 9.99903233e-01 9.40979866e-06 2.75508854e+00] [-1.28807531e-03 -2.73312856e-05 9.99999170e-01 1.13504980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.94, Y:2.76, Z:0.11 [[ 9.99877353e-01 1.55828979e-02 1.56601458e-03 1.17942890e+02] [-1.55829340e-02 9.99878579e-01 1.08115454e-05 2.75807298e+00] [-1.56565596e-03 -3.52133213e-05 9.99998774e-01 1.12655979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.97, Y:2.76, Z:0.11 [[ 9.99851669e-01 1.71221728e-02 1.86297761e-03 1.17974544e+02] [-1.71222247e-02 9.99853404e-01 1.19121874e-05 2.75843391e+00] [-1.86250054e-03 -4.38087417e-05 9.99998265e-01 1.11659326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.01, Y:2.75, Z:0.11 [[ 9.99781580e-01 2.06999615e-02 2.88177765e-03 1.18007608e+02] [-2.07000956e-02 9.99785730e-01 1.67277521e-05 2.75415978e+00] [-2.88081391e-03 -7.63771712e-05 9.99995848e-01 1.12547747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.04, Y:2.75, Z:0.12 [[ 9.99684922e-01 2.48114995e-02 3.80078555e-03 1.18039351e+02] [-2.48117567e-02 9.99692141e-01 2.05301523e-05 2.74569640e+00] [-3.79910606e-03 -1.14827850e-04 9.99992777e-01 1.15647533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.07, Y:2.74, Z:0.12 [[ 9.99636609e-01 2.67694678e-02 3.16955206e-03 1.18070944e+02] [-2.67696559e-02 9.99641628e-01 1.69086130e-05 2.74306582e+00] [-3.16796355e-03 -1.01750286e-04 9.99994977e-01 1.15916211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.10, Y:2.75, Z:0.11 [[ 9.99554689e-01 2.97105754e-02 2.77588059e-03 1.18103561e+02] [-2.97107307e-02 9.99558539e-01 1.46923463e-05 2.74650903e+00] [-2.77421863e-03 -9.71592442e-05 9.99996147e-01 1.14435327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.14, Y:2.75, Z:0.11 [[ 9.99523583e-01 3.07793843e-02 2.28836661e-03 1.18136152e+02] [-3.07794927e-02 9.99526199e-01 1.21768793e-05 2.74907126e+00] [-2.28690758e-03 -8.26058413e-05 9.99997382e-01 1.12201189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.17, Y:2.75, Z:0.11 [[ 9.99491141e-01 3.18678586e-02 1.37763040e-03 1.18168216e+02] [-3.18678997e-02 9.99492089e-01 7.85677879e-06 2.74500074e+00] [-1.37668031e-03 -5.17549681e-05 9.99999051e-01 1.09954937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.20, Y:2.74, Z:0.11 [[ 9.99479203e-01 3.21991464e-02 2.13001211e-03 1.18201465e+02] [-3.21992422e-02 9.99481470e-01 1.07183450e-05 2.73968879e+00] [-2.12856251e-03 -7.92975387e-05 9.99997731e-01 1.11164053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.23, Y:2.73, Z:0.12 [[ 9.99419602e-01 3.36082853e-02 5.56263620e-03 1.18233841e+02] [-3.36089341e-02 9.99435060e-01 2.31779117e-05 2.72904721e+00] [-5.55871467e-03 -2.10118733e-04 9.99984528e-01 1.15988731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.27, Y:2.73, Z:0.12 [[ 9.99377632e-01 3.46930346e-02 6.38288792e-03 1.18266796e+02] [-3.46939022e-02 9.99397985e-01 2.52177086e-05 2.72520132e+00] [-6.37817045e-03 -2.46649303e-04 9.99979629e-01 1.16874638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.30, Y:2.73, Z:0.12 [[ 9.99251627e-01 3.82731986e-02 5.59889941e-03 1.18299649e+02] [-3.82739181e-02 9.99267285e-01 2.13809643e-05 2.72560466e+00] [-5.59397870e-03 -2.35656781e-04 9.99984326e-01 1.15355987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.33, Y:2.73, Z:0.11 [[ 9.99161066e-01 4.07418265e-02 4.15555714e-03 1.18331530e+02] [-4.07422430e-02 9.99169690e-01 1.55960117e-05 2.72812521e+00] [-4.15147133e-03 -1.84889647e-04 9.99991366e-01 1.11806678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.36, Y:2.73, Z:0.11 [[ 9.98974312e-01 4.52561985e-02 1.48313199e-03 1.18364588e+02] [-4.52562583e-02 9.98975411e-01 6.77740587e-06 2.72618222e+00] [-1.48130567e-03 -7.38914589e-05 9.99998900e-01 1.07712712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.40, Y:2.72, Z:0.11 [[ 9.98879469e-01 4.73262789e-02 1.70013441e-04 1.18396180e+02] [-4.73262801e-02 9.98879484e-01 2.57039367e-06 2.72024044e+00] [-1.69701291e-04 -1.06136172e-05 9.99999986e-01 1.07739860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:2.71, Z:0.11 [[ 9.98704465e-01 5.08443913e-02 -2.05886769e-03 1.18428976e+02] [-5.08445059e-02 9.98706582e-01 -3.33775775e-06 2.70741157e+00] [ 2.05603501e-03 1.08015544e-04 9.99997881e-01 1.12258392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.46, Y:2.70, Z:0.11 [[ 9.98510449e-01 5.45444265e-02 -1.33771997e-03 1.18461015e+02] [-5.45444770e-02 9.98511342e-01 -1.29792562e-06 2.70451767e+00] [ 1.33565777e-03 7.42612287e-05 9.99999105e-01 1.13858651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.49, Y:2.71, Z:0.11 [[ 9.98399172e-01 5.65501740e-02 -1.08181116e-03 1.18494375e+02] [-5.65502074e-02 9.98399757e-01 -2.70621998e-07 2.70605078e+00] [ 1.08006470e-03 6.14468344e-05 9.99999415e-01 1.12415345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.53, Y:2.71, Z:0.11 [[ 9.98173081e-01 6.04173817e-02 4.89864095e-04 1.18526222e+02] [-6.04173905e-02 9.98173201e-01 3.19111887e-06 2.70817065e+00] [-4.88776413e-04 -3.27815993e-05 9.99999880e-01 1.09768920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.56, Y:2.71, Z:0.11 [[ 9.98026585e-01 6.27801609e-02 1.25943618e-03 1.18559271e+02] [-6.27802167e-02 9.98027377e-01 4.78008935e-06 2.70738986e+00] [-1.25665170e-03 -8.38383328e-05 9.99999207e-01 1.09819057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.59, Y:2.70, Z:0.11 [[ 9.97664494e-01 6.82568860e-02 2.56014275e-03 1.18590084e+02] [-6.82648544e-02 9.97662210e-01 3.16611253e-03 2.70151406e+00] [-2.33804869e-03 -3.33348583e-03 9.99991711e-01 1.12631286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.62, Y:2.70, Z:0.11 [[ 9.97521684e-01 7.03373652e-02 1.77325317e-03 1.18622657e+02] [-7.03315978e-02 9.97518761e-01 -3.12842202e-03 2.70306453e+00] [-1.98889826e-03 2.99595307e-03 9.99993534e-01 1.12018656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:2.70, Z:0.11 [[ 9.97285820e-01 7.36246700e-02 6.33699563e-04 1.18655304e+02] [-7.36246868e-02 9.97286020e-01 3.26517883e-06 2.70384380e+00] [-6.31739318e-04 -4.99122484e-05 9.99999799e-01 1.13843242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.69, Y:2.71, Z:0.11 [[ 9.97175071e-01 7.51110353e-02 4.59337927e-04 1.18687320e+02] [-7.51110445e-02 9.97175176e-01 2.76019748e-06 2.70852650e+00] [-4.57833057e-04 -3.72537516e-05 9.99999895e-01 1.12099026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.72, Y:2.71, Z:0.11 [[ 9.97135831e-01 7.55959737e-02 2.32037256e-03 1.18719917e+02] [-7.55961891e-02 9.97138514e-01 5.12880854e-06 2.71350427e+00] [-2.31334513e-03 -1.80525441e-04 9.99997308e-01 1.11004711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.75, Y:2.71, Z:0.11 [[ 9.97229079e-01 7.43244842e-02 3.16769952e-03 1.18751473e+02] [-7.43248744e-02 9.97234081e-01 5.47489132e-06 2.71309500e+00] [-3.15853100e-03 -2.40898589e-04 9.99994983e-01 1.11407020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.78, Y:2.71, Z:0.11 [[ 9.97582354e-01 6.94026642e-02 3.56611472e-03 1.18783352e+02] [-6.94031245e-02 9.97588696e-01 5.34685550e-06 2.71462710e+00] [-3.55714465e-03 -2.52833433e-04 9.99993641e-01 1.11190254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.82, Y:2.72, Z:0.11 [[ 9.97934417e-01 6.40658762e-02 4.73948038e-03 1.18816582e+02] [-6.40666220e-02 9.97945624e-01 5.54586128e-06 2.71508132e+00] [-4.72938840e-03 -3.09176904e-04 9.99988769e-01 1.11163932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:2.71, Z:0.11 [[ 9.98074330e-01 6.18266493e-02 5.00964927e-03 1.18848494e+02] [-6.18274488e-02 9.98086853e-01 4.73055060e-06 2.71369123e+00] [-4.99977260e-03 -3.14455275e-04 9.99987452e-01 1.11346396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.88, Y:2.71, Z:0.11 [[ 9.98307894e-01 5.79445616e-02 4.87612260e-03 1.18880895e+02] [-5.79452690e-02 9.98319761e-01 3.78949543e-06 2.71421451e+00] [-4.86770997e-03 -2.86331319e-04 9.99988112e-01 1.11375248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.91, Y:2.72, Z:0.11 [[ 9.98385929e-01 5.65780400e-02 4.94592493e-03 1.18914019e+02] [-5.65787473e-02 9.98398140e-01 3.09172700e-06 2.71617037e+00] [-4.93782733e-03 -2.82920974e-04 9.99987769e-01 1.10249580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.95, Y:2.72, Z:0.11 [[ 9.98549086e-01 5.36427937e-02 4.70890777e-03 1.18945551e+02] [-5.36433965e-02 9.98560156e-01 1.70293473e-06 2.72093688e+00] [-4.70203633e-03 -2.54302270e-04 9.99988913e-01 1.09053104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.98, Y:2.72, Z:0.11 [[ 9.98594925e-01 5.27875657e-02 4.65271719e-03 1.18978531e+02] [-5.27881452e-02 9.98605734e-01 1.74812093e-06 2.72326533e+00] [-4.64613778e-03 -2.47353975e-04 9.99989176e-01 1.08767769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.01, Y:2.72, Z:0.11 [[ 9.98669800e-01 5.11998835e-02 6.09937792e-03 1.19010251e+02] [-5.12008383e-02 9.98688377e-01 4.02762844e-07 2.72498740e+00] [-6.09135721e-03 -3.12695490e-04 9.99981399e-01 1.10257300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.04, Y:2.72, Z:0.11 [[ 9.98681166e-01 5.09836418e-02 6.04947389e-03 1.19043316e+02] [-5.09845717e-02 9.98699441e-01 -5.03672946e-07 2.72422591e+00] [-6.04163187e-03 -3.07926826e-04 9.99981702e-01 1.11615467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.08, Y:2.73, Z:0.11 [[ 9.98665832e-01 5.13310660e-02 5.62827062e-03 1.19075733e+02] [-5.13318709e-02 9.98681650e-01 -1.45987616e-06 2.72869197e+00] [-5.62092553e-03 -2.87451732e-04 9.99984161e-01 1.10241777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:2.73, Z:0.11 [[ 9.98624520e-01 5.20306601e-02 6.47139717e-03 1.19107592e+02] [-5.20317292e-02 9.98645432e-01 -3.15167840e-06 2.73266497e+00] [-6.46279521e-03 -3.33570642e-04 9.99979060e-01 1.08255871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:2.74, Z:0.11 [[ 9.98570418e-01 5.29488436e-02 7.31710853e-03 1.19140703e+02] [-5.29502239e-02 9.98597153e-01 -5.09437429e-06 2.73634059e+00] [-7.30711349e-03 -3.82355443e-04 9.99973230e-01 1.06641067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:2.74, Z:0.11 [[ 9.98581074e-01 5.28780027e-02 6.30521897e-03 1.19173914e+02] [-5.28790210e-02 9.98600926e-01 -5.20694412e-06 2.73708775e+00] [-6.29667283e-03 -3.28214250e-04 9.99980122e-01 1.06220478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.21, Y:2.74, Z:0.11 [[ 9.98662635e-01 5.16355923e-02 2.58973439e-03 1.19206687e+02] [-5.16357622e-02 9.98665984e-01 -1.23690705e-06 2.74193333e+00] [-2.58634351e-03 -1.32487656e-04 9.99996647e-01 1.05099178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:2.75, Z:0.10 [[ 9.98741092e-01 5.01231824e-02 1.97431726e-03 1.19238534e+02] [-5.01232783e-02 9.98743039e-01 -8.85642994e-07 2.74792278e+00] [-1.97188001e-03 -9.80747254e-05 9.99998051e-01 1.03234932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.27, Y:2.75, Z:0.10 [[ 9.98763359e-01 4.96039527e-02 3.34677495e-03 1.19271959e+02] [-4.96042188e-02 9.98768953e-01 -3.49365264e-06 2.75091913e+00] [-3.34282822e-03 -1.62524825e-04 9.99994400e-01 1.03230640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:2.76, Z:0.10 [[ 9.98779930e-01 4.90012233e-02 6.12634515e-03 1.19304391e+02] [-4.90020821e-02 9.98798676e-01 -9.94568728e-06 2.75626199e+00] [-6.11947278e-03 -2.90270115e-04 9.99981234e-01 1.03230046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:2.76, Z:0.10 [[ 9.98775987e-01 4.90815271e-02 6.12634338e-03 1.19337873e+02] [-4.90823815e-02 9.98794734e-01 -1.09060134e-05 2.75607399e+00] [-6.11949479e-03 -2.89802859e-04 9.99981234e-01 1.02814999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.37, Y:2.76, Z:0.10 [[ 9.98763742e-01 4.93072468e-02 6.30739833e-03 1.19370827e+02] [-4.93081576e-02 9.98783613e-01 -1.11191925e-05 2.75737611e+00] [-6.30027435e-03 -2.99900745e-04 9.99980108e-01 1.02310283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:2.76, Z:0.10 [[ 9.98809354e-01 4.82439066e-02 7.23871744e-03 1.19402640e+02] [-4.82450657e-02 9.98835529e-01 -1.45175122e-05 2.75884669e+00] [-7.23098855e-03 -3.34732172e-04 9.99973800e-01 1.01897219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:2.76, Z:0.10 [[ 9.98842528e-01 4.73716274e-02 8.33862219e-03 1.19436048e+02] [-4.73731206e-02 9.98877263e-01 -1.84654158e-05 2.75997534e+00] [-8.33013485e-03 -3.76582513e-04 9.99965233e-01 1.01327576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.47, Y:2.76, Z:0.10 [[ 9.98959642e-01 4.43204066e-02 1.07394446e-02 1.19469189e+02] [-4.43226795e-02 9.99017267e-01 -2.63950864e-05 2.76215883e+00] [-1.07300605e-02 -4.49633337e-04 9.99942330e-01 1.00438331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.50, Y:2.76, Z:0.10 [[ 9.99153638e-01 4.01000178e-02 9.16496828e-03 1.19501005e+02] [-4.01014824e-02 9.99195612e-01 -2.39878887e-05 2.76444624e+00] [-9.15855801e-03 -3.43561228e-04 9.99958001e-01 9.85300362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.53, Y:2.76, Z:0.10 [[ 9.99223249e-01 3.88328231e-02 6.70158091e-03 1.19534148e+02] [-3.88335737e-02 9.99245692e-01 -1.81293797e-05 2.76475075e+00] [-6.69722987e-03 -2.42131039e-04 9.99977544e-01 9.65237444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.57, Y:2.76, Z:0.09 [[ 9.99264896e-01 3.81362180e-02 3.91098435e-03 1.19567453e+02] [-3.81364693e-02 9.99272540e-01 -1.03387647e-05 2.76379059e+00] [-3.90853355e-03 -1.38819970e-04 9.99992352e-01 9.44766397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.60, Y:2.76, Z:0.09 [[ 9.99253445e-01 3.86288390e-02 6.04750795e-04 1.19600043e+02] [-3.86288462e-02 9.99253628e-01 2.71713563e-07 2.75962322e+00] [-6.04288930e-04 -2.36323362e-05 9.99999817e-01 9.38445722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.63, Y:2.76, Z:0.09 [[ 9.99210557e-01 3.97150473e-02 9.88738794e-04 1.19631820e+02] [-3.97150653e-02 9.99211046e-01 -1.37541329e-06 2.75908874e+00] [-9.88013348e-04 -3.78934983e-05 9.99999511e-01 9.43202160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.66, Y:2.76, Z:0.09 [[ 9.99073187e-01 4.29854731e-02 2.23956389e-03 1.19664375e+02] [-4.29855671e-02 9.99075693e-01 -6.14663051e-06 2.76402413e+00] [-2.23775806e-03 -9.01279903e-05 9.99997492e-01 9.47907610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.70, Y:2.77, Z:0.09 [[ 9.98985032e-01 4.49810352e-02 2.36902101e-03 1.19696374e+02] [-4.49811444e-02 9.98987836e-01 -7.20745217e-06 2.76778472e+00] [-2.36694737e-03 -9.93611394e-05 9.99997194e-01 9.33325927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.73, Y:2.77, Z:0.09 [[ 9.98731322e-01 5.01990719e-02 3.97498787e-03 1.19728963e+02] [-5.01994122e-02 9.98739215e-01 -1.41776129e-05 2.77122431e+00] [-3.97068797e-03 -1.85382429e-04 9.99992100e-01 9.17460403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.76, Y:2.77, Z:0.09 [[ 9.98454647e-01 5.53076978e-02 5.42009155e-03 1.19761384e+02] [-5.53083952e-02 9.98469319e-01 -2.12597689e-05 2.76851821e+00] [-5.41297095e-03 -2.78549650e-04 9.99985311e-01 9.31487987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.79, Y:2.77, Z:0.09 [[ 9.98383294e-01 5.65809042e-02 5.42204565e-03 1.19794564e+02] [-5.65816163e-02 9.98397977e-01 -2.21058863e-05 2.76806835e+00] [-5.41461018e-03 -2.84717959e-04 9.99985300e-01 9.30631355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:2.77, Z:0.09 [[ 9.98396890e-01 5.62282954e-02 6.48302302e-03 1.19827542e+02] [-5.62292952e-02 9.98417881e-01 -2.80887332e-05 2.77104728e+00] [-6.47434549e-03 -3.36492112e-04 9.99978985e-01 9.26308901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.86, Y:2.77, Z:0.09 [[ 9.98440279e-01 5.54027294e-02 6.89535851e-03 1.19859158e+02] [-5.54038282e-02 9.98464028e-01 -3.16975739e-05 2.77359769e+00] [-6.88652357e-03 -3.50381124e-04 9.99976226e-01 9.18993726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.89, Y:2.78, Z:0.09 [[ 9.98585810e-01 5.28013915e-02 6.19617653e-03 1.19891964e+02] [-5.28022279e-02 9.98604989e-01 -2.86503568e-05 2.77659444e+00] [-6.18904557e-03 -2.98562085e-04 9.99980803e-01 8.85415247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.92, Y:2.78, Z:0.09 [[ 9.98650064e-01 5.16916675e-02 5.10109128e-03 1.19924557e+02] [-5.16922173e-02 9.98663063e-01 -2.41043664e-05 2.77500447e+00] [-5.09551744e-03 -2.39614892e-04 9.99986989e-01 8.80318426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.96, Y:2.77, Z:0.09 [[ 9.98769646e-01 4.93418692e-02 4.95724179e-03 1.19956912e+02] [-4.93423549e-02 9.98781924e-01 -2.43568742e-05 2.77050063e+00] [-4.95240530e-03 -2.20275077e-04 9.99987713e-01 8.87194818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.99, Y:2.77, Z:0.09 [[ 9.98814290e-01 4.84174132e-02 5.07619577e-03 1.19989515e+02] [-4.84179064e-02 9.98827165e-01 -2.57471651e-05 2.76949452e+00] [-5.07148884e-03 -2.20062135e-04 9.99987116e-01 8.91425770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:2.77, Z:0.09 [[ 9.98882609e-01 4.70538802e-02 4.41189865e-03 1.20021659e+02] [-4.70542368e-02 9.98892336e-01 -2.30021218e-05 2.77289505e+00] [-4.40809409e-03 -1.84622104e-04 9.99990267e-01 8.80711434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:2.78, Z:0.09 [[ 9.98899672e-01 4.64751755e-02 6.28518294e-03 1.20053391e+02] [-4.64758748e-02 9.98919412e-01 -3.48164768e-05 2.77520512e+00] [-6.28000935e-03 -2.57331208e-04 9.99980247e-01 8.74782734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.09, Y:2.77, Z:0.09 [[ 9.98914081e-01 4.59631987e-02 7.61863117e-03 1.20086235e+02] [-4.59641986e-02 9.98943087e-01 -4.38952352e-05 2.77281087e+00] [-7.61259651e-03 -3.06336708e-04 9.99970977e-01 8.80369216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:2.77, Z:0.09 [[ 9.99019647e-01 4.37564174e-02 6.71721467e-03 1.20119394e+02] [-4.37571385e-02 9.99042197e-01 -3.96523021e-05 2.76860259e+00] [-6.71251594e-03 -2.54312664e-04 9.99977438e-01 8.87183283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:2.77, Z:0.09 [[ 9.99066947e-01 4.28957307e-02 5.01909202e-03 1.20152447e+02] [-4.28961207e-02 9.99079537e-01 -2.99732516e-05 2.76856216e+00] [-5.01575785e-03 -1.85354292e-04 9.99987404e-01 8.70710728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:2.77, Z:0.08 [[ 9.99124769e-01 4.15947510e-02 4.42416151e-03 1.20183972e+02] [-4.15950384e-02 9.99134552e-01 -2.70779349e-05 2.76928113e+00] [-4.42145893e-03 -1.56968932e-04 9.99990213e-01 8.33916059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.22, Y:2.77, Z:0.08 [[ 9.99136206e-01 4.12088333e-02 5.35487943e-03 1.20216758e+02] [-4.12092416e-02 9.99150538e-01 -3.40996177e-05 2.76677975e+00] [-5.35173586e-03 -1.86600358e-04 9.99985662e-01 8.27196201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.25, Y:2.76, Z:0.08 [[ 9.99148406e-01 4.07274703e-02 6.61327057e-03 1.20249508e+02] [-4.07280713e-02 9.99170267e-01 -4.38264544e-05 2.75762426e+00] [-6.60956826e-03 -2.25556623e-04 9.99978131e-01 8.45915571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.28, Y:2.75, Z:0.08 [[ 9.99092707e-01 4.21613389e-02 6.01534418e-03 1.20281033e+02] [-4.21618560e-02 9.99110793e-01 -4.08871007e-05 2.75453110e+00] [-6.01171915e-03 -2.12768071e-04 9.99981907e-01 8.49814445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.31, Y:2.76, Z:0.08 [[ 9.99040563e-01 4.33814660e-02 6.00021746e-03 1.20314365e+02] [-4.33819962e-02 9.99058557e-01 -4.18272961e-05 2.75540154e+00] [-5.99638313e-03 -2.18514245e-04 9.99981998e-01 8.38391532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.35, Y:2.76, Z:0.08 [[ 9.98880997e-01 4.70234835e-02 5.05432770e-03 1.20347136e+02] [-4.70239033e-02 9.98893764e-01 -3.58008276e-05 2.75666844e+00] [-5.05041990e-03 -2.01913451e-04 9.99987226e-01 8.13678751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:2.75, Z:0.08 [[ 9.98753520e-01 4.97612539e-02 3.90179595e-03 1.20379327e+02] [-4.97615238e-02 9.98761128e-01 -2.79443666e-05 2.75495866e+00] [-3.89835267e-03 -1.66249777e-04 9.99992388e-01 7.98633348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.41, Y:2.75, Z:0.08 [[ 9.98536650e-01 5.39936418e-02 3.04070576e-03 1.20411698e+02] [-5.39938251e-02 9.98541269e-01 -2.18428500e-05 2.74608623e+00] [-3.03744957e-03 -1.42368449e-04 9.99995377e-01 8.13739899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:2.74, Z:0.08 [[ 9.98343717e-01 5.73300476e-02 4.80493594e-03 1.20444436e+02] [-5.73305342e-02 9.98355252e-01 -3.65044597e-05 2.74344075e+00] [-4.79912584e-03 -2.39025546e-04 9.99988456e-01 8.31704517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.48, Y:2.75, Z:0.08 [[ 9.98221911e-01 5.94450371e-02 4.39364726e-03 1.20477832e+02] [-5.94454619e-02 9.98231554e-01 -3.39420030e-05 2.74652515e+00] [-4.38789502e-03 -2.27300740e-04 9.99990347e-01 8.16582226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.51, Y:2.75, Z:0.08 [[ 9.98123192e-01 6.11516034e-02 3.25197315e-03 1.20509581e+02] [-6.11518448e-02 9.98128474e-01 -2.52401755e-05 2.74955235e+00] [-3.24743048e-03 -1.73671353e-04 9.99994712e-01 7.93281215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.54, Y:2.75, Z:0.08 [[ 9.98079811e-01 6.19216268e-02 1.54984891e-03 1.20542653e+02] [-6.19216841e-02 9.98081011e-01 -1.10701915e-05 2.75051250e+00] [-1.54756025e-03 -8.49203198e-05 9.99998799e-01 7.68002301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.58, Y:2.74, Z:0.08 [[ 9.98082161e-01 6.18013577e-02 3.54851583e-03 1.20575354e+02] [-6.18016445e-02 9.98088451e-01 -2.88779969e-05 2.74327478e+00] [-3.54351736e-03 -1.90481500e-04 9.99993704e-01 7.94201619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29533619499999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:120.61, Y:2.74, Z:0.08 [[ 9.98067992e-01 6.19364518e-02 4.91517328e-03 1.20606905e+02] [-6.19369945e-02 9.98080060e-01 -4.18800925e-05 2.73888743e+00] [-4.90833035e-03 -2.62631880e-04 9.99987920e-01 8.17336591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.64, Y:2.74, Z:0.08 [[ 9.98073339e-01 6.18139449e-02 5.35225290e-03 1.20639492e+02] [-6.18145811e-02 9.98087649e-01 -4.66289344e-05 2.73831826e+00] [-5.34489983e-03 -2.84308175e-04 9.99985676e-01 8.35593131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.67, Y:2.74, Z:0.08 [[ 9.98066341e-01 6.19485838e-02 5.09427576e-03 1.20671890e+02] [-6.19491572e-02 9.98079305e-01 -4.53076486e-05 2.74048464e+00] [-5.08729796e-03 -2.70366051e-04 9.99987023e-01 8.18649083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.70, Y:2.74, Z:0.08 [[ 9.98070569e-01 6.18229196e-02 5.75035791e-03 1.20704779e+02] [-6.18236413e-02 9.98087088e-01 -5.23399084e-05 2.74101910e+00] [-5.74259379e-03 -3.03269143e-04 9.99983465e-01 7.93389156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:2.74, Z:0.08 [[ 9.98147461e-01 6.04505396e-02 6.88321115e-03 1.20736651e+02] [-6.04515268e-02 9.98171132e-01 -6.47410758e-05 2.73806429e+00] [-6.87453630e-03 -3.51479483e-04 9.99976308e-01 7.82882198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.77, Y:2.74, Z:0.08 [[ 9.98200118e-01 5.96130034e-02 6.54325262e-03 1.20769769e+02] [-5.96138758e-02 9.98221509e-01 -6.18030286e-05 2.73609054e+00] [-6.53529977e-03 -3.28376858e-04 9.99978591e-01 7.79220121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.80, Y:2.73, Z:0.08 [[ 9.98406721e-01 5.62153148e-02 4.88439071e-03 1.20801922e+02] [-5.62157583e-02 9.98418643e-01 -4.65529237e-05 2.73385171e+00] [-4.87928373e-03 -2.28100975e-04 9.99988070e-01 7.82465410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.84, Y:2.73, Z:0.08 [[ 9.98462157e-01 5.53110939e-02 3.74212290e-03 1.20835160e+02] [-5.53113476e-02 9.98469155e-01 -3.57370009e-05 2.73297793e+00] [-3.73837094e-03 -1.71299817e-04 9.99992998e-01 7.79739535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.87, Y:2.73, Z:0.08 [[ 9.98568764e-01 5.34726639e-02 1.04801209e-03 1.20867332e+02] [-5.34726842e-02 9.98569313e-01 -8.70865802e-06 2.72911308e+00] [-1.04697838e-03 -4.73438255e-05 9.99999451e-01 7.76207248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:2.73, Z:0.08 [[ 9.98608704e-01 5.27177735e-02 1.22147003e-03 1.20900428e+02] [-5.27178001e-02 9.98609450e-01 -1.04557920e-05 2.72696298e+00] [-1.22032272e-03 -5.39519679e-05 9.99999254e-01 7.79988917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:2.73, Z:0.08 [[ 9.98598833e-01 5.28142466e-02 3.32053426e-03 1.20932078e+02] [-5.28144273e-02 9.98604344e-01 -3.32959364e-05 2.72698150e+00] [-3.31765844e-03 -1.42122832e-04 9.99994486e-01 7.85023225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:2.73, Z:0.08 [[ 9.98558552e-01 5.35754258e-02 3.23903391e-03 1.20964581e+02] [-5.35756002e-02 9.98563796e-01 -3.29662321e-05 2.72706534e+00] [-3.23614817e-03 -1.40614472e-04 9.99994754e-01 7.80569221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.00, Y:2.73, Z:0.08 [[ 9.98504612e-01 5.46500264e-02 1.38353758e-03 1.20997300e+02] [-5.46500607e-02 9.98505569e-01 -1.30274547e-05 2.72590834e+00] [-1.38218193e-03 -6.26024392e-05 9.99999043e-01 7.71696444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.03, Y:2.72, Z:0.08 [[ 9.98428247e-01 5.60306732e-02 1.26493239e-03 1.21030009e+02] [-5.60307029e-02 9.98429046e-01 -1.19339926e-05 2.72385764e+00] [-1.26361391e-03 -5.89598157e-05 9.99999200e-01 7.70338480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.06, Y:2.72, Z:0.08 [[ 9.98342426e-01 5.75129822e-02 2.15804704e-03 1.21062684e+02] [-5.75130679e-02 9.98344753e-01 -2.23811276e-05 2.72257574e+00] [-2.15576215e-03 -1.01771877e-04 9.99997671e-01 7.74126047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.10, Y:2.72, Z:0.08 [[ 9.98190829e-01 5.99643961e-02 4.39772961e-03 1.21095935e+02] [-5.99647615e-02 9.98200493e-01 -4.88286155e-05 2.72249277e+00] [-4.39274384e-03 -2.14968531e-04 9.99990329e-01 7.89618779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.13, Y:2.72, Z:0.08 [[ 9.98133757e-01 6.08189165e-02 5.48285235e-03 1.21127611e+02] [-6.08194861e-02 9.98148780e-01 -6.29388192e-05 2.72227157e+00] [-5.47653025e-03 -2.70642902e-04 9.99984967e-01 7.98165732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.16, Y:2.72, Z:0.08 [[ 9.98059353e-01 6.19917664e-02 5.87786581e-03 1.21160455e+02] [-6.19924392e-02 9.98076617e-01 -6.78282512e-05 2.72133739e+00] [-5.87076522e-03 -2.96686619e-04 9.99982723e-01 8.03316692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.19, Y:2.72, Z:0.08 [[ 9.98015537e-01 6.27229296e-02 5.55180749e-03 1.21192952e+02] [-6.27235364e-02 9.98030938e-01 -6.49248522e-05 2.72111769e+00] [-5.54494792e-03 -2.83432988e-04 9.99984586e-01 7.94481499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.22, Y:2.72, Z:0.08 [[ 9.98004744e-01 6.29837906e-02 4.42425871e-03 1.21224588e+02] [-6.29841766e-02 9.98014524e-01 -5.21871760e-05 2.72159281e+00] [-4.41876140e-03 -2.26575242e-04 9.99990212e-01 7.79117713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:2.72, Z:0.08 [[ 9.98020773e-01 6.27670559e-02 3.85146799e-03 1.21258025e+02] [-6.27673457e-02 9.98028185e-01 -4.56882348e-05 2.72048004e+00] [-3.84674133e-03 -1.96148616e-04 9.99992582e-01 7.71459723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.29, Y:2.72, Z:0.08 [[ 9.98096277e-01 6.15750428e-02 3.51237370e-03 1.21291170e+02] [-6.15752749e-02 9.98102442e-01 -4.21122318e-05 2.71867271e+00] [-3.50830183e-03 -1.74243315e-04 9.99993831e-01 7.73458746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.32, Y:2.72, Z:0.08 [[ 9.98116277e-01 6.12748925e-02 3.04709847e-03 1.21323478e+02] [-6.12750631e-02 9.98120917e-01 -3.74406747e-05 2.71837420e+00] [-3.04366690e-03 -1.49341004e-04 9.99995357e-01 7.71298090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.36, Y:2.72, Z:0.08 [[ 9.98134858e-01 6.10345647e-02 1.25994898e-03 1.21356883e+02] [-6.10345955e-02 9.98135651e-01 -1.40223185e-05 2.72039955e+00] [-1.25845584e-03 -6.29043116e-05 9.99999206e-01 7.61582009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:2.72, Z:0.08 [[ 9.98144815e-01 6.08816723e-02 5.91300814e-04 1.21389023e+02] [-6.08816792e-02 9.98144990e-01 -6.29757921e-06 2.72068533e+00] [-5.90587352e-04 -2.97134904e-05 9.99999825e-01 7.51364613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:2.72, Z:0.07 [[ 9.98140051e-01 6.09597371e-02 5.91294356e-04 1.21422501e+02] [-6.09597438e-02 9.98140225e-01 -6.79510380e-06 2.72011840e+00] [-5.90608910e-04 -2.92626872e-05 9.99999825e-01 7.47214129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:2.72, Z:0.07 [[ 9.98182366e-01 6.02628132e-02 5.98789820e-04 1.21455555e+02] [-6.02628206e-02 9.98182545e-01 -5.71880081e-06 2.71956631e+00] [-5.98046177e-04 -3.03763574e-05 9.99999821e-01 7.48302563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:2.72, Z:0.08 [[ 9.98239765e-01 5.93055744e-02 4.69472831e-04 1.21488087e+02] [-5.93055790e-02 9.98239875e-01 -4.07022757e-06 2.71896276e+00] [-4.68887888e-04 -2.37792951e-05 9.99999890e-01 7.54267467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.52, Y:2.72, Z:0.08 [[ 9.98452314e-01 5.56021388e-02 1.17416259e-03 1.21519706e+02] [-5.56021608e-02 9.98453003e-01 -1.39318254e-05 2.71865195e+00] [-1.17312081e-03 -5.13757140e-05 9.99999311e-01 7.52473362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.165336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.55, Y:2.72, Z:0.08 [[ 9.98634475e-01 5.20798448e-02 4.10797858e-03 1.21552608e+02] [-5.20800602e-02 9.98642911e-01 -5.45979721e-05 2.72002959e+00] [-4.10524714e-03 -1.59420354e-04 9.99991561e-01 7.55646702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.59, Y:2.72, Z:0.08 [[ 9.98645150e-01 5.17396206e-02 5.55663585e-03 1.21585183e+02] [-5.17399992e-02 9.98660586e-01 -7.56973548e-05 2.71993013e+00] [-5.55310977e-03 -2.11905538e-04 9.99984559e-01 7.56598639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.62, Y:2.72, Z:0.08 [[ 9.98717120e-01 5.02864505e-02 5.94874635e-03 1.21616917e+02] [-5.02868506e-02 9.98734813e-01 -8.23842440e-05 2.71777468e+00] [-5.94536289e-03 -2.16865164e-04 9.99982303e-01 7.52557312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.65, Y:2.72, Z:0.07 [[ 9.98786788e-01 4.88919933e-02 5.87584291e-03 1.21649548e+02] [-4.88923539e-02 9.98804050e-01 -8.23426142e-05 2.71624505e+00] [-5.87284159e-03 -2.05041076e-04 9.99982734e-01 7.45920528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.68, Y:2.72, Z:0.07 [[ 9.98947948e-01 4.54456907e-02 6.13894839e-03 1.21682915e+02] [-4.54460120e-02 9.98966792e-01 -8.72246315e-05 2.71520012e+00] [-6.13656957e-03 -1.91857856e-04 9.99981153e-01 7.35293925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.72, Y:2.71, Z:0.07 [[ 9.99017974e-01 4.39737377e-02 5.42198686e-03 1.21716255e+02] [-4.39739633e-02 9.99032674e-01 -7.76521634e-05 2.71364035e+00] [-5.42015669e-03 -1.60850344e-04 9.99985298e-01 7.32320485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:2.71, Z:0.07 [[ 9.99133738e-01 4.15185932e-02 2.82481633e-03 1.21748304e+02] [-4.15186460e-02 9.99137728e-01 -3.99823084e-05 2.70880594e+00] [-2.82404058e-03 -7.73348760e-05 9.99996009e-01 7.27860753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.78, Y:2.70, Z:0.07 [[ 9.99216835e-01 3.95024344e-02 2.29677227e-03 1.21781480e+02] [-3.95024642e-02 9.99219473e-01 -3.24050064e-05 2.70499635e+00] [-2.29625966e-03 -5.83485364e-05 9.99997362e-01 7.17015248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.81, Y:2.70, Z:0.07 [[ 9.99245709e-01 3.87189373e-02 2.97621367e-03 1.21813444e+02] [-3.87189798e-02 9.99250138e-01 -4.33582879e-05 2.70289458e+00] [-2.97566071e-03 -7.19103739e-05 9.99995570e-01 7.08146560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:2.70, Z:0.07 [[ 9.99249570e-01 3.85386724e-02 3.88160385e-03 1.21846317e+02] [-3.85387384e-02 9.99257105e-01 -5.78081077e-05 2.69928229e+00] [-3.88094807e-03 -9.18273886e-05 9.99992465e-01 7.06438632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.88, Y:2.70, Z:0.07 [[ 9.99209129e-01 3.95159555e-02 4.42780719e-03 1.21879171e+02] [-3.95160462e-02 9.99218934e-01 -6.70428946e-05 2.69728725e+00] [-4.42699804e-03 -1.07979561e-04 9.99990195e-01 7.05467444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.91, Y:2.69, Z:0.07 [[ 9.99064087e-01 4.29523539e-02 5.10347576e-03 1.21911004e+02] [-4.29525118e-02 9.99077112e-01 -7.87225906e-05 2.69433740e+00] [-5.10214714e-03 -1.40558189e-04 9.99986974e-01 7.07724777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.94, Y:2.69, Z:0.07 [[ 9.98966865e-01 4.52438970e-02 4.26524242e-03 1.21944354e+02] [-4.52440265e-02 9.98975963e-01 -6.61672525e-05 2.69202497e+00] [-4.26386832e-03 -1.26877848e-04 9.99990902e-01 7.02405066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:2.69, Z:0.07 [[ 9.98792850e-01 4.88866429e-02 4.78948246e-03 1.21977644e+02] [-4.88868427e-02 9.98804321e-01 -7.54181587e-05 2.68603285e+00] [-4.78744271e-03 -1.58815558e-04 9.99988528e-01 7.04271526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:2.68, Z:0.07 [[ 9.98718972e-01 5.02501053e-02 5.94496469e-03 1.22009152e+02] [-5.02504267e-02 9.98736645e-01 -9.53923672e-05 2.68337994e+00] [-5.94224756e-03 -2.03466845e-04 9.99982324e-01 7.10289617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:2.68, Z:0.07 [[ 9.98704520e-01 5.06002512e-02 5.37551071e-03 1.22042112e+02] [-5.06005154e-02 9.98718970e-01 -8.69337948e-05 2.68085780e+00] [-5.37302339e-03 -1.85182439e-04 9.99985548e-01 6.87121101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.07, Y:2.68, Z:0.07 [[ 9.98771867e-01 4.94208077e-02 3.51316746e-03 1.22074992e+02] [-4.94209137e-02 9.98778038e-01 -5.66757989e-05 2.67888910e+00] [-3.51167547e-03 -1.17017753e-04 9.99993827e-01 6.51045411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:2.68, Z:0.06 [[ 9.98792395e-01 4.90050411e-02 3.50101627e-03 1.22108259e+02] [-4.90051417e-02 9.98798525e-01 -5.71089273e-05 2.67596744e+00] [-3.49960851e-03 -1.14527836e-04 9.99993870e-01 6.34607555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:2.66, Z:0.06 [[ 9.98894161e-01 4.68979744e-02 3.32188596e-03 1.22140119e+02] [-4.68980513e-02 9.98899680e-01 -5.47969589e-05 2.66231850e+00] [-3.32080069e-03 -1.01053616e-04 9.99994481e-01 6.48346051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:2.65, Z:0.07 [[ 9.98942765e-01 4.58898673e-02 2.73339123e-03 1.22172105e+02] [-4.58899138e-02 9.98946502e-01 -4.57500770e-05 2.65422652e+00] [-2.73261108e-03 -7.97333796e-05 9.99996263e-01 6.64659957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.20, Y:2.65, Z:0.07 [[ 9.99005090e-01 4.45659612e-02 1.64499030e-03 1.22204782e+02] [-4.45659782e-02 9.99006443e-01 -2.63751201e-05 2.64764430e+00] [-1.64453134e-03 -4.69617224e-05 9.99998647e-01 6.65003488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.24, Y:2.65, Z:0.06 [[ 9.98996366e-01 4.47741304e-02 1.23975396e-03 1.22237910e+02] [-4.47741406e-02 9.98997135e-01 -1.95265831e-05 2.64675534e+00] [-1.23938494e-03 -3.60019326e-05 9.99999231e-01 6.37327305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.27, Y:2.64, Z:0.06 [[ 9.98973104e-01 4.52737027e-02 -1.74045836e-03 1.22269354e+02] [-4.52737136e-02 9.98974619e-01 3.31414078e-05 2.64229565e+00] [ 1.74017416e-03 4.56896384e-05 9.99998485e-01 5.94898504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:2.63, Z:0.06 [[ 9.98909734e-01 4.66775022e-02 -7.44958705e-04 1.22302076e+02] [-4.66775035e-02 9.98910011e-01 1.56829920e-05 2.63100926e+00] [ 7.44878751e-04 1.91069192e-05 9.99999722e-01 6.03031876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:2.62, Z:0.06 [[ 9.98867676e-01 4.75636545e-02 1.03194400e-03 1.22334443e+02] [-4.75636628e-02 9.98868208e-01 -1.64678818e-05 2.62219826e+00] [-1.03155932e-03 -3.26338016e-05 9.99999467e-01 6.23337577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:2.61, Z:0.07 [[ 9.98796048e-01 4.89998261e-02 2.33921614e-03 1.22367428e+02] [-4.89998652e-02 9.98798784e-01 -4.06329231e-05 2.60761574e+00] [-2.33839724e-03 -7.40372727e-05 9.99997263e-01 6.55645808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:2.60, Z:0.06 [[ 9.98763776e-01 4.96420904e-02 2.56547489e-03 1.22400040e+02] [-4.96421378e-02 9.98767068e-01 -4.52412777e-05 2.60345636e+00] [-2.56455771e-03 -8.21703087e-05 9.99996708e-01 6.44418616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:2.60, Z:0.06 [[ 9.98734291e-01 5.02274289e-02 2.64996552e-03 1.22432967e+02] [-5.02274800e-02 9.98737802e-01 -4.73256487e-05 2.60089049e+00] [-2.64899778e-03 -8.58353417e-05 9.99996488e-01 6.22556982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:2.60, Z:0.06 [[ 9.98681611e-01 5.12765754e-02 2.39842647e-03 1.22465243e+02] [-5.12766181e-02 9.98684488e-01 -4.37574205e-05 2.59608984e+00] [-2.39751504e-03 -7.92834666e-05 9.99997123e-01 5.63377031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.50, Y:2.58, Z:0.06 [[ 9.98684752e-01 5.12558126e-02 1.26811785e-03 1.22497570e+02] [-5.12558262e-02 9.98685556e-01 -2.18283171e-05 2.58109420e+00] [-1.26756981e-03 -4.31988206e-05 9.99999196e-01 5.53926980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:2.57, Z:0.06 [[ 9.98698980e-01 5.09916487e-02 4.46639645e-04 1.22529635e+02] [-5.09916506e-02 9.98699080e-01 -7.11740868e-06 2.56882004e+00] [-4.46421531e-04 -1.56667439e-05 9.99999900e-01 5.79041656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.56, Y:2.55, Z:0.06 [[ 9.98602439e-01 5.28264090e-02 1.59343134e-03 1.22561262e+02] [-5.28264305e-02 9.98603709e-01 -2.86454708e-05 2.54966965e+00] [-1.59271968e-03 -5.55698528e-05 9.99998730e-01 6.30095951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.59, Y:2.55, Z:0.06 [[ 9.98447713e-01 5.56490043e-02 2.31357909e-03 1.22593063e+02] [-5.56490526e-02 9.98450390e-01 -4.35473102e-05 2.54633190e+00] [-2.31241731e-03 -8.52687724e-05 9.99997323e-01 6.24370567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.63, Y:2.55, Z:0.06 [[ 9.98006145e-01 6.30893581e-02 1.86214806e-03 1.22625673e+02] [-6.30894038e-02 9.98007879e-01 -3.42163269e-05 2.54819130e+00] [-1.86059713e-03 -8.33337067e-05 9.99998266e-01 5.50067945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:2.55, Z:0.05 [[ 9.97718380e-01 6.75028335e-02 1.18380807e-03 1.22657861e+02] [-6.75028556e-02 9.97719081e-01 -2.12742214e-05 2.54573731e+00] [-1.18254397e-03 -5.86847435e-05 9.99999299e-01 5.17903213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.69, Y:2.53, Z:0.05 [[ 9.97102464e-01 7.60697952e-02 2.48708832e-04 1.22690124e+02] [-7.60697968e-02 9.97102495e-01 -2.78838499e-06 2.53021143e+00] [-2.48200309e-04 -1.61389248e-05 9.99999969e-01 5.37254691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.72, Y:2.52, Z:0.06 [[ 9.96789202e-01 8.00700387e-02 -2.76072067e-04 1.22722976e+02] [-8.00700396e-02 9.96789240e-01 7.75738325e-06 2.52212002e+00] [ 2.75806800e-04 1.43726255e-05 9.99999962e-01 5.56320412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:2.52, Z:0.06 [[ 9.96179249e-01 8.73291695e-02 -7.21621313e-04 1.22755801e+02] [-8.73291801e-02 9.96179509e-01 1.68399243e-05 2.51710752e+00] [ 7.20334981e-04 4.62430144e-05 9.99999739e-01 5.60071334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:2.52, Z:0.05 [[ 9.95801779e-01 9.15350359e-02 3.93513148e-04 1.22789046e+02] [-9.15350407e-02 9.95801856e-01 -5.80151274e-06 2.51799997e+00] [-3.92392165e-04 -3.02430854e-05 9.99999923e-01 5.46914631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:2.52, Z:0.05 [[ 9.95042898e-01 9.93876914e-02 3.42305950e-03 1.22821986e+02] [-9.93880399e-02 9.95048749e-01 -6.85704351e-05 2.52198047e+00] [-3.41292613e-03 -2.71980650e-04 9.99994139e-01 5.17150277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:2.52, Z:0.05 [[ 9.94699328e-01 1.02775616e-01 3.22797844e-03 1.22853678e+02] [-1.02775942e-01 9.94704530e-01 -6.52359099e-05 2.52136053e+00] [-3.21758943e-03 -2.66868408e-04 9.99994788e-01 5.10341139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:2.52, Z:0.05 [[ 9.94322397e-01 1.06392057e-01 1.92367167e-03 1.22886024e+02] [-1.06392180e-01 9.94324244e-01 -3.84221335e-05 2.51584973e+00] [-1.91684119e-03 -1.66459635e-04 9.99998149e-01 5.29574565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:2.51, Z:0.05 [[ 9.94308775e-01 1.06508744e-01 2.43873261e-03 1.22918829e+02] [-1.06508940e-01 9.94311743e-01 -4.95213580e-05 2.51384892e+00] [-2.43013494e-03 -2.10507306e-04 9.99997025e-01 5.40439186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:2.52, Z:0.05 [[ 9.94560403e-01 1.04114222e-01 3.13597053e-03 1.22951929e+02] [-1.04114531e-01 9.94565312e-01 -6.47913711e-05 2.51665864e+00] [-3.12567321e-03 -2.62061170e-04 9.99995081e-01 5.24049916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.98, Y:2.52, Z:0.05 [[ 9.95234852e-01 9.74947600e-02 1.53645917e-03 1.22983937e+02] [-9.74948276e-02 9.95236031e-01 -3.10134157e-05 2.51836669e+00] [-1.53216317e-03 -1.18931189e-04 9.99998819e-01 4.98511183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.02, Y:2.52, Z:0.05 [[ 9.95642022e-01 9.32439062e-02 1.59286903e-03 1.23016946e+02] [-9.32439731e-02 9.95643290e-01 -3.23702909e-05 2.51834471e+00] [-1.58894770e-03 -1.16296215e-04 9.99998731e-01 4.88100346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:2.52, Z:0.05 [[ 9.96026453e-01 8.90398002e-02 1.79411255e-03 1.23049393e+02] [-8.90398759e-02 9.96028061e-01 -3.77800805e-05 2.51787806e+00] [-1.79035038e-03 -1.22117600e-04 9.99998390e-01 4.84250959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:2.51, Z:0.05 [[ 9.96696999e-01 8.12028898e-02 1.08797576e-03 1.23082751e+02] [-8.12029142e-02 9.96697590e-01 -2.17531146e-05 2.51331106e+00] [-1.08614924e-03 -6.66655385e-05 9.99999408e-01 5.01856734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:2.51, Z:0.05 [[ 9.96968509e-01 7.78013688e-02 8.60184214e-04 1.23115317e+02] [-7.78013831e-02 9.96968878e-01 -1.68836803e-05 2.50941439e+00] [-8.58890465e-04 -5.00910240e-05 9.99999630e-01 5.16622601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:2.51, Z:0.05 [[ 9.97412532e-01 7.18803926e-02 1.20383874e-03 1.23148047e+02] [-7.18804150e-02 9.97413257e-01 -2.47191181e-05 2.50680876e+00] [-1.20250154e-03 -6.18772698e-05 9.99999275e-01 5.27806749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:2.51, Z:0.05 [[ 9.97731293e-01 6.73075773e-02 1.39913583e-03 1.23180483e+02] [-6.73076022e-02 9.97732272e-01 -2.93436413e-05 2.51017574e+00] [-1.39793802e-03 -6.48954086e-05 9.99999021e-01 4.99048515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:2.51, Z:0.05 [[ 9.97853909e-01 6.54781371e-02 4.35459763e-04 1.23213888e+02] [-6.54781399e-02 9.97854004e-01 -7.69483369e-06 2.51231504e+00] [-4.35029112e-04 -2.08347754e-05 9.99999905e-01 4.78940894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.25, Y:2.51, Z:0.05 [[ 9.97995937e-01 6.32647177e-02 -1.29829491e-03 1.23246169e+02] [-6.32647299e-02 9.97996780e-01 3.17653454e-05 2.51462059e+00] [ 1.29770377e-03 5.04345913e-05 9.99999157e-01 4.51938914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.28, Y:2.51, Z:0.05 [[ 9.98025797e-01 6.28032767e-02 -5.07469882e-04 1.23278743e+02] [-6.28032778e-02 9.98025926e-01 1.38785067e-05 2.51309778e+00] [ 5.07339714e-04 1.80196643e-05 9.99999871e-01 4.62892590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.31, Y:2.51, Z:0.05 [[ 9.97998129e-01 6.31960865e-02 2.44724001e-03 1.23312099e+02] [-6.31961420e-02 9.98001125e-01 -5.46955689e-05 2.50860363e+00] [-2.44580483e-03 -1.00070052e-04 9.99997004e-01 5.13301338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.35, Y:2.51, Z:0.05 [[ 9.97948076e-01 6.39890853e-02 2.24367966e-03 1.23345362e+02] [-6.39891335e-02 9.97950594e-01 -5.03659146e-05 2.50730185e+00] [-2.24230432e-03 -9.33085495e-05 9.99997482e-01 5.20849564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.38, Y:2.51, Z:0.05 [[ 9.97848371e-01 6.55189221e-02 2.42900825e-03 1.23378327e+02] [-6.55189817e-02 9.97851322e-01 -5.51352117e-05 2.51158729e+00] [-2.42740150e-03 -1.04129566e-04 9.99997048e-01 5.06825921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.41, Y:2.51, Z:0.05 [[ 9.97800385e-01 6.62101626e-02 3.25655464e-03 1.23411043e+02] [-6.62102695e-02 9.97805690e-01 -7.50895478e-05 2.51446346e+00] [-3.25438044e-03 -1.40692980e-04 9.99994695e-01 4.95125763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:2.52, Z:0.05 [[ 9.97771672e-01 6.66838436e-02 2.22604190e-03 1.23443054e+02] [-6.66838951e-02 9.97774151e-01 -5.11404116e-05 2.51887069e+00] [-2.22449731e-03 -9.74146909e-05 9.99997521e-01 4.60500963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:2.52, Z:0.05 [[ 9.97766452e-01 6.67619092e-02 2.22600903e-03 1.23476511e+02] [-6.67619578e-02 9.97768930e-01 -5.25144720e-05 2.51794394e+00] [-2.22454861e-03 -9.62155425e-05 9.99997521e-01 4.56346465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:2.52, Z:0.05 [[ 9.97812031e-01 6.61136382e-02 -3.69955198e-04 1.23509233e+02] [-6.61136386e-02 9.97812100e-01 1.12499333e-05 2.51605526e+00] [ 3.69889547e-04 1.32337655e-05 9.99999932e-01 4.56044324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:2.51, Z:0.05 [[ 9.97897995e-01 6.48041097e-02 -1.35534270e-04 1.23541683e+02] [-6.48041096e-02 9.97898004e-01 5.59317614e-06 2.51427012e+00] [ 1.35611838e-04 3.20175843e-06 9.99999991e-01 4.60165187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:2.51, Z:0.05 [[ 9.98062301e-01 6.22114752e-02 1.17305973e-03 1.23574178e+02] [-6.22114869e-02 9.98062989e-01 -2.65379356e-05 2.51310661e+00] [-1.17243847e-03 -4.64912771e-05 9.99999312e-01 4.82130085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:2.51, Z:0.05 [[ 9.98106246e-01 6.14893734e-02 1.72587247e-03 1.23605825e+02] [-6.14893950e-02 9.98107736e-01 -4.05800923e-05 2.51333108e+00] [-1.72510191e-03 -6.56196107e-05 9.99998510e-01 4.79036076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:2.52, Z:0.05 [[ 9.98197416e-01 5.99072196e-02 3.61148082e-03 1.23638227e+02] [-5.99072913e-02 9.98203941e-01 -8.83980253e-05 2.51530303e+00] [-3.61029007e-03 -1.28115353e-04 9.99993475e-01 4.69597354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:2.51, Z:0.05 [[ 9.98286632e-01 5.84442020e-02 2.84160444e-03 1.23670694e+02] [-5.84442422e-02 9.98290672e-01 -6.89647928e-05 2.51330502e+00] [-2.84077780e-03 -9.72287875e-05 9.99995960e-01 4.52622918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:2.51, Z:0.05 [[ 9.98285848e-01 5.85166342e-02 1.08144485e-03 1.23703699e+02] [-5.85166414e-02 9.98286433e-01 -2.50405648e-05 2.50963858e+00] [-1.08105702e-03 -3.82848792e-05 9.99999415e-01 4.54413304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:2.51, Z:0.05 [[ 9.98247289e-01 5.91793945e-02 3.86237215e-04 1.23735429e+02] [-5.91793960e-02 9.98247364e-01 -7.71757404e-06 2.50646983e+00] [-3.86017004e-04 -1.51532377e-05 9.99999925e-01 4.60255098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.77, Y:2.51, Z:0.05 [[ 9.98116289e-01 6.12980866e-02 2.53357741e-03 1.23767918e+02] [-6.12981249e-02 9.98119500e-01 -6.26119886e-05 2.50712528e+00] [-2.53265102e-03 -9.28094990e-05 9.99996789e-01 4.73850749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.80, Y:2.51, Z:0.05 [[ 9.98010125e-01 6.29565616e-02 3.50173525e-03 1.23801106e+02] [-6.29566399e-02 9.98016259e-01 -8.79784955e-05 2.50931523e+00] [-3.50032754e-03 -1.32654056e-04 9.99993865e-01 4.66876345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.83, Y:2.51, Z:0.05 [[ 9.97669720e-01 6.80896778e-02 4.35025229e-03 1.23833910e+02] [-6.80898417e-02 9.97679188e-01 -1.10572099e-04 2.51424905e+00] [-4.34768499e-03 -1.85893554e-04 9.99990531e-01 4.50846656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:2.51, Z:0.04 [[ 9.97396139e-01 7.19350108e-02 5.12794500e-03 1.23866676e+02] [-7.19352826e-02 9.97409293e-01 -1.31662158e-04 2.51395240e+00] [-5.12413112e-03 -2.37560845e-04 9.99986843e-01 4.48925649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:2.51, Z:0.05 [[ 9.96843929e-01 7.93118950e-02 3.43571289e-03 1.23898406e+02] [-7.93120607e-02 9.96849833e-01 -8.82062071e-05 2.51298498e+00] [-3.43188562e-03 -1.84565647e-04 9.99994094e-01 4.63457209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:2.51, Z:0.04 [[ 9.96546924e-01 8.30219185e-02 -1.26096126e-03 1.23931282e+02] [-8.30219397e-02 9.96547719e-01 3.56831324e-05 2.51493953e+00] [ 1.25957055e-03 6.91275337e-05 9.99999204e-01 4.46368379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.96, Y:2.52, Z:0.04 [[ 9.96496673e-01 8.36151707e-02 -1.69816580e-03 1.23964686e+02] [-8.36152107e-02 9.96498116e-01 4.75703123e-05 2.51800571e+00] [ 1.69619662e-03 9.45888329e-05 9.99998557e-01 4.28970416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.00, Y:2.53, Z:0.04 [[ 9.96533267e-01 8.31861443e-02 1.22984582e-03 1.23997894e+02] [-8.31861696e-02 9.96534024e-01 -3.07229784e-05 2.52528903e+00] [-1.22813893e-03 -7.16896926e-05 9.99999243e-01 4.11252052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.03, Y:2.53, Z:0.04 [[ 9.96604743e-01 8.22974894e-02 2.47184976e-03 1.24029465e+02] [-8.22975814e-02 9.96607798e-01 -6.46578690e-05 2.52577780e+00] [-2.46878593e-03 -1.38988918e-04 9.99996943e-01 4.16320533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.06, Y:2.52, Z:0.04 [[ 9.96938706e-01 7.80887657e-02 3.91941640e-03 1.24061146e+02] [-7.80889566e-02 9.96946390e-01 -1.04524198e-04 2.52230399e+00] [-3.91561020e-03 -2.01858919e-04 9.99992314e-01 4.43114682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.09, Y:2.52, Z:0.05 [[ 9.97167001e-01 7.50936967e-02 4.34850556e-03 1.24093814e+02] [-7.50938996e-02 9.97176460e-01 -1.16822950e-04 2.51995984e+00] [-4.34500005e-03 -2.10054250e-04 9.99990538e-01 4.52198839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:2.52, Z:0.04 [[ 9.97599929e-01 6.90100005e-02 5.65698905e-03 1.24127111e+02] [-6.90102370e-02 9.97615940e-01 -1.53617807e-04 2.52194145e+00] [-5.65410361e-03 -2.37141042e-04 9.99983987e-01 4.46976055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.16, Y:2.53, Z:0.04 [[ 9.97754499e-01 6.67234176e-02 5.82623785e-03 1.24160621e+02] [-6.67236234e-02 9.97771483e-01 -1.59277073e-04 2.52519785e+00] [-5.82388149e-03 -2.29828284e-04 9.99983015e-01 4.19916161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.19, Y:2.53, Z:0.04 [[ 9.97977736e-01 6.33598754e-02 5.09559682e-03 1.24193940e+02] [-6.33599861e-02 9.97990728e-01 -1.39866486e-04 2.52659590e+00] [-5.09422030e-03 -1.83273305e-04 9.99987008e-01 3.95302531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.23, Y:2.52, Z:0.04 [[ 9.98044015e-01 6.23146532e-02 5.00278907e-03 1.24225796e+02] [-6.23147419e-02 9.98056538e-01 -1.38305693e-04 2.52242915e+00] [-5.00168481e-03 -1.73712340e-04 9.99987476e-01 3.99099942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:2.52, Z:0.04 [[ 9.98112874e-01 6.13140160e-02 3.35894386e-03 1.24257907e+02] [-6.13140507e-02 9.98118519e-01 -9.27639578e-05 2.51689686e+00] [-3.35831180e-03 -1.13361553e-04 9.99994354e-01 4.18234630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.29, Y:2.52, Z:0.04 [[ 9.98126566e-01 6.11352785e-02 2.41590827e-03 1.24290035e+02] [-6.11352961e-02 9.98129486e-01 -6.66513892e-05 2.51665697e+00] [-2.41546404e-03 -8.11707455e-05 9.99997079e-01 4.05839078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:2.52, Z:0.04 [[ 9.98103577e-01 6.15495449e-02 9.50134889e-04 1.24322675e+02] [-6.15495490e-02 9.98104029e-01 -2.49148357e-05 2.52026155e+00] [-9.49866958e-04 -3.36127873e-05 9.99999548e-01 3.82669406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.35, Y:2.52, Z:0.04 [[ 9.98031942e-01 6.27057826e-02 4.77160205e-04 1.24354422e+02] [-6.27057842e-02 9.98032056e-01 -1.16176093e-05 2.52030786e+00] [-4.76949672e-04 -1.83259597e-05 9.99999886e-01 3.60485212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.39, Y:2.52, Z:0.04 [[ 9.98007184e-01 6.30913480e-02 1.06913150e-03 1.24386772e+02] [-6.30913534e-02 9.98007756e-01 -2.87046402e-05 2.51616853e+00] [-1.06881254e-03 -3.88055162e-05 9.99999428e-01 3.65266321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.42, Y:2.51, Z:0.04 [[ 9.97969937e-01 6.35746030e-02 3.77810096e-03 1.24419003e+02] [-6.35746495e-02 9.97977080e-01 -1.07922740e-04 2.50885567e+00] [-3.77731931e-03 -1.32487794e-04 9.99992857e-01 4.02477895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.45, Y:2.51, Z:0.04 [[ 9.97899073e-01 6.46137246e-02 4.74409889e-03 1.24451661e+02] [-6.46138036e-02 9.97910335e-01 -1.36771318e-04 2.50902683e+00] [-4.74302262e-03 -1.70050302e-04 9.99988737e-01 3.98853711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:2.51, Z:0.04 [[ 9.97631329e-01 6.86191010e-02 4.81140744e-03 1.24484727e+02] [-6.86192248e-02 9.97642913e-01 -1.39528369e-04 2.51485243e+00] [-4.80964084e-03 -1.90957176e-04 9.99988415e-01 3.51145818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:2.52, Z:0.03 [[ 9.97414734e-01 7.17890872e-02 3.18973396e-03 1.24516675e+02] [-7.17891580e-02 9.97419825e-01 -9.24415591e-05 2.51587793e+00] [-3.18814019e-03 -1.36785742e-04 9.99994909e-01 3.29749753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.55, Y:2.51, Z:0.03 [[ 9.97181298e-01 7.50233804e-02 9.75186915e-04 1.24548245e+02] [-7.50233898e-02 9.97181774e-01 -2.70574220e-05 2.51474098e+00] [-9.74468557e-04 -4.61806728e-05 9.99999524e-01 3.21800196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.58, Y:2.51, Z:0.03 [[ 9.96845774e-01 7.93573145e-02 -9.58490681e-04 1.24581090e+02] [-7.93573212e-02 9.96846234e-01 3.11009469e-05 2.51385081e+00] [ 9.57935913e-04 4.50604053e-05 9.99999540e-01 3.31566744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.61, Y:2.52, Z:0.03 [[ 9.96661630e-01 8.16430052e-02 -1.23683773e-04 1.24612705e+02] [-8.16430052e-02 9.96661638e-01 5.17530663e-06 2.51721924e+00] [ 1.23693399e-04 4.93988536e-06 9.99999992e-01 3.44478199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:2.52, Z:0.03 [[ 9.96615822e-01 8.21992175e-02 4.37626365e-04 1.24645226e+02] [-8.21992205e-02 9.96615918e-01 -1.10136462e-05 2.51866067e+00] [-4.37050715e-04 -2.49961721e-05 9.99999904e-01 3.45438826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:2.52, Z:0.03 [[ 9.96677137e-01 8.13631730e-02 3.83649350e-03 1.24678117e+02] [-8.13633325e-02 9.96684501e-01 -1.14743292e-04 2.51946742e+00] [-3.83310949e-03 -1.97787881e-04 9.99992634e-01 3.48072436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.71, Y:2.52, Z:0.03 [[ 9.96733347e-01 8.05167933e-02 6.29935491e-03 1.24710322e+02] [-8.05171874e-02 9.96753202e-01 -1.91433000e-04 2.51883832e+00] [-6.29431575e-03 -3.16398685e-04 9.99980141e-01 3.45214514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:2.52, Z:0.03 [[ 9.96897578e-01 7.84182659e-02 6.76718536e-03 1.24743276e+02] [-7.84186692e-02 9.96920493e-01 -2.06129876e-04 2.51986656e+00] [-6.76251012e-03 -3.25183297e-04 9.99977081e-01 3.26910717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:2.52, Z:0.03 [[ 9.97040001e-01 7.66561903e-02 5.92164460e-03 1.24775312e+02] [-7.66564628e-02 9.97057548e-01 -1.81262395e-04 2.51933908e+00] [-5.91811533e-03 -2.73206471e-04 9.99982450e-01 3.09407745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:2.52, Z:0.03 [[ 9.97355728e-01 7.25086896e-02 4.90318036e-03 1.24808229e+02] [-7.25088244e-02 9.97367760e-01 -1.50500024e-04 2.51638646e+00] [-4.90118657e-03 -2.05421783e-04 9.99987968e-01 3.03622104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.84, Y:2.51, Z:0.03 [[ 9.97668747e-01 6.81863157e-02 2.77450422e-03 1.24840378e+02] [-6.81863431e-02 9.97672599e-01 -8.48022338e-05 2.51352921e+00] [-2.77382919e-03 -1.04578759e-04 9.99996147e-01 3.03509805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.87, Y:2.51, Z:0.03 [[ 9.97832807e-01 6.57834380e-02 1.49276153e-03 1.24873434e+02] [-6.57834446e-02 9.97833922e-01 -4.47365438e-05 2.51261618e+00] [-1.49247101e-03 -5.35594042e-05 9.99998885e-01 2.91322910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.91, Y:2.51, Z:0.03 [[ 9.98179711e-01 6.03047129e-02 7.79064309e-04 1.24905003e+02] [-6.03047137e-02 9.98180014e-01 -2.25326442e-05 2.51116824e+00] [-7.79005248e-04 -2.44896219e-05 9.99999696e-01 2.73637233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.94, Y:2.51, Z:0.03 [[ 9.98300491e-01 5.82670647e-02 1.03888804e-03 1.24937971e+02] [-5.82670642e-02 9.98301031e-01 -3.08002490e-05 2.50836308e+00] [-1.03891764e-03 -2.97850526e-05 9.99999460e-01 2.73751863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.97, Y:2.50, Z:0.03 [[ 9.98383865e-01 5.67876729e-02 2.19494971e-03 1.24970915e+02] [-5.67876604e-02 9.98386276e-01 -6.80572618e-05 2.50257226e+00] [-2.19527249e-03 -5.66987869e-05 9.99997589e-01 2.87708119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.00, Y:2.50, Z:0.03 [[ 9.98354385e-01 5.73079411e-02 2.07904728e-03 1.25003320e+02] [-5.73079306e-02 9.98356548e-01 -6.46822652e-05 2.49978760e+00] [-2.07933728e-03 -5.45700743e-05 9.99997837e-01 2.87437095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:2.50, Z:0.03 [[ 9.98191614e-01 6.01092506e-02 6.15477489e-04 1.25035043e+02] [-6.01092511e-02 9.98191804e-01 -1.77504394e-05 2.49674382e+00] [-6.15431551e-04 -1.92775511e-05 9.99999810e-01 2.66887636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.07, Y:2.49, Z:0.03 [[ 9.98066426e-01 6.21543468e-02 4.97294397e-04 1.25067707e+02] [-6.21543476e-02 9.98066549e-01 -1.38975791e-05 2.49480895e+00] [-4.97196698e-04 -1.70383017e-05 9.99999876e-01 2.59403319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.10, Y:2.49, Z:0.02 [[ 9.97737970e-01 6.72070572e-02 1.46770561e-03 1.25100338e+02] [-6.72070624e-02 9.97739048e-01 -4.58368729e-05 2.49494280e+00] [-1.46746776e-03 -5.29069941e-05 9.99998922e-01 2.49909101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:2.49, Z:0.02 [[ 9.97508743e-01 7.05271729e-02 1.49170194e-03 1.25131948e+02] [-7.05271813e-02 9.97509857e-01 -4.70465324e-05 2.49496045e+00] [-1.49130545e-03 -5.82762056e-05 9.99998886e-01 2.39402913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.16, Y:2.49, Z:0.02 [[ 9.97033754e-01 7.69647373e-02 3.50839138e-04 1.25164597e+02] [-7.69647388e-02 9.97033815e-01 -9.32182062e-06 2.49464210e+00] [-3.50515936e-04 -1.77080728e-05 9.99999938e-01 2.43475618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.20, Y:2.49, Z:0.03 [[ 9.96771782e-01 8.02864398e-02 3.20952957e-04 1.25197937e+02] [-8.02864413e-02 9.96771833e-01 -8.41177318e-06 2.49304096e+00] [-3.20592219e-04 -1.73835526e-05 9.99999948e-01 2.53517354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.23, Y:2.49, Z:0.03 [[ 9.96360477e-01 8.52393345e-02 -2.37601732e-04 1.25229751e+02] [-8.52393345e-02 9.96360505e-01 1.01033396e-05 2.49277417e+00] [ 2.37598183e-04 1.01864453e-05 9.99999972e-01 2.55308743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.26, Y:2.49, Z:0.02 [[ 9.96218505e-01 8.68823104e-02 -3.92488711e-04 1.25263097e+02] [-8.68823110e-02 9.96218582e-01 1.54964172e-05 2.49392979e+00] [ 3.92350912e-04 1.86625087e-05 9.99999923e-01 2.37970981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.30, Y:2.50, Z:0.02 [[ 9.96005598e-01 8.92776682e-02 1.53219827e-03 1.25295654e+02] [-8.92776959e-02 9.96006772e-01 -5.04134907e-05 2.50107433e+00] [-1.53058065e-03 -8.65790124e-05 9.99998825e-01 2.16796647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.33, Y:2.51, Z:0.02 [[ 9.95830652e-01 9.10909477e-02 4.87357290e-03 1.25328598e+02] [-9.10912349e-02 9.95842538e-01 -1.63476905e-04 2.50536570e+00] [-4.86820247e-03 -2.81144460e-04 9.99988111e-01 2.32765428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.36, Y:2.51, Z:0.02 [[ 9.95818561e-01 9.12450974e-02 4.44141704e-03 1.25361452e+02] [-9.12453348e-02 9.95828432e-01 -1.49578019e-04 2.50613296e+00] [-4.43653763e-03 -2.56306017e-04 9.99990126e-01 2.34903278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:2.51, Z:0.02 [[ 9.95970089e-01 8.96627288e-02 2.04365159e-03 1.25394873e+02] [-8.96627775e-02 9.95972179e-01 -6.79693751e-05 2.50974049e+00] [-2.04151445e-03 -1.15544013e-04 9.99997909e-01 2.29698808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.43, Y:2.51, Z:0.02 [[ 9.96115829e-01 8.80322602e-02 1.89103119e-03 1.25427861e+02] [-8.80322987e-02 9.96117619e-01 -6.30221508e-05 2.51141123e+00] [-1.88923747e-03 -1.03694460e-04 9.99998210e-01 2.24278390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:2.52, Z:0.02 [[ 9.96600355e-01 8.23311700e-02 3.05125806e-03 1.25460478e+02] [-8.23312375e-02 9.96605015e-01 -1.03692152e-04 2.51778719e+00] [-3.04943618e-03 -1.47874216e-04 9.99995340e-01 2.12996514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:2.52, Z:0.02 [[ 9.96886685e-01 7.87947235e-02 2.88602138e-03 1.25493762e+02] [-7.87947678e-02 9.96890854e-01 -9.85031648e-05 2.51959107e+00] [-2.88480985e-03 -1.29206891e-04 9.99995831e-01 2.04036111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.53, Y:2.52, Z:0.02 [[ 9.97505125e-01 7.05457544e-02 2.61200866e-03 1.25525903e+02] [-7.05457615e-02 9.97508540e-01 -8.95415839e-05 2.51870640e+00] [-2.61181773e-03 -9.49479514e-05 9.99996585e-01 1.99338320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:2.52, Z:0.02 [[ 9.97496382e-01 7.06692670e-02 2.61197549e-03 1.25559340e+02] [-7.06692720e-02 9.97499797e-01 -9.04885008e-05 2.51738571e+00] [-2.61183978e-03 -9.43244545e-05 9.99996585e-01 1.95186315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.59, Y:2.51, Z:0.02 [[ 9.97826893e-01 6.58382223e-02 2.61166291e-03 1.25592438e+02] [-6.58382115e-02 9.97830307e-01 -9.02081621e-05 2.51462044e+00] [-2.61193555e-03 -8.19350849e-05 9.99996586e-01 2.01467148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.63, Y:2.51, Z:0.02 [[ 9.98399184e-01 5.64188412e-02 3.99793362e-03 1.25625400e+02] [-5.64187326e-02 9.98407185e-01 -1.40021685e-04 2.51243328e+00] [-3.99946552e-03 -8.57608124e-05 9.99991998e-01 2.00034933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.66, Y:2.51, Z:0.02 [[ 9.98762392e-01 4.95025517e-02 4.81477519e-03 1.25657298e+02] [-4.95023068e-02 9.98773995e-01 -1.70095788e-04 2.51161073e+00] [-4.81729242e-03 -6.84572020e-05 9.99988394e-01 1.91726671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.69, Y:2.51, Z:0.02 [[ 9.98878393e-01 4.71482303e-02 4.35897163e-03 1.25690105e+02] [-4.71480051e-02 9.98887903e-01 -1.54458134e-04 2.51095788e+00] [-4.36140645e-03 -5.12319236e-05 9.99990488e-01 1.83092126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.72, Y:2.51, Z:0.02 [[ 9.98988080e-01 4.47817037e-02 4.17318256e-03 1.25722419e+02] [-4.47814739e-02 9.98996796e-01 -1.48535690e-04 2.50650669e+00] [-4.17564768e-03 -3.84958818e-05 9.99991281e-01 1.80220838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.75, Y:2.50, Z:0.02 [[ 9.98992468e-01 4.47633237e-02 3.20852710e-03 1.25754929e+02] [-4.47631875e-02 9.98997620e-01 -1.14269837e-04 2.50093796e+00] [-3.21042603e-03 -2.94691939e-05 9.99994846e-01 1.86110397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:2.49, Z:0.02 [[ 9.98910475e-01 4.66675554e-02 -5.52758825e-05 1.25787027e+02] [-4.66675553e-02 9.98910476e-01 3.47301772e-06 2.49374744e+00] [ 5.53777352e-05 -8.89643474e-07 9.99999998e-01 1.88310967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:2.49, Z:0.02 [[ 9.98652138e-01 5.18977599e-02 -7.27924715e-04 1.25819217e+02] [-5.18977527e-02 9.98652403e-01 2.88299034e-05 2.49181289e+00] [ 7.28439973e-04 8.98661209e-06 9.99999735e-01 1.66928535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:2.49, Z:0.02 [[ 9.98462748e-01 5.54268773e-02 -5.52895759e-05 1.25851964e+02] [-5.54268772e-02 9.98462749e-01 4.28702812e-06 2.49102857e+00] [ 5.54421983e-05 -1.21590934e-06 9.99999998e-01 1.56791954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.89, Y:2.49, Z:0.02 [[ 9.98240935e-01 5.92804848e-02 9.26779515e-04 1.25885013e+02] [-5.92804807e-02 9.98241365e-01 -3.19638166e-05 2.49086787e+00] [-9.27044479e-04 -2.30323449e-05 9.99999570e-01 1.50299668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.92, Y:2.49, Z:0.01 [[ 9.97723130e-01 6.73982010e-02 2.45712354e-03 1.25917893e+02] [-6.73981858e-02 9.97726153e-01 -8.90605757e-05 2.49011537e+00] [-2.45753894e-03 -7.67478723e-05 9.99996977e-01 1.46781885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.95, Y:2.49, Z:0.02 [[ 9.97180582e-01 7.50177878e-02 1.79396849e-03 1.25950252e+02] [-7.50177926e-02 9.97182193e-01 -6.47345619e-05 2.48565878e+00] [-1.79376968e-03 -7.00275078e-05 9.99998389e-01 1.59539457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:2.48, Z:0.02 [[ 9.96891965e-01 7.87605381e-02 1.78551332e-03 1.25982175e+02] [-7.87605480e-02 9.96893561e-01 -6.48985442e-05 2.48380601e+00] [-1.78507817e-03 -7.59311701e-05 9.99998404e-01 1.64209084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.01, Y:2.49, Z:0.02 [[ 9.96339481e-01 8.54244927e-02 3.20849735e-03 1.26014316e+02] [-8.54245515e-02 9.96344635e-01 -1.18977192e-04 2.48545926e+00] [-3.20693269e-03 -1.55542774e-04 9.99994846e-01 1.61582426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:2.49, Z:0.02 [[ 9.96080931e-01 8.83743896e-02 3.57011499e-03 1.26047072e+02] [-8.83744789e-02 9.96087312e-01 -1.33062212e-04 2.48685877e+00] [-3.56790554e-03 -1.82966320e-04 9.99993618e-01 1.51655311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:2.49, Z:0.01 [[ 9.95863420e-01 9.07966417e-02 3.46665574e-03 1.26079678e+02] [-9.07967386e-02 9.95869437e-01 -1.29741365e-04 2.48727965e+00] [-3.46411658e-03 -1.85556356e-04 9.99993983e-01 1.41548724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.11, Y:2.49, Z:0.01 [[ 9.95657250e-01 9.30719401e-02 2.06281673e-03 1.26111945e+02] [-9.30719802e-02 9.95659380e-01 -7.67938221e-05 2.48521661e+00] [-2.06101018e-03 -1.15530112e-04 9.99997869e-01 1.43554648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.14, Y:2.48, Z:0.01 [[ 9.95777755e-01 9.17785840e-02 1.83153062e-03 1.26144653e+02] [-9.17786134e-02 9.95779434e-01 -6.81582661e-05 2.48273261e+00] [-1.83005599e-03 -1.00224856e-04 9.99998320e-01 1.45609812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.18, Y:2.48, Z:0.01 [[ 9.95911457e-01 9.03084326e-02 2.18082426e-03 1.26177184e+02] [-9.03084690e-02 9.95913839e-01 -8.19889650e-05 2.48281051e+00] [-2.17931736e-03 -1.15293151e-04 9.99997619e-01 1.36908743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:2.49, Z:0.01 [[ 9.96259587e-01 8.63352291e-02 3.61444458e-03 1.26209387e+02] [-8.63352951e-02 9.96266128e-01 -1.38050532e-04 2.48645348e+00] [-3.61286733e-03 -1.74519974e-04 9.99993458e-01 1.23189458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.24, Y:2.49, Z:0.01 [[ 9.96459919e-01 8.39659211e-02 4.16585725e-03 1.26241957e+02] [-8.39659838e-02 9.96468609e-01 -1.60158073e-04 2.48629825e+00] [-4.16459380e-03 -1.90199202e-04 9.99991310e-01 1.15296217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:2.48, Z:0.01 [[ 9.96856170e-01 7.91317571e-02 3.99253906e-03 1.26274989e+02] [-7.91317734e-02 9.96864153e-01 -1.54133308e-04 2.48137356e+00] [-3.99221591e-03 -1.62287958e-04 9.99992018e-01 1.15552885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.31, Y:2.48, Z:0.01 [[ 9.97029729e-01 7.69266175e-02 3.74359443e-03 1.26306444e+02] [-7.69266141e-02 9.97036747e-01 -1.45092253e-04 2.47641072e+00] [-3.74366266e-03 -1.43320754e-04 9.99992982e-01 1.26058142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.34, Y:2.47, Z:0.01 [[ 9.97329225e-01 7.29997324e-02 2.33601609e-03 1.26337816e+02] [-7.29997195e-02 9.97331957e-01 -9.09002609e-05 2.46907344e+00] [-2.33641920e-03 -7.98710330e-05 9.99997267e-01 1.39501707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.37, Y:2.47, Z:0.01 [[ 9.97579464e-01 6.95355269e-02 1.53372948e-04 1.26371341e+02] [-6.95355271e-02 9.97579476e-01 -3.81242674e-06 2.47249968e+00] [-1.53266804e-04 -6.86167013e-06 9.99999988e-01 9.99308943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.40, Y:2.47, Z:0.01 [[ 9.97672091e-01 6.81931622e-02 3.03075787e-04 1.26403687e+02] [-6.81931624e-02 9.97672137e-01 -9.81283630e-06 2.47342638e+00] [-3.03039437e-04 -1.08777035e-05 9.99999954e-01 8.33936626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:2.47, Z:0.01 [[ 9.97810500e-01 6.61111646e-02 1.87608634e-03 1.26436150e+02] [-6.61111443e-02 9.97812263e-01 -7.29070126e-05 2.46803902e+00] [-1.87680193e-03 -5.12828323e-05 9.99998237e-01 9.29572740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.47, Y:2.46, Z:0.01 [[ 9.97822514e-01 6.59182096e-02 2.24060945e-03 1.26469174e+02] [-6.59181783e-02 9.97825028e-01 -8.78973029e-05 2.46303558e+00] [-2.24153022e-03 -5.99909857e-05 9.99997486e-01 1.05665951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.50, Y:2.46, Z:0.01 [[ 9.97773367e-01 6.66724801e-02 1.75746033e-03 1.26501552e+02] [-6.66724625e-02 9.97774914e-01 -6.86849742e-05 2.45981140e+00] [-1.75812923e-03 -4.86421698e-05 9.99998453e-01 1.03053585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.53, Y:2.46, Z:0.01 [[ 9.97707267e-01 6.76545291e-02 1.75339847e-03 1.26534518e+02] [-6.76545125e-02 9.97708806e-01 -6.88405985e-05 2.45901356e+00] [-1.75403848e-03 -4.99425537e-05 9.99998460e-01 9.13887345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.57, Y:2.46, Z:0.01 [[ 9.97497761e-01 7.06461469e-02 2.70895811e-03 1.26566722e+02] [-7.06461116e-02 9.97501436e-01 -1.08848045e-04 2.46072557e+00] [-2.70987930e-03 -8.28016755e-05 9.99996325e-01 7.66290469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:2.46, Z:0.01 [[ 9.97158973e-01 7.52899140e-02 2.32605115e-03 1.26599856e+02] [-7.52899020e-02 9.97161683e-01 -9.28439909e-05 2.46108880e+00] [-2.32643930e-03 -8.25479445e-05 9.99997290e-01 7.64139242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:2.46, Z:0.01 [[ 9.96973069e-01 7.77189800e-02 2.11174347e-03 1.26632658e+02] [-7.77189751e-02 9.96975302e-01 -8.44818976e-05 2.45801898e+00] [-2.11192193e-03 -7.98963616e-05 9.99997767e-01 8.79392699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:2.45, Z:0.01 [[ 9.96832036e-01 7.94909591e-02 2.66074253e-03 1.26664207e+02] [-7.94909530e-02 9.96835582e-01 -1.08224688e-04 2.45423543e+00] [-2.66092571e-03 -1.03623124e-04 9.99996454e-01 1.07832293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.70, Y:2.45, Z:0.01 [[ 9.96700590e-01 8.11269360e-02 2.52074257e-03 1.26697204e+02] [-8.11269367e-02 9.96703772e-01 -1.02139763e-04 2.45108536e+00] [-2.52071991e-03 -1.02697361e-04 9.99996818e-01 1.23570007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.73, Y:2.45, Z:0.01 [[ 9.96696943e-01 8.11623794e-02 2.80569789e-03 1.26729757e+02] [-8.11623785e-02 9.96700886e-01 -1.14369731e-04 2.45226895e+00] [-2.80572409e-03 -1.13725153e-04 9.99996057e-01 1.03989179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.76, Y:2.46, Z:0.01 [[ 9.96763919e-01 8.02705432e-02 4.28139798e-03 1.26761888e+02] [-8.02705240e-02 9.96773099e-01 -1.76613659e-04 2.45886971e+00] [-4.28175920e-03 -1.67627936e-04 9.99990819e-01 5.15050002e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.79, Y:2.46, Z:0.00 [[ 9.96974017e-01 7.76073298e-02 4.46232062e-03 1.26793979e+02] [-7.76072784e-02 9.96983990e-01 -1.84937598e-04 2.45651530e+00] [-4.46321473e-03 -1.61930579e-04 9.99990027e-01 2.58069372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.83, Y:2.45, Z:0.00 [[ 9.97115204e-01 7.57866820e-02 4.20110173e-03 1.26825535e+02] [-7.57866159e-02 9.97124044e-01 -1.75170191e-04 2.44978752e+00] [-4.20229511e-03 -1.43722422e-04 9.99991160e-01 4.05995017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.86, Y:2.44, Z:0.01 [[ 9.97382620e-01 7.22455425e-02 2.91401416e-03 1.26857695e+02] [-7.22454978e-02 9.97386873e-01 -1.20729439e-04 2.44013068e+00] [-2.91512163e-03 -9.01109586e-05 9.99995747e-01 7.64102069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.89, Y:2.44, Z:0.01 [[ 9.97481712e-01 7.09054844e-02 1.62654991e-03 1.26889514e+02] [-7.09054696e-02 9.97483037e-01 -6.68101544e-05 2.43903000e+00] [-1.62719315e-03 -4.86893783e-05 9.99998675e-01 6.55100852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.92, Y:2.44, Z:0.00 [[ 9.97570296e-01 6.96575434e-02 -1.15382660e-03 1.26922985e+02] [-6.96575306e-02 9.97570963e-01 5.13283057e-05 2.44125709e+00] [ 1.15459931e-03 2.91691185e-05 9.99999333e-01 2.72830891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:2.44, Z:0.00 [[ 9.97521716e-01 7.03581470e-02 -3.95797415e-04 1.26955786e+02] [-7.03581450e-02 9.97521795e-01 1.91430605e-05 2.44086981e+00] [ 3.96163418e-04 8.75195333e-06 9.99999921e-01 1.93315716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:2.44, Z:0.00 [[ 9.97219816e-01 7.45156783e-02 2.28300876e-04 1.26987962e+02] [-7.45156783e-02 9.97219842e-01 -8.39747878e-06 2.43746036e+00] [-2.28291908e-04 -8.63786242e-06 9.99999974e-01 2.65194402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:2.43, Z:0.00 [[ 9.96976113e-01 7.77031935e-02 -9.18509534e-04 1.27020473e+02] [-7.77031879e-02 9.96976536e-01 4.18117682e-05 2.43424636e+00] [ 9.18981361e-04 2.96857847e-05 9.99999577e-01 2.89093488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.05, Y:2.43, Z:0.00 [[ 9.96439644e-01 8.42968278e-02 -1.44221336e-03 1.27053734e+02] [-8.42968222e-02 9.96440686e-01 6.47330884e-05 2.43310281e+00] [ 1.44253686e-03 5.70713872e-05 9.99998958e-01 3.46935840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.09, Y:2.44, Z:0.00 [[ 9.95873882e-01 9.07405525e-02 1.16745105e-03 1.27085620e+02] [-9.07405579e-02 9.95874565e-01 -4.84746918e-05 2.43871611e+00] [-1.16703343e-03 -5.76604805e-05 9.99999317e-01 2.43311681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:2.44, Z:0.00 [[ 9.95637646e-01 9.32971480e-02 1.14915923e-03 1.27117397e+02] [-9.32971546e-02 9.95638307e-01 -4.79582201e-05 2.44044322e+00] [-1.14862132e-03 -5.94642769e-05 9.99999339e-01 1.22993259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:2.44, Z:0.00 [[ 9.95414036e-01 9.56507019e-02 1.35652313e-03 1.27150463e+02] [-9.56507127e-02 9.95414958e-01 -5.71118803e-05 2.43914081e+00] [-1.35576621e-03 -7.29024370e-05 9.99999078e-01 2.28066371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.18, Y:2.44, Z:0.00 [[ 9.95402816e-01 9.57362101e-02 2.79504224e-03 1.27182085e+02] [-9.57362475e-02 9.95406729e-01 -1.20701275e-04 2.43592851e+00] [-2.79375934e-03 -1.47440467e-04 9.99996087e-01 3.51401401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:2.44, Z:0.00 [[ 9.95640541e-01 9.31919011e-02 3.89659182e-03 1.27214731e+02] [-9.31919491e-02 9.95648147e-01 -1.69630050e-04 2.43627965e+00] [-3.89544257e-03 -1.94240432e-04 9.99992394e-01 3.03916236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:2.44, Z:0.00 [[ 9.95852982e-01 9.09029312e-02 3.67347162e-03 1.27246656e+02] [-9.09029560e-02 9.95859743e-01 -1.60572723e-04 2.43831819e+00] [-3.67285903e-03 -1.74022604e-04 9.99993240e-01 5.86909713e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.28, Y:2.44, Z:-0.00 [[ 9.96302826e-01 8.58630612e-02 2.86577878e-03 1.27279933e+02] [-8.58630558e-02 9.96306941e-01 -1.25140451e-04 2.43757697e+00] [-2.86594023e-03 -1.21386738e-04 9.99995886e-01 -2.78208069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.31, Y:2.43, Z:-0.00 [[ 9.96513655e-01 8.34055151e-02 2.01388730e-03 1.27311431e+02] [-8.34055078e-02 9.96515687e-01 -8.77513779e-05 2.43256355e+00] [-2.01418924e-03 -8.05238468e-05 9.99997968e-01 -2.64832081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.34, Y:2.42, Z:-0.00 [[ 9.96852491e-01 7.92731606e-02 9.36984075e-04 1.27343398e+02] [-7.92731581e-02 9.96852930e-01 -3.98686898e-05 2.42456687e+00] [-9.37195838e-04 -3.45344840e-05 9.99999560e-01 -1.50627671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:2.42, Z:-0.00 [[ 9.97029906e-01 7.70132038e-02 5.76349947e-04 1.27374779e+02] [-7.70132028e-02 9.97030073e-01 -2.38744028e-05 2.42182677e+00] [-5.76476874e-04 -2.05830617e-05 9.99999834e-01 -1.45957180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:2.42, Z:-0.00 [[ 9.97058448e-01 7.66437275e-02 4.35784830e-04 1.27407966e+02] [-7.66437272e-02 9.97058543e-01 -1.74657363e-05 2.41985534e+00] [-4.35841627e-04 -1.59858136e-05 9.99999905e-01 -2.47373269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.44, Y:2.42, Z:-0.00 [[ 9.96967751e-01 7.78155315e-02 2.17137288e-04 1.27440403e+02] [-7.78155317e-02 9.96967774e-01 -7.58320425e-06 2.41838443e+00] [-2.17068970e-04 -9.33644342e-06 9.99999976e-01 -4.46366884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:2.42, Z:-0.01 [[ 9.96821157e-01 7.96707240e-02 3.94684310e-04 1.27473563e+02] [-7.96707240e-02 9.96821235e-01 -1.57009103e-05 2.41572469e+00] [-3.94680604e-04 -1.57937852e-05 9.99999922e-01 -5.79112139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:2.41, Z:-0.00 [[ 9.96477486e-01 8.38550378e-02 9.76314064e-04 1.27506152e+02] [-8.38550364e-02 9.96477963e-01 -4.23701066e-05 2.40792116e+00] [-9.76428397e-04 -3.96479941e-05 9.99999523e-01 -4.88260994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:2.40, Z:-0.00 [[ 9.96154615e-01 8.76054435e-02 1.12666428e-03 1.27537765e+02] [-8.76054433e-02 9.96155251e-01 -4.96038932e-05 2.39904832e+00] [-1.12667810e-03 -4.92887761e-05 9.99999364e-01 -1.73359482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:2.40, Z:-0.00 [[ 9.95962576e-01 8.97631369e-02 1.06102942e-03 1.27571083e+02] [-8.97631380e-02 9.95963140e-01 -4.66743254e-05 2.39658699e+00] [-1.06093583e-03 -4.87554493e-05 9.99999436e-01 -1.84435546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:2.39, Z:-0.00 [[ 9.95955516e-01 8.98414365e-02 1.06096801e-03 1.27604514e+02] [-8.98414362e-02 9.95956080e-01 -4.80075975e-05 2.39492061e+00] [-1.06099061e-03 -4.75054584e-05 9.99999436e-01 -2.25977380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:2.40, Z:-0.01 [[ 9.95651705e-01 9.31514658e-02 -6.98001581e-04 1.27636294e+02] [-9.31514646e-02 9.95651949e-01 3.44148528e-05 2.39728757e+00] [ 6.98172428e-04 3.07546627e-05 9.99999756e-01 -6.00510466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:2.40, Z:-0.01 [[ 9.95459099e-01 9.51834914e-02 -1.13398613e-03 1.27668974e+02] [-9.51834905e-02 9.95459743e-01 5.49488109e-05 2.39579581e+00] [ 1.13406776e-03 5.32374639e-05 9.99999356e-01 -8.23526313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:2.39, Z:-0.01 [[ 9.95118489e-01 9.86864131e-02 4.28653523e-04 1.27701138e+02] [-9.86864146e-02 9.95118582e-01 -1.77314732e-05 2.38667164e+00] [-4.28310941e-04 -2.46573624e-05 9.99999908e-01 -6.59524754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:2.38, Z:-0.01 [[ 9.94982376e-01 1.00034039e-01 1.80604275e-03 1.27734336e+02] [-1.00034054e-01 9.94984011e-01 -8.24011874e-05 2.38167787e+00] [-1.80522659e-03 -9.86780490e-05 9.99998366e-01 -5.06138059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:2.38, Z:-0.00 [[ 9.94834624e-01 1.01464272e-01 3.01188168e-03 1.27767365e+02] [-1.01464313e-01 9.94839170e-01 -1.39483047e-04 2.37718981e+00] [-3.01049042e-03 -1.66835943e-04 9.99995455e-01 -3.87386814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.80, Y:2.37, Z:-0.00 [[ 9.94801154e-01 1.01807922e-01 2.41050426e-03 1.27799383e+02] [-1.01807950e-01 9.94804066e-01 -1.11744051e-04 2.37447591e+00] [-2.40935587e-03 -1.34245385e-04 9.99997088e-01 -4.52807286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:2.37, Z:-0.01 [[ 9.94617973e-01 1.03600496e-01 1.42278947e-03 1.27832129e+02] [-1.03600508e-01 9.94618988e-01 -6.51957018e-05 2.37312282e+00] [-1.42188773e-03 -8.25568962e-05 9.99998986e-01 -6.81844816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:2.37, Z:-0.01 [[ 9.94436807e-01 1.05312367e-01 2.17753795e-03 1.27864003e+02] [-1.05312396e-01 9.94439183e-01 -1.01512962e-04 2.37249105e+00] [-2.17611963e-03 -1.28373513e-04 9.99997624e-01 -8.26005493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:2.37, Z:-0.01 [[ 9.94108311e-01 1.08358021e-01 2.68436801e-03 1.27896990e+02] [-1.08358075e-01 9.94111921e-01 -1.26028571e-04 2.36965185e+00] [-2.68221845e-03 -1.65586900e-04 9.99996389e-01 -7.89352881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:2.37, Z:-0.01 [[ 9.93713322e-01 1.11934865e-01 2.10246062e-03 1.27929158e+02] [-1.11934904e-01 9.93715536e-01 -9.92952561e-05 2.36509716e+00] [-2.10036238e-03 -1.36667709e-04 9.99997785e-01 -5.21044123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:2.36, Z:-0.00 [[ 9.93483802e-01 1.13965633e-01 1.33055109e-03 1.27961918e+02] [-1.13965652e-01 9.93484689e-01 -6.17326585e-05 2.36308238e+00] [-1.32891753e-03 -9.03067253e-05 9.99999113e-01 -4.30440884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.99, Y:2.36, Z:-0.01 [[ 9.93243379e-01 1.16048428e-01 -5.93253048e-04 1.27993740e+02] [-1.16048430e-01 9.93243556e-01 3.06681986e-05 2.36314364e+00] [ 5.92803763e-04 3.83850997e-05 9.99999824e-01 -6.61825799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.03, Y:2.36, Z:-0.01 [[ 9.93187017e-01 1.16526415e-01 -1.06935788e-03 1.28026707e+02] [-1.16526425e-01 9.93187590e-01 5.39131787e-05 2.36418705e+00] [ 1.06835528e-03 7.10625809e-05 9.99999427e-01 -9.17345193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.06, Y:2.37, Z:-0.01 [[ 9.93296476e-01 1.15594361e-01 -2.32829216e-04 1.28058726e+02] [-1.15594361e-01 9.93296503e-01 1.33250857e-05 2.36717000e+00] [ 2.32808751e-04 1.36779839e-05 9.99999973e-01 -1.13846298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.09, Y:2.37, Z:-0.01 [[ 9.93451813e-01 1.14250945e-01 4.66532188e-04 1.28091822e+02] [-1.14250948e-01 9.93451922e-01 -2.05589946e-05 2.36577112e+00] [-4.65826183e-04 -3.28773740e-05 9.99999891e-01 -1.12863789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.12, Y:2.36, Z:-0.01 [[ 9.93954140e-01 1.09790276e-01 1.12341594e-03 1.28124396e+02] [-1.09790286e-01 9.93954773e-01 -5.27715032e-05 2.36394890e+00] [-1.12241843e-03 -7.08877029e-05 9.99999368e-01 -1.04862608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.16, Y:2.36, Z:-0.01 [[ 9.94195559e-01 1.07579766e-01 1.33567983e-03 1.28157224e+02] [-1.07579778e-01 9.94196453e-01 -6.33876115e-05 2.36375119e+00] [-1.33474738e-03 -8.06724579e-05 9.99999106e-01 -1.03609888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.19, Y:2.37, Z:-0.01 [[ 9.94603285e-01 1.03717406e-01 2.64660615e-03 1.28189015e+02] [-1.03717429e-01 9.94606796e-01 -1.28858162e-04 2.36539504e+00] [-2.64569730e-03 -1.46336435e-04 9.99996489e-01 -1.00458224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.22, Y:2.36, Z:-0.01 [[ 9.94777498e-01 1.02018444e-01 3.15690782e-03 1.28222070e+02] [-1.02018468e-01 9.94782493e-01 -1.53722758e-04 2.36404151e+00] [-3.15611919e-03 -1.69142959e-04 9.99995005e-01 -9.69670900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.26, Y:2.36, Z:-0.01 [[ 9.95124958e-01 9.85929269e-02 2.39842517e-03 1.28255158e+02] [-9.85929314e-02 9.95127841e-01 -1.16627644e-04 2.36246897e+00] [-2.39823833e-03 -1.20408689e-04 9.99997117e-01 -9.24071917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.29, Y:2.36, Z:-0.01 [[ 9.95314352e-01 9.66687958e-02 2.11786921e-03 1.28288193e+02] [-9.66687949e-02 9.95316600e-01 -1.03069274e-04 2.36185064e+00] [-2.11791397e-03 -1.02145537e-04 9.99997752e-01 -9.61073976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.32, Y:2.37, Z:-0.01 [[ 9.95736929e-01 9.22267639e-02 1.48084430e-03 1.28321196e+02] [-9.22267592e-02 9.95738028e-01 -7.15852155e-05 2.36529946e+00] [-1.48113506e-03 -6.52934286e-05 9.99998901e-01 -1.16795739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.35, Y:2.37, Z:-0.02 [[ 9.96187882e-01 8.72296941e-02 -8.27368671e-04 1.28352955e+02] [-8.72296885e-02 9.96188225e-01 4.28756100e-05 2.36833094e+00] [ 8.27954954e-04 2.94589483e-05 9.99999657e-01 -1.52864752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.38, Y:2.37, Z:-0.02 [[ 9.96368103e-01 8.51369937e-02 -1.51532737e-03 1.28384724e+02] [-8.51369744e-02 9.96369254e-01 7.73359268e-05 2.36520206e+00] [ 1.51640975e-03 5.19553371e-05 9.99998849e-01 -1.52178526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.42, Y:2.36, Z:-0.01 [[ 9.96622430e-01 8.21153094e-02 -8.99303580e-04 1.28417415e+02] [-8.21152999e-02 9.96622835e-01 4.75888191e-05 2.35691007e+00] [ 9.00174254e-04 2.64184986e-05 9.99999594e-01 -1.10942341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.45, Y:2.35, Z:-0.01 [[ 9.96670660e-01 8.15244434e-02 -1.16648694e-03 1.28449657e+02] [-8.15244277e-02 9.96671342e-01 6.10879922e-05 2.35444151e+00] [ 1.16758427e-03 3.42125710e-05 9.99999318e-01 -1.04787173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.48, Y:2.36, Z:-0.01 [[ 9.96606319e-01 8.23030919e-02 -1.43044437e-03 1.28482536e+02] [-8.23030691e-02 9.96607345e-01 7.48429419e-05 2.36065335e+00] [ 1.43175117e-03 4.31410127e-05 9.99998974e-01 -1.27337211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.51, Y:2.36, Z:-0.01 [[ 9.96533062e-01 8.31976763e-02 4.70386641e-05 1.28514181e+02] [-8.31976763e-02 9.96533064e-01 -9.50159890e-07 2.36298971e+00] [-4.69546353e-05 -2.96664181e-06 9.99999999e-01 -1.47954386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.55, Y:2.36, Z:-0.02 [[ 9.96400864e-01 8.47456199e-02 1.87041920e-03 1.28546748e+02] [-8.47455941e-02 9.96402617e-01 -9.31835222e-05 2.36467422e+00] [-1.87158748e-03 -6.56616445e-05 9.99998246e-01 -1.66524685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.58, Y:2.36, Z:-0.02 [[ 9.96267488e-01 8.63138915e-02 1.00198689e-03 1.28579580e+02] [-8.63138858e-02 9.96267991e-01 -4.89717450e-05 2.36238456e+00] [-1.00247441e-03 -3.76964245e-05 9.99999497e-01 -1.64480413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.61, Y:2.36, Z:-0.02 [[ 9.96215582e-01 8.69092268e-02 1.14071183e-03 1.28611127e+02] [-8.69092191e-02 9.96216234e-01 -5.64323313e-05 2.36054792e+00] [-1.14130013e-03 -4.29196066e-05 9.99999348e-01 -1.57065814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.64, Y:2.36, Z:-0.02 [[ 9.96154761e-01 8.75947094e-02 1.69101213e-03 1.28643309e+02] [-8.75946912e-02 9.96156194e-01 -8.50091636e-05 2.36013638e+00] [-1.69195856e-03 -6.34414025e-05 9.99998567e-01 -1.50900957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.68, Y:2.37, Z:-0.02 [[ 9.95907762e-01 9.03544828e-02 1.94875242e-03 1.28676760e+02] [-9.03544628e-02 9.95909665e-01 -9.84676570e-05 2.36531276e+00] [-1.94967837e-03 -7.80137745e-05 9.99998096e-01 -1.68240129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.71, Y:2.37, Z:-0.02 [[ 9.95738025e-01 9.22266863e-02 -1.56865254e-04 1.28709396e+02] [-9.22266859e-02 9.95738037e-01 1.03041503e-05 2.37144388e+00] [ 1.57147018e-04 4.20692825e-06 9.99999988e-01 -1.94925552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:2.37, Z:-0.02 [[ 9.95755917e-01 9.20264615e-02 -1.13327833e-03 1.28741410e+02] [-9.20264524e-02 9.95756561e-01 6.03334704e-05 2.37153036e+00] [ 1.13402160e-03 4.42141737e-05 9.99999356e-01 -2.01485904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:2.37, Z:-0.02 [[ 9.95903455e-01 9.04132171e-02 -1.32590273e-03 1.28774571e+02] [-9.04132020e-02 9.95904337e-01 7.14794018e-05 2.36902550e+00] [ 1.32693497e-03 4.86925285e-05 9.99999118e-01 -1.96177109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:2.37, Z:-0.02 [[ 9.95978796e-01 8.95860685e-02 -7.57792940e-04 1.28806180e+02] [-8.95860626e-02 9.95979084e-01 4.18064682e-05 2.36705905e+00] [ 7.58491195e-04 2.62493298e-05 9.99999712e-01 -1.87481234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.84, Y:2.37, Z:-0.02 [[ 9.96116806e-01 8.80387555e-02 6.97025963e-04 1.28839210e+02] [-8.80387529e-02 9.96117050e-01 -3.44063701e-05 2.36772355e+00] [-6.97348540e-04 -2.70925330e-05 9.99999756e-01 -1.87697895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.87, Y:2.37, Z:-0.02 [[ 9.96272141e-01 8.62229763e-02 2.72374279e-03 1.28872606e+02] [-8.62229118e-02 9.96275860e-01 -1.41315733e-04 2.36882240e+00] [-2.72578386e-03 -9.40601071e-05 9.99996281e-01 -2.00412637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.90, Y:2.37, Z:-0.02 [[ 9.96321421e-01 8.56373395e-02 3.14202419e-03 1.28904544e+02] [-8.56372474e-02 9.96326370e-01 -1.64068702e-04 2.36794430e+00] [-3.14453196e-03 -1.05609141e-04 9.99995050e-01 -2.13996810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.94, Y:2.37, Z:-0.02 [[ 9.96378711e-01 8.50079526e-02 1.76393820e-03 1.28937386e+02] [-8.50079240e-02 9.96380271e-01 -9.13497289e-05 2.36705780e+00] [-1.76531867e-03 -5.89297991e-05 9.99998440e-01 -2.32192058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.97, Y:2.37, Z:-0.02 [[ 9.96362273e-01 8.52046746e-02 1.54404287e-03 1.28970318e+02] [-8.52046529e-02 9.96363468e-01 -7.99453660e-05 2.36575252e+00] [-1.54523963e-03 -5.19050902e-05 9.99998805e-01 -2.44588675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.00, Y:2.36, Z:-0.02 [[ 9.96237027e-01 8.66694450e-02 4.40478102e-04 1.29002543e+02] [-8.66694440e-02 9.96237124e-01 -2.13867195e-05 2.36272881e+00] [-4.40674213e-04 -1.68697503e-05 9.99999903e-01 -2.41379193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.03, Y:2.36, Z:-0.02 [[ 9.96138094e-01 8.77969926e-02 -7.65376182e-04 1.29034093e+02] [-8.77969859e-02 9.96138388e-01 4.23735286e-05 2.35948058e+00] [ 7.66140864e-04 2.49878358e-05 9.99999706e-01 -2.36636603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.07, Y:2.36, Z:-0.02 [[ 9.95847433e-01 9.10027428e-02 -2.52819608e-03 1.29066942e+02] [-9.10026850e-02 9.95850638e-01 1.38160787e-04 2.35704746e+00] [ 2.53027869e-03 9.24855661e-05 9.99996795e-01 -2.29347743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.10, Y:2.36, Z:-0.02 [[ 9.95444410e-01 9.53217901e-02 -2.04510439e-03 1.29099743e+02] [-9.53217595e-02 9.95446508e-01 1.12654324e-04 2.35882467e+00] [ 2.04653044e-03 8.28018324e-05 9.99997902e-01 -2.46680337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.13, Y:2.36, Z:-0.03 [[ 9.95246446e-01 9.73827772e-02 -1.05198353e-03 1.29131320e+02] [-9.73827690e-02 9.95247001e-01 5.91146477e-05 2.36024789e+00] [ 1.05274020e-03 4.36114261e-05 9.99999445e-01 -2.62974446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.16, Y:2.36, Z:-0.03 [[ 9.95049941e-01 9.93476836e-02 2.37760195e-03 1.29163093e+02] [-9.93476632e-02 9.95052775e-01 -1.26982408e-04 2.36204424e+00] [-2.37845483e-03 -1.09855360e-04 9.99997165e-01 -2.76270427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.20, Y:2.36, Z:-0.03 [[ 9.94996040e-01 9.98722430e-02 2.90095184e-03 1.29196130e+02] [-9.98722124e-02 9.95000260e-01 -1.55761647e-04 2.35956265e+00] [-2.90200410e-03 -1.34742256e-04 9.99995780e-01 -2.73419785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.23, Y:2.35, Z:-0.03 [[ 9.94891867e-01 1.00944375e-01 6.36588795e-04 1.29228244e+02] [-1.00944375e-01 9.94892071e-01 -3.26785504e-05 2.35349053e+00] [-6.36635860e-04 -3.17484340e-05 9.99999797e-01 -2.57650722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.26, Y:2.35, Z:-0.03 [[ 9.94848580e-01 1.01372079e-01 6.01306205e-05 1.29261266e+02] [-1.01372079e-01 9.94848582e-01 -9.52732568e-07 2.34938133e+00] [-5.99174432e-05 -5.14774139e-06 9.99999998e-01 -2.53892509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.29, Y:2.35, Z:-0.03 [[ 9.94813058e-01 1.01719841e-01 -2.32699708e-04 1.29292783e+02] [-1.01719840e-01 9.94813085e-01 1.49842752e-05 2.34782488e+00] [ 2.33016912e-04 8.76362449e-06 9.99999973e-01 -2.54924735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.33, Y:2.35, Z:-0.03 [[ 9.94719369e-01 1.02626693e-01 -1.06750428e-03 1.29326082e+02] [-1.02626687e-01 9.94719940e-01 6.11771678e-05 2.35450556e+00] [ 1.06814621e-03 4.87003137e-05 9.99999428e-01 -2.83795523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.36, Y:2.36, Z:-0.03 [[ 9.94588419e-01 1.03893249e-01 -2.63161671e-04 1.29359120e+02] [-1.03893248e-01 9.94588454e-01 1.68828495e-05 2.35949677e+00] [ 2.63491574e-04 1.05492342e-05 9.99999965e-01 -3.11604573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.39, Y:2.36, Z:-0.03 [[ 9.94529629e-01 1.04453101e-01 6.05870450e-04 1.29390504e+02] [-1.04453101e-01 9.94529813e-01 -3.14934784e-05 2.35627848e+00] [-6.05845817e-04 -3.19638497e-05 9.99999816e-01 -3.05732819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.42, Y:2.35, Z:-0.03 [[ 9.94509745e-01 1.04636970e-01 1.21328137e-03 1.29423663e+02] [-1.04636968e-01 9.94510483e-01 -6.53458618e-05 2.35250813e+00] [-1.21345864e-03 -6.19669874e-05 9.99999262e-01 -2.86788253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.46, Y:2.35, Z:-0.03 [[ 9.94527627e-01 1.04466700e-01 1.22762964e-03 1.29456324e+02] [-1.04466697e-01 9.94528383e-01 -6.63711816e-05 2.35160499e+00] [-1.22784610e-03 -6.22384399e-05 9.99999244e-01 -2.90483150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.49, Y:2.35, Z:-0.03 [[ 9.94618928e-01 1.03600910e-01 1.99191209e-04 1.29488190e+02] [-1.03600910e-01 9.94618948e-01 -9.05461337e-06 2.35207401e+00] [-1.99057417e-04 -1.16305008e-05 9.99999980e-01 -3.13447270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.52, Y:2.35, Z:-0.04 [[ 9.94777436e-01 1.02028196e-01 -2.84595695e-03 1.29521742e+02] [-1.02028148e-01 9.94781499e-01 1.62447134e-04 2.35382863e+00] [ 2.84767951e-03 1.28768974e-04 9.99995937e-01 -3.51811323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.55, Y:2.35, Z:-0.04 [[ 9.94866005e-01 1.01160153e-01 -2.87325069e-03 1.29553679e+02] [-1.01160099e-01 9.94870146e-01 1.64339609e-04 2.35323158e+00] [ 2.87513595e-03 1.27162434e-04 9.99995859e-01 -3.57689455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.59, Y:2.35, Z:-0.04 [[ 9.94909463e-01 1.00764405e-01 -1.30173089e-03 1.29586859e+02] [-1.00764391e-01 9.94910313e-01 7.59688493e-05 2.35099289e+00] [ 1.30276044e-03 5.55859933e-05 9.99999150e-01 -3.55643141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.62, Y:2.35, Z:-0.03 [[ 9.94949444e-01 1.00370662e-01 -1.15511533e-03 1.29619071e+02] [-1.00370651e-01 9.94950113e-01 6.77120616e-05 2.34747366e+00] [ 1.15607843e-03 4.85695992e-05 9.99999331e-01 -3.29179487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.65, Y:2.35, Z:-0.03 [[ 9.94951474e-01 1.00299412e-01 -3.40470913e-03 1.29652639e+02] [-1.00299327e-01 9.94957289e-01 1.96227368e-04 2.34896755e+00] [ 3.40722166e-03 1.46253325e-04 9.99994185e-01 -3.35779289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.69, Y:2.35, Z:-0.03 [[ 9.94939008e-01 1.00422996e-01 -3.40472399e-03 1.29686044e+02] [-1.00422912e-01 9.94944823e-01 1.95964478e-04 2.34691582e+00] [ 3.40719185e-03 1.46939595e-04 9.99994185e-01 -3.39931250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.72, Y:2.35, Z:-0.03 [[ 9.94942619e-01 1.00415728e-01 -2.42208644e-03 1.29718817e+02] [-1.00415682e-01 9.94945562e-01 1.40999449e-04 2.34683370e+00] [ 2.42400271e-03 1.02929100e-04 9.99997057e-01 -3.43824200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.75, Y:2.35, Z:-0.03 [[ 9.94966366e-01 1.00205962e-01 -8.34301409e-04 1.29752173e+02] [-1.00205955e-01 9.94966715e-01 5.02492821e-05 2.34613334e+00] [ 8.35137410e-04 3.36056241e-05 9.99999651e-01 -3.43914749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.78, Y:2.34, Z:-0.04 [[ 9.95003800e-01 9.98280311e-02 -1.34223836e-03 1.29783600e+02] [-9.98280155e-02 9.95004704e-01 7.87316165e-05 2.34453593e+00] [ 1.34339310e-03 5.56547342e-05 9.99999096e-01 -3.51737049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.82, Y:2.35, Z:-0.04 [[ 9.95163995e-01 9.82077544e-02 -1.96463639e-03 1.29816738e+02] [-9.82077168e-02 9.95165931e-01 1.15807578e-04 2.34672509e+00] [ 1.96651241e-03 7.76949220e-05 9.99998063e-01 -3.73011997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.85, Y:2.35, Z:-0.04 [[ 9.95203396e-01 9.78231977e-02 -9.06738986e-04 1.29849134e+02] [-9.78231884e-02 9.95203809e-01 5.46954410e-05 2.34877645e+00] [ 9.07740575e-04 3.42670100e-05 9.99999587e-01 -3.78455128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.88, Y:2.35, Z:-0.04 [[ 9.95197247e-01 9.78893036e-02 -3.52021080e-04 1.29881478e+02] [-9.78893017e-02 9.95197309e-01 2.27049114e-05 2.34526632e+00] [ 3.52553000e-04 1.18632324e-05 9.99999938e-01 -3.67296596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.91, Y:2.34, Z:-0.03 [[ 9.95407773e-01 9.57247714e-02 -3.65084875e-04 1.29913761e+02] [-9.57247692e-02 9.95407840e-01 2.35735373e-05 2.33871109e+00] [ 3.65664918e-04 1.14823831e-05 9.99999933e-01 -3.40357393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.95, Y:2.34, Z:-0.03 [[ 9.95532030e-01 9.44244495e-02 -1.08016221e-06 1.29946943e+02] [-9.44244495e-02 9.95532030e-01 2.38918452e-06 2.33926586e+00] [ 1.30093336e-06 -2.27651599e-06 1.00000000e+00 -3.48637459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.98, Y:2.34, Z:-0.04 [[ 9.95623814e-01 9.34383236e-02 1.58139596e-03 1.29979457e+02] [-9.34382974e-02 9.95625068e-01 -9.06287189e-05 2.34129916e+00] [-1.58294566e-03 -5.75308352e-05 9.99998745e-01 -3.62459487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.01, Y:2.34, Z:-0.04 [[ 9.95740850e-01 9.20301628e-02 5.53248869e-03 1.30010951e+02] [-9.20297844e-02 9.95756202e-01 -3.23467733e-04 2.33954190e+00] [-5.53877872e-03 -1.87063706e-04 9.99984643e-01 -3.66023855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.04, Y:2.33, Z:-0.04 [[ 9.95757683e-01 9.18442907e-02 5.59129343e-03 1.30043170e+02] [-9.18438965e-02 9.95773363e-01 -3.27758351e-04 2.33393929e+00] [-5.59776380e-03 -1.87158279e-04 9.99984315e-01 -3.57937318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.08, Y:2.33, Z:-0.04 [[ 9.95758516e-01 9.19792236e-02 2.19084936e-03 1.30075122e+02] [-9.19791640e-02 9.95760924e-01 -1.28148325e-04 2.32807583e+00] [-2.19334917e-03 -7.39077070e-05 9.99997592e-01 -3.61189633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.11, Y:2.33, Z:-0.04 [[ 9.95753005e-01 9.20568124e-02 1.22362554e-03 1.30107870e+02] [-9.20567954e-02 9.95753755e-01 -7.03082090e-05 2.32633768e+00] [-1.22490207e-03 -4.26334352e-05 9.99999249e-01 -3.77018238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.14, Y:2.32, Z:-0.04 [[ 9.95705356e-01 9.25700920e-02 1.27362907e-03 1.30139999e+02] [-9.25700734e-02 9.95706170e-01 -7.36484454e-05 2.32498213e+00] [-1.27497797e-03 -4.45677852e-05 9.99999186e-01 -3.83745586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.17, Y:2.32, Z:-0.04 [[ 9.95521608e-01 9.45320296e-02 -6.51224054e-04 1.30173171e+02] [-9.45320229e-02 9.95521820e-01 4.11504388e-05 2.32413684e+00] [ 6.52197790e-04 2.05953762e-05 9.99999787e-01 -3.92628563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.21, Y:2.32, Z:-0.04 [[ 9.95401046e-01 9.57901809e-02 -9.99639130e-04 1.30206223e+02] [-9.57901667e-02 9.95401547e-01 6.21471996e-05 2.32145257e+00] [ 1.00099543e-03 3.38942115e-05 9.99999498e-01 -3.96692868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.175336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:130.24, Y:2.31, Z:-0.04 [[ 9.95295342e-01 9.68874245e-02 9.10734868e-05 1.30238822e+02] [-9.68874246e-02 9.95295347e-01 -3.13028891e-06 2.31450289e+00] [-9.09483034e-05 -5.70831361e-06 9.99999996e-01 -3.80972047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.27, Y:2.31, Z:-0.04 [[ 9.95234278e-01 9.75015157e-02 1.47879008e-03 1.30271064e+02] [-9.75014931e-02 9.95235375e-01 -8.75536612e-05 2.31161832e+00] [-1.48028081e-03 -5.70478356e-05 9.99998903e-01 -3.71597356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.30, Y:2.31, Z:-0.04 [[ 9.95085209e-01 9.89713013e-02 3.17943180e-03 1.30304432e+02] [-9.89711996e-02 9.95090280e-01 -1.89678028e-04 2.31348747e+00] [-3.18259437e-03 -1.25926379e-04 9.99994928e-01 -3.94184634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.34, Y:2.31, Z:-0.04 [[ 9.95076399e-01 9.90829158e-02 2.35269689e-03 1.30336137e+02] [-9.90828605e-02 9.95079176e-01 -1.40321834e-04 2.31024715e+00] [-2.35502318e-03 -9.34809926e-05 9.99997223e-01 -4.10505335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.37, Y:2.31, Z:-0.04 [[ 9.95114266e-01 9.87124061e-02 1.85948149e-03 1.30369323e+02] [-9.87123714e-02 9.95116001e-01 -1.10654360e-04 2.30529791e+00] [-1.86132274e-03 -7.34400950e-05 9.99998265e-01 -4.09618661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.40, Y:2.30, Z:-0.04 [[ 9.95112117e-01 9.87398670e-02 1.52112557e-03 1.30401137e+02] [-9.87398438e-02 9.95113278e-01 -9.05161736e-05 2.30112467e+00] [-1.52262981e-03 -6.01219604e-05 9.99998839e-01 -4.05270091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.43, Y:2.30, Z:-0.04 [[ 9.95030448e-01 9.95566754e-02 1.69581126e-03 1.30433880e+02] [-9.95566470e-02 9.95031891e-01 -1.01389059e-04 2.29885577e+00] [-1.69748024e-03 -6.79440825e-05 9.99998557e-01 -4.10802079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.47, Y:2.30, Z:-0.04 [[ 9.94943590e-01 1.00418370e-01 1.84509166e-03 1.30465331e+02] [-1.00418337e-01 9.94945298e-01 -1.10964902e-04 2.29566801e+00] [-1.84690819e-03 -7.48772184e-05 9.99998292e-01 -4.09896965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.50, Y:2.29, Z:-0.04 [[ 9.94729457e-01 1.02533016e-01 5.36266818e-04 1.30497665e+02] [-1.02533014e-01 9.94729601e-01 -3.07245604e-05 2.29135787e+00] [-5.36590760e-04 -2.44224279e-05 9.99999856e-01 -4.13891635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.53, Y:2.29, Z:-0.04 [[ 9.94495958e-01 1.04774616e-01 -2.61625736e-04 1.30530496e+02] [-1.04774615e-01 9.94495993e-01 1.84533197e-05 2.29024213e+00] [ 2.62119186e-04 9.05998391e-06 9.99999966e-01 -4.31650014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.56, Y:2.29, Z:-0.04 [[ 9.94410292e-01 1.05584496e-01 2.93127844e-04 1.30561884e+02] [-1.05584496e-01 9.94410335e-01 -1.66424437e-05 2.28784097e+00] [-2.93246542e-04 -1.44003383e-05 9.99999957e-01 -4.34944407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.59, Y:2.28, Z:-0.04 [[ 9.94218111e-01 1.07336093e-01 3.05145203e-03 1.30594509e+02] [-1.07336025e-01 9.94222783e-01 -1.86676775e-04 2.28421715e+00] [-3.05386028e-03 -1.41933299e-04 9.99995327e-01 -4.26373516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.63, Y:2.28, Z:-0.04 [[ 9.94182983e-01 1.07665556e-01 2.88520167e-03 1.30625887e+02] [-1.07665494e-01 9.94187160e-01 -1.77033954e-04 2.28164921e+00] [-2.88749092e-03 -1.34632520e-04 9.99995822e-01 -4.35878314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.66, Y:2.28, Z:-0.05 [[ 9.94348130e-01 1.06168614e-01 -1.50132803e-04 1.30658713e+02] [-1.06168614e-01 9.94348141e-01 1.16217677e-05 2.27526003e+00] [ 1.50518141e-04 4.38330868e-06 9.99999989e-01 -4.56390199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.69, Y:2.27, Z:-0.05 [[ 9.94467553e-01 1.05044173e-01 -8.94886889e-05 1.30689913e+02] [-1.05044173e-01 9.94467557e-01 7.71762676e-06 2.26981395e+00] [ 8.98042894e-05 1.72533593e-06 9.99999996e-01 -4.55814394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.72, Y:2.26, Z:-0.04 [[ 9.94697360e-01 1.02839307e-01 1.11263650e-03 1.30723107e+02] [-1.02839296e-01 9.94697982e-01 -6.74552639e-05 2.26453760e+00] [-1.11367434e-03 -4.73251818e-05 9.99999379e-01 -4.39666452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.76, Y:2.26, Z:-0.04 [[ 9.94733905e-01 1.02486012e-01 1.03665006e-03 1.30756433e+02] [-1.02486002e-01 9.94734445e-01 -6.28002105e-05 2.26214163e+00] [-1.03762767e-03 -4.37726223e-05 9.99999461e-01 -4.44791437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.79, Y:2.26, Z:-0.05 [[ 9.94819806e-01 1.01653613e-01 -3.09839066e-04 1.30788088e+02] [-1.01653611e-01 9.94819854e-01 2.16780592e-05 2.26063666e+00] [ 3.10437708e-04 9.93049737e-06 9.99999952e-01 -4.71563320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.82, Y:2.26, Z:-0.05 [[ 9.94797376e-01 1.01872906e-01 3.03297363e-04 1.30820711e+02] [-1.01872905e-01 9.94797422e-01 -1.69684476e-05 2.25847100e+00] [-3.03448060e-04 -1.40176165e-05 9.99999954e-01 -4.96995404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.85, Y:2.25, Z:-0.05 [[ 9.94675259e-01 1.03050182e-01 1.33729050e-03 1.30853538e+02] [-1.03050164e-01 9.94676157e-01 -8.24204975e-05 2.25423775e+00] [-1.33866443e-03 -5.58263759e-05 9.99999102e-01 -4.96690074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.89, Y:2.24, Z:-0.05 [[ 9.94470245e-01 1.05001491e-01 1.90227497e-03 1.30885941e+02] [-1.05001456e-01 9.94472061e-01 -1.18577455e-04 2.24404911e+00] [-1.90421012e-03 -8.18198907e-05 9.99998184e-01 -4.73469351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.92, Y:2.24, Z:-0.05 [[ 9.94428290e-01 1.05411722e-01 8.63318250e-04 1.30917646e+02] [-1.05411716e-01 9.94428664e-01 -5.28697342e-05 2.23893598e+00] [-8.64081504e-04 -3.84286988e-05 9.99999626e-01 -4.67193878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.95, Y:2.24, Z:-0.05 [[ 9.94487680e-01 1.04848793e-01 -9.92108540e-04 1.30950700e+02] [-1.04848779e-01 9.94488174e-01 6.57032905e-05 2.23690824e+00] [ 9.93529122e-04 3.86802564e-05 9.99999506e-01 -4.80206559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:2.24, Z:-0.05 [[ 9.94491860e-01 1.04809364e-01 -9.67807122e-04 1.30982235e+02] [-1.04809351e-01 9.94492331e-01 6.41619656e-05 2.23589864e+00] [ 9.69201535e-04 3.76266842e-05 9.99999530e-01 -4.95270060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:2.23, Z:-0.05 [[ 9.94453669e-01 1.05174882e-01 3.80037237e-04 1.31014335e+02] [-1.05174881e-01 9.94453741e-01 -2.23177723e-05 2.23253246e+00] [-3.80276722e-04 -1.77763809e-05 9.99999928e-01 -5.03634434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.05, Y:2.23, Z:-0.05 [[ 9.94405841e-01 1.05626722e-01 1.39669974e-04 1.31046846e+02] [-1.05626723e-01 9.94405850e-01 -6.68153994e-06 2.22888003e+00] [-1.39594388e-04 -8.10871919e-06 9.99999990e-01 -5.07795542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.08, Y:2.23, Z:-0.05 [[ 9.94297511e-01 1.06641385e-01 -2.73738441e-04 1.31078152e+02] [-1.06641383e-01 9.94297549e-01 1.98462809e-05 2.22542173e+00] [ 2.74293896e-04 9.45873827e-06 9.99999962e-01 -5.10186548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.11, Y:2.22, Z:-0.05 [[ 9.94205499e-01 1.07469097e-01 2.41234104e-03 1.31111210e+02] [-1.07469039e-01 9.94208420e-01 -1.54007840e-04 2.21834508e+00] [-2.41492086e-03 -1.06136531e-04 9.99997078e-01 -4.91589655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.14, Y:2.21, Z:-0.05 [[ 9.94169261e-01 1.07782836e-01 3.21564738e-03 1.31142693e+02] [-1.07782728e-01 9.94174452e-01 -2.07286719e-04 2.21318142e+00] [-3.21925642e-03 -1.40513164e-04 9.99994808e-01 -4.85096262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:2.21, Z:-0.05 [[ 9.94018282e-01 1.09175723e-01 2.88371984e-03 1.31175743e+02] [-1.09175644e-01 9.94022457e-01 -1.85384189e-04 2.21073568e+00] [-2.88672173e-03 -1.30556698e-04 9.99995825e-01 -4.84905125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.21, Y:2.21, Z:-0.05 [[ 9.93841203e-01 1.10782201e-01 2.63969140e-03 1.31207783e+02] [-1.10782139e-01 9.93844701e-01 -1.70119625e-04 2.21055224e+00] [-2.64228953e-03 -1.23358766e-04 9.99996502e-01 -5.02600543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.24, Y:2.21, Z:-0.05 [[ 9.93566319e-01 1.13235879e-01 1.89857069e-03 1.31240871e+02] [-1.13235852e-01 9.93568129e-01 -1.22053520e-04 2.20823022e+00] [-1.90018016e-03 -9.37180028e-05 9.99998190e-01 -5.29568256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.27, Y:2.20, Z:-0.05 [[ 9.93301422e-01 1.15499012e-01 3.50202060e-03 1.31273460e+02] [-1.15498926e-01 9.93307579e-01 -2.27566354e-04 2.20135776e+00] [-3.50486730e-03 -1.78437635e-04 9.99993842e-01 -5.14061394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.31, Y:2.20, Z:-0.05 [[ 9.93140178e-01 1.16864606e-01 3.90524641e-03 1.31305813e+02] [-1.16864506e-01 9.93147835e-01 -2.54753163e-04 2.19774088e+00] [-3.90825864e-03 -2.03379089e-04 9.99992342e-01 -5.04092580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.34, Y:2.20, Z:-0.05 [[ 9.92931706e-01 1.18668493e-01 2.10140822e-03 1.31337766e+02] [-1.18668469e-01 9.92933923e-01 -1.36545288e-04 2.19613052e+00] [-2.10276313e-03 -1.13790751e-04 9.99997783e-01 -5.14689263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:2.20, Z:-0.05 [[ 9.92867373e-01 1.19221681e-01 7.55794858e-04 1.31370613e+02] [-1.19221679e-01 9.92867659e-01 -4.77775526e-05 2.19511659e+00] [-7.56100392e-04 -4.26703589e-05 9.99999713e-01 -5.30220090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:2.19, Z:-0.05 [[ 9.92810673e-01 1.19693011e-01 7.42415875e-04 1.31402523e+02] [-1.19693009e-01 9.92810950e-01 -4.71633645e-05 2.19470542e+00] [-7.42723735e-04 -4.20376982e-05 9.99999723e-01 -5.49980564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.44, Y:2.19, Z:-0.06 [[ 9.92803730e-01 1.19709614e-01 3.21894862e-03 1.31435851e+02] [-1.19709554e-01 9.92808933e-01 -2.11880161e-04 2.19447658e+00] [-3.22116504e-03 -1.74983490e-04 9.99994797e-01 -5.54576933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.47, Y:2.19, Z:-0.06 [[ 9.92814354e-01 1.19604493e-01 3.79775265e-03 1.31467380e+02] [-1.19604405e-01 9.92821597e-01 -2.51153712e-04 2.19231731e+00] [-3.80052996e-03 -2.04878934e-04 9.99992757e-01 -5.57106156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.50, Y:2.19, Z:-0.06 [[ 9.92882950e-01 1.19089583e-01 1.05806015e-03 1.31500264e+02] [-1.19089577e-01 9.92883512e-01 -6.85296118e-05 2.18759074e+00] [-1.05869164e-03 -5.79620529e-05 9.99999438e-01 -5.53624084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.53, Y:2.18, Z:-0.05 [[ 9.93111595e-01 1.17165684e-01 1.24971034e-03 1.31532354e+02] [-1.17165673e-01 9.93112379e-01 -8.16899227e-05 2.18482908e+00] [-1.25067407e-03 -6.52959444e-05 9.99999216e-01 -5.42180011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.57, Y:2.18, Z:-0.05 [[ 9.93241375e-01 1.16035954e-01 2.68869334e-03 1.31565322e+02] [-1.16035895e-01 9.93245005e-01 -1.78489100e-04 2.18491884e+00] [-2.69124238e-03 -1.34702178e-04 9.99996370e-01 -5.48780621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.60, Y:2.19, Z:-0.06 [[ 9.93508723e-01 1.13723650e-01 2.71072546e-03 1.31598394e+02] [-1.13723580e-01 9.93512413e-01 -1.80415617e-04 2.18576581e+00] [-2.71365692e-03 -1.29028915e-04 9.99996310e-01 -5.57784861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.63, Y:2.18, Z:-0.06 [[ 9.93600333e-01 1.12922536e-01 2.62282296e-03 1.31630064e+02] [-1.12922465e-01 9.93603787e-01 -1.75617432e-04 2.18194324e+00] [-2.62587800e-03 -1.21682095e-04 9.99996545e-01 -5.63732478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.66, Y:2.18, Z:-0.06 [[ 9.93797052e-01 1.11164658e-01 3.13666972e-03 1.31661897e+02] [-1.11164547e-01 9.93801992e-01 -2.10165343e-04 2.17574994e+00] [-3.14059158e-03 -1.39824772e-04 9.99995059e-01 -5.58613355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.69, Y:2.17, Z:-0.06 [[ 9.93882423e-01 1.10383839e-01 3.62468841e-03 1.31694193e+02] [-1.10383683e-01 9.93889020e-01 -2.43587961e-04 2.17209295e+00] [-3.62942619e-03 -1.58008664e-04 9.99993401e-01 -5.60279008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.73, Y:2.17, Z:-0.06 [[ 9.93873501e-01 1.10464137e-01 3.62458150e-03 1.31727583e+02] [-1.10463976e-01 9.93880098e-01 -2.45164510e-04 2.16970487e+00] [-3.62948130e-03 -1.56723173e-04 9.99993401e-01 -5.64432965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:2.17, Z:-0.06 [[ 9.94161077e-01 1.07847212e-01 3.56829794e-03 1.31759620e+02] [-1.07847042e-01 9.94167470e-01 -2.40724709e-04 2.16633494e+00] [-3.57344723e-03 -1.45511240e-04 9.99993605e-01 -5.79804561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:2.16, Z:-0.06 [[ 9.94455853e-01 1.05125509e-01 2.48663905e-03 1.31792184e+02] [-1.05125418e-01 9.94458958e-01 -1.67506629e-04 2.16416550e+00] [-2.49046970e-03 -9.48310218e-05 9.99996894e-01 -5.95008475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.83, Y:2.16, Z:-0.06 [[ 9.94485025e-01 1.04846135e-01 2.61226385e-03 1.31825358e+02] [-1.04846033e-01 9.94488451e-01 -1.76570114e-04 2.16118789e+00] [-2.61637893e-03 -9.82891673e-05 9.99996572e-01 -5.99631177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:2.16, Z:-0.06 [[ 9.94442751e-01 1.05236817e-01 2.97109750e-03 1.31857689e+02] [-1.05236684e-01 9.94447183e-01 -2.01696703e-04 2.15750245e+00] [-2.97582546e-03 -1.12092624e-04 9.99995566e-01 -5.95079914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.89, Y:2.15, Z:-0.06 [[ 9.94256888e-01 1.06986077e-01 2.68688811e-03 1.31890391e+02] [-1.06985974e-01 9.94260513e-01 -1.82629997e-04 2.15276857e+00] [-2.69100561e-03 -1.05878209e-04 9.99996374e-01 -5.85788692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:2.15, Z:-0.06 [[ 9.94072200e-01 1.08696546e-01 2.35011100e-03 1.31922040e+02] [-1.08696471e-01 9.94074973e-01 -1.60024603e-04 2.14928333e+00] [-2.35358065e-03 -9.63727628e-05 9.99997226e-01 -5.89379107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.95, Y:2.14, Z:-0.06 [[ 9.93540939e-01 1.13436009e-01 2.94529098e-03 1.31953383e+02] [-1.13435909e-01 9.93545295e-01 -2.01693488e-04 2.14481046e+00] [-2.94915930e-03 -1.33711022e-04 9.99995642e-01 -5.73918176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:2.14, Z:-0.06 [[ 9.92925647e-01 1.18662603e-01 4.22448591e-03 1.31986377e+02] [-1.18662437e-01 9.92934611e-01 -2.90871024e-04 2.14435347e+00] [-4.22915379e-03 -2.12474494e-04 9.99991035e-01 -5.74096387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.02, Y:2.14, Z:-0.06 [[ 9.92680378e-01 1.20724574e-01 3.35313341e-03 1.32018200e+02] [-1.20724480e-01 9.92686026e-01 -2.31131287e-04 2.14324655e+00] [-3.35651191e-03 -1.75365794e-04 9.99994352e-01 -5.90157159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:2.14, Z:-0.06 [[ 9.92367645e-01 1.23308202e-01 1.24260946e-03 1.32049417e+02] [-1.23308193e-01 9.92368421e-01 -8.46869679e-05 2.13838913e+00] [-1.24356899e-03 -6.91833204e-05 9.99999224e-01 -6.08378916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:2.13, Z:-0.06 [[ 9.92274972e-01 1.24050521e-01 1.35923968e-03 1.32082178e+02] [-1.24050510e-01 9.92275900e-01 -9.28152701e-05 2.13449577e+00] [-1.36025456e-03 -7.65161054e-05 9.99999072e-01 -6.10491136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:2.13, Z:-0.06 [[ 9.92187526e-01 1.24718136e-01 3.04950116e-03 1.32114588e+02] [-1.24718073e-01 9.92192198e-01 -2.11561616e-04 2.13367087e+00] [-3.05207683e-03 -1.70419111e-04 9.99995328e-01 -6.11994174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:2.13, Z:-0.06 [[ 9.92170089e-01 1.24857468e-01 3.02129167e-03 1.32147956e+02] [-1.24857405e-01 9.92174674e-01 -2.10079295e-04 2.13269192e+00] [-3.02387905e-03 -1.68796246e-04 9.99995414e-01 -6.20185643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.18, Y:2.13, Z:-0.06 [[ 9.92094370e-01 1.25476969e-01 2.07162772e-03 1.32180815e+02] [-1.25476942e-01 9.92096526e-01 -1.43608673e-04 2.13255352e+00] [-2.07327424e-03 -1.17468155e-04 9.99997844e-01 -6.25376537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:2.13, Z:-0.06 [[ 9.91982243e-01 1.26345083e-01 2.85493764e-03 1.32213310e+02] [-1.26345029e-01 9.91986337e-01 -1.99873243e-04 2.13212589e+00] [-2.85731214e-03 -1.62436471e-04 9.99995905e-01 -6.31267263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.24, Y:2.13, Z:-0.06 [[ 9.91696761e-01 1.28546600e-01 3.64779192e-03 1.32244993e+02] [-1.28546526e-01 9.91703446e-01 -2.55801983e-04 2.13183974e+00] [-3.65041030e-03 -2.15232980e-04 9.99993314e-01 -6.36941749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.28, Y:2.13, Z:-0.06 [[ 9.91531513e-01 1.29863576e-01 8.43121079e-04 1.32277970e+02] [-1.29863574e-01 9.91531870e-01 -5.74788458e-05 2.13141523e+00] [-8.43445828e-04 -5.24986295e-05 9.99999643e-01 -6.30894098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.31, Y:2.13, Z:-0.06 [[ 9.91549233e-01 1.29730938e-01 4.26622448e-05 1.32309838e+02] [-1.29730938e-01 9.91549234e-01 -9.43715923e-07 2.13107267e+00] [-4.24241454e-05 -4.59887225e-06 9.99999999e-01 -6.35187081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:2.14, Z:-0.07 [[ 9.91861564e-01 1.27320333e-01 -4.12708045e-04 1.32343125e+02] [-1.27320331e-01 9.91861650e-01 3.16571198e-05 2.13695524e+00] [ 4.13379877e-04 2.11466444e-05 9.99999914e-01 -6.53138957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.38, Y:2.14, Z:-0.07 [[ 9.92074563e-01 1.25649545e-01 -5.03117469e-04 1.32375628e+02] [-1.25649542e-01 9.92074690e-01 3.80272915e-05 2.13915852e+00] [ 5.03908219e-04 2.54905709e-05 9.99999873e-01 -6.71464003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.41, Y:2.14, Z:-0.07 [[ 9.92731037e-01 1.20352973e-01 5.00786208e-04 1.32408486e+02] [-1.20352971e-01 9.92731163e-01 -3.35322874e-05 2.14086682e+00] [-5.01181785e-04 -2.69825655e-05 9.99999874e-01 -6.63179467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.44, Y:2.14, Z:-0.06 [[ 9.93145701e-01 1.16868968e-01 1.80602918e-03 1.32440661e+02] [-1.16868929e-01 9.93147339e-01 -1.27355427e-04 2.13832885e+00] [-1.80853697e-03 -8.45861998e-05 9.99998361e-01 -6.47656748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.47, Y:2.14, Z:-0.06 [[ 9.94061539e-01 1.08788601e-01 2.58768783e-03 1.32472865e+02] [-1.08788491e-01 9.94064903e-01 -1.83756381e-04 2.13852558e+00] [-2.59232025e-03 -9.88455023e-05 9.99996635e-01 -6.40993300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.51, Y:2.14, Z:-0.06 [[ 9.94442752e-01 1.05250478e-01 2.43913127e-03 1.32506371e+02] [-1.05250369e-01 9.94445740e-01 -1.73566709e-04 2.13907161e+00] [-2.44385168e-03 -8.41173110e-05 9.99997010e-01 -6.46568947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.54, Y:2.14, Z:-0.07 [[ 9.95152362e-01 9.82739973e-02 3.74144533e-03 1.32539654e+02] [-9.82736837e-02 9.95159390e-01 -2.68016058e-04 2.14143105e+00] [-3.74967346e-03 -1.00968802e-04 9.99992965e-01 -6.56822388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.57, Y:2.14, Z:-0.07 [[ 9.95815326e-01 9.12672289e-02 4.70424695e-03 1.32571666e+02] [-9.12666476e-02 9.95826433e-01 -3.38543542e-04 2.13991562e+00] [-4.71551139e-03 -9.22140006e-05 9.99988878e-01 -6.68045545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.60, Y:2.14, Z:-0.07 [[ 9.96108501e-01 8.80337071e-02 4.23321863e-03 1.32604283e+02] [-8.80332056e-02 9.96117494e-01 -3.05012576e-04 2.13677132e+00] [-4.24363452e-03 -6.88381861e-05 9.99990993e-01 -6.67429179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.64, Y:2.13, Z:-0.07 [[ 9.96541914e-01 8.30319255e-02 3.14839325e-03 1.32636314e+02] [-8.30316228e-02 9.96546887e-01 -2.26958834e-04 2.13435372e+00] [-3.15636632e-03 -3.52422103e-05 9.99995018e-01 -6.59425559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.67, Y:2.13, Z:-0.07 [[ 9.96634249e-01 8.19312060e-02 2.72983883e-03 1.32669788e+02] [-8.19309739e-02 9.96637987e-01 -1.96947123e-04 2.13356635e+00] [-2.73679719e-03 -2.73741060e-05 9.99996255e-01 -6.68127739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.70, Y:2.14, Z:-0.07 [[ 9.96613732e-01 8.21915287e-02 2.37093219e-03 1.32703043e+02] [-8.21913540e-02 9.96616552e-01 -1.71177810e-04 2.13773204e+00] [-2.37697964e-03 -2.42719712e-05 9.99997175e-01 -6.89317728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.74, Y:2.14, Z:-0.07 [[ 9.96394754e-01 8.47992875e-02 2.56428135e-03 1.32735728e+02] [-8.47990902e-02 9.96398053e-01 -1.85735584e-04 2.13841435e+00] [-2.57079519e-03 -3.23827638e-05 9.99996695e-01 -7.05633537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.77, Y:2.14, Z:-0.07 [[ 9.96236771e-01 8.66397251e-02 2.41961426e-03 1.32767361e+02] [-8.66395538e-02 9.96239709e-01 -1.75722085e-04 2.13543996e+00] [-2.42574032e-03 -3.45734969e-05 9.99997057e-01 -7.07945474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.80, Y:2.13, Z:-0.07 [[ 9.96085322e-01 8.83688702e-02 2.23030043e-03 1.32799706e+02] [-8.83687285e-02 9.96087818e-01 -1.62152869e-04 2.13244326e+00] [-2.23590436e-03 -3.55707202e-05 9.99997500e-01 -7.05115584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.83, Y:2.13, Z:-0.07 [[ 9.95858176e-01 9.09079644e-02 1.49492507e-03 1.32832265e+02] [-9.09079044e-02 9.95859298e-01 -1.08164995e-04 2.13109528e+00] [-1.49856809e-03 -2.81835101e-05 9.99998877e-01 -6.97286918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.87, Y:2.13, Z:-0.07 [[ 9.95856477e-01 9.09385394e-02 2.41736721e-04 1.32865223e+02] [-9.09385382e-02 9.95856507e-01 -1.55726753e-05 2.12824259e+00] [-2.42151243e-04 -6.47503449e-06 9.99999971e-01 -7.06108066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.90, Y:2.13, Z:-0.07 [[ 9.95889012e-01 9.05789460e-02 7.27810057e-04 1.32896776e+02] [-9.05789323e-02 9.95889278e-01 -5.18837854e-05 2.12572841e+00] [-7.29517811e-04 -1.42537661e-05 9.99999734e-01 -7.17384690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.93, Y:2.12, Z:-0.07 [[ 9.96030809e-01 8.89742676e-02 2.49148713e-03 1.32929297e+02] [-8.89740876e-02 9.96033924e-01 -1.83196613e-04 2.12017035e+00] [-2.49790549e-03 -3.92083236e-05 9.99996879e-01 -7.14271171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.96, Y:2.12, Z:-0.07 [[ 9.96073729e-01 8.84541538e-02 3.60397227e-03 1.32960755e+02] [-8.84537672e-02 9.96080248e-01 -2.66846499e-04 2.11503982e+00] [-3.61344928e-03 -5.29861370e-05 9.99993470e-01 -7.11799988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.99, Y:2.11, Z:-0.07 [[ 9.96114330e-01 8.79161916e-02 5.19467052e-03 1.32992889e+02] [-8.79153710e-02 9.96127872e-01 -3.86549294e-04 2.10960366e+00] [-5.20854004e-03 -7.16440956e-05 9.99986433e-01 -7.17046676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.03, Y:2.10, Z:-0.07 [[ 9.96059258e-01 8.85569117e-02 4.86088355e-03 1.33025872e+02] [-8.85561978e-02 9.96071116e-01 -3.62328273e-04 2.10478198e+00] [-4.87387237e-03 -6.95609346e-05 9.99988120e-01 -7.37422081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.06, Y:2.10, Z:-0.07 [[ 9.95954393e-01 8.97408341e-02 4.62930287e-03 1.33057873e+02] [-8.97401954e-02 9.95965149e-01 -3.45933427e-04 2.09999809e+00] [-4.64166868e-03 -7.09006275e-05 9.99989225e-01 -7.41988680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.09, Y:2.09, Z:-0.07 [[ 9.95560792e-01 9.40248009e-02 4.24805714e-03 1.33088851e+02] [-9.40242995e-02 9.95569852e-01 -3.18028591e-04 2.08889931e+00] [-4.25914019e-03 -8.28038005e-05 9.99990926e-01 -7.32313523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.12, Y:2.08, Z:-0.07 [[ 9.95273445e-01 9.70577335e-02 3.25061821e-03 1.33121461e+02] [-9.70574562e-02 9.95278750e-01 -2.43320858e-04 2.08145388e+00] [-3.25888740e-03 -7.33259453e-05 9.99994687e-01 -7.26631779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:2.08, Z:-0.07 [[ 9.94611964e-01 1.03665457e-01 7.16929719e-04 1.33154058e+02] [-1.03665446e-01 9.94612222e-01 -5.20065477e-05 2.07535193e+00] [-7.18458344e-04 -2.25945047e-05 9.99999742e-01 -7.32788946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.19, Y:2.07, Z:-0.08 [[ 9.94206081e-01 1.07490606e-01 1.93452034e-04 1.33187165e+02] [-1.07490606e-01 9.94206100e-01 -1.23121631e-05 2.07488364e+00] [-1.93654634e-04 -8.55344883e-06 9.99999981e-01 -7.59366087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.22, Y:2.07, Z:-0.08 [[ 9.93782062e-01 1.11341267e-01 -5.79516655e-04 1.33218800e+02] [-1.11341259e-01 9.93782231e-01 4.63319163e-05 2.07473617e+00] [ 5.81072008e-04 1.84802866e-05 9.99999831e-01 -7.89724510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.25, Y:2.07, Z:-0.08 [[ 9.93011342e-01 1.17999230e-01 -2.15804740e-03 1.33251207e+02] [-1.17999145e-01 9.93013683e-01 1.66960783e-04 2.07184660e+00] [ 2.16267184e-03 8.88537976e-05 9.99997657e-01 -8.11208920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.28, Y:2.07, Z:-0.08 [[ 9.92308952e-01 1.23783221e-01 -8.10922246e-04 1.33283265e+02] [-1.23783210e-01 9.92309283e-01 6.41502920e-05 2.06584554e+00] [ 8.12626402e-04 3.67216499e-05 9.99999669e-01 -7.80995060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.32, Y:2.06, Z:-0.08 [[ 9.92007755e-01 1.26176913e-01 3.41497338e-05 1.33316218e+02] [-1.26176913e-01 9.92007755e-01 -3.33061493e-07 2.06256338e+00] [-3.39188256e-05 -3.97850840e-06 9.99999999e-01 -7.68471567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.35, Y:2.07, Z:-0.08 [[ 9.91517562e-01 1.29972182e-01 -3.95281267e-04 1.33349442e+02] [-1.29972179e-01 9.91517641e-01 3.26644446e-05 2.06517604e+00] [ 3.96173818e-04 1.89881972e-05 9.99999921e-01 -7.75419669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.38, Y:2.07, Z:-0.08 [[ 9.91185179e-01 1.32477944e-01 -1.23902993e-03 1.33382373e+02] [-1.32477925e-01 9.91185951e-01 9.77278214e-05 2.06732695e+00] [ 1.24105584e-03 6.72777454e-05 9.99999228e-01 -7.99850284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.41, Y:2.07, Z:-0.08 [[ 9.90877066e-01 1.34749837e-01 -2.26300118e-03 1.33414766e+02] [-1.34749783e-01 9.90879642e-01 1.76837592e-04 2.07288903e+00] [ 2.26619063e-03 1.29714603e-04 9.99997424e-01 -8.36761050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.45, Y:2.07, Z:-0.08 [[ 9.90919487e-01 1.34447405e-01 -1.57032853e-03 1.33446941e+02] [-1.34447377e-01 9.90920727e-01 1.23609768e-04 2.07178563e+00] [ 1.57269010e-03 8.86392235e-05 9.99998759e-01 -8.41833003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.48, Y:2.07, Z:-0.08 [[ 9.91347557e-01 1.31237752e-01 2.58350806e-03 1.33478789e+02] [-1.31237679e-01 9.91350913e-01 -1.98271375e-04 2.07246554e+00] [-2.58718377e-03 -1.42497760e-04 9.99996643e-01 -8.02272607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.51, Y:2.08, Z:-0.08 [[ 9.92051392e-01 1.25700135e-01 5.78899427e-03 1.33512250e+02] [-1.25699658e-01 9.92068241e-01 -4.47720615e-04 2.07557850e+00] [-5.79935591e-03 -2.83512740e-04 9.99983143e-01 -7.78769336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.55, Y:2.08, Z:-0.08 [[ 9.92488363e-01 1.22205033e-01 5.72533598e-03 1.33545194e+02] [-1.22204502e-01 9.92504843e-01 -4.43760141e-04 2.07591190e+00] [-5.73665341e-03 -2.59235056e-04 9.99983512e-01 -7.92507794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.58, Y:2.08, Z:-0.08 [[ 9.93408735e-01 1.14542103e-01 4.38097156e-03 1.33576820e+02] [-1.14541716e-01 9.93418381e-01 -3.39929427e-04 2.07621883e+00] [-4.39107391e-03 -1.64115138e-04 9.99990346e-01 -8.15443920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.61, Y:2.07, Z:-0.08 [[ 9.93894796e-01 1.10254289e-01 4.13833188e-03 1.33609468e+02] [-1.10253904e-01 9.93903402e-01 -3.21586509e-04 2.07442963e+00] [-4.14855843e-03 -1.36644090e-04 9.99991385e-01 -8.31060934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.64, Y:2.07, Z:-0.09 [[ 9.94991761e-01 9.99316999e-02 2.24758142e-03 1.33641203e+02] [-9.99315613e-02 9.94994298e-01 -1.74149939e-04 2.07370362e+00] [-2.25373380e-03 -5.13265656e-05 9.99997459e-01 -8.60934062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.67, Y:2.07, Z:-0.09 [[ 9.95484095e-01 9.49281380e-02 2.54515375e-04 1.33673760e+02] [-9.49281364e-02 9.95484128e-01 -1.84130413e-05 2.07185736e+00] [-2.55113932e-04 -5.83078049e-06 9.99999967e-01 -8.75544565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.71, Y:2.07, Z:-0.09 [[ 9.96200116e-01 8.70886513e-02 -9.46338538e-04 1.33705224e+02] [-8.70886176e-02 9.96200566e-01 7.68211572e-05 2.07028991e+00] [ 9.49433237e-04 5.88606925e-06 9.99999549e-01 -8.76299535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.74, Y:2.07, Z:-0.09 [[ 9.96419252e-01 8.45492300e-02 -3.20273742e-04 1.33737711e+02] [-8.45492255e-02 9.96419303e-01 2.76098183e-05 2.06668236e+00] [ 3.21461327e-04 -4.32057673e-07 9.99999948e-01 -8.67219326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.77, Y:2.06, Z:-0.08 [[ 9.96559694e-01 8.28770441e-02 -4.14049148e-04 1.33770303e+02] [-8.28770367e-02 9.96559780e-01 3.51072779e-05 2.06116824e+00] [ 4.15534315e-04 -6.71331713e-07 9.99999914e-01 -8.46479090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.80, Y:2.06, Z:-0.09 [[ 9.96319770e-01 8.57141524e-02 9.59482170e-06 1.33802999e+02] [-8.57141524e-02 9.96319770e-01 1.65068269e-06 2.06039705e+00] [-9.41802384e-06 -2.46701981e-06 1.00000000e+00 -8.50184302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.84, Y:2.06, Z:-0.09 [[ 9.96312457e-01 8.57991182e-02 9.48817129e-06 1.33836362e+02] [-8.57991182e-02 9.96312457e-01 3.05598542e-07 2.05762109e+00] [-9.42696332e-06 -1.11854836e-06 1.00000000e+00 -8.54337771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.87, Y:2.06, Z:-0.09 [[ 9.96100917e-01 8.82194921e-02 5.33225206e-04 1.33868819e+02] [-8.82194832e-02 9.96101060e-01 -4.01868735e-05 2.05684337e+00] [-5.34691458e-04 -7.01067051e-06 9.99999857e-01 -8.66708996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.90, Y:2.05, Z:-0.09 [[ 9.95610567e-01 9.35914224e-02 4.94105585e-04 1.33900539e+02] [-9.35914151e-02 9.95610690e-01 -3.79248138e-05 2.05440030e+00] [-4.95486239e-04 -8.48569547e-06 9.99999877e-01 -8.77080062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.93, Y:2.05, Z:-0.09 [[ 9.95350252e-01 9.63214295e-02 2.40052219e-04 1.33933585e+02] [-9.63214282e-02 9.95350281e-01 -1.68367757e-05 2.05117194e+00] [-2.40557786e-04 -6.36368365e-06 9.99999971e-01 -8.78843531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.97, Y:2.05, Z:-0.09 [[ 9.94857153e-01 1.01287926e-01 2.60999914e-05 1.33966469e+02] [-1.01287926e-01 9.94857154e-01 2.48287658e-07 2.04963222e+00] [-2.59406148e-05 -2.89062474e-06 1.00000000e+00 -8.79678854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.00, Y:2.05, Z:-0.09 [[ 9.94659641e-01 1.03208498e-01 4.51454799e-04 1.33998903e+02] [-1.03208493e-01 9.94659744e-01 -3.47560315e-05 2.04901780e+00] [-4.52631033e-04 -1.20235476e-05 9.99999897e-01 -8.84124256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.03, Y:2.05, Z:-0.09 [[ 9.94299429e-01 1.06620996e-01 7.79933592e-04 1.34031108e+02] [-1.06620982e-01 9.94299735e-01 -6.05316868e-05 2.04801905e+00] [-7.81941712e-04 -2.29706636e-05 9.99999694e-01 -8.94116817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.06, Y:2.04, Z:-0.09 [[ 9.94172197e-01 1.07803107e-01 3.64268103e-04 1.34064133e+02] [-1.07803105e-01 9.94172264e-01 -2.70632305e-05 2.04309839e+00] [-3.65062745e-04 -1.23637212e-05 9.99999933e-01 -8.96652158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.10, Y:2.04, Z:-0.09 [[ 9.93946815e-01 1.09849801e-01 1.65829710e-03 1.34095880e+02] [-1.09849734e-01 9.93948197e-01 -1.31760891e-04 2.03839653e+00] [-1.66273532e-03 -5.12001778e-05 9.99998616e-01 -8.84719071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.13, Y:2.04, Z:-0.09 [[ 9.93869430e-01 1.10516774e-01 3.09833554e-03 1.34128412e+02] [-1.10516536e-01 9.93874254e-01 -2.48442185e-04 2.03780808e+00] [-3.10681295e-03 -9.54982181e-05 9.99995169e-01 -8.85058033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.16, Y:2.04, Z:-0.09 [[ 9.93753796e-01 1.11490713e-01 4.81811935e-03 1.34160648e+02] [-1.11490136e-01 9.93765464e-01 -3.89030618e-04 2.03893788e+00] [-4.83145392e-03 -1.50572130e-04 9.99988317e-01 -8.93346145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.19, Y:2.04, Z:-0.09 [[ 9.93702038e-01 1.11985226e-01 3.94565134e-03 1.34194008e+02] [-1.11984845e-01 9.93709864e-01 -3.18189568e-04 2.03733218e+00] [-3.95646518e-03 -1.25667529e-04 9.99992165e-01 -9.02752620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.23, Y:2.03, Z:-0.09 [[ 9.93547771e-01 1.13405150e-01 1.44896398e-03 1.34225971e+02] [-1.13405101e-01 9.93548826e-01 -1.15797023e-04 2.03377620e+00] [-1.45274844e-03 -4.92700333e-05 9.99998944e-01 -9.24394559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.26, Y:2.03, Z:-0.09 [[ 9.93448739e-01 1.14270099e-01 1.39529669e-03 1.34258674e+02] [-1.14270054e-01 9.93449718e-01 -1.11549974e-04 2.02971103e+00] [-1.39890393e-03 -4.86214480e-05 9.99999020e-01 -9.22322863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.29, Y:2.03, Z:-0.09 [[ 9.93414699e-01 1.14500726e-01 4.10117023e-03 1.34290472e+02] [-1.14500325e-01 9.93423155e-01 -3.33174999e-04 2.02579264e+00] [-4.11234625e-03 -1.38604384e-04 9.99991535e-01 -9.00559721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.32, Y:2.03, Z:-0.09 [[ 9.93481332e-01 1.13936918e-01 3.63628433e-03 1.34324013e+02] [-1.13936598e-01 9.93487979e-01 -2.95711141e-04 2.02778872e+00] [-3.64629719e-03 -1.20522367e-04 9.99993345e-01 -9.09477562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.36, Y:2.03, Z:-0.09 [[ 9.93605298e-01 1.12886184e-01 2.28483832e-03 1.34356762e+02] [-1.12886056e-01 9.93607923e-01 -1.85382581e-04 2.02750996e+00] [-2.29116059e-03 -7.37292714e-05 9.99997373e-01 -9.30844859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.39, Y:2.02, Z:-0.09 [[ 9.93963271e-01 1.09659354e-01 3.44112512e-03 1.34388392e+02] [-1.09659038e-01 9.93969223e-01 -2.81079971e-04 2.02021506e+00] [-3.45119551e-03 -9.79673020e-05 9.99994040e-01 -9.34023293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.42, Y:2.01, Z:-0.09 [[ 9.94100110e-01 1.08357370e-01 4.86326327e-03 1.34419836e+02] [-1.08356714e-01 9.94111997e-01 -3.98957898e-04 2.01249888e+00] [-4.87785839e-03 -1.30363135e-04 9.99988095e-01 -9.19349321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.45, Y:2.01, Z:-0.09 [[ 9.94390023e-01 1.05677254e-01 4.56073179e-03 1.34451100e+02] [-1.05676646e-01 9.94400476e-01 -3.74793004e-04 2.00635637e+00] [-4.57480096e-03 -1.09272417e-04 9.99989530e-01 -9.15775624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.48, Y:2.00, Z:-0.09 [[ 9.94480030e-01 1.04861207e-01 3.68734270e-03 1.34483654e+02] [-1.04860803e-01 9.94486863e-01 -3.03141282e-04 2.00476770e+00] [-3.69880163e-03 -8.51897671e-05 9.99993156e-01 -9.36121783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.52, Y:2.00, Z:-0.10 [[ 9.94541872e-01 1.04293928e-01 3.03999172e-03 1.34515849e+02] [-1.04293650e-01 9.94546516e-01 -2.50190955e-04 2.00458778e+00] [-3.04950658e-03 -6.82264526e-05 9.99995348e-01 -9.62925181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.55, Y:2.00, Z:-0.10 [[ 9.94471041e-01 1.04981277e-01 2.50588785e-03 1.34548699e+02] [-1.04981090e-01 9.94474197e-01 -2.06192044e-04 1.99834014e+00] [-2.51368711e-03 -5.80188213e-05 9.99996839e-01 -9.67466852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.58, Y:1.99, Z:-0.10 [[ 9.94425329e-01 1.05420696e-01 2.17774629e-03 1.34581530e+02] [-1.05420556e-01 9.94427712e-01 -1.79294811e-04 1.99209132e+00] [-2.18451264e-03 -5.12839227e-05 9.99997613e-01 -9.60581333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.61, Y:1.99, Z:-0.09 [[ 9.94323681e-01 1.06354597e-01 3.01953690e-03 1.34614350e+02] [-1.06354328e-01 9.94328263e-01 -2.49979939e-04 1.98536729e+00] [-3.02899740e-03 -7.25798461e-05 9.99995410e-01 -9.36743464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.65, Y:1.98, Z:-0.09 [[ 9.94197248e-01 1.07527670e-01 3.10372620e-03 1.34646074e+02] [-1.07527389e-01 9.94202089e-01 -2.57678075e-04 1.98316939e+00] [-3.11343859e-03 -7.75527420e-05 9.99995150e-01 -9.37527886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.68, Y:1.98, Z:-0.10 [[ 9.93797291e-01 1.11178019e-01 2.52817479e-03 1.34678439e+02] [-1.11177843e-01 9.93800505e-01 -2.10484275e-04 1.98211719e+00] [-2.53590261e-03 -7.18983186e-05 9.99996782e-01 -9.64563449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.71, Y:1.98, Z:-0.10 [[ 9.93584705e-01 1.13060352e-01 2.60581851e-03 1.34711173e+02] [-1.13060172e-01 9.93588119e-01 -2.16656065e-04 1.97841138e+00] [-2.61360553e-03 -7.93481369e-05 9.99996581e-01 -9.69593389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.74, Y:1.97, Z:-0.10 [[ 9.93303652e-01 1.15491103e-01 3.10802804e-03 1.34743887e+02] [-1.15490856e-01 9.93308509e-01 -2.59206735e-04 1.97268589e+00] [-3.11716677e-03 -1.01477822e-04 9.99995136e-01 -9.65944018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.78, Y:1.97, Z:-0.10 [[ 9.93232942e-01 1.16121244e-01 2.04466750e-03 1.34776590e+02] [-1.16121139e-01 9.93235044e-01 -1.70119301e-04 1.96842281e+00] [-2.05058988e-03 -6.84610261e-05 9.99997895e-01 -9.73013318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.81, Y:1.97, Z:-0.10 [[ 9.93262240e-01 1.15882140e-01 1.20491389e-03 1.34808446e+02] [-1.15882104e-01 9.93262970e-01 -1.00317594e-04 1.96533320e+00] [-1.20842137e-03 -3.99862782e-05 9.99999269e-01 -9.83967730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.84, Y:1.96, Z:-0.10 [[ 9.93424281e-01 1.14470283e-01 2.17983897e-03 1.34841448e+02] [-1.14470159e-01 9.93426670e-01 -1.82218214e-04 1.96288887e+00] [-2.18636874e-03 -6.85065153e-05 9.99997608e-01 -9.87262615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.87, Y:1.96, Z:-0.10 [[ 9.93476940e-01 1.14029449e-01 9.24798075e-04 1.34874493e+02] [-1.14029428e-01 9.93477370e-01 -7.60596192e-05 1.96017630e+00] [-9.27438996e-04 -2.98907175e-05 9.99999569e-01 -9.94077148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.91, Y:1.96, Z:-0.10 [[ 9.93514675e-01 1.13703840e-01 -1.62919771e-04 1.34906323e+02] [-1.13703839e-01 9.93514689e-01 1.60873205e-05 1.95739575e+00] [ 1.63692376e-04 2.54161450e-06 9.99999987e-01 -1.00114093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.94, Y:1.95, Z:-0.10 [[ 9.93513417e-01 1.13703736e-01 1.59685479e-03 1.34939141e+02] [-1.13703668e-01 9.93514700e-01 -1.33710669e-04 1.95432872e+00] [-1.60170211e-03 -4.87249024e-05 9.99998716e-01 -1.00286490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.97, Y:1.95, Z:-0.10 [[ 9.93540199e-01 1.13410403e-01 3.99413813e-03 1.34970779e+02] [-1.13409956e-01 9.93548221e-01 -3.38855313e-04 1.95165915e+00] [-4.00679855e-03 -1.16308655e-04 9.99991966e-01 -1.00198344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.00, Y:1.94, Z:-0.10 [[ 9.93609982e-01 1.12791150e-01 4.16647701e-03 1.35002041e+02] [-1.12790655e-01 9.93618711e-01 -3.54328119e-04 1.94483704e+00] [-4.17985459e-03 -1.17875715e-04 9.99991257e-01 -1.00145771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.03, Y:1.94, Z:-0.10 [[ 9.93745253e-01 1.11571789e-01 4.70199258e-03 1.35034771e+02] [-1.11571140e-01 9.93756369e-01 -4.00938660e-04 1.93869055e+00] [-4.71736851e-03 -1.26175781e-04 9.99988865e-01 -9.93099185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.07, Y:1.93, Z:-0.10 [[ 9.94307657e-01 1.06466068e-01 4.15455099e-03 1.35066899e+02] [-1.06465514e-01 9.94316332e-01 -3.54849733e-04 1.93421677e+00] [-4.16871736e-03 -8.94866027e-05 9.99991307e-01 -1.00425660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.10, Y:1.93, Z:-0.10 [[ 9.94601977e-01 1.03724771e-01 2.84240521e-03 1.35099394e+02] [-1.03724502e-01 9.94606037e-01 -2.42433634e-04 1.93169608e+00] [-2.85221976e-03 -5.37020928e-05 9.99995931e-01 -1.03153729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.13, Y:1.92, Z:-0.11 [[ 9.95115740e-01 9.87077541e-02 1.20140319e-03 1.35130706e+02] [-9.87077034e-02 9.95116465e-01 -1.01506131e-04 1.92440727e+00] [-1.20555553e-03 -1.75774011e-05 9.99999273e-01 -1.05883735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.16, Y:1.92, Z:-0.11 [[ 9.95242513e-01 9.74145502e-02 1.65700297e-03 1.35163593e+02] [-9.74144505e-02 9.95243892e-01 -1.40940940e-04 1.91662926e+00] [-1.66285178e-03 -2.11456182e-05 9.99998617e-01 -1.05250652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.20, Y:1.90, Z:-0.10 [[ 9.95179667e-01 9.80162728e-02 3.20023745e-03 1.35195738e+02] [-9.80158953e-02 9.95184811e-01 -2.74977543e-04 1.90424144e+00] [-3.21177998e-03 -4.00220796e-05 9.99994841e-01 -1.02372186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.23, Y:1.90, Z:-0.10 [[ 9.95024970e-01 9.95598360e-02 3.62592687e-03 1.35227475e+02] [-9.95593557e-02 9.95031576e-01 -3.13157868e-04 1.89848850e+00] [-3.63908967e-03 -4.93950447e-05 9.99993377e-01 -1.01587586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.26, Y:1.89, Z:-0.10 [[ 9.94459068e-01 1.05049833e-01 3.96161993e-03 1.35260300e+02] [-1.05049303e-01 9.94466956e-01 -3.42158153e-04 1.89407178e+00] [-3.97564377e-03 -7.59031361e-05 9.99992094e-01 -1.02396222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.29, Y:1.89, Z:-0.11 [[ 9.93586111e-01 1.13045400e-01 2.71614113e-03 1.35291831e+02] [-1.13045181e-01 9.93589821e-01 -2.34498856e-04 1.88749686e+00] [-2.72523920e-03 -7.40518585e-05 9.99996284e-01 -1.05267375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.32, Y:1.88, Z:-0.11 [[ 9.93155464e-01 1.16784031e-01 1.92719967e-03 1.35324205e+02] [-1.16783928e-01 9.93157332e-01 -1.65971577e-04 1.88176455e+00] [-1.93339531e-03 -6.02303688e-05 9.99998129e-01 -1.06485534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.36, Y:1.88, Z:-0.11 [[ 9.92360680e-01 1.23369710e-01 4.42589834e-04 1.35356156e+02] [-1.23369706e-01 9.92360778e-01 -3.65827113e-05 1.87699498e+00] [-4.43721991e-04 -1.82989334e-05 9.99999901e-01 -1.07635592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.39, Y:1.87, Z:-0.11 [[ 9.92048820e-01 1.25853594e-01 1.10819864e-04 1.35388438e+02] [-1.25853594e-01 9.92048826e-01 -7.40861165e-06 1.87355704e+00] [-1.10871116e-04 -6.59737372e-06 9.99999994e-01 -1.08572148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.42, Y:1.87, Z:-0.11 [[ 9.91706449e-01 1.28523518e-01 -1.55491591e-04 1.35421205e+02] [-1.28523517e-01 9.91706461e-01 1.59761675e-05 1.86756148e+00] [ 1.56255329e-04 4.14065782e-06 9.99999988e-01 -1.09515117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.45, Y:1.86, Z:-0.11 [[ 9.91565041e-01 1.29608825e-01 -5.66622312e-04 1.35453108e+02] [-1.29608817e-01 9.91565203e-01 5.20401344e-05 1.86289575e+00] [ 5.68587828e-04 2.18380693e-05 9.99999838e-01 -1.09367504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.48, Y:1.86, Z:-0.11 [[ 9.91316682e-01 1.31495962e-01 -2.21302057e-04 1.35484752e+02] [-1.31495960e-01 9.91316706e-01 2.16680380e-05 1.85644420e+00] [ 2.22229686e-04 7.62043904e-06 9.99999975e-01 -1.09278399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.52, Y:1.85, Z:-0.11 [[ 9.91158430e-01 1.32683696e-01 -5.99429943e-05 1.35516153e+02] [-1.32683695e-01 9.91158432e-01 7.42494173e-06 1.85381320e+00] [ 6.03981727e-05 5.94164413e-07 9.99999998e-01 -1.09650106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.55, Y:1.85, Z:-0.11 [[ 9.90873394e-01 1.34785909e-01 -1.63602056e-03 1.35549619e+02] [-1.34785850e-01 9.90874741e-01 1.47187384e-04 1.85314321e+00] [ 1.64093023e-03 7.46683582e-05 9.99998651e-01 -1.12475351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.58, Y:1.85, Z:-0.11 [[ 9.90777377e-01 1.35484550e-01 -2.03127926e-03 1.35581306e+02] [-1.35484461e-01 9.90779455e-01 1.82392864e-04 1.84648458e+00] [ 2.03726117e-03 9.44960518e-05 9.99997920e-01 -1.12335637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.61, Y:1.84, Z:-0.11 [[ 9.90766913e-01 1.35566657e-01 -1.61429373e-03 1.35613552e+02] [-1.35566599e-01 9.90768225e-01 1.45862067e-04 1.84036448e+00] [ 1.61916496e-03 7.43290004e-05 9.99998686e-01 -1.11289739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.65, Y:1.83, Z:-0.11 [[ 9.90982194e-01 1.33990072e-01 -9.75382907e-04 1.35645056e+02] [-1.33990049e-01 9.90982673e-01 8.82893971e-05 1.83470165e+00] [ 9.78417463e-04 4.31983834e-05 9.99999520e-01 -1.10563711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.68, Y:1.83, Z:-0.11 [[ 9.91215925e-01 1.32251387e-01 -7.48553095e-04 1.35678385e+02] [-1.32251373e-01 9.91216207e-01 6.90885003e-05 1.83212365e+00] [ 7.51115010e-04 3.05155525e-05 9.99999717e-01 -1.12194969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.71, Y:1.83, Z:-0.12 [[ 9.91741486e-01 1.28252448e-01 3.67280259e-04 1.35710132e+02] [-1.28252445e-01 9.91741554e-01 -3.06962595e-05 1.83169938e+00] [-3.68183965e-04 -1.66618373e-05 9.99999932e-01 -1.16193293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.74, Y:1.83, Z:-0.12 [[ 9.91883448e-01 1.27141196e-01 1.53017591e-03 1.35741978e+02] [-1.27141139e-01 9.91884627e-01 -1.34945475e-04 1.82863383e+00] [-1.53491509e-03 -6.06981246e-05 9.99998820e-01 -1.17103113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.77, Y:1.82, Z:-0.12 [[ 9.92091376e-01 1.25509880e-01 1.40432651e-03 1.35774513e+02] [-1.25509830e-01 9.92092368e-01 -1.23800388e-04 1.81968605e+00] [-1.40875978e-03 -5.34354836e-05 9.99999006e-01 -1.15526375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.81, Y:1.81, Z:-0.11 [[ 9.92175167e-01 1.24848976e-01 -1.08178022e-03 1.35806486e+02] [-1.24848942e-01 9.92175757e-01 9.95336591e-05 1.81240598e+00] [ 1.08574278e-03 3.63042909e-05 9.99999410e-01 -1.14444595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.84, Y:1.81, Z:-0.11 [[ 9.92159725e-01 1.24971638e-01 -1.08183092e-03 1.35839799e+02] [-1.24971604e-01 9.92160314e-01 9.89688127e-05 1.80926560e+00] [ 1.08571800e-03 3.70052751e-05 9.99999410e-01 -1.14859833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.87, Y:1.81, Z:-0.12 [[ 9.92194877e-01 1.24660478e-01 -3.01532431e-03 1.35871941e+02] [-1.24660222e-01 9.92199453e-01 2.73296411e-04 1.80518390e+00] [ 3.02587240e-03 1.04727701e-04 9.99995417e-01 -1.15178893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.91, Y:1.81, Z:-0.12 [[ 9.92082568e-01 1.25577502e-01 -1.57137187e-03 1.35905590e+02] [-1.25577431e-01 9.92083811e-01 1.44176629e-04 1.80732075e+00] [ 1.57703793e-03 5.42937224e-05 9.99998755e-01 -1.18156231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.94, Y:1.81, Z:-0.12 [[ 9.92046746e-01 1.25841236e-01 -2.69008950e-03 1.35938672e+02] [-1.25841031e-01 9.92050389e-01 2.45750471e-04 1.80550770e+00] [ 2.69962988e-03 9.47276822e-05 9.99996352e-01 -1.19516423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.97, Y:1.80, Z:-0.12 [[ 9.91997697e-01 1.26149866e-01 -5.17502594e-03 1.35970917e+02] [-1.26149126e-01 9.92011178e-01 4.70459032e-04 1.80252211e+00] [ 5.19303192e-03 1.86130721e-04 9.99986499e-01 -1.20334817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.00, Y:1.80, Z:-0.12 [[ 9.91926602e-01 1.26724900e-01 -4.73463423e-03 1.36003150e+02] [-1.26724284e-01 9.91937886e-01 4.31064940e-04 1.79875960e+00] [ 4.75108973e-03 1.72408353e-04 9.99988699e-01 -1.20406457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.04, Y:1.80, Z:-0.12 [[ 9.91650580e-01 1.28926580e-01 -2.65796930e-03 1.36036026e+02] [-1.28926389e-01 9.91654137e-01 2.43909443e-04 1.79542683e+00] [ 2.66723266e-03 1.00809442e-04 9.99996438e-01 -1.17631936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.07, Y:1.79, Z:-0.12 [[ 9.91464691e-01 1.30362884e-01 -1.81249751e-03 1.36069213e+02] [-1.30362795e-01 9.91466345e-01 1.67401831e-04 1.79376193e+00] [ 1.81885326e-03 7.03092361e-05 9.99998343e-01 -1.17191637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.10, Y:1.80, Z:-0.12 [[ 9.91335490e-01 1.31353952e-01 2.93546639e-04 1.36101463e+02] [-1.31353951e-01 9.91335533e-01 -2.47048949e-05 1.79601784e+00] [-2.94248300e-04 -1.40676717e-05 9.99999957e-01 -1.18139513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.13, Y:1.80, Z:-0.12 [[ 9.91520051e-01 1.29949850e-01 1.01217029e-03 1.36134131e+02] [-1.29949826e-01 9.91520567e-01 -9.02976088e-05 1.79576942e+00] [-1.01532182e-03 -4.19994632e-05 9.99999484e-01 -1.19179878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.17, Y:1.79, Z:-0.12 [[ 9.91625801e-01 1.29141645e-01 8.40555499e-04 1.36166177e+02] [-1.29141628e-01 9.91626157e-01 -7.48903577e-05 1.79288483e+00] [-8.43188283e-04 -3.42874947e-05 9.99999644e-01 -1.20050867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.20, Y:1.79, Z:-0.12 [[ 9.91937970e-01 1.26721973e-01 -7.77637794e-04 1.36198783e+02] [-1.26721954e-01 9.91938275e-01 7.36274664e-05 1.79063273e+00] [ 7.80698909e-04 2.55099012e-05 9.99999695e-01 -1.22201014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.23, Y:1.79, Z:-0.12 [[ 9.92122157e-01 1.25267536e-01 -1.29233779e-03 1.36230560e+02] [-1.25267485e-01 9.92122998e-01 1.20955803e-04 1.78802092e+00] [ 1.29730988e-03 4.18849728e-05 9.99999158e-01 -1.23208460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.26, Y:1.79, Z:-0.12 [[ 9.92437568e-01 1.22725180e-01 -2.49092029e-03 1.36263303e+02] [-1.22724985e-01 9.92440691e-01 2.31788623e-04 1.78591348e+00] [ 2.50053696e-03 7.56624178e-05 9.99996871e-01 -1.23644605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.30, Y:1.78, Z:-0.12 [[ 9.92514367e-01 1.22094568e-01 -2.85448044e-03 1.36295484e+02] [-1.22094309e-01 9.92518468e-01 2.65633074e-04 1.78281415e+00] [ 2.86555690e-03 8.48711731e-05 9.99995891e-01 -1.23545979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.33, Y:1.78, Z:-0.12 [[ 9.92476610e-01 1.22367693e-01 -4.04057004e-03 1.36328081e+02] [-1.22367175e-01 9.92484828e-01 3.76044895e-04 1.77979375e+00] [ 4.05622021e-03 1.21217380e-04 9.99991766e-01 -1.22755960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.36, Y:1.78, Z:-0.12 [[ 9.92434006e-01 1.22687279e-01 -4.75141441e-03 1.36361143e+02] [-1.22686564e-01 9.92445369e-01 4.42753153e-04 1.77856600e+00] [ 4.76983941e-03 1.43531424e-04 9.99988614e-01 -1.23761680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.39, Y:1.78, Z:-0.13 [[ 9.92336118e-01 1.23492605e-01 -4.31342513e-03 1.36392978e+02] [-1.23492020e-01 9.92345484e-01 4.02736822e-04 1.77927900e+00] [ 4.33014296e-03 1.33023287e-04 9.99990616e-01 -1.25915545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.42, Y:1.78, Z:-0.12 [[ 9.92129247e-01 1.25203600e-01 -1.90150432e-03 1.36424707e+02] [-1.25203486e-01 9.92131067e-01 1.79003110e-04 1.77672552e+00] [ 1.90895334e-03 6.04807488e-05 9.99998176e-01 -1.24183554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.46, Y:1.77, Z:-0.12 [[ 9.91945878e-01 1.26660176e-01 -7.58038063e-04 1.36457950e+02] [-1.26660157e-01 9.91946168e-01 7.29652102e-05 1.77464553e+00] [ 7.61174737e-04 2.36356804e-05 9.99999710e-01 -1.23778228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.49, Y:1.77, Z:-0.12 [[ 9.91656813e-01 1.28903719e-01 -7.72714054e-04 1.36489497e+02] [-1.28903700e-01 9.91657113e-01 7.43158818e-05 1.77391208e+00] [ 7.75846982e-04 2.59098503e-05 9.99999699e-01 -1.24413430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.52, Y:1.77, Z:-0.12 [[ 9.91492044e-01 1.30161387e-01 -1.24068986e-03 1.36521141e+02] [-1.30161340e-01 9.91492820e-01 1.18221747e-04 1.77117187e+00] [ 1.24552299e-03 4.42739333e-05 9.99999223e-01 -1.24908270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.55, Y:1.77, Z:-0.12 [[ 9.91138665e-01 1.32829162e-01 -7.47962096e-04 1.36553788e+02] [-1.32829145e-01 9.91138947e-01 7.24194924e-05 1.76998722e+00] [ 7.50953785e-04 2.75734069e-05 9.99999718e-01 -1.24703941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.59, Y:1.77, Z:-0.13 [[ 9.90919751e-01 1.34454211e-01 -3.35467081e-04 1.36586063e+02] [-1.34454207e-01 9.90919808e-01 3.36479181e-05 1.77205869e+00] [ 3.36945080e-04 1.17625737e-05 9.99999943e-01 -1.26011403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.62, Y:1.77, Z:-0.13 [[ 9.90954526e-01 1.34187503e-01 -1.68556907e-03 1.36618700e+02] [-1.34187423e-01 9.90955957e-01 1.60944123e-04 1.77112055e+00] [ 1.69192140e-03 6.66938629e-05 9.99998566e-01 -1.27945732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.65, Y:1.77, Z:-0.13 [[ 9.91280925e-01 1.31737680e-01 -2.70383668e-03 1.36650366e+02] [-1.31737468e-01 9.91284608e-01 2.57106909e-04 1.76540246e+00] [ 2.71414236e-03 1.01331424e-04 9.99996312e-01 -1.28362380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.68, Y:1.76, Z:-0.13 [[ 9.91552504e-01 1.29700819e-01 -1.15262692e-03 1.36683310e+02] [-1.29700777e-01 9.91553174e-01 1.11184385e-04 1.75858481e+00] [ 1.15731158e-03 3.92514511e-05 9.99999330e-01 -1.26675792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.72, Y:1.75, Z:-0.12 [[ 9.92039301e-01 1.25927403e-01 5.60363300e-04 1.36716067e+02] [-1.25927395e-01 9.92039459e-01 -5.07389111e-05 1.75405943e+00] [-5.62291924e-04 -2.02300964e-05 9.99999842e-01 -1.24735250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.75, Y:1.75, Z:-0.13 [[ 9.92293316e-01 1.23909844e-01 -5.71021825e-04 1.36747942e+02] [-1.23909832e-01 9.92293480e-01 5.55654871e-05 1.75330607e+00] [ 5.73506344e-04 1.56179572e-05 9.99999835e-01 -1.28284770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.78, Y:1.75, Z:-0.13 [[ 9.92402203e-01 1.23035321e-01 -4.21348113e-04 1.36779785e+02] [-1.23035315e-01 9.92402292e-01 4.20527886e-05 1.74868783e+00] [ 4.23320812e-04 1.01074177e-05 9.99999910e-01 -1.28960939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.81, Y:1.74, Z:-0.13 [[ 9.92515206e-01 1.22121104e-01 -4.30368799e-05 1.36812443e+02] [-1.22121104e-01 9.92515207e-01 6.29118022e-06 1.74203386e+00] [ 4.34830435e-05 -9.88380730e-07 9.99999999e-01 -1.28460994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.84, Y:1.74, Z:-0.13 [[ 9.92495029e-01 1.22284930e-01 -1.18820471e-04 1.36844823e+02] [-1.22284929e-01 9.92495036e-01 1.36825412e-05 1.73783030e+00] [ 1.19601896e-04 9.50098843e-07 9.99999993e-01 -1.28422638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.88, Y:1.73, Z:-0.13 [[ 9.92219890e-01 1.24487439e-01 -1.60249326e-03 1.36876807e+02] [-1.24487350e-01 9.92221183e-01 1.55228781e-04 1.73247282e+00] [ 1.60935179e-03 4.54690561e-05 9.99998704e-01 -1.27388739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.91, Y:1.73, Z:-0.13 [[ 9.91978552e-01 1.26386616e-01 -2.23064108e-03 1.36908640e+02] [-1.26386450e-01 9.91981058e-01 2.15508687e-04 1.72886217e+00] [ 2.23999111e-03 6.81428121e-05 9.99997489e-01 -1.27959110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.94, Y:1.72, Z:-0.13 [[ 9.91598305e-01 1.29333229e-01 -2.39110136e-03 1.36941056e+02] [-1.29333046e-01 9.91601185e-01 2.31470200e-04 1.72324413e+00] [ 2.40095573e-03 7.97229639e-05 9.99997115e-01 -1.29347398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.97, Y:1.72, Z:-0.13 [[ 9.91456433e-01 1.30437823e-01 -3.41774759e-04 1.36973292e+02] [-1.30437819e-01 9.91456491e-01 3.51585387e-05 1.71763789e+00] [ 3.43440807e-04 9.72219472e-06 9.99999941e-01 -1.28697035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.01, Y:1.72, Z:-0.13 [[ 9.91322391e-01 1.31451893e-01 5.63151419e-04 1.37005312e+02] [-1.31451884e-01 9.91322551e-01 -5.20185535e-05 1.71522831e+00] [-5.65102639e-04 -2.24601585e-05 9.99999840e-01 -1.28515047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.04, Y:1.71, Z:-0.13 [[ 9.91182385e-01 1.32501900e-01 -8.52733904e-04 1.37038367e+02] [-1.32501876e-01 9.91182751e-01 8.45040797e-05 1.71234613e+00] [ 8.56412088e-04 2.92298870e-05 9.99999633e-01 -1.30845762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.07, Y:1.71, Z:-0.13 [[ 9.91154752e-01 1.32695736e-01 -2.02462558e-03 1.37070176e+02] [-1.32695609e-01 9.91156817e-01 1.97676296e-04 1.70685955e+00] [ 2.03295224e-03 7.27311239e-05 9.99997931e-01 -1.31818036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.10, Y:1.70, Z:-0.13 [[ 9.91078714e-01 1.33269296e-01 -1.50931216e-03 1.37102847e+02] [-1.33269225e-01 9.91079861e-01 1.48377198e-04 1.69721349e+00] [ 1.51562301e-03 5.40913790e-05 9.99998850e-01 -1.29634709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.13, Y:1.69, Z:-0.13 [[ 9.91042590e-01 1.33545750e-01 -3.41630969e-04 1.37134666e+02] [-1.33545746e-01 9.91042649e-01 3.52918082e-05 1.69208847e+00] [ 3.43283932e-04 1.06476777e-05 9.99999941e-01 -1.28343927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.17, Y:1.69, Z:-0.13 [[ 9.91149995e-01 1.32745902e-01 4.61831325e-04 1.37167919e+02] [-1.32745896e-01 9.91150102e-01 -4.25679444e-05 1.68870950e+00] [-4.63394886e-04 -1.91149953e-05 9.99999892e-01 -1.28343595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.20, Y:1.68, Z:-0.13 [[ 9.91375197e-01 1.31053767e-01 -3.58938353e-04 1.37199331e+02] [-1.31053763e-01 9.91375262e-01 3.63365469e-05 1.68492180e+00] [ 3.60604645e-04 1.10170704e-05 9.99999935e-01 -1.30430185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.23, Y:1.68, Z:-0.13 [[ 9.91519240e-01 1.29959715e-01 -2.64209482e-04 1.37231558e+02] [-1.29959712e-01 9.91519275e-01 2.80309727e-05 1.67959597e+00] [ 2.65611691e-04 6.54333938e-06 9.99999965e-01 -1.31404581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.26, Y:1.67, Z:-0.13 [[ 9.91760306e-01 1.28101753e-01 1.19878872e-03 1.37262326e+02] [-1.28101707e-01 9.91761029e-01 -1.14868689e-04 1.66930043e+00] [-1.20362682e-03 -3.96446760e-05 9.99999275e-01 -1.31031715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.29, Y:1.66, Z:-0.13 [[ 9.91840890e-01 1.27468699e-01 1.83862582e-03 1.37293752e+02] [-1.27468587e-01 9.91842592e-01 -1.78260149e-04 1.66149773e+00] [-1.84634999e-03 -5.75613302e-05 9.99998294e-01 -1.30173561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.33, Y:1.65, Z:-0.13 [[ 9.91939424e-01 1.26710009e-01 8.67935788e-04 1.37326514e+02] [-1.26709985e-01 9.91939803e-01 -8.26488136e-05 1.65369205e+00] [-8.71412486e-04 -2.79935140e-05 9.99999620e-01 -1.29246287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.36, Y:1.65, Z:-0.13 [[ 9.91887627e-01 1.27113055e-01 1.09823938e-03 1.37358189e+02] [-1.27113016e-01 9.91888235e-01 -1.05538237e-04 1.65098136e+00] [-1.10274601e-03 -3.49184482e-05 9.99999391e-01 -1.30874143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.39, Y:1.65, Z:-0.13 [[ 9.91816721e-01 1.27661981e-01 1.41773192e-03 1.37390994e+02] [-1.27661915e-01 9.91817734e-01 -1.37015449e-04 1.64553074e+00] [-1.42362333e-03 -4.50961593e-05 9.99998986e-01 -1.33302374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.42, Y:1.64, Z:-0.13 [[ 9.91804554e-01 1.27759979e-01 1.05577071e-03 1.37422382e+02] [-1.27759943e-01 9.91805115e-01 -1.02439007e-04 1.63854636e+00] [-1.06020639e-03 -3.32857316e-05 9.99999437e-01 -1.33444052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.45, Y:1.63, Z:-0.13 [[ 9.91681536e-01 1.28701784e-01 1.89280174e-03 1.37454631e+02] [-1.28701666e-01 9.91683340e-01 -1.84300311e-04 1.62725987e+00] [-1.90077973e-03 -6.08395223e-05 9.99998192e-01 -1.31988515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.49, Y:1.62, Z:-0.13 [[ 9.91492074e-01 1.30150207e-01 2.09537652e-03 1.37487297e+02] [-1.30150064e-01 9.91494286e-01 -2.04663133e-04 1.61774003e+00] [-2.10419080e-03 -6.97915152e-05 9.99997784e-01 -1.31294939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.52, Y:1.61, Z:-0.13 [[ 9.91340437e-01 1.31310176e-01 1.33280199e-03 1.37519608e+02] [-1.31310120e-01 9.91341331e-01 -1.29610737e-04 1.61251857e+00] [-1.33828091e-03 -4.65220256e-05 9.99999103e-01 -1.32195350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.55, Y:1.61, Z:-0.13 [[ 9.90930724e-01 1.34373222e-01 3.71621771e-04 1.37551321e+02] [-1.34373218e-01 9.90930793e-01 -3.47178375e-05 1.60830371e+00] [-3.72916604e-04 -1.55330415e-05 9.99999930e-01 -1.33976951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.58, Y:1.60, Z:-0.14 [[ 9.90673042e-01 1.36260453e-01 -1.13291603e-04 1.37584362e+02] [-1.36260453e-01 9.90673048e-01 1.35288812e-05 1.60339922e+00] [ 1.14078389e-04 2.03446722e-06 9.99999993e-01 -1.35140953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.62, Y:1.60, Z:-0.14 [[ 9.90254099e-01 1.39259851e-01 -1.87424903e-03 1.37615944e+02] [-1.39259743e-01 9.90255870e-01 1.88558569e-04 1.59545988e+00] [ 1.88224474e-03 7.42865416e-05 9.99998226e-01 -1.35037126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.65, Y:1.59, Z:-0.13 [[ 9.90113219e-01 1.40259398e-01 -1.76478956e-03 1.37648370e+02] [-1.40259303e-01 9.90114789e-01 1.78118734e-04 1.59119716e+00] [ 1.77232707e-03 7.11704404e-05 9.99998427e-01 -1.34461617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.68, Y:1.59, Z:-0.13 [[ 9.89849681e-01 1.42118172e-01 1.82204687e-04 1.37681023e+02] [-1.42118172e-01 9.89849698e-01 -1.58288799e-05 1.58920311e+00] [-1.82604826e-04 -1.02263853e-05 9.99999983e-01 -1.34456705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.71, Y:1.58, Z:-0.14 [[ 9.89785836e-01 1.42553468e-01 1.58365344e-03 1.37712738e+02] [-1.42553401e-01 9.89787100e-01 -1.56208758e-04 1.58460139e+00] [-1.58974785e-03 -7.11419668e-05 9.99998734e-01 -1.35398320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.74, Y:1.58, Z:-0.14 [[ 9.89892664e-01 1.41800870e-01 2.24228242e-03 1.37743866e+02] [-1.41800729e-01 9.89895198e-01 -2.22518967e-04 1.57838003e+00] [-2.25117798e-03 -9.76873878e-05 9.99997461e-01 -1.35034313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.78, Y:1.57, Z:-0.13 [[ 9.90524803e-01 1.37185617e-01 6.38124788e-03 1.37775425e+02] [-1.37184344e-01 9.90545328e-01 -6.38724810e-04 1.57246710e+00] [-6.40853913e-03 -2.42734540e-04 9.99979436e-01 -1.33957416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.81, Y:1.57, Z:-0.13 [[ 9.90922907e-01 1.34166920e-01 8.42797599e-03 1.37807920e+02] [-1.34164582e-01 9.90958703e-01 -8.44707711e-04 1.57005757e+00] [-8.46510799e-03 -2.93695658e-04 9.99964127e-01 -1.34469548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.84, Y:1.56, Z:-0.14 [[ 9.91705877e-01 1.28342733e-01 6.89908021e-03 1.37839523e+02] [-1.28341019e-01 9.91729854e-01 -6.92343635e-04 1.56464617e+00] [-6.93088109e-03 -1.98833735e-04 9.99975961e-01 -1.37038872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.87, Y:1.55, Z:-0.14 [[ 9.92362636e-01 1.23292850e-01 3.90780498e-03 1.37870092e+02] [-1.23292262e-01 9.92370326e-01 -3.91999287e-04 1.55310295e+00] [-3.92632042e-03 -9.27966695e-05 9.99992288e-01 -1.36568446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.90, Y:1.55, Z:-0.14 [[ 9.92588278e-01 1.21460397e-01 3.98529387e-03 1.37902876e+02] [-1.21459768e-01 9.92596275e-01 -4.00430836e-04 1.54639300e+00] [-4.00442434e-03 -8.65899155e-05 9.99991979e-01 -1.35857335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.94, Y:1.54, Z:-0.14 [[ 9.92578638e-01 1.21539155e-01 3.98513542e-03 1.37936163e+02] [-1.21538520e-01 9.92586634e-01 -4.01999258e-04 1.54290101e+00] [-4.00445081e-03 -8.53315838e-05 9.99991979e-01 -1.36272807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.97, Y:1.54, Z:-0.14 [[ 9.92847488e-01 1.19351977e-01 2.99521300e-03 1.37967797e+02] [-1.19351611e-01 9.92852004e-01 -3.01293065e-04 1.53793057e+00] [-3.00976316e-03 -5.83454334e-05 9.99995469e-01 -1.37588547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.00, Y:1.54, Z:-0.14 [[ 9.92878706e-01 1.19122289e-01 1.32504771e-03 1.38000678e+02] [-1.19122218e-01 9.92879590e-01 -1.32209157e-04 1.53621839e+00] [-1.33136189e-03 -2.65749666e-05 9.99999113e-01 -1.40035676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.03, Y:1.53, Z:-0.14 [[ 9.92794568e-01 1.19823906e-01 1.08527947e-03 1.38033203e+02] [-1.19823860e-01 9.92795161e-01 -1.08082885e-04 1.53257929e+00] [-1.09041112e-03 -2.27382739e-05 9.99999405e-01 -1.41890115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.07, Y:1.53, Z:-0.14 [[ 9.92679987e-01 1.20772182e-01 7.24090353e-04 1.38065378e+02] [-1.20772162e-01 9.92680251e-01 -7.14406980e-05 1.52657494e+00] [-7.27418242e-04 -1.65322063e-05 9.99999735e-01 -1.42453354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.10, Y:1.51, Z:-0.14 [[ 9.92317671e-01 1.23715232e-01 4.26732880e-04 1.38097768e+02] [-1.23715225e-01 9.92317762e-01 -4.12137615e-05 1.51471093e+00] [-4.28553387e-04 -1.18962107e-05 9.99999908e-01 -1.39371757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.13, Y:1.51, Z:-0.14 [[ 9.91763582e-01 1.28033315e-01 3.53094633e-03 1.38129279e+02] [-1.28032848e-01 9.91769863e-01 -3.58731005e-04 1.51260094e+00] [-3.54781568e-03 -9.63007697e-05 9.99993702e-01 -1.39037568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.16, Y:1.51, Z:-0.14 [[ 9.91470501e-01 1.30245582e-01 4.72587496e-03 1.38162323e+02] [-1.30244765e-01 9.91481754e-01 -4.81613701e-04 1.51070183e+00] [-4.74834686e-03 -1.38014696e-04 9.99988717e-01 -1.40245015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.19, Y:1.50, Z:-0.14 [[ 9.91115369e-01 1.32984363e-01 2.34202687e-03 1.38194826e+02] [-1.32984171e-01 9.91118133e-01 -2.37944823e-04 1.50367462e+00] [-2.35286824e-03 -7.56217325e-05 9.99997229e-01 -1.42440867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.23, Y:1.50, Z:-0.14 [[ 9.90963419e-01 1.34127723e-01 1.12032223e-03 1.38226728e+02] [-1.34127681e-01 9.90964052e-01 -1.12968531e-04 1.49700157e+00] [-1.12535127e-03 -3.83185418e-05 9.99999366e-01 -1.42512076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.26, Y:1.49, Z:-0.14 [[ 9.90656962e-01 1.36318588e-01 4.00318500e-03 1.38259378e+02] [-1.36318044e-01 9.90665041e-01 -4.09750738e-04 1.49205564e+00] [-4.02167208e-03 -1.39783928e-04 9.99991903e-01 -1.42403410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.29, Y:1.49, Z:-0.14 [[ 9.90406498e-01 1.38056625e-01 5.94445881e-03 1.38291146e+02] [-1.38055442e-01 9.90424314e-01 -6.10844159e-04 1.48841690e+00] [-5.97186763e-03 -2.15680866e-04 9.99982145e-01 -1.42468192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.32, Y:1.48, Z:-0.14 [[ 9.90006646e-01 1.40957996e-01 4.20527060e-03 1.38323536e+02] [-1.40957430e-01 9.90015564e-01 -4.32183988e-04 1.48107435e+00] [-4.22420314e-03 -1.64899116e-04 9.99991064e-01 -1.41201352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.36, Y:1.48, Z:-0.14 [[ 9.89641294e-01 1.43562054e-01 -2.13737942e-04 1.38356489e+02] [-1.43562052e-01 9.89641317e-01 2.44218999e-05 1.47603310e+00] [ 2.15029956e-04 6.51573683e-06 9.99999977e-01 -1.43835434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.39, Y:1.47, Z:-0.14 [[ 9.89176620e-01 1.46729679e-01 -1.28070968e-04 1.38387812e+02] [-1.46729678e-01 9.89176628e-01 1.54257806e-05 1.47279576e+00] [ 1.28948228e-04 3.53299041e-06 9.99999992e-01 -1.44902353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.42, Y:1.47, Z:-0.14 [[ 9.88999334e-01 1.47918634e-01 6.28664159e-04 1.38420373e+02] [-1.47918624e-01 9.88999533e-01 -6.30520990e-05 1.46883903e+00] [-6.31075141e-04 -3.06326535e-05 9.99999800e-01 -1.44648478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.45, Y:1.47, Z:-0.15 [[ 9.88553233e-01 1.50871472e-01 -5.51899788e-04 1.38453628e+02] [-1.50871462e-01 9.88553387e-01 5.97160521e-05 1.46758806e+00] [ 5.54591853e-04 2.42334316e-05 9.99999846e-01 -1.45605058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.49, Y:1.46, Z:-0.15 [[ 9.88275583e-01 1.52678903e-01 -7.24779446e-04 1.38486691e+02] [-1.52678887e-01 9.88275848e-01 7.79159760e-05 1.46490306e+00] [ 7.28178147e-04 3.36560624e-05 9.99999734e-01 -1.46323839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.52, Y:1.46, Z:-0.14 [[ 9.87941330e-01 1.54812354e-01 2.25011078e-03 1.38517985e+02] [-1.54812224e-01 9.87943886e-01 -2.32761687e-04 1.45940383e+00] [-2.25901757e-03 -1.18389764e-04 9.99997441e-01 -1.43887491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.55, Y:1.46, Z:-0.14 [[ 9.87953996e-01 1.54698561e-01 3.90611133e-03 1.38550704e+02] [-1.54698161e-01 9.87961697e-01 -4.06340689e-04 1.45595186e+00] [-3.92194870e-03 -2.02822331e-04 9.99992289e-01 -1.42875440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.58, Y:1.46, Z:-0.14 [[ 9.88284976e-01 1.52555553e-01 4.42827971e-03 1.38583082e+02] [-1.52555011e-01 9.88294873e-01 -4.61867060e-04 1.45755127e+00] [-4.44690651e-03 -2.19099983e-04 9.99990088e-01 -1.43920496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.62, Y:1.46, Z:-0.15 [[ 9.89104725e-01 1.47188505e-01 2.71798255e-03 1.38615880e+02] [-1.47188282e-01 9.89108452e-01 -2.83061973e-04 1.45698199e+00] [-2.73004298e-03 -1.20077247e-04 9.99996266e-01 -1.47390508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.65, Y:1.45, Z:-0.15 [[ 9.89637118e-01 1.43566316e-01 2.66221660e-03 1.38648824e+02] [-1.43566087e-01 9.89640693e-01 -2.77602166e-04 1.45258816e+00] [-2.67449220e-03 -1.07478613e-04 9.99996418e-01 -1.47348526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.68, Y:1.45, Z:-0.15 [[ 9.90717991e-01 1.35872305e-01 4.07173419e-03 1.38680902e+02] [-1.35871698e-01 9.90726350e-01 -4.26546541e-04 1.44644911e+00] [-4.09193021e-03 -1.30646106e-04 9.99991619e-01 -1.45362864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.71, Y:1.44, Z:-0.14 [[ 9.91185289e-01 1.32401869e-01 4.63325730e-03 1.38713729e+02] [-1.32401040e-01 9.91196110e-01 -4.86544545e-04 1.44284679e+00] [-4.65688602e-03 -1.31192290e-04 9.99989148e-01 -1.44995614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.75, Y:1.44, Z:-0.15 [[ 9.91855455e-01 1.27291922e-01 4.41846918e-03 1.38745854e+02] [-1.27291113e-01 9.91865291e-01 -4.64808156e-04 1.44256088e+00] [-4.44169254e-03 -1.01409356e-04 9.99990130e-01 -1.45979806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.78, Y:1.44, Z:-0.15 [[ 9.92006172e-01 1.26116589e-01 4.28492296e-03 1.38779180e+02] [-1.26115815e-01 9.92015422e-01 -4.51408060e-04 1.44024837e+00] [-4.30763971e-03 -9.25969722e-05 9.99990718e-01 -1.47520163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.81, Y:1.44, Z:-0.15 [[ 9.92072904e-01 1.25546453e-01 5.42601006e-03 1.38812373e+02] [-1.25545195e-01 9.92087736e-01 -5.73147004e-04 1.43660234e+00] [-5.45503461e-03 -1.12605880e-04 9.99985115e-01 -1.47872920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.84, Y:1.43, Z:-0.15 [[ 9.92051570e-01 1.25713994e-01 5.44732543e-03 1.38843872e+02] [-1.25712721e-01 9.92066519e-01 -5.76923279e-04 1.43184580e+00] [-5.47663651e-03 -1.12460457e-04 9.99984997e-01 -1.47319927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.88, Y:1.43, Z:-0.15 [[ 9.92018544e-01 1.26062865e-01 2.71347969e-03 1.38876448e+02] [-1.26062553e-01 9.92022253e-01 -2.86373110e-04 1.42639495e+00] [-2.72793325e-03 -5.79807416e-05 9.99996278e-01 -1.47754755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.91, Y:1.43, Z:-0.15 [[ 9.91901301e-01 1.27005540e-01 1.18374719e-03 1.38909647e+02] [-1.27005482e-01 9.91902007e-01 -1.23796468e-04 1.42572269e+00] [-1.18988405e-03 -2.75485046e-05 9.99999292e-01 -1.49878466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.94, Y:1.42, Z:-0.15 [[ 9.91703884e-01 1.28540424e-01 8.74696273e-04 1.38941409e+02] [-1.28540394e-01 9.91704270e-01 -9.11789857e-05 1.42321222e+00] [-8.79160214e-04 -2.20112490e-05 9.99999613e-01 -1.50665143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.275336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:138.97, Y:1.42, Z:-0.15 [[ 9.91320049e-01 1.31466904e-01 1.00643197e-03 1.38973885e+02] [-1.31466865e-01 9.91320560e-01 -1.05273372e-04 1.41630908e+00] [-1.01153667e-03 -2.79528509e-05 9.99999488e-01 -1.49665153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.01, Y:1.41, Z:-0.15 [[ 9.91130662e-01 1.32855887e-01 3.05342352e-03 1.39006301e+02] [-1.32855517e-01 9.91135362e-01 -3.24690839e-04 1.40949408e+00] [-3.06949312e-03 -8.38531132e-05 9.99995286e-01 -1.46855806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.04, Y:1.41, Z:-0.15 [[ 9.90971409e-01 1.34031051e-01 3.36801606e-03 1.39038239e+02] [-1.34030604e-01 9.90977128e-01 -3.59138207e-04 1.40785337e+00] [-3.38576255e-03 -9.55215335e-05 9.99994264e-01 -1.48445853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.07, Y:1.41, Z:-0.15 [[ 9.90747175e-01 1.35692677e-01 2.74472182e-03 1.39070791e+02] [-1.35692387e-01 9.90750973e-01 -2.92782441e-04 1.40779744e+00] [-2.75906424e-03 -8.23644776e-05 9.99996190e-01 -1.52349034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.10, Y:1.40, Z:-0.15 [[ 9.90667781e-01 1.36274838e-01 2.55277733e-03 1.39103351e+02] [-1.36274588e-01 9.90671067e-01 -2.72507252e-04 1.40370420e+00] [-2.56609852e-03 -7.79145230e-05 9.99996705e-01 -1.53141766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.14, Y:1.40, Z:-0.15 [[ 9.90493020e-01 1.37541329e-01 2.44126316e-03 1.39135642e+02] [-1.37541103e-01 9.90496026e-01 -2.60927908e-04 1.39542180e+00] [-2.45394983e-03 -7.73267574e-05 9.99996986e-01 -1.51423159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.17, Y:1.39, Z:-0.15 [[ 9.90355358e-01 1.38540038e-01 1.70950674e-03 1.39166664e+02] [-1.38539929e-01 9.90356832e-01 -1.82480484e-04 1.38968428e+00] [-1.71830253e-03 -5.61144168e-05 9.99998522e-01 -1.50625358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.20, Y:1.39, Z:-0.15 [[ 9.90191214e-01 1.39715258e-01 -1.00305099e-03 1.39199467e+02] [-1.39715217e-01 9.90191722e-01 1.10724647e-04 1.38621437e+00] [ 1.00868271e-03 3.05029140e-05 9.99999491e-01 -1.51186858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.23, Y:1.39, Z:-0.15 [[ 9.90094285e-01 1.40390215e-01 -1.97321923e-03 1.39232113e+02] [-1.40390063e-01 9.90096250e-01 2.16066218e-04 1.38636073e+00] [ 1.98401054e-03 6.30944434e-05 9.99998030e-01 -1.54635925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.26, Y:1.38, Z:-0.16 [[ 9.90027749e-01 1.40866481e-01 -1.30041123e-03 1.39263884e+02] [-1.40866415e-01 9.90028602e-01 1.42458713e-04 1.38409658e+00] [ 1.30751197e-03 4.21461896e-05 9.99999144e-01 -1.55407686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.30, Y:1.38, Z:-0.15 [[ 9.89946754e-01 1.41438295e-01 7.95476662e-04 1.39296717e+02] [-1.41438273e-01 9.89947073e-01 -8.41672311e-05 1.37975489e+00] [-7.99384263e-04 -2.91897681e-05 9.99999680e-01 -1.54058345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.33, Y:1.37, Z:-0.15 [[ 9.89872331e-01 1.41947165e-01 1.94182930e-03 1.39327913e+02] [-1.41947027e-01 9.89874233e-01 -2.09207918e-04 1.37452704e+00] [-1.95186327e-03 -6.85477683e-05 9.99998093e-01 -1.52612519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.36, Y:1.37, Z:-0.15 [[ 9.89834371e-01 1.42157565e-01 4.37553573e-03 1.39360077e+02] [-1.42156854e-01 9.89844030e-01 -4.74684349e-04 1.36999685e+00] [-4.39857789e-03 -1.52153510e-04 9.99990315e-01 -1.50714647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.39, Y:1.37, Z:-0.15 [[ 9.89918857e-01 1.41562947e-01 4.53739037e-03 1.39391885e+02] [-1.41562171e-01 9.89929244e-01 -4.93280677e-04 1.36837485e+00] [-4.56152569e-03 -1.54014989e-04 9.99989584e-01 -1.53360086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.42, Y:1.37, Z:-0.15 [[ 9.90004009e-01 1.40987646e-01 3.81379689e-03 1.39424533e+02] [-1.40987093e-01 9.90011347e-01 -4.14827216e-04 1.36503063e+00] [-3.83418771e-03 -1.27015532e-04 9.99992641e-01 -1.54859922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.46, Y:1.36, Z:-0.16 [[ 9.89965155e-01 1.41245897e-01 4.31151339e-03 1.39456818e+02] [-1.41245187e-01 9.89974533e-01 -4.70071061e-04 1.36038528e+00] [-4.33468407e-03 -1.43626546e-04 9.99990595e-01 -1.55258169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.49, Y:1.36, Z:-0.15 [[ 9.89920935e-01 1.41554248e-01 4.35169860e-03 1.39488583e+02] [-1.41553525e-01 9.89930489e-01 -4.75395315e-04 1.35545631e+00] [-4.37517335e-03 -1.45394500e-04 9.99990418e-01 -1.54814778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.52, Y:1.35, Z:-0.15 [[ 9.89970843e-01 1.41221800e-01 3.75943499e-03 1.39520565e+02] [-1.41221256e-01 9.89977973e-01 -4.11129003e-04 1.35281205e+00] [-3.77981822e-03 -1.23906407e-04 9.99992849e-01 -1.53859164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.55, Y:1.35, Z:-0.16 [[ 9.89892082e-01 1.41787926e-01 3.13857587e-03 1.39553377e+02] [-1.41787549e-01 9.89897052e-01 -3.43260222e-04 1.35235283e+00] [-3.15553715e-03 -1.05220405e-04 9.99995016e-01 -1.55324380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.59, Y:1.35, Z:-0.16 [[ 9.89761323e-01 1.42703889e-01 2.85001151e-03 1.39586083e+02] [-1.42703582e-01 9.89765422e-01 -3.12009086e-04 1.34889777e+00] [-2.86536776e-03 -9.78923244e-05 9.99995890e-01 -1.55734101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.62, Y:1.34, Z:-0.15 [[ 9.89526466e-01 1.44314778e-01 3.25862471e-03 1.39617426e+02] [-1.44314382e-01 9.89531824e-01 -3.57799566e-04 1.34334898e+00] [-3.27614862e-03 -1.16214270e-04 9.99994627e-01 -1.54286664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.65, Y:1.34, Z:-0.15 [[ 9.89426097e-01 1.44977004e-01 4.20326509e-03 1.39650322e+02] [-1.44976344e-01 9.89435013e-01 -4.62815283e-04 1.33917615e+00] [-4.22595522e-03 -1.51452488e-04 9.99991059e-01 -1.53329001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.68, Y:1.34, Z:-0.15 [[ 9.89292753e-01 1.45847429e-01 5.32695694e-03 1.39683470e+02] [-1.45846374e-01 9.89307075e-01 -5.88087584e-04 1.33852018e+00] [-5.35576726e-03 -1.95126571e-04 9.99985639e-01 -1.53714921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.72, Y:1.34, Z:-0.16 [[ 9.89254533e-01 1.46113756e-01 5.12239013e-03 1.39715122e+02] [-1.46112779e-01 9.89267777e-01 -5.66460401e-04 1.33692166e+00] [-5.15018315e-03 -1.88073139e-04 9.99986720e-01 -1.55054079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.75, Y:1.34, Z:-0.16 [[ 9.89247749e-01 1.46192655e-01 4.07423689e-03 1.39748204e+02] [-1.46192036e-01 9.89256127e-01 -4.50767892e-04 1.33500110e+00] [-4.09636276e-03 -1.49699864e-04 9.99991599e-01 -1.56818104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.78, Y:1.33, Z:-0.16 [[ 9.89358135e-01 1.45473771e-01 2.80409207e-03 1.39780672e+02] [-1.45473475e-01 9.89362103e-01 -3.10055852e-04 1.33193837e+00] [-2.81936742e-03 -1.01164739e-04 9.99996020e-01 -1.58249203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.81, Y:1.33, Z:-0.16 [[ 9.89443166e-01 1.44902540e-01 2.33976354e-03 1.39813264e+02] [-1.44902333e-01 9.89445929e-01 -2.58681175e-04 1.32807966e+00] [-2.35255307e-03 -8.30868754e-05 9.99997229e-01 -1.58395735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.85, Y:1.33, Z:-0.16 [[ 9.89682641e-01 1.43185750e-01 5.10995220e-03 1.39846438e+02] [-1.43184721e-01 9.89695818e-01 -5.68644708e-04 1.32501450e+00] [-5.13872014e-03 -1.68889283e-04 9.99986782e-01 -1.57275895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.88, Y:1.33, Z:-0.16 [[ 9.89870841e-01 1.41827718e-01 6.37310802e-03 1.39879419e+02] [-1.41826077e-01 9.89891337e-01 -7.10989282e-04 1.32514474e+00] [-6.40952240e-03 -2.00085352e-04 9.99979439e-01 -1.57698573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.91, Y:1.32, Z:-0.16 [[ 9.89970358e-01 1.41159967e-01 5.70561586e-03 1.39911906e+02] [-1.41158636e-01 9.89986784e-01 -6.37335315e-04 1.32202484e+00] [-5.73845053e-03 -1.74453882e-04 9.99983520e-01 -1.59331938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.95, Y:1.32, Z:-0.16 [[ 9.89958774e-01 1.41241189e-01 5.70541869e-03 1.39945152e+02] [-1.41239849e-01 9.89975200e-01 -6.39094128e-04 1.31817529e+00] [-5.73848943e-03 -1.73155638e-04 9.99983520e-01 -1.59747429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.98, Y:1.31, Z:-0.16 [[ 9.90316933e-01 1.38717158e-01 5.47012756e-03 1.39976254e+02] [-1.38715889e-01 9.90332029e-01 -6.12510014e-04 1.31161493e+00] [-5.50220817e-03 -1.52214570e-04 9.99984851e-01 -1.59276934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.01, Y:1.31, Z:-0.16 [[ 9.90605944e-01 1.36622736e-01 5.83883508e-03 1.40007704e+02] [-1.36621245e-01 9.90623140e-01 -6.55372338e-04 1.30840666e+00] [-5.87362390e-03 -1.48493186e-04 9.99982739e-01 -1.58929707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.04, Y:1.31, Z:-0.16 [[ 9.90619743e-01 1.36554159e-01 5.04846117e-03 1.40040157e+02] [-1.36553044e-01 9.90632598e-01 -5.66535264e-04 1.30640602e+00] [-5.07853296e-03 -1.28161725e-04 9.99987096e-01 -1.60018846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.07, Y:1.31, Z:-0.16 [[ 9.90528811e-01 1.37218033e-01 4.88738869e-03 1.40072065e+02] [-1.37216991e-01 9.90540860e-01 -5.49386936e-04 1.30666283e+00] [-4.91654400e-03 -1.26449183e-04 9.99987906e-01 -1.60877758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.10, Y:1.30, Z:-0.16 [[ 9.90377158e-01 1.38302449e-01 5.05154744e-03 1.40104164e+02] [-1.38301346e-01 9.90390031e-01 -5.68789440e-04 1.30485388e+00] [-5.08166720e-03 -1.35319741e-04 9.99987079e-01 -1.61711255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.14, Y:1.30, Z:-0.16 [[ 9.89871738e-01 1.41935998e-01 2.84862758e-03 1.40136578e+02] [-1.41935663e-01 9.89875833e-01 -3.20239781e-04 1.30196753e+00] [-2.86524115e-03 -8.73255361e-05 9.99995891e-01 -1.61811797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.17, Y:1.30, Z:-0.16 [[ 9.89332120e-01 1.45641655e-01 3.23475531e-03 1.40169551e+02] [-1.45641241e-01 9.89337403e-01 -3.64539813e-04 1.29804067e+00] [-3.25335660e-03 -1.10462832e-04 9.99994702e-01 -1.60506369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.20, Y:1.30, Z:-0.16 [[ 9.89043657e-01 1.47569029e-01 4.00322245e-03 1.40201985e+02] [-1.47568403e-01 9.89051748e-01 -4.52949776e-04 1.29850118e+00] [-4.02623552e-03 -1.42762042e-04 9.99991884e-01 -1.61349136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.23, Y:1.30, Z:-0.16 [[ 9.89041373e-01 1.47584150e-01 4.01011258e-03 1.40234489e+02] [-1.47583522e-01 9.89049492e-01 -4.53588513e-04 1.29672107e+00] [-4.03314229e-03 -1.43208734e-04 9.99991857e-01 -1.62398912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.27, Y:1.30, Z:-0.16 [[ 9.89189460e-01 1.46587448e-01 4.04122707e-03 1.40266339e+02] [-1.46586797e-01 9.89197706e-01 -4.58430808e-04 1.29512530e+00] [-4.06477274e-03 -1.38915606e-04 9.99991729e-01 -1.63452754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.30, Y:1.29, Z:-0.17 [[ 9.89315040e-01 1.45748651e-01 3.61685869e-03 1.40299299e+02] [-1.45748125e-01 9.89321644e-01 -4.09976344e-04 1.29201658e+00] [-3.63799008e-03 -1.21554610e-04 9.99993375e-01 -1.65118478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.33, Y:1.29, Z:-0.17 [[ 9.89624215e-01 1.43636939e-01 3.51312275e-03 1.40331912e+02] [-1.43636427e-01 9.89630445e-01 -3.98732483e-04 1.28767061e+00] [-3.53396594e-03 -1.10017079e-04 9.99993749e-01 -1.66599625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:1.29, Z:-0.17 [[ 9.89866072e-01 1.41941374e-01 4.21970278e-03 1.40363302e+02] [-1.41940615e-01 9.89875058e-01 -4.80282754e-04 1.28536821e+00] [-4.24515053e-03 -1.23531604e-04 9.99990982e-01 -1.66883127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.40, Y:1.28, Z:-0.17 [[ 9.89904772e-01 1.41671445e-01 4.21235561e-03 1.40396670e+02] [-1.41670684e-01 9.89913727e-01 -4.80070185e-04 1.28359870e+00] [-4.23788088e-03 -1.21543532e-04 9.99991013e-01 -1.66840163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.43, Y:1.29, Z:-0.17 [[ 9.89978619e-01 1.41200289e-01 2.19361684e-03 1.40429521e+02] [-1.41200083e-01 9.89981047e-01 -2.49425840e-04 1.28587179e+00] [-2.20685810e-03 -6.28126310e-05 9.99997563e-01 -1.67603533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.46, Y:1.29, Z:-0.17 [[ 9.89953869e-01 1.41390347e-01 -3.27224037e-04 1.40462145e+02] [-1.41390341e-01 9.89953923e-01 3.98648205e-05 1.28512877e+00] [ 3.29573220e-04 6.80198491e-06 9.99999946e-01 -1.68967418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.49, Y:1.28, Z:-0.17 [[ 9.89945096e-01 1.41452095e-01 -1.11349320e-04 1.40493572e+02] [-1.41452094e-01 9.89945102e-01 1.49291291e-05 1.28117663e+00] [ 1.12341470e-04 9.71576289e-07 9.99999994e-01 -1.68245390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.53, Y:1.28, Z:-0.17 [[ 9.90014025e-01 1.40940859e-01 2.81151767e-03 1.40525817e+02] [-1.40940513e-01 9.90018014e-01 -3.21856495e-04 1.27840387e+00] [-2.82881587e-03 -7.76142978e-05 9.99995996e-01 -1.65901116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.56, Y:1.28, Z:-0.17 [[ 9.90045800e-01 1.40700074e-01 3.57820643e-03 1.40559200e+02] [-1.40699508e-01 9.90052261e-01 -4.10727702e-04 1.27601821e+00] [-3.60040079e-03 -9.68126480e-05 9.99993514e-01 -1.65665154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.59, Y:1.28, Z:-0.17 [[ 9.90056610e-01 1.40618484e-01 3.78828845e-03 1.40592819e+02] [-1.40617846e-01 9.90063852e-01 -4.35583051e-04 1.27884130e+00] [-3.81189849e-03 -1.01449082e-04 9.99992730e-01 -1.67424804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.62, Y:1.28, Z:-0.17 [[ 9.89899749e-01 1.41681517e-01 4.98345925e-03 1.40624847e+02] [-1.41680417e-01 9.89912283e-01 -5.74767922e-04 1.27983230e+00] [-5.01462152e-03 -1.37095965e-04 9.99987417e-01 -1.69190355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.66, Y:1.27, Z:-0.17 [[ 9.89836524e-01 1.42156188e-01 3.90823586e-03 1.40657094e+02] [-1.42155515e-01 9.89844233e-01 -4.50942380e-04 1.27471874e+00] [-3.93264898e-03 -1.09218044e-04 9.99992261e-01 -1.68448924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.69, Y:1.27, Z:-0.17 [[ 9.89805933e-01 1.42396958e-01 2.70569159e-03 1.40689611e+02] [-1.42396637e-01 9.89809628e-01 -3.11974212e-04 1.27182555e+00] [-2.72254377e-03 -7.64874558e-05 9.99996291e-01 -1.69058549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.72, Y:1.27, Z:-0.17 [[ 9.89691140e-01 1.43208689e-01 1.64902279e-03 1.40722538e+02] [-1.43208572e-01 9.89692512e-01 -1.89514696e-04 1.27381587e+00] [-1.65916566e-03 -4.85931832e-05 9.99998622e-01 -1.70759775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.76, Y:1.27, Z:-0.17 [[ 9.89576777e-01 1.43991958e-01 2.02926325e-03 1.40755039e+02] [-1.43991780e-01 9.89578856e-01 -2.34249733e-04 1.27321886e+00] [-2.04184608e-03 -6.03891317e-05 9.99997914e-01 -1.71901723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.79, Y:1.27, Z:-0.17 [[ 9.89460241e-01 1.44786445e-01 2.30591049e-03 1.40787967e+02] [-1.44786217e-01 9.89462925e-01 -2.66777013e-04 1.27266422e+00] [-2.32023863e-03 -6.98988079e-05 9.99997306e-01 -1.72297348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.82, Y:1.27, Z:-0.17 [[ 9.89540896e-01 1.44243043e-01 1.66109886e-03 1.40819961e+02] [-1.44242924e-01 9.89542289e-01 -1.91982813e-04 1.27061522e+00] [-1.67141975e-03 -4.96269118e-05 9.99998602e-01 -1.72302804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.85, Y:1.27, Z:-0.17 [[ 9.89621069e-01 1.43690173e-01 1.80934003e-03 1.40851310e+02] [-1.43690029e-01 9.89622722e-01 -2.09675469e-04 1.26778996e+00] [-1.82069231e-03 -5.24848600e-05 9.99998341e-01 -1.72803641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.88, Y:1.27, Z:-0.17 [[ 9.89814952e-01 1.42335197e-01 2.65556227e-03 1.40884407e+02] [-1.42334880e-01 9.89818512e-01 -3.08995952e-04 1.26693394e+00] [-2.67250570e-03 -7.21303234e-05 9.99996426e-01 -1.72961619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.92, Y:1.27, Z:-0.17 [[ 9.89844346e-01 1.42128634e-01 2.76073036e-03 1.40917378e+02] [-1.42128288e-01 9.89848193e-01 -3.21805626e-04 1.26903299e+00] [-2.77844176e-03 -7.38404019e-05 9.99996137e-01 -1.74131970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.95, Y:1.27, Z:-0.18 [[ 9.89806140e-01 1.42398121e-01 2.56528513e-03 1.40949573e+02] [-1.42397821e-01 9.89809462e-01 -3.00019668e-04 1.26864515e+00] [-2.58186574e-03 -6.83297034e-05 9.99996665e-01 -1.75437681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.98, Y:1.27, Z:-0.18 [[ 9.89911314e-01 1.41672101e-01 2.14609806e-03 1.40982108e+02] [-1.41671891e-01 9.89913639e-01 -2.50344503e-04 1.26548088e+00] [-2.15991857e-03 -5.62229158e-05 9.99997666e-01 -1.75129317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.01, Y:1.26, Z:-0.17 [[ 9.90024913e-01 1.40875935e-01 2.15475263e-03 1.41014979e+02] [-1.40875721e-01 9.90027256e-01 -2.51750397e-04 1.25958868e+00] [-2.16872940e-03 -5.43131644e-05 9.99997647e-01 -1.73337522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.05, Y:1.26, Z:-0.17 [[ 9.90393537e-01 1.38274399e-01 9.12128449e-04 1.41046414e+02] [-1.38274360e-01 9.90393957e-01 -1.06228013e-04 1.25579148e+00] [-9.18055119e-04 -2.09164399e-05 9.99999578e-01 -1.72310027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.08, Y:1.26, Z:-0.18 [[ 9.90863822e-01 1.34863539e-01 8.44040365e-04 1.41080339e+02] [-1.34863505e-01 9.90864181e-01 -9.75188646e-05 1.26086386e+00] [-8.49481105e-04 -1.72023269e-05 9.99999639e-01 -1.77215489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.11, Y:1.26, Z:-0.18 [[ 9.91102984e-01 1.33049409e-01 3.56794035e-03 1.41113625e+02] [-1.33048759e-01 9.91109404e-01 -4.19974062e-04 1.26494169e+00] [-3.59209653e-03 -5.84724885e-05 9.99993547e-01 -1.79622108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:1.26, Z:-0.18 [[ 9.91000853e-01 1.33764229e-01 4.94368297e-03 1.41145553e+02] [-1.33762980e-01 9.91013181e-01 -5.83819841e-04 1.26066419e+00] [-4.97734920e-03 -8.27158071e-05 9.99987609e-01 -1.78847779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.18, Y:1.25, Z:-0.17 [[ 9.90735669e-01 1.35671070e-01 6.01622593e-03 1.41176524e+02] [-1.35669247e-01 9.90753929e-01 -7.12023082e-04 1.25010211e+00] [-6.05720041e-03 -1.10790175e-04 9.99981649e-01 -1.74459215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:1.25, Z:-0.17 [[ 9.90450728e-01 1.37727680e-01 6.20020586e-03 1.41209702e+02] [-1.37725777e-01 9.90470126e-01 -7.34863369e-04 1.24637989e+00] [-6.24232970e-03 -1.26082210e-04 9.99980509e-01 -1.72886306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.24, Y:1.25, Z:-0.17 [[ 9.90282960e-01 1.38914134e-01 6.52087746e-03 1.41242305e+02] [-1.38912046e-01 9.90304420e-01 -7.74283476e-04 1.24716579e+00] [-6.56521269e-03 -1.39068695e-04 9.99978439e-01 -1.74879828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.28, Y:1.25, Z:-0.18 [[ 9.90231025e-01 1.39347736e-01 4.97239968e-03 1.41276250e+02] [-1.39346526e-01 9.90243504e-01 -5.90679135e-04 1.25078137e+00] [-5.00619628e-03 -1.07977817e-04 9.99987463e-01 -1.80617046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.31, Y:1.25, Z:-0.18 [[ 9.90250106e-01 1.39213349e-01 4.93672600e-03 1.41308844e+02] [-1.39212150e-01 9.90262406e-01 -5.87338123e-04 1.24743495e+00] [-4.97041947e-03 -1.05640604e-04 9.99987642e-01 -1.82567269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.34, Y:1.24, Z:-0.18 [[ 9.90401880e-01 1.38127012e-01 5.00452054e-03 1.41339959e+02] [-1.38125761e-01 9.90414519e-01 -5.96477021e-04 1.23970253e+00] [-5.03893939e-03 -1.00501244e-04 9.99987299e-01 -1.82129695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.37, Y:1.23, Z:-0.18 [[ 9.90558549e-01 1.37038364e-01 3.77450377e-03 1.41370960e+02] [-1.37037644e-01 9.90565738e-01 -4.50015272e-04 1.22949611e+00] [-3.80056347e-03 -7.14826267e-05 9.99992775e-01 -1.79697002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.40, Y:1.22, Z:-0.18 [[ 9.90498502e-01 1.37476871e-01 3.58152719e-03 1.41403031e+02] [-1.37476223e-01 9.90504975e-01 -4.27442767e-04 1.22316730e+00] [-3.60628400e-03 -6.89934117e-05 9.99993495e-01 -1.78509551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.43, Y:1.22, Z:-0.18 [[ 9.90076992e-01 1.40460080e-01 4.30292410e-03 1.41434897e+02] [-1.40459168e-01 9.90086338e-01 -5.14893262e-04 1.21813908e+00] [-4.33258831e-03 -9.46011654e-05 9.99990610e-01 -1.77518784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.47, Y:1.22, Z:-0.18 [[ 9.89508754e-01 1.44404401e-01 4.44914190e-03 1.41468258e+02] [-1.44403462e-01 9.89518750e-01 -5.33111467e-04 1.21728645e+00] [-4.47949297e-03 -1.14953030e-04 9.99989960e-01 -1.81194114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.50, Y:1.21, Z:-0.18 [[ 9.89213880e-01 1.46407788e-01 4.54521267e-03 1.41499872e+02] [-1.46406825e-01 9.89224314e-01 -5.45628823e-04 1.21386279e+00] [-4.57611920e-03 -1.25706553e-04 9.99989522e-01 -1.83654385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.53, Y:1.21, Z:-0.18 [[ 9.88724226e-01 1.49639622e-01 5.69108123e-03 1.41532350e+02] [-1.49638158e-01 9.88740589e-01 -6.84633448e-04 1.20568653e+00] [-5.72945130e-03 -1.74689237e-04 9.99983571e-01 -1.83555431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.56, Y:1.20, Z:-0.18 [[ 9.88241620e-01 1.52745509e-01 6.87827825e-03 1.41562918e+02] [-1.52743432e-01 9.88265529e-01 -8.29299431e-04 1.19547011e+00] [-6.92423705e-03 -2.31063614e-04 9.99976000e-01 -1.81734895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.59, Y:1.19, Z:-0.18 [[ 9.88085632e-01 1.53784671e-01 6.08758675e-03 1.41594304e+02] [-1.53783059e-01 9.88104362e-01 -7.34813862e-04 1.18829546e+00] [-6.12817414e-03 -2.10108694e-04 9.99981200e-01 -1.81155009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.63, Y:1.18, Z:-0.18 [[ 9.87981922e-01 1.54503322e-01 4.52173246e-03 1.41626875e+02] [-1.54502439e-01 9.87992256e-01 -5.45946000e-04 1.18246477e+00] [-4.55178712e-03 -1.59233916e-04 9.99989628e-01 -1.82992195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:1.18, Z:-0.19 [[ 9.87960805e-01 1.54606782e-01 5.49455620e-03 1.41659067e+02] [-1.54605472e-01 9.87976065e-01 -6.64971837e-04 1.17872731e+00] [-5.53129917e-03 -1.92522341e-04 9.99984684e-01 -1.86302849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.69, Y:1.17, Z:-0.19 [[ 9.87746362e-01 1.55923100e-01 6.71641136e-03 1.41691661e+02] [-1.55921163e-01 9.87769167e-01 -8.14342000e-04 1.17075546e+00] [-6.76123879e-03 -2.42867322e-04 9.99977113e-01 -1.86341226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.72, Y:1.16, Z:-0.18 [[ 9.87366782e-01 1.58249445e-01 7.99692856e-03 1.41722992e+02] [-1.58246759e-01 9.87399119e-01 -9.71611512e-04 1.16200044e+00] [-8.04991720e-03 -3.06151093e-04 9.99967552e-01 -1.84916975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.76, Y:1.16, Z:-0.18 [[ 9.87177187e-01 1.59422027e-01 8.11293528e-03 1.41755198e+02] [-1.59419290e-01 9.87210472e-01 -9.87150781e-04 1.15531278e+00] [-8.16654824e-03 -3.18865647e-04 9.99966602e-01 -1.83725643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.79, Y:1.15, Z:-0.18 [[ 9.87047720e-01 1.60236726e-01 7.80957550e-03 1.41787207e+02] [-1.60234205e-01 9.87078565e-01 -9.51560184e-04 1.14867691e+00] [-7.86113947e-03 -3.12125808e-04 9.99969052e-01 -1.84309871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.82, Y:1.14, Z:-0.19 [[ 9.87215400e-01 1.59171473e-01 8.37836446e-03 1.41818399e+02] [-1.59168518e-01 9.87250899e-01 -1.02262375e-03 1.14463603e+00] [-8.43432037e-03 -3.24021939e-04 9.99964378e-01 -1.87339069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:1.14, Z:-0.19 [[ 9.87434589e-01 1.57749691e-01 9.37913062e-03 1.41850559e+02] [-1.57745907e-01 9.87479070e-01 -1.14658832e-03 1.13973013e+00] [-9.44256914e-03 -3.47338501e-04 9.99955358e-01 -1.88763149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.88, Y:1.13, Z:-0.19 [[ 9.87968622e-01 1.54407738e-01 8.73223937e-03 1.41882348e+02] [-1.54404314e-01 9.88007169e-01 -1.06897159e-03 1.13187604e+00] [-8.79257258e-03 -2.92185039e-04 9.99961302e-01 -1.90188124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:1.12, Z:-0.19 [[ 9.88404541e-01 1.51667882e-01 7.30189364e-03 1.41913020e+02] [-1.51665406e-01 9.88431487e-01 -8.94919492e-04 1.12047035e+00] [-7.35315213e-03 -2.22902174e-04 9.99972940e-01 -1.89879688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:1.11, Z:-0.19 [[ 9.88623297e-01 1.50285768e-01 6.17774950e-03 1.41945593e+02] [-1.50283964e-01 9.88642582e-01 -7.57834683e-04 1.11374040e+00] [-6.22147798e-03 -1.79203659e-04 9.99980630e-01 -1.90355845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.98, Y:1.11, Z:-0.19 [[ 9.88877354e-01 1.48609670e-01 6.06169397e-03 1.41978223e+02] [-1.48607895e-01 9.88895919e-01 -7.44664984e-04 1.11060074e+00] [-6.10504885e-03 -1.64433243e-04 9.99981350e-01 -1.93122695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.01, Y:1.10, Z:-0.19 [[ 9.88813456e-01 1.48985905e-01 7.15182104e-03 1.42010772e+02] [-1.48983432e-01 9.88839300e-01 -8.80311871e-04 1.10427635e+00] [-7.20315578e-03 -1.95038620e-04 9.99974038e-01 -1.93865903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.04, Y:1.10, Z:-0.19 [[ 9.88794768e-01 1.49109896e-01 7.15162352e-03 1.42043960e+02] [-1.49107414e-01 9.88820611e-01 -8.81912788e-04 1.10003789e+00] [-7.20317466e-03 -1.94329340e-04 9.99974038e-01 -1.94281155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:1.09, Z:-0.19 [[ 9.88693550e-01 1.49775085e-01 7.24490953e-03 1.42075310e+02] [-1.49772549e-01 9.88720073e-01 -8.94420681e-04 1.09206942e+00] [-7.29714942e-03 -2.00780609e-04 9.99973355e-01 -1.93608425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:1.08, Z:-0.19 [[ 9.88536716e-01 1.50807716e-01 7.22454769e-03 1.42107498e+02] [-1.50805218e-01 9.88563093e-01 -8.92386403e-04 1.08104274e+00] [-7.27649997e-03 -2.07342768e-04 9.99973504e-01 -1.92925763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:1.07, Z:-0.19 [[ 9.88473570e-01 1.51237527e-01 6.87112094e-03 1.42140321e+02] [-1.51235270e-01 9.88497431e-01 -8.49885923e-04 1.07423414e+00] [-6.92062004e-03 -1.99066056e-04 9.99976032e-01 -1.93755995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.17, Y:1.07, Z:-0.20 [[ 9.88309403e-01 1.52310715e-01 6.78018780e-03 1.42173097e+02] [-1.52308534e-01 9.88332639e-01 -8.39837329e-04 1.07134716e+00] [-6.82899713e-03 -2.02661339e-04 9.99976662e-01 -1.96022488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.21, Y:1.07, Z:-0.20 [[ 9.88160173e-01 1.53299821e-01 6.21583905e-03 1.42205860e+02] [-1.53298002e-01 9.88179704e-01 -7.70873416e-04 1.06598840e+00] [-6.26054075e-03 -1.91129301e-04 9.99980384e-01 -1.97433770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:1.05, Z:-0.20 [[ 9.87967096e-01 1.54520995e-01 6.65427530e-03 1.42236292e+02] [-1.54518928e-01 9.87989482e-01 -8.26751200e-04 1.05269677e+00] [-6.70210443e-03 -2.11408504e-04 9.99977518e-01 -1.96445545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.27, Y:1.04, Z:-0.20 [[ 9.88002940e-01 1.54236580e-01 7.82735205e-03 1.42267614e+02] [-1.54233697e-01 9.88033915e-01 -9.74296322e-04 1.04153624e+00] [-7.88396142e-03 -2.44633810e-04 9.99968891e-01 -1.95208241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:1.04, Z:-0.20 [[ 9.88273421e-01 1.52498714e-01 7.73229447e-03 1.42299861e+02] [-1.52495837e-01 9.88303643e-01 -9.63730018e-04 1.03705526e+00] [-7.78882239e-03 -2.26713960e-04 9.99969641e-01 -1.98320894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:1.03, Z:-0.20 [[ 9.88388375e-01 1.51719147e-01 8.34987111e-03 1.42332533e+02] [-1.51715751e-01 9.88423616e-01 -1.04233218e-03 1.03220072e+00] [-8.41135154e-03 -2.36577951e-04 9.99964596e-01 -1.99507330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:1.02, Z:-0.20 [[ 9.88554851e-01 1.50588404e-01 9.07961792e-03 1.42363204e+02] [-1.50584323e-01 9.88596517e-01 -1.13532049e-03 1.02085084e+00] [-9.14704475e-03 -2.44921539e-04 9.99958135e-01 -1.99144969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:1.01, Z:-0.20 [[ 9.88744191e-01 1.49372633e-01 8.52886682e-03 1.42394376e+02] [-1.49368976e-01 9.88780951e-01 -1.06774017e-03 1.00792571e+00] [-8.59267221e-03 -2.18226213e-04 9.99963058e-01 -1.98544890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.43, Y:1.00, Z:-0.20 [[ 9.88692152e-01 1.49590137e-01 1.05176174e-02 1.42426181e+02] [-1.49584561e-01 9.88748056e-01 -1.31927744e-03 1.00397421e+00] [-1.05966246e-02 -2.68913928e-04 9.99943818e-01 -1.99256522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:1.00, Z:-0.20 [[ 9.88516002e-01 1.50731548e-01 1.07756013e-02 1.42458791e+02] [-1.50725750e-01 9.88574690e-01 -1.35279809e-03 1.00153540e+00] [-1.08563961e-02 -2.86898030e-04 9.99941026e-01 -2.00943787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.49, Y:0.99, Z:-0.20 [[ 9.88198207e-01 1.52926519e-01 8.81949399e-03 1.42490859e+02] [-1.52922712e-01 9.88237530e-01 -1.10837670e-03 9.93761139e-01] [-8.88525514e-03 -2.53405070e-04 9.99960493e-01 -2.02633504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:0.99, Z:-0.20 [[ 9.88157237e-01 1.53223720e-01 8.23203407e-03 1.42521565e+02] [-1.53220402e-01 9.88191497e-01 -1.03602039e-03 9.85815235e-01] [-8.29356897e-03 -2.37564526e-04 9.99965580e-01 -2.02009240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:0.98, Z:-0.20 [[ 9.88160176e-01 1.53164641e-01 8.94757707e-03 1.42554176e+02] [-1.53160703e-01 9.88200651e-01 -1.12781176e-03 9.80705571e-01] [-9.01474237e-03 -2.55958519e-04 9.99959334e-01 -2.01704302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:0.98, Z:-0.20 [[ 9.88143426e-01 1.53187669e-01 1.03008821e-02 1.42586409e+02] [-1.53182425e-01 9.88197072e-01 -1.30086280e-03 9.80401885e-01] [-1.03785776e-02 -2.92475069e-04 9.99946098e-01 -2.03891555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:0.98, Z:-0.20 [[ 9.88077586e-01 1.53622318e-01 1.01423168e-02 1.42617942e+02] [-1.53617246e-01 9.88129596e-01 -1.28190491e-03 9.76799288e-01] [-1.02188526e-02 -2.91413255e-04 9.99947744e-01 -2.04704587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:0.97, Z:-0.21 [[ 9.87846305e-01 1.55102126e-01 1.01492562e-02 1.42650221e+02] [-1.55097107e-01 9.87898394e-01 -1.28450727e-03 9.72125976e-01] [-1.02256637e-02 -3.05224509e-04 9.99947670e-01 -2.05511851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:0.96, Z:-0.20 [[ 9.87658601e-01 1.56100627e-01 1.27703581e-02 1.42680946e+02] [-1.56092727e-01 9.87741079e-01 -1.61919729e-03 9.63050707e-01] [-1.28665650e-02 -3.94145892e-04 9.99917145e-01 -2.02609596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:0.96, Z:-0.20 [[ 9.87664175e-01 1.56044932e-01 1.30175593e-02 1.42712096e+02] [-1.56036688e-01 9.87749877e-01 -1.65283653e-03 9.58398514e-01] [-1.31160093e-02 -3.98769410e-04 9.99913902e-01 -2.02144480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.75, Y:0.96, Z:-0.21 [[ 9.88008228e-01 1.53998173e-01 1.11491782e-02 1.42745455e+02] [-1.53991978e-01 9.88071082e-01 -1.41719696e-03 9.57737990e-01] [-1.12344263e-02 -3.16681745e-04 9.99936842e-01 -2.05958658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:0.95, Z:-0.21 [[ 9.88545136e-01 1.50520372e-01 1.10513318e-02 1.42777323e+02] [-1.50514044e-01 9.88606870e-01 -1.40681603e-03 9.51522674e-01] [-1.11371771e-02 -2.72679510e-04 9.99937943e-01 -2.09424192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:0.94, Z:-0.21 [[ 9.88767545e-01 1.49062877e-01 1.09087217e-02 1.42809539e+02] [-1.49056603e-01 9.88827687e-01 -1.39052390e-03 9.44223265e-01] [-1.09941216e-02 -2.51112100e-04 9.99939531e-01 -2.09482094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:0.93, Z:-0.21 [[ 9.89147015e-01 1.46644291e-01 9.14523400e-03 1.42841841e+02] [-1.46639766e-01 9.89189273e-01 -1.16706903e-03 9.34501313e-01] [-9.21751138e-03 -1.86652125e-04 9.99957500e-01 -2.09286336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:0.93, Z:-0.21 [[ 9.89382595e-01 1.45202452e-01 6.19093320e-03 1.42873046e+02] [-1.45200347e-01 9.89401958e-01 -7.90557097e-04 9.27616697e-01] [-6.24011226e-03 -1.16762217e-04 9.99980523e-01 -2.12047825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.91, Y:0.92, Z:-0.21 [[ 9.89397136e-01 1.45113235e-01 5.95455406e-03 1.42906003e+02] [-1.45111280e-01 9.89415048e-01 -7.61295925e-04 9.22360886e-01] [-6.00199951e-03 -1.10848955e-04 9.99981982e-01 -2.13647819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.94, Y:0.92, Z:-0.21 [[ 9.89198006e-01 1.46407648e-01 7.21845306e-03 1.42938353e+02] [-1.46404798e-01 9.89224333e-01 -9.24646627e-04 9.15261763e-01] [-7.27604475e-03 -1.42157560e-04 9.99973519e-01 -2.13055618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.97, Y:0.91, Z:-0.21 [[ 9.88592012e-01 1.50413178e-01 7.85557827e-03 1.42969645e+02] [-1.50409914e-01 9.88623205e-01 -1.00802620e-03 9.07792256e-01] [-7.91782739e-03 -1.85030208e-04 9.99968636e-01 -2.12604292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.00, Y:0.90, Z:-0.21 [[ 9.87751967e-01 1.55863095e-01 7.26272899e-03 1.43001842e+02] [-1.55860444e-01 9.87778645e-01 -9.33058824e-04 9.02501096e-01] [-7.31939803e-03 -2.10341476e-04 9.99973191e-01 -2.12302990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.03, Y:0.90, Z:-0.21 [[ 9.87298710e-01 1.58734976e-01 6.66820493e-03 1.43034241e+02] [-1.58732800e-01 9.87321205e-01 -8.57738889e-04 8.99604665e-01] [-6.71981329e-03 -2.11618339e-04 9.99977399e-01 -2.13551125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.07, Y:0.90, Z:-0.22 [[ 9.86472902e-01 1.63830382e-01 5.55146550e-03 1.43065624e+02] [-1.63828948e-01 9.86488502e-01 -7.15202618e-04 8.97250389e-01] [-5.59362881e-03 -2.03962752e-04 9.99984335e-01 -2.16399259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.10, Y:0.89, Z:-0.22 [[ 9.86055210e-01 1.66308315e-01 6.05529787e-03 1.43098271e+02] [-1.66306653e-01 9.86073774e-01 -7.80527341e-04 8.94292668e-01] [-6.10077861e-03 -2.37393272e-04 9.99981362e-01 -2.16088892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.13, Y:0.89, Z:-0.22 [[ 9.85862119e-01 1.67438671e-01 6.33822039e-03 1.43131695e+02] [-1.67436865e-01 9.85882461e-01 -8.18199546e-04 8.92375439e-01] [-6.38573856e-03 -2.54619817e-04 9.99979579e-01 -2.16716585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.16, Y:0.89, Z:-0.22 [[ 9.85606428e-01 1.68941989e-01 6.21078539e-03 1.43164133e+02] [-1.68940277e-01 9.85625963e-01 -8.02949144e-04 8.91371920e-01] [-6.25716316e-03 -2.57859968e-04 9.99980391e-01 -2.16509400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.20, Y:0.89, Z:-0.22 [[ 9.85808480e-01 1.67761346e-01 6.14591547e-03 1.43196823e+02] [-1.67759641e-01 9.85827607e-01 -7.95551273e-04 8.86674254e-01] [-6.19227589e-03 -2.46775384e-04 9.99980797e-01 -2.15792723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.23, Y:0.88, Z:-0.22 [[ 9.86032992e-01 1.66423298e-01 6.49800392e-03 1.43228695e+02] [-1.66421354e-01 9.86054371e-01 -8.42555700e-04 8.84322212e-01] [-6.54760607e-03 -2.50618894e-04 9.99978533e-01 -2.16530037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.26, Y:0.89, Z:-0.22 [[ 9.86564452e-01 1.63164704e-01 8.23775985e-03 1.43262220e+02] [-1.63161450e-01 9.86598802e-01 -1.07009629e-03 8.89763307e-01] [-8.30196595e-03 -2.88365882e-04 9.99965497e-01 -2.19951029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.29, Y:0.89, Z:-0.22 [[ 9.86855862e-01 1.61458557e-01 6.82943533e-03 1.43294910e+02] [-1.61456271e-01 9.86879467e-01 -8.88452667e-04 8.92155174e-01] [-6.88327779e-03 -2.25880436e-04 9.99976284e-01 -2.22456746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.33, Y:0.89, Z:-0.22 [[ 9.87090765e-01 1.60054437e-01 5.86507053e-03 1.43326352e+02] [-1.60052725e-01 9.87108172e-01 -7.63166481e-04 8.87581736e-01] [-5.91160723e-03 -1.85405933e-04 9.99982509e-01 -2.21430233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.36, Y:0.88, Z:-0.22 [[ 9.87274807e-01 1.58885441e-01 6.62355639e-03 1.43359025e+02] [-1.58883222e-01 9.87297005e-01 -8.63161987e-04 8.82967913e-01] [-6.67656126e-03 -2.00193898e-04 9.99977691e-01 -2.20129887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.39, Y:0.88, Z:-0.22 [[ 9.87963107e-01 1.54435081e-01 8.87160237e-03 1.43392364e+02] [-1.54430900e-01 9.88002912e-01 -1.15853673e-03 8.83120200e-01] [-8.94408770e-03 -2.25457985e-04 9.99959975e-01 -2.18074816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.43, Y:0.89, Z:-0.22 [[ 9.88642080e-01 1.50048326e-01 8.50514198e-03 1.43425436e+02] [-1.50044308e-01 9.88678648e-01 -1.11220689e-03 8.88216802e-01] [-8.57573705e-03 -1.76573610e-04 9.99963212e-01 -2.20929178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.46, Y:0.89, Z:-0.22 [[ 9.89187136e-01 1.46506572e-01 6.68090066e-03 1.43458849e+02] [-1.46504007e-01 9.89209690e-01 -8.74302169e-04 8.86766744e-01] [-6.73690269e-03 -1.13930262e-04 9.99977300e-01 -2.23571409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.49, Y:0.88, Z:-0.22 [[ 9.89408259e-01 1.44953553e-01 7.73074505e-03 1.43490054e+02] [-1.44950058e-01 9.89438454e-01 -1.01351295e-03 8.82151160e-01] [-7.79600873e-03 -1.17793858e-04 9.99969604e-01 -2.23920073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.52, Y:0.88, Z:-0.22 [[ 9.89833921e-01 1.41977964e-01 8.43006896e-03 1.43523210e+02] [-1.41973686e-01 9.89869813e-01 -1.10674396e-03 8.81213704e-01] [-8.50180404e-03 -1.01355256e-04 9.99963854e-01 -2.24699272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.56, Y:0.88, Z:-0.23 [[ 9.90128698e-01 1.40036856e-01 5.90254769e-03 1.43555076e+02] [-1.40034719e-01 9.90146290e-01 -7.75807473e-04 8.82195019e-01] [-5.95302734e-03 -5.84123654e-05 9.99982279e-01 -2.27182217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.59, Y:0.88, Z:-0.23 [[ 9.90164711e-01 1.39799754e-01 5.46566663e-03 1.43586616e+02] [-1.39797917e-01 9.90179795e-01 -7.18530688e-04 8.79405242e-01] [-5.51244307e-03 -5.26250792e-05 9.99984805e-01 -2.27294358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.62, Y:0.88, Z:-0.23 [[ 9.90138113e-01 1.39938625e-01 6.61053193e-03 1.43618331e+02] [-1.39935930e-01 9.90160178e-01 -8.70696740e-04 8.77295361e-01] [-6.66732957e-03 -6.29409061e-05 9.99977771e-01 -2.25082422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.65, Y:0.88, Z:-0.22 [[ 9.90152216e-01 1.39779790e-01 7.75879378e-03 1.43651667e+02] [-1.39776060e-01 9.90182612e-01 -1.02362938e-03 8.75847959e-01] [-7.82570540e-03 -7.09447217e-05 9.99969376e-01 -2.23837361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.68, Y:0.88, Z:-0.23 [[ 9.89971128e-01 1.41002113e-01 8.69307825e-03 1.43684537e+02] [-1.40997461e-01 9.90009291e-01 -1.14877783e-03 8.75341528e-01] [-8.76820834e-03 -8.84450718e-05 9.99961555e-01 -2.25182567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.72, Y:0.87, Z:-0.23 [[ 9.89883931e-01 1.41574519e-01 9.29836442e-03 1.43716238e+02] [-1.41569203e-01 9.89927596e-01 -1.23071803e-03 8.72986917e-01] [-9.37894586e-03 -9.80940406e-05 9.99956012e-01 -2.26071021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.75, Y:0.87, Z:-0.23 [[ 9.89786705e-01 1.42234592e-01 9.57075783e-03 1.43748787e+02] [-1.42228974e-01 9.89832971e-01 -1.26852578e-03 8.73452956e-01] [-9.65387990e-03 -1.05669112e-04 9.99953395e-01 -2.28320859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.78, Y:0.87, Z:-0.23 [[ 9.89709654e-01 1.42835216e-01 8.53829953e-03 1.43781978e+02] [-1.42830757e-01 9.89746478e-01 -1.13289274e-03 8.71608161e-01] [-8.61256887e-03 -9.82969101e-05 9.99962906e-01 -2.30060980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.81, Y:0.87, Z:-0.23 [[ 9.89514915e-01 1.44325475e-01 5.51273296e-03 1.43814177e+02] [-1.44323637e-01 9.89530268e-01 -7.31750410e-04 8.70703282e-01] [-5.56062635e-03 -7.15397275e-05 9.99984537e-01 -2.31998444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.85, Y:0.87, Z:-0.23 [[ 9.89206888e-01 1.46426204e-01 5.39432347e-03 1.43846093e+02] [-1.46424468e-01 9.89221593e-01 -7.17364454e-04 8.68686046e-01] [-5.44122221e-03 -8.02390867e-05 9.99985193e-01 -2.31788985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.88, Y:0.87, Z:-0.23 [[ 9.89048312e-01 1.47501087e-01 5.18320576e-03 1.43879506e+02] [-1.47499499e-01 9.89061890e-01 -6.89377378e-04 8.66392164e-01] [-5.22819520e-03 -8.26927207e-05 9.99986329e-01 -2.31494764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.91, Y:0.87, Z:-0.23 [[ 9.88867370e-01 1.48653181e-01 6.59978188e-03 1.43912795e+02] [-1.48650621e-01 9.88889387e-01 -8.79571705e-04 8.65895802e-01] [-6.65720538e-03 -1.11281915e-04 9.99977834e-01 -2.31419043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.95, Y:0.86, Z:-0.23 [[ 9.88739683e-01 1.49432386e-01 7.98760076e-03 1.43946069e+02] [-1.49428645e-01 9.88771937e-01 -1.06649125e-03 8.64164011e-01] [-8.05728380e-03 -1.39094137e-04 9.99967530e-01 -2.31295288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.98, Y:0.86, Z:-0.23 [[ 9.88704163e-01 1.49661801e-01 8.08842738e-03 1.43978755e+02] [-1.49657960e-01 9.88737238e-01 -1.08148856e-03 8.60761942e-01] [-8.15918687e-03 -1.41225299e-04 9.99966703e-01 -2.31491284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.01, Y:0.86, Z:-0.23 [[ 9.88661604e-01 1.49938616e-01 8.16360381e-03 1.44011633e+02] [-1.49934700e-01 9.88695297e-01 -1.09307125e-03 8.58919092e-01] [-8.23521028e-03 -1.43329913e-04 9.99966080e-01 -2.31831710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.04, Y:0.85, Z:-0.23 [[ 9.88649301e-01 1.50019732e-01 8.16334000e-03 1.44044792e+02] [-1.50015803e-01 9.88682993e-01 -1.09503739e-03 8.54342894e-01] [-8.23523264e-03 -1.42022051e-04 9.99966080e-01 -2.32247124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.08, Y:0.86, Z:-0.23 [[ 9.88626042e-01 1.50102878e-01 9.36346193e-03 1.44078808e+02] [-1.50097706e-01 9.88670369e-01 -1.25663223e-03 8.56593045e-01] [-9.44600148e-03 -1.63094813e-04 9.99955372e-01 -2.34879097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.11, Y:0.85, Z:-0.24 [[ 9.88631466e-01 1.50070759e-01 9.30543442e-03 1.44110460e+02] [-1.50065633e-01 9.88675246e-01 -1.25067680e-03 8.54858868e-01] [-9.38774268e-03 -1.59967470e-04 9.99955921e-01 -2.36646697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.14, Y:0.85, Z:-0.24 [[ 9.88700177e-01 1.49729377e-01 7.28521955e-03 1.44143117e+02] [-1.49726220e-01 9.88727009e-01 -9.79974149e-04 8.52938621e-01] [-7.34982425e-03 -1.21887767e-04 9.99972982e-01 -2.37456362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.18, Y:0.85, Z:-0.24 [[ 9.88710509e-01 1.49722801e-01 5.88327446e-03 1.44175640e+02] [-1.49720737e-01 9.88728008e-01 -7.92130922e-04 8.52135307e-01] [-5.93555829e-03 -9.76600236e-05 9.99982380e-01 -2.38476702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.21, Y:0.85, Z:-0.24 [[ 9.88711644e-01 1.49723264e-01 5.67713870e-03 1.44207747e+02] [-1.49721337e-01 9.88727938e-01 -7.65327041e-04 8.51058015e-01] [-5.72773290e-03 -9.33010398e-05 9.99983592e-01 -2.37735820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.24, Y:0.85, Z:-0.24 [[ 9.88598470e-01 1.50451326e-01 6.12070273e-03 1.44240805e+02] [-1.50449094e-01 9.88617412e-01 -8.26200457e-04 8.49279640e-01] [-6.17533625e-03 -1.04073670e-04 9.99980927e-01 -2.37626768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.27, Y:0.85, Z:-0.24 [[ 9.88323504e-01 1.52219216e-01 6.77946636e-03 1.44273334e+02] [-1.52216508e-01 9.88346748e-01 -9.16710931e-04 8.52554704e-01] [-6.84000455e-03 -1.25939736e-04 9.99976599e-01 -2.38880682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.31, Y:0.85, Z:-0.24 [[ 9.88309084e-01 1.52340277e-01 6.13151665e-03 1.44306789e+02] [-1.52338059e-01 9.88328097e-01 -8.29879283e-04 8.52274451e-01] [-6.18637423e-03 -1.13886111e-04 9.99980858e-01 -2.40222042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.34, Y:0.85, Z:-0.24 [[ 9.88518752e-01 1.50960517e-01 6.44979574e-03 1.44339849e+02] [-1.50958025e-01 9.88539787e-01 -8.74282420e-04 8.52199297e-01] [-6.50786184e-03 -1.09403863e-04 9.99978818e-01 -2.41302161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.37, Y:0.85, Z:-0.24 [[ 9.88593862e-01 1.50458709e-01 6.65981807e-03 1.44371698e+02] [-1.50456031e-01 9.88616288e-01 -9.04159960e-04 8.50106311e-01] [-6.72004336e-03 -1.08162810e-04 9.99977414e-01 -2.41914600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.41, Y:0.85, Z:-0.24 [[ 9.88654467e-01 1.50100628e-01 5.66985526e-03 1.44405465e+02] [-1.50098678e-01 9.88670720e-01 -7.70360171e-04 8.51131305e-01] [-5.72125143e-03 -8.94177557e-05 9.99983630e-01 -2.42556439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.44, Y:0.85, Z:-0.24 [[ 9.88688166e-01 1.49920653e-01 4.41675665e-03 1.44438236e+02] [-1.49919467e-01 9.88698029e-01 -6.00410377e-04 8.48401343e-01] [-4.45685251e-03 -6.85391662e-05 9.99990066e-01 -2.42936343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.47, Y:0.85, Z:-0.24 [[ 9.88757037e-01 1.49478079e-01 3.97807746e-03 1.44470421e+02] [-1.49477109e-01 9.88765038e-01 -5.41891716e-04 8.46504256e-01] [-4.01438484e-03 -5.88322692e-05 9.99991941e-01 -2.41937787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.50, Y:0.85, Z:-0.24 [[ 9.88778614e-01 1.49307597e-01 4.90848942e-03 1.44503603e+02] [-1.49306115e-01 9.88790795e-01 -6.69056408e-04 8.49547650e-01] [-4.95336436e-03 -7.13188186e-05 9.99987729e-01 -2.43618212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.54, Y:0.85, Z:-0.24 [[ 9.88766153e-01 1.49384750e-01 5.06873077e-03 1.44535400e+02] [-1.49383162e-01 9.88779142e-01 -6.92418594e-04 8.49303617e-01] [-5.11529204e-03 -7.25429629e-05 9.99986914e-01 -2.44880796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.57, Y:0.85, Z:-0.25 [[ 9.88845628e-01 1.48849200e-01 5.31416871e-03 1.44569377e+02] [-1.48847446e-01 9.88859904e-01 -7.26136733e-04 8.52094670e-01] [-5.36305324e-03 -7.29633090e-05 9.99985616e-01 -2.46141520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.60, Y:0.85, Z:-0.25 [[ 9.89123917e-01 1.46931038e-01 6.71919800e-03 1.44601551e+02] [-1.46928178e-01 9.89146735e-01 -9.20047612e-04 8.54290888e-01] [-6.78145631e-03 -7.71984214e-05 9.99977003e-01 -2.45962242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.63, Y:0.85, Z:-0.25 [[ 9.89284118e-01 1.45845839e-01 6.77679919e-03 1.44634690e+02] [-1.45842896e-01 9.89307327e-01 -9.29054200e-04 8.51608187e-01] [-6.83983577e-03 -6.92494557e-05 9.99976606e-01 -2.46026574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.67, Y:0.85, Z:-0.25 [[ 9.89613334e-01 1.43653524e-01 5.39573002e-03 1.44667746e+02] [-1.43651623e-01 9.89628043e-01 -7.40265158e-04 8.50160164e-01] [-5.44610744e-03 -4.25291029e-05 9.99985169e-01 -2.46701329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:0.85, Z:-0.25 [[ 9.89773047e-01 1.42549619e-01 5.37794983e-03 1.44699677e+02] [-1.42547706e-01 9.89787656e-01 -7.39341374e-04 8.49816994e-01] [-5.42842120e-03 -3.48342481e-05 9.99985265e-01 -2.47491368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.73, Y:0.85, Z:-0.25 [[ 9.89786120e-01 1.42455023e-01 5.47748952e-03 1.44732545e+02] [-1.42453036e-01 9.89801276e-01 -7.53206269e-04 8.47353127e-01] [-5.52892413e-03 -3.47719000e-05 9.99984715e-01 -2.47866283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.77, Y:0.85, Z:-0.25 [[ 9.89897109e-01 1.41682257e-01 5.46363635e-03 1.44765039e+02] [-1.41680262e-01 9.89912187e-01 -7.52427384e-04 8.49108188e-01] [-5.51512582e-03 -2.92637401e-05 9.99984791e-01 -2.48621120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.80, Y:0.85, Z:-0.25 [[ 9.89888414e-01 1.41794245e-01 3.91409879e-03 1.44798991e+02] [-1.41793222e-01 9.89896152e-01 -5.39046373e-04 8.54039255e-01] [-3.95098500e-03 -2.13969174e-05 9.99992195e-01 -2.51298053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.83, Y:0.85, Z:-0.25 [[ 9.89754244e-01 1.42761656e-01 2.37598437e-03 1.44832203e+02] [-1.42761282e-01 9.89757096e-01 -3.26753800e-04 8.53905173e-01] [-2.39829530e-03 -1.57926151e-05 9.99997124e-01 -2.51729765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.86, Y:0.85, Z:-0.25 [[ 9.89615065e-01 1.43720022e-01 2.56497122e-03 1.44864361e+02] [-1.43719589e-01 9.89618388e-01 -3.53532441e-04 8.50579834e-01] [-2.58915237e-03 -1.87755792e-05 9.99996648e-01 -2.51691366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.90, Y:0.85, Z:-0.25 [[ 9.89429959e-01 1.44984245e-01 2.81527575e-03 1.44897339e+02] [-1.44983726e-01 9.89433964e-01 -3.88582075e-04 8.48601712e-01] [-2.84186772e-03 -2.36944221e-05 9.99995962e-01 -2.51411068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.93, Y:0.85, Z:-0.25 [[ 9.89438366e-01 1.44935341e-01 2.33815794e-03 1.44930593e+02] [-1.44934983e-01 9.89441128e-01 -3.22773985e-04 8.46789031e-01] [-2.36025099e-03 -1.95159160e-05 9.99997214e-01 -2.52073159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.97, Y:0.85, Z:-0.25 [[ 9.89288054e-01 1.45964933e-01 1.83960578e-03 1.44965015e+02] [-1.45964713e-01 9.89289765e-01 -2.53807352e-04 8.51551729e-01] [-1.85695014e-03 -1.74289476e-05 9.99998276e-01 -2.53543680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.00, Y:0.86, Z:-0.25 [[ 9.88925940e-01 1.48383032e-01 2.82153014e-03 1.44997474e+02] [-1.48382519e-01 9.88929965e-01 -3.91193688e-04 8.55395747e-01] [-2.84834221e-03 -3.18041650e-05 9.99995943e-01 -2.54023545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.03, Y:0.85, Z:-0.25 [[ 9.88739966e-01 1.49625110e-01 2.36752887e-03 1.45030931e+02] [-1.49624753e-01 9.88742801e-01 -3.28163936e-04 8.54306267e-01] [-2.38997870e-03 -2.97721238e-05 9.99997144e-01 -2.54260367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.06, Y:0.86, Z:-0.26 [[ 9.88536535e-01 1.50975294e-01 1.40692503e-03 1.45063094e+02] [-1.50975170e-01 9.88537536e-01 -1.94459080e-04 8.55613895e-01] [-1.42015672e-03 -2.01808411e-05 9.99998991e-01 -2.56328320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.10, Y:0.86, Z:-0.26 [[ 9.88812527e-01 1.49160815e-01 9.15634474e-04 1.45096681e+02] [-1.49160762e-01 9.88812951e-01 -1.25803999e-04 8.57451085e-01] [-9.24156253e-04 -1.21801664e-05 9.99999573e-01 -2.56801054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.13, Y:0.86, Z:-0.26 [[ 9.88917518e-01 1.48457248e-01 1.60898994e-03 1.45128792e+02] [-1.48457081e-01 9.88918826e-01 -2.23318074e-04 8.58412707e-01] [-1.62431363e-03 -1.80227945e-05 9.99998681e-01 -2.57112800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.16, Y:0.86, Z:-0.26 [[ 9.88920449e-01 1.48417215e-01 2.94559400e-03 1.45162391e+02] [-1.48416649e-01 9.88924835e-01 -4.11094921e-04 8.63978760e-01] [-2.97398462e-03 -3.06350171e-05 9.99995577e-01 -2.57458873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.19, Y:0.86, Z:-0.26 [[ 9.88903783e-01 1.48541739e-01 2.15873042e-03 1.45194935e+02] [-1.48541436e-01 9.88906139e-01 -3.01075072e-04 8.61550755e-01] [-2.17950398e-03 -2.29266389e-05 9.99997625e-01 -2.57678216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.23, Y:0.87, Z:-0.26 [[ 9.88955204e-01 1.48204944e-01 -1.70290203e-03 1.45228753e+02] [-1.48204747e-01 9.88956670e-01 2.42085296e-04 8.65262543e-01] [ 1.71997456e-03 1.29666511e-05 9.99998521e-01 -2.59900755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.26, Y:0.87, Z:-0.26 [[ 9.88921436e-01 1.48436221e-01 -1.04007321e-03 1.45261615e+02] [-1.48436146e-01 9.88921983e-01 1.49016733e-04 8.65553191e-01] [ 1.05067074e-03 7.01861715e-06 9.99999448e-01 -2.61127006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.30, Y:0.87, Z:-0.26 [[ 9.88879951e-01 1.48715315e-01 -4.44367968e-04 1.45295581e+02] [-1.48715301e-01 9.88880051e-01 6.41942554e-05 8.74353616e-01] [ 4.48973287e-04 2.60390389e-06 9.99999899e-01 -2.61564471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.33, Y:0.88, Z:-0.26 [[ 9.88853943e-01 1.48885215e-01 -1.03516117e-03 1.45327792e+02] [-1.48885142e-01 9.88854485e-01 1.48413822e-04 8.77226733e-01] [ 1.04572039e-03 7.36052424e-06 9.99999453e-01 -2.62177262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.36, Y:0.88, Z:-0.26 [[ 9.88924264e-01 1.48409417e-01 -1.85610731e-03 1.45361699e+02] [-1.48409181e-01 9.88926006e-01 2.64882743e-04 8.81762126e-01] [ 1.87486388e-03 1.35143939e-05 9.99998242e-01 -2.63392076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.39, Y:0.88, Z:-0.26 [[ 9.89163059e-01 1.46818522e-01 -8.74715226e-04 1.45394053e+02] [-1.46818468e-01 9.89163445e-01 1.26073283e-04 8.81547510e-01] [ 8.83746220e-04 3.71731522e-06 9.99999609e-01 -2.63146369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.43, Y:0.88, Z:-0.26 [[ 9.89554550e-01 1.44158878e-01 1.06184804e-04 1.45427753e+02] [-1.44158878e-01 9.89554555e-01 -1.27044388e-05 8.84614136e-01] [-1.06907114e-04 -2.73574691e-06 9.99999994e-01 -2.63242325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.46, Y:0.88, Z:-0.26 [[ 9.89788667e-01 1.42542443e-01 2.17638334e-04 1.45460056e+02] [-1.42542440e-01 9.89788691e-01 -2.94190674e-05 8.84979235e-01] [-2.19609427e-04 -1.90403950e-06 9.99999976e-01 -2.64237402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.49, Y:0.89, Z:-0.27 [[ 9.90105105e-01 1.40325041e-01 -8.74080686e-04 1.45494425e+02] [-1.40324983e-01 9.90105491e-01 1.26708379e-04 8.91160160e-01] [ 8.83212445e-04 -2.79925541e-06 9.99999610e-01 -2.65602678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.53, Y:0.89, Z:-0.27 [[ 9.90113103e-01 1.40262215e-01 -1.59851066e-03 1.45526940e+02] [-1.40262027e-01 9.90114393e-01 2.29824027e-04 8.91685428e-01] [ 1.61494404e-03 -3.34143563e-06 9.99998696e-01 -2.66234519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.56, Y:0.89, Z:-0.27 [[ 9.89907873e-01 1.41659385e-01 -3.87580430e-03 1.45560367e+02] [-1.41658298e-01 9.89915460e-01 5.54809007e-04 8.92688552e-01] [ 3.91531250e-03 -1.69963156e-07 9.99992335e-01 -2.66660139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.59, Y:0.89, Z:-0.27 [[ 9.89642155e-01 1.43449292e-01 -5.54124599e-03 1.45593590e+02] [-1.43447099e-01 9.89657668e-01 7.93277451e-04 8.90707951e-01] [ 5.59773167e-03 9.81485665e-06 9.99984333e-01 -2.66759477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.62, Y:0.89, Z:-0.27 [[ 9.89533204e-01 1.44240406e-01 -4.32947385e-03 1.45624835e+02] [-1.44239071e-01 9.89542675e-01 6.20554047e-04 8.90025876e-01] [ 4.37370810e-03 1.04204530e-05 9.99990435e-01 -2.66759760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.66, Y:0.90, Z:-0.27 [[ 9.89420167e-01 1.45058387e-01 -2.40766136e-03 1.45658587e+02] [-1.45057973e-01 9.89423097e-01 3.46548965e-04 8.97104238e-01] [ 2.43246560e-03 6.36794231e-06 9.99997042e-01 -2.67107903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.69, Y:0.90, Z:-0.27 [[ 9.89073350e-01 1.47390996e-01 -3.13095106e-03 1.45690664e+02] [-1.47390308e-01 9.89078305e-01 4.50361663e-04 9.04318840e-01] [ 3.16313502e-03 1.60311232e-05 9.99994997e-01 -2.68686380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.72, Y:0.90, Z:-0.27 [[ 9.88912805e-01 1.48477246e-01 -2.44366980e-03 1.45721149e+02] [-1.48476835e-01 9.88915824e-01 3.49967355e-04 9.04657024e-01] [ 2.46854593e-03 1.67411586e-05 9.99996953e-01 -2.69696973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.75, Y:0.91, Z:-0.27 [[ 9.88650557e-01 1.50232621e-01 4.85274172e-04 1.45752397e+02] [-1.50232605e-01 9.88650676e-01 -6.94979812e-05 9.06412701e-01] [-4.90207502e-04 -4.19478514e-06 9.99999880e-01 -2.68665577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.78, Y:0.91, Z:-0.27 [[ 9.88255470e-01 1.52790258e-01 -2.50264041e-03 1.45782933e+02] [-1.52789839e-01 9.88258638e-01 3.58583357e-04 9.11265977e-01] [ 2.52804405e-03 2.80060635e-05 9.99996804e-01 -2.69334702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.81, Y:0.91, Z:-0.27 [[ 9.88062329e-01 1.53994027e-01 -4.32125120e-03 1.45811989e+02] [-1.53992795e-01 9.88071777e-01 6.18318423e-04 9.13107351e-01] [ 4.36492370e-03 5.45044089e-05 9.99990472e-01 -2.70838505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.84, Y:0.92, Z:-0.27 [[ 9.87918356e-01 1.54929878e-01 -3.74901229e-03 1.45842025e+02] [-1.54928959e-01 9.87925468e-01 5.36061898e-04 9.19651846e-01] [ 3.78679673e-03 5.12451823e-05 9.99992829e-01 -2.72424749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.87, Y:0.92, Z:-0.27 [[ 9.88022973e-01 1.54270226e-01 -3.36178824e-03 1.45872286e+02] [-1.54269484e-01 9.88028692e-01 4.80460685e-04 9.24094124e-01] [ 3.39566402e-03 4.39151433e-05 9.99994234e-01 -2.71644008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.90, Y:0.92, Z:-0.27 [[ 9.88178576e-01 1.53249104e-01 -4.22059192e-03 1.45900032e+02] [-1.53247927e-01 9.88187588e-01 6.02950889e-04 9.23793873e-01] [ 4.26313824e-03 5.09738109e-05 9.99990911e-01 -2.71811947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.93, Y:0.93, Z:-0.27 [[ 9.88549749e-01 1.50797754e-01 -5.42505223e-03 1.45929919e+02] [-1.50795771e-01 9.88564634e-01 7.75090831e-04 9.26022135e-01] [ 5.47989673e-03 5.18590849e-05 9.99984984e-01 -2.73237527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.96, Y:0.93, Z:-0.27 [[ 9.88794351e-01 1.49214882e-01 -4.54426444e-03 1.45957864e+02] [-1.49213476e-01 9.88804793e-01 6.48725633e-04 9.27896059e-01] [ 4.59018997e-03 3.66092510e-05 9.99989464e-01 -2.74355693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.99, Y:0.93, Z:-0.27 [[ 9.88810338e-01 1.49115362e-01 -4.32716760e-03 1.45986325e+02] [-1.49114087e-01 9.88819805e-01 6.17643789e-04 9.26375514e-01] [ 4.37088920e-03 3.45090816e-05 9.99990447e-01 -2.74266604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.02, Y:0.93, Z:-0.27 [[ 9.88634432e-01 1.50302532e-01 -3.33287493e-03 1.46015717e+02] [-1.50301784e-01 9.88640050e-01 4.75236729e-04 9.31725254e-01] [ 3.36644292e-03 3.11016542e-05 9.99994333e-01 -2.73420452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84533619500002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:146.04, Y:0.93, Z:-0.27 [[ 9.88563609e-01 1.50775715e-01 -2.94518049e-03 1.46044256e+02] [-1.50775133e-01 9.88567996e-01 4.19710123e-04 9.33100384e-01] [ 2.97479327e-03 2.91498272e-05 9.99995575e-01 -2.73503312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.07, Y:0.93, Z:-0.27 [[ 9.88410803e-01 1.51780606e-01 -2.59474223e-03 1.46073940e+02] [-1.51780159e-01 9.88414208e-01 3.69672460e-04 9.34916353e-01] [ 2.62078920e-03 2.84421361e-05 9.99996565e-01 -2.74382634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.10, Y:0.94, Z:-0.27 [[ 9.88225389e-01 1.52982086e-01 -2.65727735e-03 1.46101777e+02] [-1.52981623e-01 9.88228961e-01 3.77920381e-04 9.37513334e-01] [ 2.68381348e-03 3.30440852e-05 9.99996398e-01 -2.74706070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.13, Y:0.93, Z:-0.28 [[ 9.88234253e-01 1.52924817e-01 -2.65725295e-03 1.46130004e+02] [-1.52924353e-01 9.88237825e-01 3.78091310e-04 9.33620238e-01] [ 2.68381742e-03 3.27159037e-05 9.99996398e-01 -2.75058917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.16, Y:0.94, Z:-0.28 [[ 9.88041323e-01 1.54146118e-01 -3.64946924e-03 1.46159398e+02] [-1.54145251e-01 9.88048062e-01 5.19128885e-04 9.38664867e-01] [ 3.68587271e-03 4.96275624e-05 9.99993206e-01 -2.75892094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.19, Y:0.94, Z:-0.28 [[ 9.88084334e-01 1.53874823e-01 -3.44791823e-03 1.46186598e+02] [-1.53874051e-01 9.88090348e-01 4.89614915e-04 9.38550779e-01] [ 3.48219413e-03 4.67643172e-05 9.99993936e-01 -2.76189742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.22, Y:0.94, Z:-0.28 [[ 9.88208141e-01 1.53095723e-01 -2.52376604e-03 1.46215601e+02] [-1.53095307e-01 9.88211363e-01 3.58238867e-04 9.42155129e-01] [ 2.54885912e-03 3.23621720e-05 9.99996751e-01 -2.75553384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.24, Y:0.94, Z:-0.28 [[ 9.88236547e-01 1.52909335e-01 -2.69499644e-03 1.46243034e+02] [-1.52908861e-01 9.88240221e-01 3.82225909e-04 9.42921054e-01] [ 2.72174978e-03 3.43592220e-05 9.99996295e-01 -2.75699197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.27, Y:0.95, Z:-0.28 [[ 9.88273393e-01 1.52654624e-01 -3.50233090e-03 1.46271895e+02] [-1.52653821e-01 9.88279598e-01 4.96969509e-04 9.47046467e-01] [ 3.53714687e-03 4.35024512e-05 9.99993743e-01 -2.76999803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.30, Y:0.95, Z:-0.28 [[ 9.88338501e-01 1.52251807e-01 -2.52860646e-03 1.46299426e+02] [-1.52251389e-01 9.88341736e-01 3.58202901e-04 9.52150506e-01] [ 2.55366434e-03 3.09581273e-05 9.99996739e-01 -2.77021141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.33, Y:0.95, Z:-0.28 [[ 9.88344267e-01 1.52230019e-01 -1.27713519e-03 1.46328338e+02] [-1.52229913e-01 9.88345092e-01 1.80463197e-04 9.53266504e-01] [ 1.28972221e-03 1.60584123e-05 9.99999168e-01 -2.76740629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.36, Y:0.96, Z:-0.28 [[ 9.88348117e-01 1.52195009e-01 -2.16326043e-03 1.46357633e+02] [-1.52194704e-01 9.88350484e-01 3.06091975e-04 9.57663161e-01] [ 2.18464516e-03 2.67113520e-05 9.99997613e-01 -2.76850135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.39, Y:0.96, Z:-0.28 [[ 9.88399336e-01 1.51834220e-01 -3.62236136e-03 1.46385311e+02] [-1.51833360e-01 9.88405973e-01 5.12704433e-04 9.61465407e-01] [ 3.65820968e-03 4.32385758e-05 9.99993308e-01 -2.77560689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.41, Y:0.96, Z:-0.28 [[ 9.88427362e-01 1.51648939e-01 -3.73499780e-03 1.46412705e+02] [-1.51648025e-01 9.88434417e-01 5.28396169e-04 9.61958045e-01] [ 3.77193109e-03 4.41238080e-05 9.99992885e-01 -2.78775754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.44, Y:0.97, Z:-0.28 [[ 9.88571578e-01 1.50683464e-01 -4.55280226e-03 1.46441802e+02] [-1.50682096e-01 9.88582061e-01 6.44137218e-04 9.66857702e-01] [ 4.59787947e-03 4.92500394e-05 9.99989428e-01 -2.79930794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.47, Y:0.97, Z:-0.28 [[ 9.88858850e-01 1.48793832e-01 -4.30923195e-03 1.46470737e+02] [-1.48792589e-01 9.88868239e-01 6.09307968e-04 9.72382791e-01] [ 4.35192388e-03 3.86622028e-05 9.99990530e-01 -2.79227427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.50, Y:0.97, Z:-0.28 [[ 9.88907933e-01 1.48469157e-01 -4.24381770e-03 1.46499364e+02] [-1.48467950e-01 9.88917038e-01 5.99730453e-04 9.73227079e-01] [ 4.28582511e-03 3.69927117e-05 9.99990815e-01 -2.79128270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.53, Y:0.98, Z:-0.28 [[ 9.88841850e-01 1.48892056e-01 -4.79075293e-03 1.46527145e+02] [-1.48890526e-01 9.88853454e-01 6.76583577e-04 9.78065016e-01] [ 4.83809050e-03 4.42635663e-05 9.99988295e-01 -2.79372547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.56, Y:0.98, Z:-0.28 [[ 9.88694759e-01 1.49869069e-01 -4.68353004e-03 1.46555836e+02] [-1.49867618e-01 9.88705851e-01 6.61234229e-04 9.79475085e-01] [ 4.72973212e-03 4.81506759e-05 9.99988814e-01 -2.80079213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.58, Y:0.98, Z:-0.28 [[ 9.88595187e-01 1.50522277e-01 -4.75391267e-03 1.46583705e+02] [-1.50520800e-01 9.88606616e-01 6.68955974e-04 9.77835262e-01] [ 4.80044229e-03 5.42360818e-05 9.99988476e-01 -2.80783548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.61, Y:0.98, Z:-0.28 [[ 9.88560817e-01 1.50781872e-01 -3.51264470e-03 1.46611433e+02] [-1.50781067e-01 9.88567057e-01 4.94601328e-04 9.81807537e-01] [ 3.54706174e-03 4.06968208e-05 9.99993708e-01 -2.80616340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.64, Y:0.98, Z:-0.28 [[ 9.88612367e-01 1.50466451e-01 -2.33140717e-03 1.46639192e+02] [-1.50466098e-01 9.88615115e-01 3.27055999e-04 9.83481385e-01] [ 2.35407532e-03 2.74661343e-05 9.99997229e-01 -2.80679846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.67, Y:0.99, Z:-0.28 [[ 9.88644921e-01 1.50240671e-01 -2.99351813e-03 1.46667604e+02] [-1.50240087e-01 9.88649452e-01 4.20039518e-04 9.90083876e-01] [ 3.02264708e-03 3.44764892e-05 9.99995431e-01 -2.80385882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.70, Y:0.99, Z:-0.28 [[ 9.88841059e-01 1.48926154e-01 -3.78949287e-03 1.46696181e+02] [-1.48925215e-01 9.88848320e-01 5.30520336e-04 9.90193997e-01] [ 3.82624201e-03 3.97507481e-05 9.99992679e-01 -2.82394147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.72, Y:0.99, Z:-0.28 [[ 9.88917512e-01 1.48416019e-01 -3.85224664e-03 1.46722735e+02] [-1.48415040e-01 9.88925014e-01 5.40400303e-04 9.87759786e-01] [ 3.88978713e-03 3.73200173e-05 9.99992434e-01 -2.82992755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.75, Y:0.99, Z:-0.28 [[ 9.88938121e-01 1.48176487e-01 -6.71719001e-03 1.46749675e+02] [-1.48173503e-01 9.88960932e-01 9.42594329e-04 9.89035325e-01] [ 6.78270880e-03 6.31421055e-05 9.99976995e-01 -2.84397933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.78, Y:0.99, Z:-0.29 [[ 9.88888063e-01 1.48469816e-01 -7.55732029e-03 1.46778110e+02] [-1.48466067e-01 9.88916937e-01 1.05786007e-03 9.88140650e-01] [ 7.63062233e-03 7.59004227e-05 9.99970883e-01 -2.85368706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.81, Y:1.00, Z:-0.29 [[ 9.88458543e-01 1.51275753e-01 -8.08426625e-03 1.46806793e+02] [-1.51271549e-01 9.88491596e-01 1.13243609e-03 9.97593638e-01] [ 8.16253937e-03 1.03553357e-04 9.99966681e-01 -2.85139251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.84, Y:1.00, Z:-0.29 [[ 9.88307979e-01 1.52205297e-01 -8.99364219e-03 1.46835180e+02] [-1.52200160e-01 9.88348892e-01 1.25694156e-03 9.95545601e-01] [ 9.08016945e-03 1.26588406e-04 9.99958766e-01 -2.86407545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.86, Y:0.99, Z:-0.29 [[ 9.88210788e-01 1.52820572e-01 -9.23638784e-03 1.46863253e+02] [-1.52815198e-01 9.88253942e-01 1.28906569e-03 9.91892306e-01] [ 9.32489245e-03 1.37591813e-04 9.99956513e-01 -2.87554129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.89, Y:0.99, Z:-0.29 [[ 9.87955924e-01 1.54513214e-01 -8.29211178e-03 1.46890372e+02] [-1.54508946e-01 9.87990712e-01 1.15670349e-03 9.90366219e-01] [ 8.37125540e-03 1.38433389e-04 9.99964951e-01 -2.87968797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.92, Y:1.00, Z:-0.29 [[ 9.87550341e-01 1.57146137e-01 -7.02966692e-03 1.46919242e+02] [-1.57143153e-01 9.87575350e-01 9.78252193e-04 9.95857624e-01] [ 7.09605432e-03 1.38590739e-04 9.99974813e-01 -2.86786849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.95, Y:1.00, Z:-0.29 [[ 9.87366125e-01 1.58292660e-01 -7.18112998e-03 1.46946221e+02] [-1.58289571e-01 9.87392228e-01 1.00011684e-03 9.96337986e-01] [ 7.24890308e-03 1.49216488e-04 9.99973715e-01 -2.86972325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.97, Y:0.99, Z:-0.29 [[ 9.86938195e-01 1.60917866e-01 -7.64455639e-03 1.46972938e+02] [-1.60914448e-01 9.86967785e-01 1.06409647e-03 9.94275986e-01] [ 7.71616302e-03 1.79922127e-04 9.99970214e-01 -2.88662833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.00, Y:0.99, Z:-0.29 [[ 9.86476707e-01 1.63748897e-01 -7.07141227e-03 1.47001376e+02] [-1.63746066e-01 9.86502034e-01 9.81501140e-04 9.93945385e-01] [ 7.13668232e-03 1.89687925e-04 9.99974516e-01 -2.89330821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.03, Y:0.99, Z:-0.29 [[ 9.86254399e-01 1.65092184e-01 -6.84334373e-03 1.47028622e+02] [-1.65089559e-01 9.86278122e-01 9.50535850e-04 9.91849668e-01] [ 6.90636625e-03 1.92294439e-04 9.99976132e-01 -2.89471464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.06, Y:0.99, Z:-0.29 [[ 9.86088522e-01 1.66087531e-01 -6.66032084e-03 1.47056400e+02] [-1.66085085e-01 9.86110995e-01 9.22441086e-04 9.92130376e-01] [ 6.72102157e-03 1.96571390e-04 9.99977394e-01 -2.88420615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.08, Y:0.99, Z:-0.29 [[ 9.86113921e-01 1.65945587e-01 -6.43410474e-03 1.47084742e+02] [-1.65943311e-01 9.86134892e-01 8.89720200e-04 9.93410677e-01] [ 6.49254033e-03 1.90331169e-04 9.99978905e-01 -2.88124315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.11, Y:0.99, Z:-0.29 [[ 9.86177413e-01 1.65594114e-01 -5.71829167e-03 1.47111543e+02] [-1.65592307e-01 9.86193978e-01 7.91348537e-04 9.93772623e-01] [ 5.77038746e-03 1.66495056e-04 9.99983337e-01 -2.89723154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.14, Y:0.99, Z:-0.29 [[ 9.86307603e-01 1.64768074e-01 -6.98525139e-03 1.47138029e+02] [-1.64765365e-01 9.86332318e-01 9.65531618e-04 9.89909157e-01] [ 7.04886799e-03 1.98616317e-04 9.99975137e-01 -2.91046203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.045336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:147.17, Y:0.99, Z:-0.29 [[ 9.86445537e-01 1.63916286e-01 -7.52685694e-03 1.47166104e+02] [-1.63913133e-01 9.86474230e-01 1.03805056e-03 9.91307148e-01] [ 7.59520380e-03 2.09770364e-04 9.99971134e-01 -2.89878065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.19, Y:0.99, Z:-0.29 [[ 9.86569807e-01 1.63148916e-01 -7.90234588e-03 1.47192721e+02] [-1.63145410e-01 9.86601432e-01 1.09067408e-03 9.88878798e-01] [ 7.97440805e-03 2.13205343e-04 9.99968181e-01 -2.90850071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.22, Y:0.99, Z:-0.29 [[ 9.86615367e-01 1.62772401e-01 -9.76026805e-03 1.47219989e+02] [-1.62767037e-01 9.86663609e-01 1.34668124e-03 9.86109937e-01] [ 9.84930384e-03 2.59993509e-04 9.99951461e-01 -2.91343224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.25, Y:0.98, Z:-0.29 [[ 9.86685805e-01 1.62367809e-01 -9.37102939e-03 1.47248028e+02] [-1.62362875e-01 9.86730274e-01 1.28999397e-03 9.83976932e-01] [ 9.45613189e-03 2.48688526e-04 9.99955259e-01 -2.92273287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.165336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.28, Y:0.98, Z:-0.29 [[ 9.86827262e-01 1.61600452e-01 -7.56629964e-03 1.47275721e+02] [-1.61597228e-01 9.86856249e-01 1.03958253e-03 9.81785332e-01] [ 7.63484709e-03 1.96804664e-04 9.99970835e-01 -2.92014745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.30, Y:0.98, Z:-0.29 [[ 9.86951985e-01 1.60871552e-01 -6.79132744e-03 1.47302094e+02] [-1.60868934e-01 9.86975336e-01 9.33625829e-04 9.78712440e-01] [ 6.85306652e-03 1.71069739e-04 9.99976503e-01 -2.91909178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.33, Y:0.98, Z:-0.29 [[ 9.87152042e-01 1.59657177e-01 -6.35854229e-03 1.47330102e+02] [-1.59654875e-01 9.87172509e-01 8.71272913e-04 9.79765033e-01] [ 6.41608312e-03 1.55093436e-04 9.99979405e-01 -2.91549555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.36, Y:0.98, Z:-0.29 [[ 9.87275310e-01 1.58869786e-01 -6.91768600e-03 1.47357184e+02] [-1.58867035e-01 9.87299531e-01 9.48910656e-04 9.76968500e-01] [ 6.98058138e-03 1.62156200e-04 9.99975622e-01 -2.92926080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.39, Y:0.97, Z:-0.29 [[ 9.87311519e-01 1.58565392e-01 -8.54287349e-03 1.47385288e+02] [-1.58561209e-01 9.87348457e-01 1.16904786e-03 9.73002846e-01] [ 8.62016349e-03 2.00353935e-04 9.99962826e-01 -2.93612320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.41, Y:0.97, Z:-0.30 [[ 9.87305643e-01 1.58519102e-01 -9.96298656e-03 1.47411965e+02] [-1.58513401e-01 9.87355883e-01 1.36431113e-03 9.70048257e-01] [ 1.00532828e-02 2.32274799e-04 9.99949437e-01 -2.95115029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.44, Y:0.97, Z:-0.29 [[ 9.87140436e-01 1.59586379e-01 -9.27075485e-03 1.47439394e+02] [-1.59581496e-01 9.87183942e-01 1.26886504e-03 9.69576801e-01] [ 9.35443390e-03 2.26892936e-04 9.99956221e-01 -2.94285539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.47, Y:0.97, Z:-0.29 [[ 9.86979524e-01 1.60599081e-01 -8.90811101e-03 1.47467196e+02] [-1.60594643e-01 9.87019697e-01 1.21601513e-03 9.67951106e-01] [ 8.98777194e-03 2.30412869e-04 9.99959583e-01 -2.93518992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.50, Y:0.96, Z:-0.29 [[ 9.86554553e-01 1.63241328e-01 -7.89825763e-03 1.47495305e+02] [-1.63237938e-01 9.86586143e-01 1.07635635e-03 9.64479121e-01] [ 7.96801737e-03 2.27411028e-04 9.99968229e-01 -2.94225115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.52, Y:0.96, Z:-0.30 [[ 9.86342856e-01 1.64494168e-01 -8.33299863e-03 1.47522028e+02] [-1.64490432e-01 9.86378024e-01 1.13638336e-03 9.59941277e-01] [ 8.40641516e-03 2.49834939e-04 9.99964634e-01 -2.95340731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.55, Y:0.96, Z:-0.30 [[ 9.85959013e-01 1.66724259e-01 -9.37259504e-03 1.47549300e+02] [-1.66719650e-01 9.86003514e-01 1.27647554e-03 9.58802514e-01] [ 9.45423108e-03 3.04043200e-04 9.99955262e-01 -2.95690229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.495336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:147.58, Y:0.96, Z:-0.29 [[ 9.85999970e-01 1.66587415e-01 -7.25894374e-03 1.47577880e+02] [-1.66584665e-01 9.86026661e-01 9.86069614e-04 9.64475305e-01] [ 7.32177885e-03 2.36964104e-04 9.99973167e-01 -2.93551941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.61, Y:0.96, Z:-0.29 [[ 9.86163105e-01 1.65619866e-01 -7.23804397e-03 1.47606159e+02] [-1.65617117e-01 9.86189640e-01 9.81789017e-04 9.62211437e-01] [ 7.30068774e-03 2.30539868e-04 9.99973323e-01 -2.94067283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.63, Y:0.96, Z:-0.30 [[ 9.86452673e-01 1.63850360e-01 -8.01143136e-03 1.47632210e+02] [-1.63846926e-01 9.86485176e-01 1.08762607e-03 9.55153342e-01] [ 8.08136619e-03 2.39756756e-04 9.99967316e-01 -2.95980761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.66, Y:0.95, Z:-0.30 [[ 9.86535095e-01 1.63368732e-01 -7.69184838e-03 1.47660167e+02] [-1.63365573e-01 9.86565054e-01 1.04137368e-03 9.51056318e-01] [ 7.75863670e-03 2.29231535e-04 9.99969875e-01 -2.96655402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.69, Y:0.95, Z:-0.30 [[ 9.86505437e-01 1.63570900e-01 -7.18223309e-03 1.47688026e+02] [-1.63568163e-01 9.86531557e-01 9.70784652e-04 9.49033679e-01] [ 7.24429171e-03 2.17100335e-04 9.99973736e-01 -2.96613381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.71, Y:0.95, Z:-0.30 [[ 9.86464257e-01 1.63784930e-01 -7.92252044e-03 1.47714578e+02] [-1.63781600e-01 9.86496041e-01 1.07177529e-03 9.46972668e-01] [ 7.99107569e-03 2.40295062e-04 9.99968042e-01 -2.96871309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.74, Y:0.95, Z:-0.30 [[ 9.86409212e-01 1.64027961e-01 -9.57571313e-03 1.47741803e+02] [-1.64023123e-01 9.86455646e-01 1.29381485e-03 9.47531468e-01] [ 9.65823809e-03 2.94407478e-04 9.99953315e-01 -2.97483648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.77, Y:0.94, Z:-0.30 [[ 9.86545932e-01 1.63148802e-01 -1.04686309e-02 1.47769531e+02] [-1.63142999e-01 9.86601424e-01 1.41172581e-03 9.43456623e-01] [ 1.05586875e-02 3.15151484e-04 9.99944206e-01 -2.98497166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.80, Y:0.94, Z:-0.30 [[ 9.86540815e-01 1.63184286e-01 -1.03975730e-02 1.47795496e+02] [-1.63178559e-01 9.86595556e-01 1.40260013e-03 9.37727386e-01] [ 1.04870816e-02 3.12938693e-04 9.99944960e-01 -2.98485053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.82, Y:0.93, Z:-0.30 [[ 9.86623754e-01 1.62674026e-01 -1.05228101e-02 1.47823346e+02] [-1.62668166e-01 9.86679818e-01 1.41615239e-03 9.33161143e-01] [ 1.06130155e-02 3.14516629e-04 9.99943631e-01 -2.98896835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.85, Y:0.93, Z:-0.30 [[ 9.86892950e-01 1.61073578e-01 -9.87964751e-03 1.47851056e+02] [-1.61068354e-01 9.86942361e-01 1.32743159e-03 9.28494215e-01] [ 9.96445679e-03 2.81265683e-04 9.99950314e-01 -2.99381741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.88, Y:0.92, Z:-0.30 [[ 9.86922367e-01 1.60893226e-01 -9.87987010e-03 1.47879270e+02] [-1.60888009e-01 9.86971778e-01 1.32577520e-03 9.24879994e-01] [ 9.96446120e-03 2.81115437e-04 9.99950314e-01 -2.99734484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.91, Y:0.92, Z:-0.30 [[ 9.86939088e-01 1.60855567e-01 -8.75912966e-03 1.47905974e+02] [-1.60851463e-01 9.86977925e-01 1.17559411e-03 9.22623068e-01] [ 8.83416847e-03 2.48679048e-04 9.99960947e-01 -2.99630874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.93, Y:0.92, Z:-0.30 [[ 9.86815035e-01 1.61668962e-01 -7.69635036e-03 1.47933091e+02] [-1.61665825e-01 9.86845021e-01 1.03218119e-03 9.23006890e-01] [ 7.76197670e-03 2.25664912e-04 9.99969850e-01 -2.98709895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.96, Y:0.92, Z:-0.30 [[ 9.86654453e-01 1.62603993e-01 -8.54001512e-03 1.47958948e+02] [-1.62600170e-01 9.86691378e-01 1.14473279e-03 9.16328452e-01] [ 8.61249740e-03 2.59152200e-04 9.99962878e-01 -3.00142818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.99, Y:0.91, Z:-0.30 [[ 9.86617325e-01 1.62779974e-01 -9.43051612e-03 1.47986034e+02] [-1.62775349e-01 9.86662351e-01 1.26110854e-03 9.10518397e-01] [ 9.51001842e-03 2.90824023e-04 9.99954736e-01 -3.01307085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.01, Y:0.91, Z:-0.30 [[ 9.86457744e-01 1.63699463e-01 -1.01787046e-02 1.48014395e+02] [-1.63694142e-01 9.86510203e-01 1.35936221e-03 9.09673675e-01] [ 1.02639228e-02 3.25240932e-04 9.99947272e-01 -3.01210410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.04, Y:0.91, Z:-0.30 [[ 9.86409424e-01 1.64002684e-01 -9.97840225e-03 1.48042631e+02] [-1.63997606e-01 9.86459839e-01 1.33063799e-03 9.09286300e-01] [ 1.00615213e-02 3.23880226e-04 9.99949329e-01 -3.00832598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.07, Y:0.91, Z:-0.30 [[ 9.86320095e-01 1.64520487e-01 -1.02800408e-02 1.48070278e+02] [-1.64515145e-01 9.86373607e-01 1.36893672e-03 9.08251702e-01] [ 1.03651790e-02 3.41012605e-04 9.99946222e-01 -3.00601498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.10, Y:0.90, Z:-0.30 [[ 9.86379476e-01 1.64045237e-01 -1.20286519e-02 1.48097526e+02] [-1.64037914e-01 9.86452738e-01 1.59967760e-03 9.02797523e-01] [ 1.21281161e-02 3.95265822e-04 9.99926374e-01 -3.02682563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.12, Y:0.90, Z:-0.30 [[ 9.86475736e-01 1.63434903e-01 -1.24360508e-02 1.48124466e+02] [-1.63427022e-01 9.86554039e-01 1.65424645e-03 8.97858573e-01] [ 1.25391978e-02 4.00512761e-04 9.99921301e-01 -3.03874849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.15, Y:0.89, Z:-0.30 [[ 9.86541315e-01 1.63077652e-01 -1.19127108e-02 1.48152575e+02] [-1.63070439e-01 9.86613163e-01 1.58085220e-03 8.94665927e-01] [ 1.20110389e-02 3.83034968e-04 9.99927792e-01 -3.04383644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.18, Y:0.89, Z:-0.30 [[ 9.86659009e-01 1.62405070e-01 -1.13398658e-02 1.48179424e+02] [-1.62398487e-01 9.86724108e-01 1.50512053e-03 8.90728113e-01] [ 1.14337582e-02 3.56536313e-04 9.99934569e-01 -3.03708211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.21, Y:0.89, Z:-0.30 [[ 9.86754176e-01 1.61858036e-01 -1.08707356e-02 1.48205923e+02] [-1.61851963e-01 9.86813996e-01 1.44192291e-03 8.87757813e-01] [ 1.09607809e-02 3.36626445e-04 9.99939872e-01 -3.03628461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.23, Y:0.89, Z:-0.30 [[ 9.86962748e-01 1.60591077e-01 -1.07256488e-02 1.48233480e+02] [-1.60585112e-01 9.87020974e-01 1.42071668e-03 8.86862056e-01] [ 1.08145947e-02 3.20185066e-04 9.99941469e-01 -3.03297912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.26, Y:0.88, Z:-0.30 [[ 9.87238135e-01 1.58960825e-01 -9.60837259e-03 1.48260897e+02] [-1.58955989e-01 9.87284853e-01 1.26985187e-03 8.80348491e-01] [ 9.68805742e-03 2.73662176e-04 9.99953032e-01 -3.04047224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.29, Y:0.88, Z:-0.30 [[ 9.87320265e-01 1.58487635e-01 -8.96457617e-03 1.48287611e+02] [-1.58483401e-01 9.87360930e-01 1.18520687e-03 8.75307733e-01] [ 9.03911290e-03 2.50557763e-04 9.99959115e-01 -3.04243003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.31, Y:0.87, Z:-0.30 [[ 9.87238529e-01 1.58957351e-01 -9.62531975e-03 1.48314664e+02] [-1.58952500e-01 9.87285412e-01 1.27183955e-03 8.70936763e-01] [ 9.70510602e-03 2.74359626e-04 9.99952867e-01 -3.04657185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.34, Y:0.87, Z:-0.31 [[ 9.87143378e-01 1.59434060e-01 -1.13459917e-02 1.48341854e+02] [-1.59427389e-01 9.87208524e-01 1.49581037e-03 8.66590303e-01] [ 1.14393428e-02 3.32282527e-04 9.99934513e-01 -3.05917044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.37, Y:0.86, Z:-0.31 [[ 9.87097572e-01 1.59690104e-01 -1.17240749e-02 1.48369154e+02] [-1.59682994e-01 9.87167134e-01 1.54609580e-03 8.64625480e-01] [ 1.18205176e-02 3.45987963e-04 9.99930075e-01 -3.06250602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.40, Y:0.87, Z:-0.31 [[ 9.86930745e-01 1.60640795e-01 -1.27373384e-02 1.48398007e+02] [-1.60632532e-01 9.87012858e-01 1.67582108e-03 8.65927975e-01] [ 1.28411220e-02 3.92111561e-04 9.99917473e-01 -3.05539719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.42, Y:0.86, Z:-0.31 [[ 9.86879731e-01 1.60934830e-01 -1.29760234e-02 1.48424903e+02] [-1.60926276e-01 9.86964953e-01 1.70752135e-03 8.62495375e-01] [ 1.30816800e-02 4.03064915e-04 9.99914350e-01 -3.05937899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.45, Y:0.86, Z:-0.31 [[ 9.86576125e-01 1.62790093e-01 -1.29203410e-02 1.48452330e+02] [-1.62781822e-01 9.86660631e-01 1.69627694e-03 8.55612374e-01] [ 1.30241289e-02 4.29690323e-04 9.99915090e-01 -3.06844994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.48, Y:0.85, Z:-0.31 [[ 9.86366619e-01 1.64036759e-01 -1.31466344e-02 1.48479616e+02] [-1.64028303e-01 9.86454122e-01 1.72626995e-03 8.52370884e-01] [ 1.32517234e-02 4.53685071e-04 9.99912089e-01 -3.06454132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.51, Y:0.85, Z:-0.31 [[ 9.85927292e-01 1.66733715e-01 -1.21343830e-02 1.48506641e+02] [-1.66726728e-01 9.86001857e-01 1.59224224e-03 8.51576802e-01] [ 1.22300046e-02 4.53290894e-04 9.99925108e-01 -3.05326741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.53, Y:0.85, Z:-0.30 [[ 9.85465422e-01 1.69500305e-01 -1.12937509e-02 1.48534388e+02] [-1.69494475e-01 9.85530029e-01 1.47840221e-03 8.51826746e-01] [ 1.13809203e-02 4.57314121e-04 9.99935131e-01 -3.04967932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.56, Y:0.85, Z:-0.31 [[ 9.85423103e-01 1.69754140e-01 -1.11731725e-02 1.48563014e+02] [-1.69748475e-01 9.85486338e-01 1.46032947e-03 8.51750435e-01] [ 1.12589058e-02 4.57586593e-04 9.99936512e-01 -3.05171128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.59, Y:0.85, Z:-0.31 [[ 9.85536333e-01 1.69023652e-01 -1.22123510e-02 1.48590047e+02] [-1.69016822e-01 9.85611873e-01 1.59669893e-03 8.49210330e-01] [ 1.23065180e-02 4.90487933e-04 9.99924152e-01 -3.08014109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.635336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.62, Y:0.84, Z:-0.31 [[ 9.85927879e-01 1.66697984e-01 -1.25698108e-02 1.48617470e+02] [-1.66690607e-01 9.86007887e-01 1.63969017e-03 8.42487591e-01] [ 1.26672657e-02 4.78653156e-04 9.99919652e-01 -3.09886213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.65, Y:0.84, Z:-0.31 [[ 9.86215128e-01 1.65047353e-01 -1.17937475e-02 1.48645190e+02] [-1.65040770e-01 9.86285549e-01 1.53595839e-03 8.41165403e-01] [ 1.18855086e-02 4.31663780e-04 9.99929272e-01 -3.09048408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.67, Y:0.84, Z:-0.31 [[ 9.86444642e-01 1.63675967e-01 -1.17109365e-02 1.48672755e+02] [-1.63669375e-01 9.86514069e-01 1.52552389e-03 8.40715099e-01] [ 1.18026952e-02 4.11876798e-04 9.99930261e-01 -3.08090877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.70, Y:0.84, Z:-0.31 [[ 9.86837440e-01 1.61139750e-01 -1.36326348e-02 1.48699677e+02] [-1.61130590e-01 9.86931499e-01 1.77491135e-03 8.41190789e-01] [ 1.37404855e-02 4.45085515e-04 9.99905496e-01 -3.07805758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.73, Y:0.84, Z:-0.31 [[ 9.87242360e-01 1.58625714e-01 -1.37987769e-02 1.48726716e+02] [-1.58616114e-01 9.87338700e-01 1.79431606e-03 8.36744857e-01] [ 1.39086912e-02 4.17283560e-04 9.99903182e-01 -3.08634804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.75, Y:0.83, Z:-0.31 [[ 9.87461574e-01 1.57320928e-01 -1.30293980e-02 1.48754251e+02] [-1.57312299e-01 9.87547458e-01 1.69095603e-03 8.32389304e-01] [ 1.31331716e-02 3.79930450e-04 9.99913684e-01 -3.08653457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.78, Y:0.83, Z:-0.31 [[ 9.87949973e-01 1.54287068e-01 -1.22617551e-02 1.48782168e+02] [-1.54279224e-01 9.88026010e-01 1.58878123e-03 8.29742853e-01] [ 1.23600614e-02 3.22097697e-04 9.99923560e-01 -3.08205046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.81, Y:0.83, Z:-0.31 [[ 9.88108382e-01 1.53243038e-01 -1.25856011e-02 1.48810324e+02] [-1.53234721e-01 9.88188479e-01 1.62824273e-03 8.26689614e-01] [ 1.26864629e-02 3.19670797e-04 9.99919472e-01 -3.09112378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87533619500002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:148.84, Y:0.82, Z:-0.31 [[ 9.88127770e-01 1.53002914e-01 -1.39146554e-02 1.48837505e+02] [-1.52992718e-01 9.88225676e-01 1.80062117e-03 8.23575911e-01] [ 1.40263200e-02 3.49597171e-04 9.99901565e-01 -3.10017683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.86, Y:0.82, Z:-0.31 [[ 9.87939241e-01 1.54218018e-01 -1.38873808e-02 1.48863934e+02] [-1.54207998e-01 9.88036775e-01 1.79591870e-03 8.18848569e-01] [ 1.39982059e-02 3.67286631e-04 9.99901953e-01 -3.10366406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.89, Y:0.82, Z:-0.31 [[ 9.87796874e-01 1.55110551e-01 -1.40731469e-02 1.48891487e+02] [-1.55100408e-01 9.87897042e-01 1.81592594e-03 8.15222593e-01] [ 1.41844895e-02 3.88984872e-04 9.99899319e-01 -3.09752374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.92, Y:0.82, Z:-0.31 [[ 9.87501884e-01 1.56725899e-01 -1.66439521e-02 1.48920112e+02] [-1.56711992e-01 9.87642016e-01 2.14463929e-03 8.15656440e-01] [ 1.67743869e-02 4.90471542e-04 9.99859180e-01 -3.08362088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.95, Y:0.81, Z:-0.31 [[ 9.87506249e-01 1.56730164e-01 -1.63420607e-02 1.48948326e+02] [-1.56716813e-01 9.87641342e-01 2.10237692e-03 8.13723470e-01] [ 1.64696007e-02 4.84965332e-04 9.99864249e-01 -3.09456715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.97, Y:0.81, Z:-0.31 [[ 9.87556954e-01 1.56459497e-01 -1.58646935e-02 1.48974930e+02] [-1.56446904e-01 9.87684265e-01 2.03948698e-03 8.09499797e-01] [ 1.59884052e-02 4.67872625e-04 9.99872068e-01 -3.11039822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.00, Y:0.80, Z:-0.31 [[ 9.87600955e-01 1.56057161e-01 -1.70445265e-02 1.49002621e+02] [-1.56042631e-01 9.87747900e-01 2.18730211e-03 8.03765430e-01] [ 1.71770395e-02 4.99491115e-04 9.99852339e-01 -3.11731023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.03, Y:0.80, Z:-0.31 [[ 9.87660303e-01 1.55645134e-01 -1.73700577e-02 1.49030562e+02] [-1.55630038e-01 9.87812906e-01 2.22574242e-03 7.98256934e-01] [ 1.75047932e-02 5.05025303e-04 9.99846652e-01 -3.12093484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.06, Y:0.79, Z:-0.31 [[ 9.87691250e-01 1.55514101e-01 -1.67737548e-02 1.49057253e+02] [-1.55500008e-01 9.87833553e-01 2.14919034e-03 7.94815297e-01] [ 1.69039072e-02 4.85582516e-04 9.99857001e-01 -3.12421698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.09, Y:0.79, Z:-0.31 [[ 9.87619520e-01 1.56024709e-01 -1.62472946e-02 1.49085226e+02] [-1.56011631e-01 9.87753034e-01 2.07716898e-03 7.91041525e-01] [ 1.63724042e-02 4.83314292e-04 9.99865846e-01 -3.12382285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.175336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:149.11, Y:0.79, Z:-0.31 [[ 9.87632329e-01 1.56031850e-01 -1.53767572e-02 1.49111797e+02] [-1.56020158e-01 9.87751918e-01 1.96446891e-03 7.85907732e-01] [ 1.54949412e-02 4.58911085e-04 9.99879841e-01 -3.12884867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.14, Y:0.78, Z:-0.31 [[ 9.87701157e-01 1.55743202e-01 -1.38014467e-02 1.49139280e+02] [-1.55733805e-01 9.87797492e-01 1.75965498e-03 7.81692490e-01] [ 1.39070887e-02 4.11338533e-04 9.99903207e-01 -3.11669279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.17, Y:0.78, Z:-0.31 [[ 9.87692325e-01 1.55636977e-01 -1.55242858e-02 1.49166733e+02] [-1.55625121e-01 9.87814211e-01 1.97627611e-03 7.78762904e-01] [ 1.56426918e-02 4.64016106e-04 9.99877538e-01 -3.12201326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.19, Y:0.77, Z:-0.31 [[ 9.87715111e-01 1.55391667e-01 -1.65011921e-02 1.49193342e+02] [-1.55378236e-01 9.87852818e-01 2.10075303e-03 7.73678196e-01] [ 1.66271886e-02 4.88980606e-04 9.99861639e-01 -3.13010862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.22, Y:0.77, Z:-0.31 [[ 9.87882282e-01 1.54136672e-01 -1.81792249e-02 1.49219105e+02] [-1.54120183e-01 9.88049401e-01 2.31297761e-03 7.65692710e-01] [ 1.83184870e-02 5.16835870e-04 9.99832069e-01 -3.13980213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.25, Y:0.76, Z:-0.31 [[ 9.87948608e-01 1.53740378e-01 -1.79288570e-02 1.49246009e+02] [-1.53724302e-01 9.88111149e-01 2.27960402e-03 7.61003428e-01] [ 1.80661707e-02 5.03969421e-04 9.99836666e-01 -3.14067005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.355336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:149.27, Y:0.75, Z:-0.31 [[ 9.87939510e-01 1.53930444e-01 -1.67613347e-02 1.49272637e+02] [-1.53916501e-01 9.88081570e-01 2.12643327e-03 7.52348100e-01] [ 1.68888887e-02 4.79058546e-04 9.99857258e-01 -3.13767093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.30, Y:0.74, Z:-0.31 [[ 9.87820199e-01 1.54691207e-01 -1.67894083e-02 1.49298496e+02] [-1.54677353e-01 9.87962745e-01 2.12852477e-03 7.44045152e-01] [ 1.69165740e-02 4.94341468e-04 9.99856782e-01 -3.14073236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.33, Y:0.74, Z:-0.31 [[ 9.87648944e-01 1.55823103e-01 -1.63928096e-02 1.49325764e+02] [-1.55810121e-01 9.87784847e-01 2.07401431e-03 7.39246133e-01] [ 1.65157482e-02 5.05767592e-04 9.99863478e-01 -3.13530228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.35, Y:0.74, Z:-0.31 [[ 9.87251877e-01 1.58481383e-01 -1.47439205e-02 1.49353013e+02] [-1.58471200e-01 9.87361841e-01 1.86388848e-03 7.36014571e-01] [ 1.48529761e-02 4.96359363e-04 9.99889565e-01 -3.12731099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.38, Y:0.73, Z:-0.31 [[ 9.86958446e-01 1.60235062e-01 -1.54191698e-02 1.49381141e+02] [-1.60224192e-01 9.87078732e-01 1.94573464e-03 7.34641110e-01] [ 1.55317095e-02 5.50164792e-04 9.99879224e-01 -3.13076558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.41, Y:0.73, Z:-0.31 [[ 9.86903991e-01 1.60517997e-01 -1.59525990e-02 1.49409045e+02] [-1.60506448e-01 9.87032745e-01 2.01003456e-03 7.29157795e-01] [ 1.60683843e-02 5.76783860e-04 9.99870729e-01 -3.13718034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.44, Y:0.72, Z:-0.31 [[ 9.86903892e-01 1.60458458e-01 -1.65466288e-02 1.49436023e+02] [-1.60446077e-01 9.87042412e-01 2.08170044e-03 7.21397009e-01] [ 1.66662509e-02 6.00403417e-04 9.99860928e-01 -3.14751975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.46, Y:0.71, Z:-0.32 [[ 9.86837866e-01 1.60552896e-01 -1.93337530e-02 1.49461725e+02] [-1.60536009e-01 9.87026987e-01 2.43246178e-03 7.11323673e-01] [ 1.94734747e-02 7.03318139e-04 9.99810127e-01 -3.15885287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.49, Y:0.71, Z:-0.31 [[ 9.86833552e-01 1.60631109e-01 -1.88994096e-02 1.49489644e+02] [-1.60615083e-01 9.87014268e-01 2.37277205e-03 7.08098900e-01] [ 1.90351279e-02 6.93999163e-04 9.99818575e-01 -3.14130245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62533619500002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.52, Y:0.71, Z:-0.31 [[ 9.86869379e-01 1.60434821e-01 -1.86948470e-02 1.49516935e+02] [-1.60419110e-01 9.87046200e-01 2.34682871e-03 7.05044115e-01] [ 1.88291908e-02 6.82997328e-04 9.99822482e-01 -3.13419693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.54, Y:0.70, Z:-0.31 [[ 9.86875650e-01 1.60283917e-01 -1.96345989e-02 1.49544448e+02] [-1.60266663e-01 9.87070690e-01 2.45941980e-03 7.00662586e-01] [ 1.97749426e-02 7.19630131e-04 9.99804198e-01 -3.14485404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68533619500002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:149.57, Y:0.69, Z:-0.32 [[ 9.86707963e-01 1.61586952e-01 -1.72352321e-02 1.49570708e+02] [-1.61573888e-01 9.86858260e-01 2.15698325e-03 6.93694103e-01] [ 1.73572715e-02 6.56450927e-04 9.99849136e-01 -3.15657489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.60, Y:0.69, Z:-0.31 [[ 9.86544282e-01 1.62781137e-01 -1.52539076e-02 1.49597268e+02] [-1.62771061e-01 9.86662020e-01 1.90815182e-03 6.89873840e-01] [ 1.53610624e-02 6.00418452e-04 9.99881832e-01 -3.14961278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.63, Y:0.69, Z:-0.32 [[ 9.86572318e-01 1.62611084e-01 -1.52543709e-02 1.49625523e+02] [-1.62601044e-01 9.86690059e-01 1.90444702e-03 6.86543305e-01] [ 1.53610203e-02 6.01501930e-04 9.99881832e-01 -3.15313785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.65, Y:0.68, Z:-0.31 [[ 9.86443371e-01 1.63408286e-01 -1.50734397e-02 1.49653648e+02] [-1.63398626e-01 9.86558341e-01 1.87855664e-03 6.82592418e-01] [ 1.51777994e-02 6.09889595e-04 9.99884625e-01 -3.14828471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.68, Y:0.68, Z:-0.31 [[ 9.86442391e-01 1.63349555e-01 -1.57585352e-02 1.49680322e+02] [-1.63338987e-01 9.86568050e-01 1.96406464e-03 6.78566845e-01] [ 1.58676964e-02 6.36546555e-04 9.99873898e-01 -3.14915121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.71, Y:0.67, Z:-0.31 [[ 9.86520744e-01 1.62858807e-01 -1.59320631e-02 1.49706649e+02] [-1.62847963e-01 9.86649179e-01 1.98435914e-03 6.74702337e-01] [ 1.60425273e-02 6.36892557e-04 9.99871108e-01 -3.13480700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.73, Y:0.67, Z:-0.31 [[ 9.86849798e-01 1.60841341e-01 -1.60480462e-02 1.49734101e+02] [-1.60830149e-01 9.86980084e-01 1.99407856e-03 6.71158159e-01] [ 1.61598323e-02 6.13153634e-04 9.99869233e-01 -3.13333944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.76, Y:0.66, Z:-0.31 [[ 9.87158387e-01 1.59058242e-01 -1.47917362e-02 1.49760339e+02] [-1.59048554e-01 9.87269054e-01 1.83652039e-03 6.62785346e-01] [ 1.48955371e-02 5.39667753e-04 9.99888910e-01 -3.13891940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.79, Y:0.66, Z:-0.31 [[ 9.87338759e-01 1.58016871e-01 -1.38868195e-02 1.49787495e+02] [-1.58008282e-01 9.87436288e-01 1.72046085e-03 6.55928124e-01] [ 1.39842113e-02 4.95554807e-04 9.99902093e-01 -3.14095375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.81, Y:0.65, Z:-0.31 [[ 9.87522015e-01 1.56852698e-01 -1.40534963e-02 1.49813920e+02] [-1.56843781e-01 9.87621889e-01 1.74131294e-03 6.47901372e-01] [ 1.41526702e-02 4.84618629e-04 9.99899729e-01 -3.14491142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.84, Y:0.64, Z:-0.32 [[ 9.87626177e-01 1.56186875e-01 -1.41490131e-02 1.49840443e+02] [-1.56177785e-01 9.87727407e-01 1.75195185e-03 6.42844277e-01] [ 1.42489999e-02 4.79488015e-04 9.99898363e-01 -3.15279461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.87, Y:0.64, Z:-0.32 [[ 9.87798622e-01 1.55024415e-01 -1.48766141e-02 1.49868181e+02] [-1.55014300e-01 9.87910517e-01 1.83770275e-03 6.35724659e-01] [ 1.49816523e-02 4.90807673e-04 9.99887648e-01 -3.16430861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.90, Y:0.63, Z:-0.32 [[ 9.87836677e-01 1.54677592e-01 -1.59230159e-02 1.49895584e+02] [-1.54666007e-01 9.87964862e-01 1.96394167e-03 6.30656240e-01] [ 1.60351580e-02 5.22695678e-04 9.99871292e-01 -3.16323720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.92, Y:0.63, Z:-0.32 [[ 9.87792549e-01 1.54896602e-01 -1.65203643e-02 1.49922736e+02] [-1.54884161e-01 9.87930536e-01 2.03766841e-03 6.27350114e-01] [ 1.66366003e-02 5.45949085e-04 9.99861453e-01 -3.15655767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.95, Y:0.62, Z:-0.31 [[ 9.87474813e-01 1.56913845e-01 -1.64784262e-02 1.49948988e+02] [-1.56901770e-01 9.87612125e-01 2.03109050e-03 6.22670153e-01] [ 1.65929997e-02 5.79843534e-04 9.99862159e-01 -3.14697852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.98, Y:0.62, Z:-0.32 [[ 9.87252748e-01 1.58322987e-01 -1.63047017e-02 1.49976502e+02] [-1.58311433e-01 9.87387193e-01 2.00511139e-03 6.16689049e-01] [ 1.64165089e-02 6.01668964e-04 9.99865059e-01 -3.15112841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.00, Y:0.61, Z:-0.32 [[ 9.86684163e-01 1.61745290e-01 -1.71120833e-02 1.50003458e+02] [-1.61733132e-01 9.86832295e-01 2.10115592e-03 6.10329713e-01] [ 1.72266085e-02 6.94413571e-04 9.99851370e-01 -3.15371745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.03, Y:0.61, Z:-0.32 [[ 9.86257995e-01 1.64222042e-01 -1.80634635e-02 1.50030718e+02] [-1.64208910e-01 9.86423091e-01 2.21793351e-03 6.08694921e-01] [ 1.81824511e-02 7.78727008e-04 9.99834382e-01 -3.16655975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.06, Y:0.60, Z:-0.32 [[ 9.86217670e-01 1.64527441e-01 -1.74765328e-02 1.50057552e+02] [-1.64515223e-01 9.86372213e-01 2.14437300e-03 6.04542634e-01] [ 1.75911745e-02 7.60337139e-04 9.99844974e-01 -3.17180795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.08, Y:0.60, Z:-0.32 [[ 9.86404516e-01 1.63512016e-01 -1.64301798e-02 1.50084797e+02] [-1.63501153e-01 9.86541093e-01 2.01136353e-03 5.96940698e-01] [ 1.65379297e-02 7.02335266e-04 9.99862992e-01 -3.16707328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.11, Y:0.59, Z:-0.32 [[ 9.86632608e-01 1.62122042e-01 -1.65088304e-02 1.50112574e+02] [-1.62110939e-01 9.86770477e-01 2.01745372e-03 5.92780570e-01] [ 1.66175001e-02 6.85776373e-04 9.99861685e-01 -3.16589217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.14, Y:0.59, Z:-0.32 [[ 9.87066203e-01 1.59573145e-01 -1.53857644e-02 1.50139575e+02] [-1.59563195e-01 9.87185926e-01 1.88009147e-03 5.87533174e-01] [ 1.54886222e-02 5.99226979e-04 9.99879865e-01 -3.17249678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.17, Y:0.58, Z:-0.32 [[ 9.87270768e-01 1.58395591e-01 -1.43968056e-02 1.50166616e+02] [-1.58386817e-01 9.87375580e-01 1.75488575e-03 5.81941452e-01] [ 1.44930204e-02 5.47716801e-04 9.99894821e-01 -3.17630720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.19, Y:0.58, Z:-0.32 [[ 9.87683920e-01 1.55900007e-01 -1.32537891e-02 1.50193346e+02] [-1.55892345e-01 9.87772730e-01 1.61560245e-03 5.77500886e-01] [ 1.33436039e-02 4.70459701e-04 9.99910859e-01 -3.16164383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.22, Y:0.57, Z:-0.32 [[ 9.87904045e-01 1.54489552e-01 -1.33632717e-02 1.50220089e+02] [-1.54481649e-01 9.87994317e-01 1.62784054e-03 5.74447277e-01] [ 1.34543209e-02 4.56230002e-04 9.99909382e-01 -3.16366555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.25, Y:0.57, Z:-0.32 [[ 9.88385799e-01 1.51372089e-01 -1.34165338e-02 1.50247481e+02] [-1.51363888e-01 9.88476765e-01 1.63045213e-03 5.66589112e-01] [ 1.35087369e-02 4.19262993e-04 9.99908665e-01 -3.17479957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46533619500002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:150.27, Y:0.56, Z:-0.32 [[ 9.88739238e-01 1.48967660e-01 -1.42602461e-02 1.50274407e+02] [-1.48958185e-01 9.88841982e-01 1.73024649e-03 5.55234169e-01] [ 1.43588808e-02 4.13417783e-04 9.99896820e-01 -3.17475872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.30, Y:0.55, Z:-0.32 [[ 9.88885145e-01 1.47795342e-01 -1.62082380e-02 1.50302170e+02] [-1.47782991e-01 9.89017862e-01 1.96370623e-03 5.50030761e-01] [ 1.63204636e-02 4.53421977e-04 9.99866710e-01 -3.18859384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.33, Y:0.55, Z:-0.32 [[ 9.88980005e-01 1.46989554e-01 -1.76810985e-02 1.50329210e+02] [-1.46974727e-01 9.89137928e-01 2.14222360e-03 5.46424919e-01] [ 1.78039296e-02 4.80058318e-04 9.99841382e-01 -3.19097219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.36, Y:0.54, Z:-0.32 [[ 9.88962801e-01 1.47149743e-01 -1.73069955e-02 1.50357194e+02] [-1.47135645e-01 9.89114111e-01 2.09211433e-03 5.43313941e-01] [ 1.74264476e-02 4.77452694e-04 9.99848034e-01 -3.19376537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.38, Y:0.54, Z:-0.32 [[ 9.88710622e-01 1.48824475e-01 -1.73948586e-02 1.50384139e+02] [-1.48810555e-01 9.88863495e-01 2.09909255e-03 5.36660522e-01] [ 1.75135370e-02 5.13143466e-04 9.99846495e-01 -3.19250401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.41, Y:0.53, Z:-0.32 [[ 9.88547104e-01 1.49900674e-01 -1.74473747e-02 1.50410804e+02] [-1.49886840e-01 9.88700917e-01 2.10530843e-03 5.31266736e-01] [ 1.75658225e-02 5.33935299e-04 9.99845566e-01 -3.19360429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.44, Y:0.52, Z:-0.32 [[ 9.88280818e-01 1.51682926e-01 -1.71264469e-02 1.50437038e+02] [-1.51669888e-01 9.88429047e-01 2.06515496e-03 5.24265144e-01] [ 1.72415263e-02 5.56613261e-04 9.99851199e-01 -3.19216172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.46, Y:0.52, Z:-0.32 [[ 9.88166321e-01 1.52498810e-01 -1.64752589e-02 1.50464967e+02] [-1.52486934e-01 9.88303499e-01 1.98204976e-03 5.19269054e-01] [ 1.65848163e-02 5.53666897e-04 9.99862309e-01 -3.19031501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.49, Y:0.52, Z:-0.32 [[ 9.88115912e-01 1.52812414e-01 -1.65924877e-02 1.50493240e+02] [-1.52800470e-01 9.88255051e-01 1.99269479e-03 5.16225479e-01] [ 1.67021182e-02 5.66326490e-04 9.99860350e-01 -3.19269151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.52, Y:0.51, Z:-0.32 [[ 9.87990022e-01 1.53512960e-01 -1.75922498e-02 1.50520024e+02] [-1.53499645e-01 9.88146444e-01 2.11277103e-03 5.11802005e-01] [ 1.77080568e-02 6.13007402e-04 9.99843012e-01 -3.20125192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.55, Y:0.51, Z:-0.32 [[ 9.87827335e-01 1.54508681e-01 -1.80062261e-02 1.50546453e+02] [-1.54494924e-01 9.87991219e-01 2.16098962e-03 5.06545261e-01] [ 1.81238849e-02 6.47185904e-04 9.99835539e-01 -3.21127386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.795336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:150.57, Y:0.50, Z:-0.32 [[ 9.87439882e-01 1.56879788e-01 -1.87406135e-02 1.50573401e+02] [-1.56865401e-01 9.87617440e-01 2.24441632e-03 4.97722611e-01] [ 1.88606603e-02 7.23527660e-04 9.99821860e-01 -3.21744541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.60, Y:0.49, Z:-0.32 [[ 9.87303527e-01 1.57762840e-01 -1.85103121e-02 1.50600658e+02] [-1.57749031e-01 9.87476757e-01 2.21295904e-03 4.91496282e-01] [ 1.86276257e-02 7.35121539e-04 9.99826220e-01 -3.21758994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.855336195 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:150.63, Y:0.49, Z:-0.32 [[ 9.87041199e-01 1.59461990e-01 -1.79316872e-02 1.50626785e+02] [-1.59449342e-01 9.87203788e-01 2.14205250e-03 4.86212761e-01] [ 1.80438055e-02 7.44901663e-04 9.99836920e-01 -3.19713020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.65, Y:0.48, Z:-0.32 [[ 9.87031196e-01 1.59558196e-01 -1.76238233e-02 1.50654906e+02] [-1.59546066e-01 9.87188248e-01 2.10122753e-03 4.83580594e-01] [ 1.77332993e-02 7.37834560e-04 9.99842480e-01 -3.19613067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.68, Y:0.48, Z:-0.32 [[ 9.87078721e-01 1.59473009e-01 -1.56191454e-02 1.50683075e+02] [-1.59463524e-01 9.87202071e-01 1.85883415e-03 4.79708612e-01] [ 1.57156866e-02 6.55868330e-04 9.99876286e-01 -3.18639374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.71, Y:0.47, Z:-0.32 [[ 9.87233240e-01 1.58707392e-01 -1.35089992e-02 1.50710582e+02] [-1.58700266e-01 9.87325504e-01 1.60468750e-03 4.72632511e-01] [ 1.35924552e-02 5.59680929e-04 9.99907462e-01 -3.19852773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.74, Y:0.47, Z:-0.32 [[ 9.87362540e-01 1.57906956e-01 -1.34390247e-02 1.50736735e+02] [-1.57899844e-01 9.87453844e-01 1.59533518e-03 4.67292021e-01] [ 1.35223312e-02 5.46845710e-04 9.99908420e-01 -3.20337495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.76, Y:0.46, Z:-0.32 [[ 9.87653867e-01 1.56132952e-01 -1.27412834e-02 1.50763325e+02] [-1.56126456e-01 9.87735922e-01 1.50913388e-03 4.57450278e-01] [ 1.28206488e-02 4.98749501e-04 9.99917688e-01 -3.21210784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.79, Y:0.45, Z:-0.32 [[ 9.87902593e-01 1.54415387e-01 -1.42952668e-02 1.50790647e+02] [-1.54407065e-01 9.88005870e-01 1.69069588e-03 4.51678706e-01] [ 1.43848769e-02 5.37047337e-04 9.99896388e-01 -3.20409944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.82, Y:0.45, Z:-0.32 [[ 9.88088706e-01 1.53023306e-01 -1.62658376e-02 1.50818284e+02] [-1.53012391e-01 9.88222403e-01 1.92083459e-03 4.48736119e-01] [ 1.63681976e-02 5.90919731e-04 9.99865857e-01 -3.21263908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.85, Y:0.44, Z:-0.32 [[ 9.88475532e-01 1.50449137e-01 -1.67684041e-02 1.50845311e+02] [-1.50437167e-01 9.88617589e-01 1.98019119e-03 4.43826724e-01] [ 1.68754573e-02 5.65220670e-04 9.99857440e-01 -3.20974352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12533619500002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:150.87, Y:0.44, Z:-0.32 [[ 9.88718472e-01 1.48965565e-01 -1.56538876e-02 1.50873077e+02] [-1.48955020e-01 9.88842253e-01 1.84397374e-03 4.37542714e-01] [ 1.57539140e-02 5.08554235e-04 9.99875770e-01 -3.19962674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.90, Y:0.43, Z:-0.32 [[ 9.89079847e-01 1.46789781e-01 -1.31839474e-02 1.50899049e+02] [-1.46782109e-01 9.89167630e-01 1.55288098e-03 4.27741458e-01] [ 1.32690811e-02 3.99244324e-04 9.99911882e-01 -3.19552260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.93, Y:0.42, Z:-0.32 [[ 9.89192378e-01 1.46049507e-01 -1.29607762e-02 1.50925624e+02] [-1.46042045e-01 9.89277208e-01 1.52545909e-03 4.23062332e-01] [ 1.30445931e-02 3.83845762e-04 9.99914842e-01 -3.19980103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.95, Y:0.42, Z:-0.32 [[ 9.89172566e-01 1.46320349e-01 -1.13132710e-02 1.50952157e+02] [-1.46314693e-01 9.89237201e-01 1.33051327e-03 4.19793819e-01] [ 1.13861897e-02 3.39190543e-04 9.99935118e-01 -3.19718501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.98, Y:0.42, Z:-0.32 [[ 9.88700166e-01 1.49553641e-01 -1.02805761e-02 1.50980159e+02] [-1.49549182e-01 9.88753553e-01 1.20553441e-03 4.15413918e-01] [ 1.03452482e-02 3.45539670e-04 9.99946427e-01 -3.19229024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.01, Y:0.41, Z:-0.32 [[ 9.88427540e-01 1.51251932e-01 -1.15694174e-02 1.51007842e+02] [-1.51246423e-01 9.88495162e-01 1.35467703e-03 4.09922298e-01] [ 1.16412106e-02 4.10832911e-04 9.99932154e-01 -3.19973915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.03, Y:0.40, Z:-0.32 [[ 9.87920251e-01 1.54258815e-01 -1.47578994e-02 1.51033618e+02] [-1.54250175e-01 9.88030311e-01 1.72880199e-03 4.02063629e-01] [ 1.48479348e-02 5.68490065e-04 9.99889602e-01 -3.21852885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.06, Y:0.40, Z:-0.32 [[ 9.87772205e-01 1.55138104e-01 -1.54350286e-02 1.51060554e+02] [-1.55128779e-01 9.87892604e-01 1.80693203e-03 3.98895372e-01] [ 1.55284746e-02 6.09579906e-04 9.99879240e-01 -3.22019341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.09, Y:0.40, Z:-0.32 [[ 9.87734079e-01 1.55307646e-01 -1.61531727e-02 1.51088505e+02] [-1.55297527e-01 9.87865942e-01 1.88653199e-03 3.96109302e-01] [ 1.62501620e-02 6.45155840e-04 9.99867749e-01 -3.22289676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.12, Y:0.39, Z:-0.32 [[ 9.87826377e-01 1.54776999e-01 -1.55926330e-02 1.51116521e+02] [-1.54767554e-01 9.87949239e-01 1.81791495e-03 3.91781368e-01] [ 1.56861013e-02 6.17449321e-04 9.99876775e-01 -3.22619782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.14, Y:0.38, Z:-0.32 [[ 9.88059717e-01 1.53549418e-01 -1.26716883e-02 1.51144215e+02] [-1.53543118e-01 9.88140849e-01 1.47437416e-03 3.84135884e-01] [ 1.27478022e-02 4.88880819e-04 9.99918624e-01 -3.22054940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.17, Y:0.38, Z:-0.32 [[ 9.88151086e-01 1.53008523e-01 -1.20757025e-02 1.51171330e+02] [-1.53002759e-01 9.88224762e-01 1.40525159e-03 3.80169948e-01] [ 1.21485237e-02 4.59014902e-04 9.99926099e-01 -3.22040587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.20, Y:0.38, Z:-0.32 [[ 9.88218968e-01 1.52556876e-01 -1.22340146e-02 1.51198294e+02] [-1.52550937e-01 9.88294585e-01 1.42265848e-03 3.75407516e-01] [ 1.23078468e-02 4.60412298e-04 9.99924150e-01 -3.22838542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.23, Y:0.37, Z:-0.32 [[ 9.88203537e-01 1.52568415e-01 -1.32909078e-02 1.51226292e+02] [-1.52561416e-01 9.88292784e-01 1.54481911e-03 3.70867398e-01] [ 1.33709988e-02 5.01084002e-04 9.99910479e-01 -3.23610161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.25, Y:0.37, Z:-0.32 [[ 9.88187687e-01 1.52547999e-01 -1.46357036e-02 1.51253881e+02] [-1.52539525e-01 9.88295909e-01 1.70014656e-03 3.66479369e-01] [ 1.47237600e-02 5.52459394e-04 9.99891447e-01 -3.24308729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.28, Y:0.36, Z:-0.33 [[ 9.88373912e-01 1.51092060e-01 -1.69764217e-02 1.51279649e+02] [-1.51080469e-01 9.88519503e-01 1.97060506e-03 3.58543069e-01] [ 1.70792667e-02 6.17111129e-04 9.99853948e-01 -3.25762012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.31, Y:0.35, Z:-0.33 [[ 9.88551761e-01 1.49904152e-01 -1.71511141e-02 1.51306055e+02] [-1.49892168e-01 9.88700349e-01 1.98944702e-03 3.54214314e-01] [ 1.72555388e-02 6.04146309e-04 9.99850930e-01 -3.25918599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.33, Y:0.35, Z:-0.33 [[ 9.88569277e-01 1.49788565e-01 -1.71513941e-02 1.51334366e+02] [-1.49776605e-01 9.88717867e-01 1.98703237e-03 3.51091679e-01] [ 1.72555245e-02 6.04558437e-04 9.99850930e-01 -3.26271361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.36, Y:0.35, Z:-0.32 [[ 9.88963392e-01 1.47392490e-01 -1.50619768e-02 1.51362965e+02] [-1.47383050e-01 9.89077957e-01 1.74093535e-03 3.50550218e-01] [ 1.51540701e-02 4.98158765e-04 9.99885046e-01 -3.24178999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.39, Y:0.35, Z:-0.32 [[ 9.89137137e-01 1.46287143e-01 -1.44151587e-02 1.51390788e+02] [-1.46278374e-01 9.89242063e-01 1.66650943e-03 3.47684678e-01] [ 1.45038702e-02 4.60219601e-04 9.99894707e-01 -3.23880596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.42, Y:0.34, Z:-0.32 [[ 9.89379233e-01 1.44691952e-01 -1.38914414e-02 1.51417306e+02] [-1.44683688e-01 9.89476659e-01 1.60336308e-03 3.40062908e-01] [ 1.39772508e-02 4.23530845e-04 9.99902224e-01 -3.24820109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.44, Y:0.33, Z:-0.33 [[ 9.89477094e-01 1.44058132e-01 -1.35031589e-02 1.51444729e+02] [-1.44050269e-01 9.89569145e-01 1.55821012e-03 3.32789224e-01] [ 1.35867823e-02 4.03320466e-04 9.99907614e-01 -3.25282496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.47, Y:0.32, Z:-0.33 [[ 9.89797188e-01 1.41991647e-01 -1.18278506e-02 1.51470294e+02] [-1.41985482e-01 9.89867801e-01 1.36360353e-03 3.21985383e-01] [ 1.19016288e-02 3.29692134e-04 9.99929119e-01 -3.25440545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.50, Y:0.32, Z:-0.32 [[ 9.89968847e-01 1.40877830e-01 -1.07293322e-02 1.51497676e+02] [-1.40872699e-01 9.90026946e-01 1.23621254e-03 3.18062497e-01] [ 1.07964830e-02 2.87658088e-04 9.99941675e-01 -3.24868201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.52, Y:0.32, Z:-0.32 [[ 9.90148261e-01 1.39623829e-01 -1.05644380e-02 1.51524869e+02] [-1.39618796e-01 9.90204581e-01 1.21614029e-03 3.16431456e-01] [ 1.06307570e-02 2.70834914e-04 9.99943455e-01 -3.23801138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.55, Y:0.31, Z:-0.32 [[ 9.90172745e-01 1.39338806e-01 -1.19429024e-02 1.51553238e+02] [-1.39332359e-01 9.90244720e-01 1.37421940e-03 3.14202435e-01] [ 1.20178782e-02 3.03318175e-04 9.99927737e-01 -3.24662379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.58, Y:0.31, Z:-0.33 [[ 9.90083000e-01 1.39751975e-01 -1.43191489e-02 1.51579482e+02] [-1.39742787e-01 9.90186471e-01 1.64512499e-03 3.08297589e-01] [ 1.44085370e-02 3.72187493e-04 9.99896122e-01 -3.26254840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.61, Y:0.30, Z:-0.33 [[ 9.89992594e-01 1.40353950e-01 -1.46776046e-02 1.51606871e+02] [-1.40344367e-01 9.90101316e-01 1.68604034e-03 3.00349695e-01] [ 1.47689580e-02 3.90751672e-04 9.99890857e-01 -3.26697816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.63, Y:0.29, Z:-0.33 [[ 9.89832919e-01 1.41441628e-01 -1.50019405e-02 1.51632428e+02] [-1.41431762e-01 9.89946510e-01 1.72189560e-03 2.88188553e-01] [ 1.50946664e-02 4.17361935e-04 9.99885982e-01 -3.26406452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.66, Y:0.29, Z:-0.33 [[ 9.89515180e-01 1.43638445e-01 -1.50898908e-02 1.51660831e+02] [-1.43628734e-01 9.89630128e-01 1.73100126e-03 2.88709827e-01] [ 1.51820489e-02 4.54489880e-04 9.99884643e-01 -3.25493325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.69, Y:0.29, Z:-0.33 [[ 9.89277524e-01 1.45360795e-01 -1.41499358e-02 1.51687905e+02] [-1.45352452e-01 9.89378610e-01 1.62174894e-03 2.88863589e-01] [ 1.42353825e-02 4.52368089e-04 9.99898569e-01 -3.25420328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.71, Y:0.29, Z:-0.33 [[ 9.88846447e-01 1.48382996e-01 -1.28526757e-02 1.51714342e+02] [-1.48376398e-01 9.88929867e-01 1.47069877e-03 2.85507492e-01] [ 1.29286216e-02 4.52738476e-04 9.99916319e-01 -3.25222556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.74, Y:0.28, Z:-0.32 [[ 9.88704015e-01 1.49319478e-01 -1.29639885e-02 1.51741722e+02] [-1.49312849e-01 9.88788892e-01 1.48320636e-03 2.80453029e-01] [ 1.30401195e-02 4.69237975e-04 9.99914864e-01 -3.24970822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:0.27, Z:-0.33 [[ 9.88633233e-01 1.49864070e-01 -1.20453844e-02 1.51768252e+02] [-1.49858402e-01 9.88706510e-01 1.37686061e-03 2.73001267e-01] [ 1.21156919e-02 4.43891899e-04 9.99926504e-01 -3.25342493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.80, Y:0.27, Z:-0.33 [[ 9.88555619e-01 1.50358253e-01 -1.22549389e-02 1.51796020e+02] [-1.50352434e-01 9.88631471e-01 1.40005830e-03 2.70782858e-01] [ 1.23261286e-02 4.58524397e-04 9.99923925e-01 -3.25724599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.82, Y:0.27, Z:-0.33 [[ 9.88461904e-01 1.50996489e-01 -1.19634708e-02 1.51823536e+02] [-1.50991004e-01 9.88534194e-01 1.36555450e-03 2.69466461e-01] [ 1.20324939e-02 4.56577872e-04 9.99927503e-01 -3.26133710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.85, Y:0.27, Z:-0.33 [[ 9.88239799e-01 1.52482787e-01 -1.14499063e-02 1.51851895e+02] [-1.52477871e-01 9.88306022e-01 1.30621465e-03 2.67889384e-01] [ 1.15151866e-02 4.55004026e-04 9.99933595e-01 -3.25642647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:0.27, Z:-0.33 [[ 9.88151101e-01 1.53017669e-01 -1.19580458e-02 1.51879798e+02] [-1.53012356e-01 9.88223335e-01 1.36332739e-03 2.65041165e-01] [ 1.20258331e-02 4.82555306e-04 9.99927571e-01 -3.26187235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.91, Y:0.26, Z:-0.33 [[ 9.88088588e-01 1.53373854e-01 -1.25460569e-02 1.51907310e+02] [-1.53368046e-01 9.88168103e-01 1.42948846e-03 2.63131822e-01] [ 1.26168594e-02 5.11703003e-04 9.99920273e-01 -3.26082247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.93, Y:0.26, Z:-0.33 [[ 9.88248093e-01 1.52407746e-01 -1.17296700e-02 1.51934360e+02] [-1.52402612e-01 9.88317591e-01 1.33555544e-03 2.61898274e-01] [ 1.17961882e-02 4.67772226e-04 9.99930313e-01 -3.25650013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:0.26, Z:-0.32 [[ 9.88729066e-01 1.49382545e-01 -9.98444136e-03 1.51961211e+02] [-1.49378682e-01 9.88779409e-01 1.13570386e-03 2.61755827e-01] [ 1.00420644e-02 3.68559275e-04 9.99949509e-01 -3.24927146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:0.26, Z:-0.32 [[ 9.89042627e-01 1.47321448e-01 -9.54326370e-03 1.51988929e+02] [-1.47317829e-01 9.89088611e-01 1.08490343e-03 2.58545980e-01] [ 9.59896298e-03 3.32877149e-04 9.99953873e-01 -3.24991173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.385336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:152.02, Y:0.25, Z:-0.32 [[ 9.89770811e-01 1.42491369e-01 -7.06760047e-03 1.52015929e+02] [-1.42489268e-01 9.89796022e-01 8.02470649e-04 2.54185923e-01] [ 7.10982797e-03 2.12795195e-04 9.99974702e-01 -3.24647496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.04, Y:0.25, Z:-0.32 [[ 9.90384636e-01 1.38228122e-01 -5.59101388e-03 1.52042289e+02] [-1.38226743e-01 9.90400407e-01 6.34132604e-04 2.50618585e-01] [ 5.62499738e-03 1.44792452e-04 9.99984169e-01 -3.24236624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.07, Y:0.25, Z:-0.32 [[ 9.90557981e-01 1.36956208e-01 -6.15500229e-03 1.52068727e+02] [-1.36954515e-01 9.90577091e-01 6.97714030e-04 2.47659540e-01] [ 6.19256053e-03 1.51829155e-04 9.99980814e-01 -3.24886473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:0.24, Z:-0.33 [[ 9.90717029e-01 1.35707752e-01 -7.94829603e-03 1.52096180e+02] [-1.35704889e-01 9.90748894e-01 9.00882977e-04 2.43221318e-01] [ 7.99702231e-03 1.86102527e-04 9.99968006e-01 -3.26088903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:0.24, Z:-0.33 [[ 9.90716008e-01 1.35674026e-01 -8.62267326e-03 1.52123819e+02] [-1.35670661e-01 9.90753510e-01 9.76692132e-04 2.37266046e-01] [ 8.67545555e-03 2.02219254e-04 9.99962347e-01 -3.26319738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.15, Y:0.23, Z:-0.33 [[ 9.90493181e-01 1.37219248e-01 -9.70233999e-03 1.52149759e+02] [-1.37215071e-01 9.90540670e-01 1.09810303e-03 2.30290760e-01] [ 9.76124322e-03 2.43643706e-04 9.99952328e-01 -3.25648004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:0.23, Z:-0.33 [[ 9.90296401e-01 1.38620830e-01 -9.86426016e-03 1.52176426e+02] [-1.38616589e-01 9.90345494e-01 1.11560945e-03 2.28095251e-01] [ 9.92367230e-03 2.62566069e-04 9.99950725e-01 -3.25429118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.20, Y:0.23, Z:-0.33 [[ 9.89804694e-01 1.42108031e-01 -9.59034613e-03 1.52202978e+02] [-1.42104194e-01 9.89851112e-01 1.08379829e-03 2.26733688e-01] [ 9.64703122e-03 2.90079770e-04 9.99953424e-01 -3.26378148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.23, Y:0.22, Z:-0.33 [[ 9.89299394e-01 1.45538862e-01 -1.02541965e-02 1.52230927e+02] [-1.45534665e-01 9.89352475e-01 1.15829465e-03 2.20875545e-01] [ 1.03135916e-02 3.46440858e-04 9.99946753e-01 -3.26314847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.26, Y:0.22, Z:-0.33 [[ 9.89042762e-01 1.47338635e-01 -9.25967451e-03 1.52257885e+02] [-1.47335301e-01 9.89086051e-01 1.04494560e-03 2.15686489e-01] [ 9.31257576e-03 3.30781045e-04 9.99956582e-01 -3.26411934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:0.21, Z:-0.33 [[ 9.88472992e-01 1.51146952e-01 -8.70301261e-03 1.52284967e+02] [-1.51144159e-01 9.88511244e-01 9.81578436e-04 2.07435798e-01] [ 8.75138842e-03 3.45145750e-04 9.99961646e-01 -3.26561420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:0.21, Z:-0.33 [[ 9.87984285e-01 1.54181335e-01 -1.07316555e-02 1.52312536e+02] [-1.54177273e-01 9.88042461e-01 1.20981949e-03 2.05630418e-01] [ 1.07898629e-02 4.59294728e-04 9.99941682e-01 -3.27057379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.745336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:152.34, Y:0.21, Z:-0.33 [[ 9.87834365e-01 1.55154816e-01 -1.05000441e-02 1.52340230e+02] [-1.55150991e-01 9.87890060e-01 1.18286475e-03 2.05548513e-01] [ 1.05564164e-02 4.60617795e-04 9.99944173e-01 -3.27809860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.37, Y:0.20, Z:-0.33 [[ 9.87642950e-01 1.56457783e-01 -9.07548702e-03 1.52367342e+02] [-1.56454990e-01 9.87684561e-01 1.02131696e-03 2.02704425e-01] [ 9.12351140e-03 4.11208733e-04 9.99958295e-01 -3.27646948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.39, Y:0.20, Z:-0.33 [[ 9.87667072e-01 1.56292308e-01 -9.29885063e-03 1.52393317e+02] [-1.56289374e-01 9.87710756e-01 1.04578261e-03 1.95554698e-01] [ 9.34802257e-03 4.20426502e-04 9.99956218e-01 -3.28055125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.42, Y:0.18, Z:-0.33 [[ 9.87934121e-01 1.54542171e-01 -1.01434912e-02 1.52420370e+02] [-1.54538593e-01 9.87986095e-01 1.14031219e-03 1.84976050e-01] [ 1.01978546e-02 4.41007535e-04 9.99947903e-01 -3.28644565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.45, Y:0.18, Z:-0.33 [[ 9.88199654e-01 1.52853542e-01 -9.86093731e-03 1.52448627e+02] [-1.52850084e-01 9.88248766e-01 1.10784207e-03 1.81325890e-01] [ 9.91439671e-03 4.12475951e-04 9.99950766e-01 -3.28931920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:0.18, Z:-0.33 [[ 9.88303465e-01 1.52229409e-01 -9.08123938e-03 1.52476549e+02] [-1.52226457e-01 9.88345115e-01 1.01945639e-03 1.78580783e-01] [ 9.13058982e-03 3.74872613e-04 9.99958245e-01 -3.28521620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.50, Y:0.18, Z:-0.33 [[ 9.88338422e-01 1.52059130e-01 -8.07372585e-03 1.52503289e+02] [-1.52056799e-01 9.88371342e-01 9.05416737e-04 1.75255067e-01] [ 8.11751614e-03 3.32806759e-04 9.99966997e-01 -3.28501236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.53, Y:0.17, Z:-0.33 [[ 9.88220672e-01 1.52803381e-01 -8.42800270e-03 1.52529922e+02] [-1.52800873e-01 9.88256546e-01 9.44488789e-04 1.71047951e-01] [ 8.47334992e-03 3.54442822e-04 9.99964038e-01 -3.28909695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:0.16, Z:-0.33 [[ 9.88071514e-01 1.53770376e-01 -8.32791592e-03 1.52556327e+02] [-1.53767968e-01 9.88106544e-01 9.32608829e-04 1.62383873e-01] [ 8.37227583e-03 3.59082488e-04 9.99964887e-01 -3.29191516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.58, Y:0.16, Z:-0.33 [[ 9.88001557e-01 1.54279907e-01 -7.11579845e-03 1.52583456e+02] [-1.54278165e-01 9.88027132e-01 7.96360190e-04 1.57210098e-01] [ 7.15346432e-03 3.11007219e-04 9.99974365e-01 -3.28102835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.61, Y:0.16, Z:-0.33 [[ 9.87812346e-01 1.55514407e-01 -6.48364954e-03 1.52611367e+02] [-1.55512991e-01 9.87833581e-01 7.25078981e-04 1.55681974e-01] [ 6.51752698e-03 2.92049762e-04 9.99978718e-01 -3.27636862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.64, Y:0.15, Z:-0.33 [[ 9.87780761e-01 1.55696416e-01 -6.91329057e-03 1.52639094e+02] [-1.55694813e-01 9.87804904e-01 7.72694018e-04 1.53748161e-01] [ 6.94928801e-03 3.13111198e-04 9.99975804e-01 -3.29494706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:0.15, Z:-0.33 [[ 9.87812300e-01 1.55494505e-01 -6.95113387e-03 1.52666839e+02] [-1.55492883e-01 9.87836707e-01 7.76384718e-04 1.50160820e-01] [ 6.98730875e-03 3.13929474e-04 9.99975539e-01 -3.30063805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.69, Y:0.15, Z:-0.33 [[ 9.87986502e-01 1.54366440e-01 -7.32623926e-03 1.52693667e+02] [-1.54364613e-01 9.88013612e-01 8.17561708e-04 1.49262239e-01] [ 7.36462820e-03 3.23172158e-04 9.99972829e-01 -3.30528321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.72, Y:0.15, Z:-0.33 [[ 9.88143795e-01 1.53371904e-01 -6.99282983e-03 1.52720575e+02] [-1.53370219e-01 9.88168492e-01 7.79762990e-04 1.46059039e-01] [ 7.02968783e-03 3.01973885e-04 9.99975246e-01 -3.31517514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.75, Y:0.14, Z:-0.33 [[ 9.88241925e-01 1.52714217e-01 -7.50098367e-03 1.52747594e+02] [-1.52712262e-01 9.88270341e-01 8.36113346e-04 1.39689162e-01] [ 7.54068608e-03 3.19209916e-04 9.99971518e-01 -3.31151972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.78, Y:0.14, Z:-0.33 [[ 9.88195817e-01 1.52930880e-01 -9.00962899e-03 1.52775084e+02] [-1.52928073e-01 9.88236812e-01 1.00380978e-03 1.37669573e-01] [ 9.05716054e-03 3.85864576e-04 9.99958909e-01 -3.31026147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:0.14, Z:-0.33 [[ 9.88095123e-01 1.53427692e-01 -1.13124084e-02 1.52802600e+02] [-1.53423308e-01 9.88159755e-01 1.25952484e-03 1.38810314e-01] [ 1.13717127e-02 4.91056761e-04 9.99935219e-01 -3.32531845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.83, Y:0.14, Z:-0.33 [[ 9.88098190e-01 1.53357026e-01 -1.19828637e-02 1.52829257e+02] [-1.53352113e-01 9.88170710e-01 1.33326139e-03 1.37426125e-01] [ 1.20455800e-02 5.20204303e-04 9.99927314e-01 -3.33615981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.86, Y:0.14, Z:-0.33 [[ 9.88272912e-01 1.52232613e-01 -1.19114867e-02 1.52858009e+02] [-1.52227686e-01 9.88344564e-01 1.32456032e-03 1.38209899e-01] [ 1.19742944e-02 5.04230968e-04 9.99928178e-01 -3.33829461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.89, Y:0.14, Z:-0.33 [[ 9.88387807e-01 1.51511232e-01 -1.15710765e-02 1.52885205e+02] [-1.51506546e-01 9.88455418e-01 1.28555756e-03 1.37473792e-01] [ 1.16322697e-02 4.82464419e-04 9.99932226e-01 -3.34013117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.91, Y:0.14, Z:-0.33 [[ 9.88541383e-01 1.50569376e-01 -1.07143615e-02 1.52913293e+02] [-1.50565311e-01 9.88599348e-01 1.18969858e-03 1.35629081e-01] [ 1.07713430e-02 4.37144895e-04 9.99941892e-01 -3.33988837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.94, Y:0.13, Z:-0.33 [[ 9.88891710e-01 1.48329291e-01 -9.57114608e-03 1.52939860e+02] [-1.48325960e-01 9.88937958e-01 1.06087496e-03 1.32324233e-01] [ 9.62262848e-03 3.70558981e-04 9.99953633e-01 -3.33785338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.97, Y:0.13, Z:-0.33 [[ 9.89100271e-01 1.46920696e-01 -9.74492622e-03 1.52967980e+02] [-1.46917175e-01 9.89148208e-01 1.08009924e-03 1.32022473e-01] [ 9.79786524e-03 3.63370575e-04 9.99951934e-01 -3.34432025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:0.13, Z:-0.34 [[ 9.89426328e-01 1.44605913e-01 -1.11656198e-02 1.52996180e+02] [-1.44601152e-01 9.89489251e-01 1.23684724e-03 1.33888429e-01] [ 1.12271162e-02 3.90792265e-04 9.99936898e-01 -3.35547559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.02, Y:0.13, Z:-0.34 [[ 9.89553858e-01 1.43781217e-01 -1.04939867e-02 1.53023405e+02] [-1.43776976e-01 9.89609434e-01 1.16135152e-03 1.31221098e-01] [ 1.05519288e-02 3.59573806e-04 9.99944262e-01 -3.35597924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:0.13, Z:-0.34 [[ 9.89562456e-01 1.43722030e-01 -1.04940229e-02 1.53051738e+02] [-1.43717790e-01 9.89618032e-01 1.16102430e-03 1.28210692e-01] [ 1.05519391e-02 3.59271725e-04 9.99944262e-01 -3.35950775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:0.13, Z:-0.34 [[ 9.89752382e-01 1.42555219e-01 -8.26020925e-03 1.53079214e+02] [-1.42552558e-01 9.89786813e-01 9.12971693e-04 1.25546668e-01] [ 8.30599506e-03 2.73898053e-04 9.99965467e-01 -3.35107343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.11, Y:0.12, Z:-0.34 [[ 9.89836488e-01 1.41976299e-01 -8.15217549e-03 1.53105686e+02] [-1.41973695e-01 9.89870022e-01 9.00182418e-04 1.22516953e-01] [ 8.19739870e-03 2.66361077e-04 9.99966365e-01 -3.35329283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.13, Y:0.12, Z:-0.33 [[ 9.89945787e-01 1.41201743e-01 -8.33110518e-03 1.53133406e+02] [-1.41198999e-01 9.89980806e-01 9.19551894e-04 1.19396461e-01] [ 8.37747655e-03 2.66037189e-04 9.99964873e-01 -3.34879195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:0.12, Z:-0.33 [[ 9.89911203e-01 1.41492469e-01 -7.46272381e-03 1.53161400e+02] [-1.41490281e-01 9.89939303e-01 8.23005385e-04 1.18141554e-01] [ 7.50409266e-03 2.41200638e-04 9.99971815e-01 -3.34854974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.19, Y:0.12, Z:-0.34 [[ 9.89740685e-01 1.42698437e-01 -7.10868267e-03 1.53189035e+02] [-1.42696487e-01 9.89766184e-01 7.83395763e-04 1.17659973e-01] [ 7.14772307e-03 2.39025385e-04 9.99974426e-01 -3.35425781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:0.11, Z:-0.34 [[ 9.89531907e-01 1.44156448e-01 -6.74706142e-03 1.53215370e+02] [-1.44154731e-01 9.89554881e-01 7.42765905e-04 1.12783875e-01] [ 6.78366205e-03 2.37630259e-04 9.99976962e-01 -3.36060733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:0.11, Z:-0.34 [[ 9.89350741e-01 1.45400953e-01 -6.60868631e-03 1.53243333e+02] [-1.45399334e-01 9.89372783e-01 7.27195984e-04 1.10226450e-01] [ 6.64418936e-03 2.41446706e-04 9.99977898e-01 -3.36250433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.27, Y:0.11, Z:-0.34 [[ 9.88942107e-01 1.48104311e-01 -7.65649624e-03 1.53270099e+02] [-1.48102226e-01 9.88971699e-01 8.41849547e-04 1.10212776e-01] [ 7.69673965e-03 3.01403669e-04 9.99970334e-01 -3.36802213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:0.11, Z:-0.34 [[ 9.88757686e-01 1.49352495e-01 -7.21599772e-03 1.53297641e+02] [-1.49350679e-01 9.88783973e-01 7.92967625e-04 1.07811981e-01] [ 7.25349459e-03 2.93661324e-04 9.99973650e-01 -3.37069325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:0.11, Z:-0.34 [[ 9.88371062e-01 1.51880067e-01 -7.42218431e-03 1.53324972e+02] [-1.51878222e-01 9.88398878e-01 8.14882654e-04 1.08306676e-01] [ 7.45984307e-03 3.21861722e-04 9.99972123e-01 -3.37092876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:0.11, Z:-0.34 [[ 9.88239393e-01 1.52665813e-01 -8.72076143e-03 1.53353093e+02] [-1.52663299e-01 9.88277795e-01 9.57145664e-04 1.07322465e-01] [ 8.76465831e-03 3.85451160e-04 9.99961515e-01 -3.38180944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:0.10, Z:-0.34 [[ 9.88175288e-01 1.53049818e-01 -9.23866938e-03 1.53380192e+02] [-1.53047021e-01 9.88218388e-01 1.01311902e-03 1.03100813e-01] [ 9.28488065e-03 4.12811648e-04 9.99956809e-01 -3.40059886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:0.10, Z:-0.34 [[ 9.88237621e-01 1.52631184e-01 -9.49347052e-03 1.53406329e+02] [-1.52628219e-01 9.88283130e-01 1.04031146e-03 9.81530384e-02] [ 9.54102072e-03 4.20896578e-04 9.99954395e-01 -3.40159976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.43, Y:0.09, Z:-0.34 [[ 9.88523279e-01 1.50675036e-01 -1.08976993e-02 1.53433793e+02] [-1.50671015e-01 9.88583239e-01 1.19368720e-03 9.23368131e-02] [ 1.09531418e-02 4.61979836e-04 9.99939906e-01 -3.40291353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:0.09, Z:-0.34 [[ 9.89034184e-01 1.47412839e-01 -8.99094206e-03 1.53460870e+02] [-1.47409977e-01 9.89074987e-01 9.83769590e-04 8.93232682e-02] [ 9.03773617e-03 3.52372811e-04 9.99959097e-01 -3.39908219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:0.09, Z:-0.34 [[ 9.89243971e-01 1.46003188e-01 -8.91268042e-03 1.53488967e+02] [-1.46000323e-01 9.89284062e-01 9.74711610e-04 8.75995479e-02] [ 8.95948369e-03 3.37026639e-04 9.99959806e-01 -3.39460967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.52, Y:0.09, Z:-0.34 [[ 9.89523598e-01 1.44202953e-01 -6.96825670e-03 1.53517156e+02] [-1.44201162e-01 9.89548102e-01 7.61361284e-04 8.63371812e-02] [ 7.00521573e-03 2.51445756e-04 9.99975432e-01 -3.38996133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.54, Y:0.08, Z:-0.34 [[ 9.89619415e-01 1.43614873e-01 -5.30857847e-03 1.53543872e+02] [-1.43613829e-01 9.89633636e-01 5.79218405e-04 8.24763786e-02] [ 5.33673219e-03 1.89179502e-04 9.99985742e-01 -3.39228587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:0.07, Z:-0.34 [[ 9.89769253e-01 1.42599948e-01 -4.69910407e-03 1.53571078e+02] [-1.42599121e-01 9.89780394e-01 5.12431782e-04 7.29892621e-02] [ 4.72415382e-03 1.62898886e-04 9.99988828e-01 -3.39761550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.60, Y:0.07, Z:-0.34 [[ 9.89871691e-01 1.41866481e-01 -5.28550625e-03 1.53598225e+02] [-1.41865425e-01 9.89885786e-01 5.76076474e-04 6.78375690e-02] [ 5.31377345e-03 1.79588797e-04 9.99985866e-01 -3.39436979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.63, Y:0.07, Z:-0.34 [[ 9.89958322e-01 1.41220351e-01 -6.27159476e-03 1.53625635e+02] [-1.41218853e-01 9.89978166e-01 6.83272273e-04 6.92123263e-02] [ 6.30523383e-03 2.09256347e-04 9.99980100e-01 -3.39875971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.65, Y:0.07, Z:-0.34 [[ 9.89815954e-01 1.42072683e-01 -8.92920629e-03 1.53653075e+02] [-1.42069686e-01 9.89856181e-01 9.72304077e-04 6.94127750e-02] [ 8.97676788e-03 3.06167447e-04 9.99959661e-01 -3.41927677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.68, Y:0.06, Z:-0.34 [[ 9.89756418e-01 1.42451953e-01 -9.46967015e-03 1.53680256e+02] [-1.42448604e-01 9.89801664e-01 1.03063363e-03 6.37802581e-02] [ 9.51991104e-03 3.28865037e-04 9.99954631e-01 -3.42657293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.71, Y:0.06, Z:-0.34 [[ 9.89686181e-01 1.43027345e-01 -8.02753497e-03 1.53706621e+02] [-1.43024965e-01 9.89718696e-01 8.72711737e-04 5.57579429e-02] [ 8.06982309e-03 2.84427163e-04 9.99967398e-01 -3.41942026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.73, Y:0.05, Z:-0.34 [[ 9.89717107e-01 1.42812516e-01 -8.03944050e-03 1.53733593e+02] [-1.42810134e-01 9.89749718e-01 8.72546426e-04 5.23186279e-02] [ 8.08164452e-03 2.84539452e-04 9.99967302e-01 -3.41285360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.76, Y:0.05, Z:-0.34 [[ 9.89743121e-01 1.42645115e-01 -7.80549692e-03 1.53762005e+02] [-1.42642864e-01 9.89773861e-01 8.47176925e-04 5.35057573e-02] [ 7.84652248e-03 2.74910906e-04 9.99969178e-01 -3.41190912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.79, Y:0.05, Z:-0.34 [[ 9.89725430e-01 1.42900004e-01 -4.81270286e-03 1.53790231e+02] [-1.42899154e-01 9.89737116e-01 5.21658531e-04 5.17064832e-02] [ 4.83785566e-03 1.71432456e-04 9.99988283e-01 -3.41270283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.82, Y:0.04, Z:-0.34 [[ 9.89757123e-01 1.42703930e-01 -4.05280263e-03 1.53817988e+02] [-1.42703328e-01 9.89765410e-01 4.38832576e-04 4.49377313e-02] [ 4.07394699e-03 1.44010755e-04 9.99991691e-01 -3.41602919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.84, Y:0.04, Z:-0.34 [[ 9.89849241e-01 1.42068772e-01 -3.86563970e-03 1.53844372e+02] [-1.42068222e-01 9.89856780e-01 4.18048357e-04 3.71749233e-02] [ 3.88582129e-03 1.35379709e-04 9.99992441e-01 -3.41698259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.87, Y:0.03, Z:-0.34 [[ 9.90013729e-01 1.40882409e-01 -4.99637247e-03 1.53872008e+02] [-1.40881474e-01 9.90026322e-01 5.40431658e-04 3.07431477e-02] [ 5.02267757e-03 1.68861557e-04 9.99987372e-01 -3.40828111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.90, Y:0.03, Z:-0.34 [[ 9.89930219e-01 1.41447711e-01 -5.54130969e-03 1.53900494e+02] [-1.41446572e-01 9.89945710e-01 5.99023863e-04 3.17745099e-02] [ 5.57032631e-03 1.90807434e-04 9.99984467e-01 -3.41949605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.93, Y:0.03, Z:-0.34 [[ 9.89786768e-01 1.42444506e-01 -5.63172269e-03 1.53927631e+02] [-1.42443349e-01 9.89802769e-01 6.08171748e-04 2.97417799e-02] [ 5.66092544e-03 2.00241090e-04 9.99983957e-01 -3.42687359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.95, Y:0.02, Z:-0.34 [[ 9.89332853e-01 1.45571167e-01 -5.43514695e-03 1.53954327e+02] [-1.45570141e-01 9.89347760e-01 5.86033730e-04 2.32236061e-02] [ 5.46256008e-03 2.11412683e-04 9.99985058e-01 -3.42375901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.98, Y:0.02, Z:-0.34 [[ 9.89028766e-01 1.47621019e-01 -5.48950233e-03 1.53981695e+02] [-1.47620003e-01 9.89043975e-01 5.92010452e-04 1.70096302e-02] [ 5.51675239e-03 2.24844985e-04 9.99984757e-01 -3.42081254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.01, Y:0.01, Z:-0.34 [[ 9.88384364e-01 1.51860592e-01 -5.89151624e-03 1.54009669e+02] [-1.51859499e-01 9.88401887e-01 6.34966706e-04 1.16099394e-02] [ 5.91961219e-03 2.67091542e-04 9.99982443e-01 -3.41883719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.04, Y:0.01, Z:-0.34 [[ 9.87703442e-01 1.56277472e-01 -4.38884879e-03 1.54037959e+02] [-1.56276912e-01 9.87713169e-01 4.72462297e-04 1.15342599e-02] [ 4.40875896e-03 2.19223100e-04 9.99990257e-01 -3.41528732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.07, Y:0.01, Z:-0.34 [[ 9.87364793e-01 1.58412239e-01 -4.04075319e-03 1.54065144e+02] [-1.58411784e-01 9.87373039e-01 4.34436768e-04 9.68546602e-03] [ 4.05855086e-03 2.11155351e-04 9.99991742e-01 -3.42003867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.09, Y:0.01, Z:-0.34 [[ 9.86765130e-01 1.62122933e-01 -3.27609408e-03 1.54092793e+02] [-1.62122655e-01 9.86770551e-01 3.51949159e-04 5.86126963e-03] [ 3.28981220e-03 1.83837915e-04 9.99994572e-01 -3.43306704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.12, Y:0.00, Z:-0.34 [[ 9.86653596e-01 1.62802552e-01 -3.16390827e-03 1.54120572e+02] [-1.62802297e-01 9.86658653e-01 3.39635909e-04 1.21273944e-03] [ 3.17699107e-03 1.79988544e-04 9.99994937e-01 -3.43956375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.15, Y:-0.00, Z:-0.34 [[ 9.86742664e-01 1.62235029e-01 -4.32546526e-03 1.54147915e+02] [-1.62234547e-01 9.86752115e-01 4.64326746e-04 -2.00511942e-03] [ 4.34349205e-03 2.43568888e-04 9.99990537e-01 -3.43529665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.17, Y:-0.00, Z:-0.34 [[ 9.86869933e-01 1.61459015e-01 -4.32683490e-03 1.54174556e+02] [-1.61458528e-01 9.86879389e-01 4.63967231e-04 -2.82503896e-03] [ 4.34497588e-03 2.40729084e-04 9.99990532e-01 -3.44230021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.20, Y:-0.00, Z:-0.34 [[ 9.87218117e-01 1.59317584e-01 -4.27746649e-03 1.54203265e+02] [-1.59317089e-01 9.87227357e-01 4.58492051e-04 -2.12046910e-03] [ 4.29587779e-03 2.28841851e-04 9.99990746e-01 -3.44367530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.23, Y:-0.00, Z:-0.34 [[ 9.87467424e-01 1.57769457e-01 -4.10904488e-03 1.54229917e+02] [-1.57768988e-01 9.87475950e-01 4.39910518e-04 -3.45079095e-03] [ 4.12698744e-03 2.13882548e-04 9.99991461e-01 -3.44633292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.26, Y:-0.01, Z:-0.35 [[ 9.88005998e-01 1.54372050e-01 -3.66309842e-03 1.54257184e+02] [-1.54371656e-01 9.88012772e-01 3.91773752e-04 -6.35040479e-03] [ 3.67966694e-03 1.78403754e-04 9.99993214e-01 -3.45062004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.29, Y:-0.01, Z:-0.35 [[ 9.88266307e-01 1.52707948e-01 -3.16048592e-03 1.54285120e+02] [-1.52707647e-01 9.88271350e-01 3.37807903e-04 -1.08354550e-02] [ 3.17500363e-03 1.48786199e-04 9.99994949e-01 -3.45915123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.31, Y:-0.02, Z:-0.35 [[ 9.88778054e-01 1.49360022e-01 -3.08932177e-03 1.54312593e+02] [-1.49359719e-01 9.88782871e-01 3.29926629e-04 -1.54597755e-02] [ 3.10394629e-03 1.35196021e-04 9.99995174e-01 -3.46260346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.34, Y:-0.02, Z:-0.35 [[ 9.89196484e-01 1.46565675e-01 -2.96982969e-03 1.54339486e+02] [-1.46565383e-01 9.89200934e-01 3.16732316e-04 -1.57306933e-02] [ 2.98418039e-03 1.21963734e-04 9.99995540e-01 -3.46074587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.37, Y:-0.02, Z:-0.35 [[ 9.89425392e-01 1.45006720e-01 -3.23176199e-03 1.54367756e+02] [-1.45006367e-01 9.89430662e-01 3.44715005e-04 -1.63877903e-02] [ 3.24759040e-03 1.27556286e-04 9.99994718e-01 -3.46341691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.40, Y:-0.02, Z:-0.35 [[ 9.89934348e-01 1.41473682e-01 -3.89676713e-03 1.54395446e+02] [-1.41473141e-01 9.89942007e-01 4.15502942e-04 -1.80672031e-02] [ 3.91635620e-03 1.39967253e-04 9.99992321e-01 -3.47167354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.025336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:154.42, Y:-0.02, Z:-0.35 [[ 9.90145017e-01 1.39998053e-01 -3.65918094e-03 1.54422902e+02] [-1.39997567e-01 9.90151771e-01 3.89844296e-04 -2.20948617e-02] [ 3.67772193e-03 1.26274042e-04 9.99993229e-01 -3.47925623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.45, Y:-0.03, Z:-0.35 [[ 9.90408131e-01 1.38109014e-01 -4.19928900e-03 1.54450729e+02] [-1.38108357e-01 9.90417024e-01 4.47417404e-04 -2.64760738e-02] [ 4.22083969e-03 1.36831068e-04 9.99991083e-01 -3.47969647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.48, Y:-0.03, Z:-0.35 [[ 9.90443726e-01 1.37855832e-01 -4.12244047e-03 1.54478926e+02] [-1.37855198e-01 9.90452297e-01 4.38770614e-04 -2.86004341e-02] [ 4.14356772e-03 1.33722247e-04 9.99991406e-01 -3.47795587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.51, Y:-0.03, Z:-0.35 [[ 9.90585824e-01 1.36863706e-01 -2.83746857e-03 1.54506387e+02] [-1.36863403e-01 9.90589884e-01 3.01502593e-04 -3.06945629e-02] [ 2.85203242e-03 8.96814098e-05 9.99995929e-01 -3.48604255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.53, Y:-0.04, Z:-0.35 [[ 9.90872378e-01 1.34780949e-01 -2.45486734e-03 1.54534292e+02] [-1.34780717e-01 9.90875416e-01 2.60710716e-04 -3.56551983e-02] [ 2.46760653e-03 7.25377330e-05 9.99996953e-01 -3.48362578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.56, Y:-0.04, Z:-0.35 [[ 9.91018807e-01 1.33706667e-01 -2.06205522e-03 1.54562418e+02] [-1.33706501e-01 9.91020950e-01 2.18939020e-04 -4.02642688e-02] [ 2.07281353e-03 5.87375023e-05 9.99997850e-01 -3.48433725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.59, Y:-0.05, Z:-0.35 [[ 9.91184208e-01 1.32462487e-01 -2.74860629e-03 1.54589931e+02] [-1.32462187e-01 9.91188016e-01 2.91719192e-04 -4.58027551e-02] [ 2.76302746e-03 7.49389448e-05 9.99996180e-01 -3.48739540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.62, Y:-0.05, Z:-0.35 [[ 9.91169391e-01 1.32551459e-01 -3.65374961e-03 1.54618207e+02] [-1.32550929e-01 9.91176120e-01 3.87972554e-04 -4.96297697e-02] [ 3.67293569e-03 9.97613830e-05 9.99993250e-01 -3.49589322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.64, Y:-0.06, Z:-0.35 [[ 9.90949111e-01 1.34148773e-01 -4.89543468e-03 1.54644151e+02] [-1.34147845e-01 9.90961193e-01 5.18827985e-04 -5.64747791e-02] [ 4.92078593e-03 1.42579884e-04 9.99987883e-01 -3.51451439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.67, Y:-0.06, Z:-0.35 [[ 9.90788651e-01 1.35319241e-01 -5.15283989e-03 1.54671179e+02] [-1.35318227e-01 9.90802038e-01 5.46408789e-04 -6.17864218e-02] [ 5.17938389e-03 1.55897533e-04 9.99986575e-01 -3.51873914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.70, Y:-0.07, Z:-0.35 [[ 9.90292480e-01 1.38925064e-01 -4.54207537e-03 1.54698971e+02] [-1.38924316e-01 9.90302884e-01 4.81283181e-04 -6.64047680e-02] [ 4.56489264e-03 1.54393600e-04 9.99989569e-01 -3.51372021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.73, Y:-0.07, Z:-0.35 [[ 9.89706420e-01 1.43069122e-01 -3.52539249e-03 1.54727018e+02] [-1.43068699e-01 9.89712690e-01 3.73147433e-04 -6.68182324e-02] [ 3.54251156e-03 1.35066907e-04 9.99993716e-01 -3.51095698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.75, Y:-0.07, Z:-0.35 [[ 9.89396103e-01 1.45176851e-01 -4.36264774e-03 1.54754489e+02] [-1.45176225e-01 9.89405706e-01 4.61519640e-04 -6.93675445e-02] [ 4.38343053e-03 1.76726995e-04 9.99990377e-01 -3.51722211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.78, Y:-0.07, Z:-0.35 [[ 9.88862299e-01 1.48790538e-01 -3.56769991e-03 1.54780853e+02] [-1.48790145e-01 9.88868723e-01 3.76824731e-04 -7.48135685e-02] [ 3.58405481e-03 1.58210819e-04 9.99993565e-01 -3.52046471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.81, Y:-0.08, Z:-0.35 [[ 9.88870900e-01 1.48733365e-01 -3.56768970e-03 1.54809201e+02] [-1.48732971e-01 9.88877324e-01 3.76920890e-04 -7.76874376e-02] [ 3.58406815e-03 1.57906990e-04 9.99993565e-01 -3.52399315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.84, Y:-0.08, Z:-0.35 [[ 9.88614630e-01 1.50452958e-01 -2.24079906e-03 1.54837927e+02] [-1.50452808e-01 9.88617164e-01 2.36477169e-04 -8.25475257e-02] [ 2.25087110e-03 1.03349721e-04 9.99997461e-01 -3.52324068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.87, Y:-0.09, Z:-0.35 [[ 9.88092615e-01 1.53845073e-01 -2.16282978e-03 1.54865693e+02] [-1.53844942e-01 9.88094976e-01 2.27931533e-04 -8.80736699e-02] [ 2.17214738e-03 1.07522956e-04 9.99997635e-01 -3.52258524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.89, Y:-0.09, Z:-0.35 [[ 9.87978754e-01 1.54558667e-01 -3.09845580e-03 1.54893438e+02] [-1.54558401e-01 9.87983600e-01 3.26562232e-04 -9.06951240e-02] [ 3.11169654e-03 1.56255828e-04 9.99995146e-01 -3.53122185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.92, Y:-0.09, Z:-0.35 [[ 9.87810265e-01 1.55643878e-01 -2.42147165e-03 1.54921092e+02] [-1.55643721e-01 9.87813225e-01 2.54363207e-04 -8.78133623e-02] [ 2.43155180e-03 1.25624271e-04 9.99997036e-01 -3.54498807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.95, Y:-0.09, Z:-0.36 [[ 9.87707599e-01 1.56295593e-01 -2.32093603e-03 1.54947963e+02] [-1.56295450e-01 9.87710318e-01 2.43864621e-04 -8.79261836e-02] [ 2.33052743e-03 1.21884803e-04 9.99997277e-01 -3.55454218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.98, Y:-0.09, Z:-0.36 [[ 9.87641694e-01 1.56684376e-01 -3.72693080e-03 1.54975524e+02] [-1.56684009e-01 9.87648707e-01 3.92069950e-04 -9.25251472e-02] [ 3.74232962e-03 1.96725830e-04 9.99992978e-01 -3.55867632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.00, Y:-0.10, Z:-0.36 [[ 9.87545987e-01 1.57268588e-01 -4.41758222e-03 1.55003007e+02] [-1.57268079e-01 9.87555839e-01 4.64532754e-04 -9.90772165e-02] [ 4.43566553e-03 2.35997214e-04 9.99990135e-01 -3.55722972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.03, Y:-0.10, Z:-0.36 [[ 9.87579096e-01 1.57054471e-01 -4.62834254e-03 1.55029898e+02] [-1.57053914e-01 9.87589911e-01 4.85827629e-04 -1.01287754e-01] [ 4.64720579e-03 2.47106101e-04 9.99989171e-01 -3.55895504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.06, Y:-0.10, Z:-0.36 [[ 9.87822034e-01 1.55563335e-01 -2.77106747e-03 1.55058578e+02] [-1.55563130e-01 9.87825910e-01 2.90596576e-04 -9.61883205e-02] [ 2.78253841e-03 1.44018229e-04 9.99996118e-01 -3.55326967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.09, Y:-0.09, Z:-0.36 [[ 9.87963656e-01 1.54683342e-01 -9.37273738e-04 1.55087134e+02] [-1.54683318e-01 9.87964099e-01 9.76612012e-05 -9.31740430e-02] [ 9.41099365e-04 4.84948947e-05 9.99999556e-01 -3.55178209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.11, Y:-0.09, Z:-0.36 [[ 9.88360827e-01 1.52116614e-01 -1.84704625e-03 1.55114940e+02] [-1.52116518e-01 9.88362549e-01 1.92994328e-04 -9.09657066e-02] [ 1.85490898e-03 9.02182111e-05 9.99998276e-01 -3.56746603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.14, Y:-0.10, Z:-0.36 [[ 9.88922446e-01 1.48405119e-01 -2.88389712e-03 1.55141901e+02] [-1.48404869e-01 9.88926642e-01 3.01845773e-04 -9.98332898e-02] [ 2.89675815e-03 1.29482314e-04 9.99995796e-01 -3.59006329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.17, Y:-0.10, Z:-0.36 [[ 9.89239156e-01 1.46292896e-01 -2.06892495e-03 1.55169182e+02] [-1.46292763e-01 9.89241316e-01 2.16116229e-04 -1.04040552e-01] [ 2.07828230e-03 8.88781115e-05 9.99997836e-01 -3.58603679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.20, Y:-0.10, Z:-0.36 [[ 9.89498745e-01 1.44535839e-01 -1.27472923e-03 1.55198073e+02] [-1.44535788e-01 9.89499565e-01 1.33040288e-04 -1.04411005e-01] [ 1.28057311e-03 5.26007960e-05 9.99999179e-01 -3.58350100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.23, Y:-0.09, Z:-0.36 [[ 9.89940107e-01 1.41466459e-01 -2.41355513e-03 1.55227333e+02] [-1.41466266e-01 9.89943045e-01 2.51332352e-04 -9.42587145e-02] [ 2.42483721e-03 9.26326581e-05 9.99997056e-01 -3.57289769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.25, Y:-0.09, Z:-0.36 [[ 9.90402151e-01 1.38144822e-01 -4.42580589e-03 1.55254255e+02] [-1.38144136e-01 9.90412028e-01 4.61747498e-04 -9.25323893e-02] [ 4.44715941e-03 1.54083414e-04 9.99990099e-01 -3.59720737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.28, Y:-0.10, Z:-0.36 [[ 9.90690439e-01 1.36044610e-01 -4.93125544e-03 1.55281568e+02] [-1.36043731e-01 9.90702699e-01 5.14847599e-04 -9.78357141e-02] [ 4.95545032e-03 1.60811797e-04 9.99987709e-01 -3.60619624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.31, Y:-0.10, Z:-0.36 [[ 9.91374968e-01 1.30993557e-01 -4.04494193e-03 1.55307890e+02] [-1.30992926e-01 9.91383213e-01 4.21528726e-04 -1.03972832e-01] [ 4.06530507e-03 1.11965752e-04 9.99991730e-01 -3.59931111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.34, Y:-0.10, Z:-0.36 [[ 9.91684438e-01 1.28646428e-01 -3.47457578e-03 1.55335918e+02] [-1.28645950e-01 9.91690521e-01 3.61848346e-04 -1.04880301e-01] [ 3.49225436e-03 8.81507271e-05 9.99993898e-01 -3.59386523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.36, Y:-0.10, Z:-0.36 [[ 9.92032054e-01 1.25952784e-01 -2.88111059e-03 1.55364692e+02] [-1.25952444e-01 9.92036235e-01 3.00031348e-04 -1.02290995e-01] [ 2.89595589e-03 6.52422051e-05 9.99995805e-01 -3.59286483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.39, Y:-0.10, Z:-0.36 [[ 9.92068105e-01 1.25657500e-01 -3.32681872e-03 1.55393778e+02] [-1.25657045e-01 9.92073680e-01 3.46377530e-04 -1.03689957e-01] [ 3.34397422e-03 7.44081086e-05 9.99994406e-01 -3.60138015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.42, Y:-0.11, Z:-0.36 [[ 9.91914597e-01 1.26814375e-01 -4.85239694e-03 1.55421222e+02] [-1.26813421e-01 9.91926460e-01 5.05048490e-04 -1.08880779e-01] [ 4.87726832e-03 1.14384087e-04 9.99988100e-01 -3.61979336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.45, Y:-0.12, Z:-0.36 [[ 9.91686282e-01 1.28558813e-01 -5.56333215e-03 1.55449028e+02] [-1.28557588e-01 9.91701876e-01 5.78630383e-04 -1.15334256e-01] [ 5.59155497e-03 1.41388752e-04 9.99984357e-01 -3.62583487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.48, Y:-0.12, Z:-0.36 [[ 9.91582840e-01 1.29361110e-01 -5.40136747e-03 1.55477544e+02] [-1.29359969e-01 9.91597541e-01 5.61374420e-04 -1.16244108e-01] [ 5.42860272e-03 1.42071490e-04 9.99985255e-01 -3.61667851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.50, Y:-0.11, Z:-0.36 [[ 9.91314159e-01 1.31413641e-01 -5.16660451e-03 1.55504784e+02] [-1.31412632e-01 9.91327611e-01 5.35853646e-04 -1.12421327e-01] [ 5.19221618e-03 1.47757790e-04 9.99986509e-01 -3.61708481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.53, Y:-0.12, Z:-0.36 [[ 9.91189084e-01 1.32334344e-01 -5.64096188e-03 1.55532348e+02] [-1.32333154e-01 9.91205122e-01 5.85293123e-04 -1.15329099e-01] [ 5.66880469e-03 1.66350122e-04 9.99983918e-01 -3.62974292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.56, Y:-0.12, Z:-0.36 [[ 9.90969311e-01 1.34006981e-01 -4.68551599e-03 1.55559503e+02] [-1.34006181e-01 9.90980377e-01 4.85678392e-04 -1.24204891e-01] [ 4.70833870e-03 1.46595721e-04 9.99988905e-01 -3.63086128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.59, Y:-0.13, Z:-0.36 [[ 9.90756320e-01 1.35598050e-01 -3.88382197e-03 1.55586772e+02] [-1.35597515e-01 9.90763924e-01 4.02110339e-04 -1.31144188e-01] [ 3.90247607e-03 1.28243247e-04 9.99992377e-01 -3.62141560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.61, Y:-0.13, Z:-0.36 [[ 9.90657563e-01 1.36323058e-01 -3.69006667e-03 1.55613448e+02] [-1.36322582e-01 9.90664428e-01 3.81545483e-04 -1.32583902e-01] [ 3.70763123e-03 1.25058497e-04 9.99993119e-01 -3.61644421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.64, Y:-0.13, Z:-0.36 [[ 9.90481703e-01 1.37608391e-01 -3.15082915e-03 1.55641424e+02] [-1.37608051e-01 9.90486708e-01 3.25558815e-04 -1.31295623e-01] [ 3.16565401e-03 1.11119408e-04 9.99994983e-01 -3.61494553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.67, Y:-0.13, Z:-0.36 [[ 9.89964703e-01 1.41260995e-01 -3.90108300e-03 1.55669468e+02] [-1.41260503e-01 9.89972377e-01 4.02812809e-04 -1.25905977e-01] [ 3.91886615e-03 1.52298483e-04 9.99992310e-01 -3.63258731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.70, Y:-0.13, Z:-0.37 [[ 9.89306972e-01 1.45744980e-01 -5.48772948e-03 1.55697249e+02] [-1.45744074e-01 9.89322164e-01 5.66807658e-04 -1.31222863e-01] [ 5.51174177e-03 2.39057282e-04 9.99984782e-01 -3.65016374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:-0.14, Z:-0.37 [[ 9.89019431e-01 1.47655365e-01 -6.20143881e-03 1.55723566e+02] [-1.47654249e-01 9.89038833e-01 6.39970015e-04 -1.35177369e-01] [ 6.22795881e-03 2.82726011e-04 9.99980566e-01 -3.65163406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.75, Y:-0.14, Z:-0.37 [[ 9.88681576e-01 1.49798005e-01 -8.32465468e-03 1.55751395e+02] [-1.49796070e-01 9.88716542e-01 8.59018737e-04 -1.35732223e-01] [ 8.35940308e-03 3.97704557e-04 9.99964980e-01 -3.65125529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.78, Y:-0.14, Z:-0.37 [[ 9.88679150e-01 1.49828371e-01 -8.06205798e-03 1.55779764e+02] [-1.49826562e-01 9.88711945e-01 8.31318948e-04 -1.35977594e-01] [ 8.09560819e-03 3.86002721e-04 9.99967156e-01 -3.65335162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.81, Y:-0.13, Z:-0.36 [[ 9.88828130e-01 1.48956781e-01 -5.55035082e-03 1.55807683e+02] [-1.48955914e-01 9.88843673e-01 5.71610486e-04 -1.33433519e-01] [ 5.57357455e-03 2.61533053e-04 9.99984433e-01 -3.64089903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.84, Y:-0.13, Z:-0.36 [[ 9.89260854e-01 1.46121360e-01 -3.39293170e-03 1.55835001e+02] [-1.46121022e-01 9.89266660e-01 3.48639760e-04 -1.32095101e-01] [ 3.40745793e-03 1.50882979e-04 9.99994183e-01 -3.64482114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.86, Y:-0.13, Z:-0.37 [[ 9.89571384e-01 1.44018677e-01 -2.66400343e-03 1.55862190e+02] [-1.44018463e-01 9.89574963e-01 2.73299949e-04 -1.33491750e-01] [ 2.67559139e-03 1.13215869e-04 9.99996414e-01 -3.65216843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.89, Y:-0.13, Z:-0.37 [[ 9.90104479e-01 1.40312948e-01 -2.32314918e-03 1.55888859e+02] [-1.40312775e-01 9.90107200e-01 2.38032287e-04 -1.33767051e-01] [ 2.33356574e-03 9.02906756e-05 9.99997273e-01 -3.65997473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.92, Y:-0.14, Z:-0.37 [[ 9.90339581e-01 1.38639632e-01 -2.56249541e-03 1.55916666e+02] [-1.38639416e-01 9.90342892e-01 2.62599749e-04 -1.35109888e-01] [ 2.57415585e-03 9.51999413e-05 9.99996682e-01 -3.66306437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.94, Y:-0.14, Z:-0.37 [[ 9.90820134e-01 1.35101485e-01 -4.80122349e-03 1.55943308e+02] [-1.35100684e-01 9.90831753e-01 4.92251455e-04 -1.36712409e-01] [ 4.82370859e-03 1.60915927e-04 9.99988353e-01 -3.67336181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.97, Y:-0.14, Z:-0.37 [[ 9.91035783e-01 1.33440600e-01 -6.45629285e-03 1.55971333e+02] [-1.33439116e-01 9.91056792e-01 6.62003575e-04 -1.40271032e-01] [ 6.48689103e-03 2.05452779e-04 9.99978939e-01 -3.68387946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.00, Y:-0.14, Z:-0.37 [[ 9.91434192e-01 1.30451260e-01 -6.38059188e-03 1.55998215e+02] [-1.30449753e-01 9.91454706e-01 6.53567957e-04 -1.40558157e-01] [ 6.41132661e-03 1.84377013e-04 9.99979430e-01 -3.67451855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.03, Y:-0.14, Z:-0.37 [[ 9.91592975e-01 1.29301609e-01 -4.94636747e-03 1.56026959e+02] [-1.29300692e-01 9.91605302e-01 5.06173976e-04 -1.39387173e-01] [ 4.97029332e-03 1.37650178e-04 9.99987639e-01 -3.66849021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:-0.14, Z:-0.37 [[ 9.91771945e-01 1.27984526e-01 -2.89327378e-03 1.56055506e+02] [-1.27984209e-01 9.91776162e-01 2.95488571e-04 -1.38888698e-01] [ 2.90729793e-03 7.72360796e-05 9.99995771e-01 -3.66247898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.08, Y:-0.14, Z:-0.37 [[ 9.91754757e-01 1.28107869e-01 -3.29775979e-03 1.56081823e+02] [-1.28107459e-01 9.91760236e-01 3.36035019e-04 -1.44474665e-01] [ 3.31363576e-03 8.92032998e-05 9.99994506e-01 -3.67333572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.11, Y:-0.15, Z:-0.37 [[ 9.91685352e-01 1.28638013e-01 -3.52489171e-03 1.56109879e+02] [-1.28637547e-01 9.91691611e-01 3.59525112e-04 -1.48142359e-01] [ 3.54185414e-03 9.68976376e-05 9.99993723e-01 -3.68091345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:-0.15, Z:-0.37 [[ 9.91417288e-01 1.30696920e-01 -3.17420786e-03 1.56137193e+02] [-1.30696554e-01 9.91422365e-01 3.23249421e-04 -1.48477402e-01] [ 3.18922837e-03 9.43829654e-05 9.99994910e-01 -3.68323892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.16, Y:-0.15, Z:-0.37 [[ 9.91220893e-01 1.32162310e-01 -3.77703543e-03 1.56164869e+02] [-1.32161803e-01 9.91228082e-01 3.84692035e-04 -1.48683087e-01] [ 3.79474537e-03 1.17865028e-04 9.99992793e-01 -3.68851554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:-0.15, Z:-0.37 [[ 9.90968802e-01 1.33978254e-01 -5.53729554e-03 1.56192055e+02] [-1.33977197e-01 9.90984255e-01 5.63022952e-04 -1.47758063e-01] [ 5.56280553e-03 1.83933156e-04 9.99984511e-01 -3.69298293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.22, Y:-0.15, Z:-0.37 [[ 9.90951438e-01 1.34097299e-01 -5.75871897e-03 1.56219924e+02] [-1.34096156e-01 9.90968152e-01 5.85850360e-04 -1.49493784e-01] [ 5.78526805e-03 1.91672823e-04 9.99983247e-01 -3.69634421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:-0.15, Z:-0.37 [[ 9.91081742e-01 1.33163888e-01 -4.93547067e-03 1.56247096e+02] [-1.33163041e-01 9.91094018e-01 5.01393663e-04 -1.50712639e-01] [ 4.95828299e-03 1.60300178e-04 9.99987695e-01 -3.69345156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.27, Y:-0.15, Z:-0.37 [[ 9.91254784e-01 1.31913878e-01 -3.56124610e-03 1.56273861e+02] [-1.31913431e-01 9.91261175e-01 3.61207047e-04 -1.53412783e-01] [ 3.57777321e-03 1.11727977e-04 9.99993594e-01 -3.69890144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.30, Y:-0.16, Z:-0.37 [[ 9.91670765e-01 1.28788621e-01 -1.60752609e-03 1.56301461e+02] [-1.28788527e-01 9.91672067e-01 1.62503188e-04 -1.58349887e-01] [ 1.61506728e-03 4.58812565e-05 9.99998695e-01 -3.69961851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.33, Y:-0.17, Z:-0.37 [[ 9.92152910e-01 1.25024141e-01 -1.25197516e-03 1.56327980e+02] [-1.25024082e-01 9.92153699e-01 1.26108631e-04 -1.66522042e-01] [ 1.25791840e-03 3.14079992e-05 9.99999208e-01 -3.71493434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.36, Y:-0.17, Z:-0.37 [[ 9.92309160e-01 1.23772194e-01 -1.72503005e-03 1.56356080e+02] [-1.23772078e-01 9.92310658e-01 1.74177108e-04 -1.71338637e-01] [ 1.73332399e-03 4.06730146e-05 9.99998497e-01 -3.72283628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.38, Y:-0.17, Z:-0.37 [[ 9.92412595e-01 1.22894949e-01 -3.75138283e-03 1.56384285e+02] [-1.22894392e-01 9.92419682e-01 3.79556412e-04 -1.74143203e-01] [ 3.76959172e-03 8.43473467e-05 9.99992892e-01 -3.73276120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.41, Y:-0.18, Z:-0.37 [[ 9.92453894e-01 1.22539580e-01 -4.39538375e-03 1.56411299e+02] [-1.22538813e-01 9.92463622e-01 4.44359415e-04 -1.77497212e-01] [ 4.41671010e-03 9.75988763e-05 9.99990242e-01 -3.74129927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.44, Y:-0.18, Z:-0.37 [[ 9.92438277e-01 1.22651713e-01 -4.77751009e-03 1.56438460e+02] [-1.22650809e-01 9.92449770e-01 4.82851832e-04 -1.82665533e-01] [ 4.80066139e-03 1.06764835e-04 9.99988471e-01 -3.73662821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.47, Y:-0.19, Z:-0.37 [[ 9.92294482e-01 1.23801590e-01 -4.98270636e-03 1.56465489e+02] [-1.23800624e-01 9.92306985e-01 5.03055445e-04 -1.85564829e-01] [ 5.00665339e-03 1.17683016e-04 9.99987460e-01 -3.74087624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:-0.19, Z:-0.37 [[ 9.91931417e-01 1.26693242e-01 -4.57020647e-03 1.56492919e+02] [-1.26692461e-01 9.91941938e-01 4.61182652e-04 -1.90993183e-01] [ 4.59180819e-03 1.21549145e-04 9.99989450e-01 -3.74417490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:-0.20, Z:-0.37 [[ 9.91453396e-01 1.30418650e-01 -3.33752152e-03 1.56519363e+02] [-1.30418259e-01 9.91459008e-01 3.35522016e-04 -1.96086786e-01] [ 3.35277411e-03 1.02619303e-04 9.99994374e-01 -3.74045230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:-0.20, Z:-0.37 [[ 9.91468409e-01 1.30304469e-01 -3.33755347e-03 1.56547718e+02] [-1.30304078e-01 9.91474021e-01 3.35204643e-04 -1.98786669e-01] [ 3.35277622e-03 1.02552013e-04 9.99994374e-01 -3.74398015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:-0.20, Z:-0.37 [[ 9.90865707e-01 1.34837221e-01 -2.01851038e-03 1.56576042e+02] [-1.34837088e-01 9.90867760e-01 2.02550111e-04 -2.01453369e-01] [ 2.02738816e-03 7.14701032e-05 9.99997942e-01 -3.74527933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:-0.21, Z:-0.37 [[ 9.90582467e-01 1.36907381e-01 -1.65687330e-03 1.56604012e+02] [-1.36907295e-01 9.90583851e-01 1.65987464e-04 -2.05727912e-01] [ 1.66399685e-03 6.24137702e-05 9.99998614e-01 -3.74986900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.63, Y:-0.21, Z:-0.38 [[ 9.90153369e-01 1.39963312e-01 -2.56479929e-03 1.56630025e+02] [-1.39963114e-01 9.90156685e-01 2.57073855e-04 -2.13187523e-01] [ 2.57553407e-03 1.04434754e-04 9.99996678e-01 -3.75586237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:-0.22, Z:-0.38 [[ 9.90072566e-01 1.40529784e-01 -2.77392035e-03 1.56657718e+02] [-1.40529556e-01 9.90076445e-01 2.78082708e-04 -2.16393445e-01] [ 2.78547210e-03 1.14495733e-04 9.99996114e-01 -3.76449695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.69, Y:-0.22, Z:-0.38 [[ 9.90044889e-01 1.40687545e-01 -4.25831893e-03 1.56685964e+02] [-1.40687007e-01 9.90054031e-01 4.27065868e-04 -2.17026090e-01] [ 4.27604867e-03 1.76275766e-04 9.99990842e-01 -3.78489740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.71, Y:-0.22, Z:-0.38 [[ 9.90098423e-01 1.40297556e-01 -4.65919012e-03 1.56713774e+02] [-1.40296909e-01 9.90109367e-01 4.67019050e-04 -2.18852807e-01] [ 4.67862941e-03 1.91275148e-04 9.99989037e-01 -3.79114489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.74, Y:-0.22, Z:-0.38 [[ 9.90224668e-01 1.39438603e-01 -3.46161374e-03 1.56741517e+02] [-1.39438243e-01 9.90230709e-01 3.46507438e-04 -2.23005697e-01] [ 3.47611274e-03 1.39561124e-04 9.99993949e-01 -3.79436417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.77, Y:-0.23, Z:-0.38 [[ 9.90344909e-01 1.38589250e-01 -3.15938206e-03 1.56768059e+02] [-1.38588947e-01 9.90349940e-01 3.15780543e-04 -2.27948289e-01] [ 3.17265762e-03 1.25123781e-04 9.99994959e-01 -3.79853734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.80, Y:-0.23, Z:-0.38 [[ 9.90632834e-01 1.36491867e-01 -4.06914687e-03 1.56795561e+02] [-1.36491346e-01 9.90641180e-01 4.06849602e-04 -2.33754667e-01] [ 4.08659612e-03 1.52364759e-04 9.99991638e-01 -3.79173988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.82, Y:-0.23, Z:-0.38 [[ 9.90922987e-01 1.34394246e-01 -3.13369711e-03 1.56823250e+02] [-1.34393928e-01 9.90927936e-01 3.12840342e-04 -2.33665625e-01] [ 3.14731195e-03 1.11149176e-04 9.99995041e-01 -3.78885189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.85, Y:-0.24, Z:-0.38 [[ 9.91022890e-01 1.33655661e-01 -3.12992154e-03 1.56850109e+02] [-1.33655341e-01 9.91027826e-01 3.12049602e-04 -2.35106108e-01] [ 3.14354653e-03 1.09082433e-04 9.99995053e-01 -3.79720052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.88, Y:-0.24, Z:-0.38 [[ 9.91299010e-01 1.31586043e-01 -3.37442476e-03 1.56877469e+02] [-1.31585659e-01 9.91304747e-01 3.36417492e-04 -2.41210535e-01] [ 3.38935113e-03 1.10535579e-04 9.99994250e-01 -3.80332276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.90, Y:-0.25, Z:-0.38 [[ 9.91680020e-01 1.28716970e-01 -1.63691355e-03 1.56904257e+02] [-1.28716878e-01 9.91681370e-01 1.62438640e-04 -2.47816291e-01] [ 1.64420528e-03 4.96112469e-05 9.99998647e-01 -3.80031925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.93, Y:-0.25, Z:-0.38 [[ 9.91859563e-01 1.27327229e-01 -1.54414884e-03 1.56932651e+02] [-1.27327144e-01 9.91860764e-01 1.53547790e-04 -2.51238471e-01] [ 1.55113146e-03 4.43142171e-05 9.99998796e-01 -3.79934847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.96, Y:-0.25, Z:-0.38 [[ 9.92107883e-01 1.25360930e-01 -2.56611170e-03 1.56961897e+02] [-1.25360688e-01 9.92111200e-01 2.55435909e-04 -2.53391731e-01] [ 2.57788984e-03 6.82695502e-05 9.99996675e-01 -3.80540576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.99, Y:-0.26, Z:-0.38 [[ 9.92170009e-01 1.24859073e-01 -2.98065873e-03 1.56989946e+02] [-1.24858745e-01 9.92174484e-01 2.96464074e-04 -2.56674132e-01] [ 2.99434976e-03 7.80185446e-05 9.99995514e-01 -3.81139339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.02, Y:-0.26, Z:-0.38 [[ 9.92208463e-01 1.24528894e-01 -3.86267773e-03 1.57018519e+02] [-1.24528340e-01 9.92215977e-01 3.84379210e-04 -2.64960458e-01] [ 3.88047687e-03 9.96285412e-05 9.99992466e-01 -3.82764682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.05, Y:-0.27, Z:-0.38 [[ 9.92154133e-01 1.24978991e-01 -3.22915364e-03 1.57046204e+02] [-1.24978609e-01 9.92159385e-01 3.20886967e-04 -2.70365137e-01] [ 3.24393922e-03 8.52057984e-05 9.99994735e-01 -3.81893937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.08, Y:-0.27, Z:-0.38 [[ 9.92145760e-01 1.25053809e-01 -2.88704008e-03 1.57075294e+02] [-1.25053504e-01 9.92149958e-01 2.86824896e-04 -2.73494344e-01] [ 2.90024524e-03 7.64623723e-05 9.99995791e-01 -3.82007687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.10, Y:-0.28, Z:-0.38 [[ 9.92193064e-01 1.24672238e-01 -3.12364031e-03 1.57104096e+02] [-1.24671879e-01 9.92197977e-01 3.10225665e-04 -2.79792389e-01] [ 3.13794612e-03 8.16263539e-05 9.99995073e-01 -3.82286458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.13, Y:-0.28, Z:-0.38 [[ 9.92226850e-01 1.24418907e-01 -2.41136597e-03 1.57131968e+02] [-1.24418693e-01 9.92229778e-01 2.39052454e-04 -2.84876857e-01] [ 2.42237176e-03 6.28247390e-05 9.99997064e-01 -3.82855053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.16, Y:-0.29, Z:-0.38 [[ 9.92159824e-01 1.24964186e-01 -1.68401476e-03 1.57160819e+02] [-1.24964082e-01 9.92161252e-01 1.66780740e-04 -2.88025695e-01] [ 1.69165581e-03 4.49682100e-05 9.99998568e-01 -3.82209843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.19, Y:-0.29, Z:-0.38 [[ 9.91974001e-01 1.26410250e-01 -2.83362560e-03 1.57187986e+02] [-1.26409964e-01 9.91978045e-01 2.80727997e-04 -2.92102090e-01] [ 2.84638128e-03 7.97236340e-05 9.99995946e-01 -3.83443723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.22, Y:-0.30, Z:-0.38 [[ 9.91869423e-01 1.27208142e-01 -3.62451317e-03 1.57216540e+02] [-1.27207677e-01 9.91876040e-01 3.59291035e-04 -2.97981813e-01] [ 3.64077251e-03 1.04696110e-04 9.99993367e-01 -3.83961138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.24, Y:-0.31, Z:-0.38 [[ 9.91560481e-01 1.29563472e-01 -4.59554129e-03 1.57244510e+02] [-1.29562751e-01 9.91571120e-01 4.55456115e-04 -3.05178968e-01] [ 4.61581650e-03 1.43798686e-04 9.99989337e-01 -3.83110615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.27, Y:-0.31, Z:-0.38 [[ 9.91369402e-01 1.31015373e-01 -4.65629374e-03 1.57271780e+02] [-1.31014651e-01 9.91380325e-01 4.61054203e-04 -3.07252803e-01] [ 4.67656319e-03 1.52967671e-04 9.99989053e-01 -3.83142848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.30, Y:-0.31, Z:-0.38 [[ 9.91054844e-01 1.33415276e-01 -3.26501804e-03 1.57299529e+02] [-1.33414936e-01 9.91060216e-01 3.22548435e-04 -3.05648342e-01] [ 3.27886237e-03 1.15938984e-04 9.99994618e-01 -3.83450954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.33, Y:-0.31, Z:-0.38 [[ 9.91028466e-01 1.33631850e-01 -2.26009336e-03 1.57327347e+02] [-1.33631689e-01 9.91031040e-01 2.22952597e-04 -3.07479726e-01] [ 2.26961624e-03 8.10677222e-05 9.99997421e-01 -3.83487581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.36, Y:-0.31, Z:-0.38 [[ 9.91195499e-01 1.32405623e-01 -4.84255210e-04 1.57355405e+02] [-1.32405616e-01 9.91195617e-01 4.73349315e-05 -3.13163081e-01] [ 4.86259052e-04 1.71999383e-05 9.99999882e-01 -3.83642139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.38, Y:-0.32, Z:-0.38 [[ 9.91378969e-01 1.31025724e-01 -1.61199745e-05 1.57384258e+02] [-1.31025724e-01 9.91378969e-01 9.92857905e-07 -3.17519376e-01] [ 1.61110934e-05 1.12783289e-06 1.00000000e+00 -3.83381723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:-0.32, Z:-0.38 [[ 9.91782257e-01 1.27936014e-01 -5.75657357e-04 1.57411583e+02] [-1.27936003e-01 9.91782424e-01 5.61026309e-05 -3.22107699e-01] [ 5.78104396e-04 1.80057075e-05 9.99999833e-01 -3.84191727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:-0.33, Z:-0.39 [[ 9.92242719e-01 1.24315486e-01 2.17979284e-04 1.57440036e+02] [-1.24315484e-01 9.92242742e-01 -2.21348775e-05 -3.26941667e-01] [-2.19040071e-04 -5.13502917e-06 9.99999976e-01 -3.85016577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.47, Y:-0.33, Z:-0.39 [[ 9.92468697e-01 1.22498457e-01 1.18440669e-04 1.57468211e+02] [-1.22498456e-01 9.92468704e-01 -1.24946890e-05 -3.29696135e-01] [-1.19079237e-04 -2.10821141e-06 9.99999993e-01 -3.85424756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.50, Y:-0.33, Z:-0.39 [[ 9.92831880e-01 1.19516714e-01 -7.82483650e-04 1.57496841e+02] [-1.19516691e-01 9.92832189e-01 7.66502841e-05 -3.33223661e-01] [ 7.86035945e-04 1.74190107e-05 9.99999691e-01 -3.86235448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.53, Y:-0.34, Z:-0.39 [[ 9.92965600e-01 1.18395680e-01 -1.33404483e-03 1.57525214e+02] [-1.18395611e-01 9.92966496e-01 1.31033736e-04 -3.37414559e-01] [ 1.34017564e-03 2.78330593e-05 9.99999102e-01 -3.86580992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.55, Y:-0.34, Z:-0.39 [[ 9.93024093e-01 1.17879850e-01 -2.73705617e-03 1.57553553e+02] [-1.17879555e-01 9.93027864e-01 2.69296399e-04 -3.42104248e-01] [ 2.74971766e-03 5.52251512e-05 9.99996218e-01 -3.86238672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.58, Y:-0.35, Z:-0.39 [[ 9.92817075e-01 1.19592672e-01 -3.44223394e-03 1.57581155e+02] [-1.19592217e-01 9.92823039e-01 3.38475613e-04 -3.46408281e-01] [ 3.45800836e-03 7.56200206e-05 9.99994018e-01 -3.87283093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.61, Y:-0.35, Z:-0.39 [[ 9.92685383e-01 1.20695096e-01 -2.90259661e-03 1.57610037e+02] [-1.20694778e-01 9.92689624e-01 2.85330892e-04 -3.50414271e-01] [ 2.91581558e-03 6.70844473e-05 9.99995747e-01 -3.87268829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.64, Y:-0.35, Z:-0.39 [[ 9.92379012e-01 1.23208128e-01 -1.91157906e-03 1.57638194e+02] [-1.23207995e-01 9.92380852e-01 1.87587757e-04 -3.53850949e-01] [ 1.92012680e-03 4.93636706e-05 9.99998155e-01 -3.86569731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.67, Y:-0.36, Z:-0.39 [[ 9.92186192e-01 1.24761310e-01 -1.08468464e-03 1.57665704e+02] [-1.24761269e-01 9.92186784e-01 1.05963795e-04 -3.55316474e-01] [ 1.08942995e-03 3.01908178e-05 9.99999406e-01 -3.86189530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.69, Y:-0.36, Z:-0.39 [[ 9.91810959e-01 1.27713855e-01 4.39305653e-04 1.57694414e+02] [-1.27713848e-01 9.91811056e-01 -4.37937836e-05 -3.55880213e-01] [-4.41301277e-04 -1.26702611e-05 9.99999903e-01 -3.86570393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.72, Y:-0.36, Z:-0.39 [[ 9.91713474e-01 1.28467327e-01 7.29621589e-04 1.57722105e+02] [-1.28467308e-01 9.91713742e-01 -7.25026622e-05 -3.58924312e-01] [-7.32889980e-04 -2.18306546e-05 9.99999731e-01 -3.87114607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.75, Y:-0.36, Z:-0.39 [[ 9.91853206e-01 1.27383735e-01 7.75548749e-04 1.57750499e+02] [-1.27383713e-01 9.91853509e-01 -7.67833727e-05 -3.63832117e-01] [-7.79011701e-04 -2.26344452e-05 9.99999696e-01 -3.88031079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.78, Y:-0.37, Z:-0.39 [[ 9.92005180e-01 1.26196595e-01 3.78370164e-04 1.57777749e+02] [-1.26196590e-01 9.92005252e-01 -3.78916154e-05 -3.67706771e-01] [-3.80126983e-04 -1.01603457e-05 9.99999928e-01 -3.88536181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.81, Y:-0.37, Z:-0.39 [[ 9.92369727e-01 1.23297656e-01 1.13684689e-04 1.57806896e+02] [-1.23297655e-01 9.92369734e-01 -1.17554748e-05 -3.69736611e-01] [-1.14266667e-04 -2.35127826e-06 9.99999993e-01 -3.88688885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.84, Y:-0.37, Z:-0.39 [[ 9.92709688e-01 1.20529015e-01 4.82295146e-04 1.57835949e+02] [-1.20529006e-01 9.92709805e-01 -4.79056874e-05 -3.71286262e-01] [-4.84553146e-04 -1.05741148e-05 9.99999883e-01 -3.89350587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.86, Y:-0.38, Z:-0.39 [[ 9.92832265e-01 1.19516021e-01 -1.22546442e-04 1.57863167e+02] [-1.19516020e-01 9.92832272e-01 1.12531265e-05 -3.75527290e-01] [ 1.23012991e-04 3.47379603e-06 9.99999992e-01 -3.90082763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.89, Y:-0.38, Z:-0.39 [[ 9.92869605e-01 1.19198598e-01 -1.28164741e-03 1.57891602e+02] [-1.19198536e-01 9.92870431e-01 1.24969130e-04 -3.84932009e-01] [ 1.28740596e-03 2.86924449e-05 9.99999171e-01 -3.90564179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.92, Y:-0.39, Z:-0.39 [[ 9.92858493e-01 1.19294498e-01 -9.14276786e-04 1.57920139e+02] [-1.19294466e-01 9.92858914e-01 8.89350053e-05 -3.89240377e-01] [ 9.18357313e-04 2.07682860e-05 9.99999578e-01 -3.90396932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.95, Y:-0.39, Z:-0.39 [[ 9.92688869e-01 1.20701092e-01 2.37323498e-04 1.57947753e+02] [-1.20701090e-01 9.92688897e-01 -2.39501032e-05 -3.90945945e-01] [-2.38479205e-04 -4.87020394e-06 9.99999972e-01 -3.90250182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.98, Y:-0.39, Z:-0.39 [[ 9.92470992e-01 1.22477264e-01 -8.06039637e-04 1.57976435e+02] [-1.22477241e-01 9.92471319e-01 7.82614211e-05 -3.90221469e-01] [ 8.09556466e-04 2.10493202e-05 9.99999672e-01 -3.90776398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.01, Y:-0.39, Z:-0.39 [[ 9.92385124e-01 1.23168882e-01 -1.09190211e-03 1.58005352e+02] [-1.23168840e-01 9.92385724e-01 1.06130614e-04 -3.92551491e-01] [ 1.09666005e-03 2.91658734e-05 9.99999398e-01 -3.91264768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.03, Y:-0.40, Z:-0.39 [[ 9.92313784e-01 1.23744905e-01 7.43012144e-04 1.58033307e+02] [-1.23744885e-01 9.92314062e-01 -7.32083447e-05 -3.99225370e-01] [-7.46360559e-04 -1.92983030e-05 9.99999721e-01 -3.91375178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.06, Y:-0.40, Z:-0.39 [[ 9.92345354e-01 1.23489884e-01 9.73326894e-04 1.58060552e+02] [-1.23489849e-01 9.92345831e-01 -9.58021123e-05 -4.03914237e-01] [-9.77707477e-04 -2.51272103e-05 9.99999522e-01 -3.91335092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.09, Y:-0.41, Z:-0.39 [[ 9.92463366e-01 1.22538766e-01 8.47589979e-04 1.58088869e+02] [-1.22538739e-01 9.92463728e-01 -8.33276713e-05 -4.08148888e-01] [-8.51413180e-04 -2.11629463e-05 9.99999637e-01 -3.91511379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.12, Y:-0.41, Z:-0.39 [[ 9.92602389e-01 1.21368551e-01 3.18937612e-03 1.58117212e+02] [-1.21368175e-01 9.92607510e-01 -3.11724347e-04 -4.11223696e-01] [-3.20363222e-03 -7.76704271e-05 9.99994865e-01 -3.91023698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.15, Y:-0.41, Z:-0.39 [[ 9.92639736e-01 1.21058062e-01 3.36171372e-03 1.58145454e+02] [-1.21057644e-01 9.92645425e-01 -3.28258946e-04 -4.13664867e-01] [-3.37672813e-03 -8.11182686e-05 9.99994296e-01 -3.91531078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.17, Y:-0.42, Z:-0.39 [[ 9.92686969e-01 1.20713699e-01 8.86142807e-04 1.58174443e+02] [-1.20713670e-01 9.92687364e-01 -8.65432961e-05 -4.17965423e-01] [-8.90109728e-04 -2.10591484e-05 9.99999604e-01 -3.93959036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.20, Y:-0.42, Z:-0.39 [[ 9.92686065e-01 1.20722583e-01 6.58324736e-04 1.58203898e+02] [-1.20722567e-01 9.92686284e-01 -6.44720412e-05 -4.22545579e-01] [-6.61293167e-04 -1.54741553e-05 9.99999781e-01 -3.94449974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.23, Y:-0.43, Z:-0.39 [[ 9.92554900e-01 1.21794757e-01 8.98343625e-04 1.58232203e+02] [-1.21794727e-01 9.92555307e-01 -8.79838475e-05 -4.25518805e-01] [-9.02371704e-04 -2.20847178e-05 9.99999593e-01 -3.94075716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.26, Y:-0.43, Z:-0.39 [[ 9.92390937e-01 1.23125370e-01 6.09215811e-04 1.58259705e+02] [-1.23125356e-01 9.92391124e-01 -6.00472310e-05 -4.27296857e-01] [-6.11973701e-04 -1.54195857e-05 9.99999813e-01 -3.94463947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.29, Y:-0.43, Z:-0.39 [[ 9.92321667e-01 1.23683216e-01 4.14903801e-04 1.58288702e+02] [-1.23683210e-01 9.92321753e-01 -4.09670737e-05 -4.30333686e-01] [-4.16785007e-04 -1.06641192e-05 9.99999913e-01 -3.94163809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.32, Y:-0.43, Z:-0.39 [[ 9.92247790e-01 1.24270546e-01 -1.07502514e-03 1.58316203e+02] [-1.24270506e-01 9.92248371e-01 1.03785002e-04 -4.30658566e-01] [ 1.07958936e-03 3.06134788e-05 9.99999417e-01 -3.94787026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.35, Y:-0.43, Z:-0.40 [[ 9.92252100e-01 1.24236124e-01 -1.07499490e-03 1.58345402e+02] [-1.24236084e-01 9.92252682e-01 1.04095786e-04 -4.33413998e-01] [ 1.07959903e-03 3.02638941e-05 9.99999417e-01 -3.95150207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.37, Y:-0.44, Z:-0.40 [[ 9.92284995e-01 1.23974372e-01 -9.18648999e-04 1.58374427e+02] [-1.23974343e-01 9.92285420e-01 8.86797353e-05 -4.35162880e-01] [ 9.22556022e-04 2.58933355e-05 9.99999574e-01 -3.95805360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.40, Y:-0.44, Z:-0.40 [[ 9.92480190e-01 1.22403500e-01 6.74697124e-04 1.58403058e+02] [-1.22403483e-01 9.92480419e-01 -6.61483698e-05 -4.40798333e-01] [-6.77720477e-04 -1.69343315e-05 9.99999770e-01 -3.96512661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.43, Y:-0.45, Z:-0.40 [[ 9.92731353e-01 1.20351153e-01 -2.46624138e-04 1.58430802e+02] [-1.20351151e-01 9.92731384e-01 2.34939392e-05 -4.48036513e-01] [ 2.47659044e-04 6.35832868e-06 9.99999969e-01 -3.97300081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.46, Y:-0.45, Z:-0.40 [[ 9.92846644e-01 1.19389630e-01 -1.28748388e-03 1.58459192e+02] [-1.19389569e-01 9.92847478e-01 1.24366931e-04 -4.51524324e-01] [ 1.29312325e-03 3.02348558e-05 9.99999163e-01 -3.98447243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.49, Y:-0.46, Z:-0.40 [[ 9.93081027e-01 1.17427973e-01 -8.62996661e-04 1.58488985e+02] [-1.17427945e-01 9.93081402e-01 8.34357191e-05 -4.55486580e-01] [ 8.66823621e-04 1.84814947e-05 9.99999624e-01 -3.99015040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.52, Y:-0.46, Z:-0.40 [[ 9.93183707e-01 1.16559251e-01 2.54011333e-04 1.58517360e+02] [-1.16559248e-01 9.93183740e-01 -2.50847971e-05 -4.58085472e-01] [-2.55203791e-04 -4.69355826e-06 9.99999967e-01 -3.98266476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.55, Y:-0.46, Z:-0.40 [[ 9.93184129e-01 1.16555561e-01 -2.95204092e-04 1.58547124e+02] [-1.16555557e-01 9.93184173e-01 2.83341656e-05 -4.60535801e-01] [ 2.96494536e-04 6.26663388e-06 9.99999956e-01 -3.98282572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.58, Y:-0.47, Z:-0.40 [[ 9.93153969e-01 1.16803676e-01 -1.44764520e-03 1.58575880e+02] [-1.16803596e-01 9.93155023e-01 1.40048491e-04 -4.66074735e-01] [ 1.45409428e-03 3.00004505e-05 9.99998942e-01 -3.99271399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.60, Y:-0.48, Z:-0.40 [[ 9.93014528e-01 1.17988639e-01 -9.09775634e-04 1.58603389e+02] [-1.17988608e-01 9.93014945e-01 8.77289995e-05 -4.76411043e-01] [ 9.13771826e-04 2.02269895e-05 9.99999582e-01 -3.99647184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.63, Y:-0.48, Z:-0.40 [[ 9.92786386e-01 1.19896502e-01 1.45982031e-04 1.58633005e+02] [-1.19896501e-01 9.92786396e-01 -1.44350495e-05 -4.80317125e-01] [-1.46659687e-04 -3.17181403e-06 9.99999989e-01 -3.99365533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.66, Y:-0.48, Z:-0.40 [[ 9.92661070e-01 1.20929734e-01 1.32883986e-05 1.58662988e+02] [-1.20929734e-01 9.92661070e-01 -1.58559429e-06 -4.82339952e-01] [-1.33826216e-05 -3.30047802e-08 1.00000000e+00 -3.99785393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.69, Y:-0.49, Z:-0.40 [[ 9.92499826e-01 1.22244692e-01 -5.74654983e-04 1.58691842e+02] [-1.22244681e-01 9.92499992e-01 5.51953172e-05 -4.85656264e-01] [ 5.77092401e-04 1.54671722e-05 9.99999833e-01 -4.00272555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.72, Y:-0.49, Z:-0.40 [[ 9.92477043e-01 1.22425785e-01 1.11631705e-03 1.58721356e+02] [-1.22425740e-01 9.92477670e-01 -1.08351393e-04 -4.89352148e-01] [-1.12118475e-03 -2.91296704e-05 9.99999371e-01 -4.00116921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.75, Y:-0.49, Z:-0.40 [[ 9.92484458e-01 1.22362318e-01 1.43691514e-03 1.58750731e+02] [-1.22362245e-01 9.92485497e-01 -1.39222714e-04 -4.92724858e-01] [-1.44315305e-03 -3.76477816e-05 9.99998958e-01 -4.00203630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.78, Y:-0.50, Z:-0.40 [[ 9.92583325e-01 1.21563447e-01 8.18909781e-04 1.58780283e+02] [-1.21563423e-01 9.92583663e-01 -7.92621204e-05 -5.00926356e-01] [-8.22471847e-04 -2.08752172e-05 9.99999662e-01 -4.00697899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.81, Y:-0.51, Z:-0.40 [[ 9.92626388e-01 1.21213459e-01 3.90119036e-04 1.58809300e+02] [-1.21213453e-01 9.92626464e-01 -3.78977768e-05 -5.07714060e-01] [-3.91836200e-04 -9.66934222e-06 9.99999923e-01 -4.00457518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.84, Y:-0.51, Z:-0.40 [[ 9.92576408e-01 1.21620877e-01 6.60049529e-04 1.58839171e+02] [-1.21620862e-01 9.92576628e-01 -6.38784218e-05 -5.13053511e-01] [-6.62918685e-04 -1.68715778e-05 9.99999780e-01 -4.00646220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.87, Y:-0.52, Z:-0.40 [[ 9.92567458e-01 1.21694140e-01 6.13715307e-04 1.58869938e+02] [-1.21694127e-01 9.92567648e-01 -5.93942781e-05 -5.15229230e-01] [-6.16381895e-04 -1.57327205e-05 9.99999810e-01 -4.01269669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.90, Y:-0.52, Z:-0.40 [[ 9.92474793e-01 1.22448020e-01 -5.18252381e-04 1.58900379e+02] [-1.22448010e-01 9.92474928e-01 5.01555456e-05 -5.18616899e-01] [ 5.20493942e-04 1.36808582e-05 9.99999864e-01 -4.03174681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.93, Y:-0.52, Z:-0.40 [[ 9.92373652e-01 1.23264401e-01 6.50528728e-04 1.58930549e+02] [-1.23264386e-01 9.92373865e-01 -6.29570157e-05 -5.22206953e-01] [-6.53328067e-04 -1.77101409e-05 9.99999786e-01 -4.03683327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.96, Y:-0.53, Z:-0.40 [[ 9.92332519e-01 1.23595872e-01 4.82281343e-04 1.58960829e+02] [-1.23595864e-01 9.92332636e-01 -4.65294790e-05 -5.27120077e-01] [-4.84334368e-04 -1.34352643e-05 9.99999883e-01 -4.04790467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.99, Y:-0.54, Z:-0.41 [[ 9.92268552e-01 1.24082043e-01 -2.60124173e-03 1.58991314e+02] [-1.24081808e-01 9.92271959e-01 2.52137094e-04 -5.37919277e-01] [ 2.61242492e-03 7.25790668e-05 9.99996585e-01 -4.05652466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.02, Y:-0.54, Z:-0.41 [[ 9.92225130e-01 1.24408492e-01 -3.43781074e-03 1.59021651e+02] [-1.24408085e-01 9.92231081e-01 3.32830592e-04 -5.44416338e-01] [ 3.45250962e-03 9.74485730e-05 9.99994035e-01 -4.06095454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.05, Y:-0.55, Z:-0.41 [[ 9.92004263e-01 1.26142112e-01 -3.96364545e-03 1.59050435e+02] [-1.26141584e-01 9.92012174e-01 3.83959618e-04 -5.51677059e-01] [ 3.98041802e-03 1.19090938e-04 9.99992071e-01 -4.05865654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.08, Y:-0.56, Z:-0.41 [[ 9.91904401e-01 1.26926702e-01 -3.90796705e-03 1.59081037e+02] [-1.26926195e-01 9.91912092e-01 3.78401538e-04 -5.55059345e-01] [ 3.92438903e-03 1.20685238e-04 9.99992292e-01 -4.06045632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.11, Y:-0.56, Z:-0.41 [[ 9.91700568e-01 1.28510671e-01 -3.87171490e-03 1.59111043e+02] [-1.28510187e-01 9.91708118e-01 3.74700608e-04 -5.55841591e-01] [ 3.88776413e-03 1.25963999e-04 9.99992435e-01 -4.06543322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.14, Y:-0.56, Z:-0.41 [[ 9.91595722e-01 1.29323319e-01 -3.66118959e-03 1.59141020e+02] [-1.29322892e-01 9.91602473e-01 3.54076999e-04 -5.58834281e-01] [ 3.67623507e-03 1.22374389e-04 9.99993235e-01 -4.06899072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.17, Y:-0.57, Z:-0.41 [[ 9.91292248e-01 1.31667873e-01 -1.80299824e-03 1.59169383e+02] [-1.31667774e-01 9.91293885e-01 1.74152609e-04 -5.65272975e-01] [ 1.81023143e-03 6.47606328e-05 9.99998359e-01 -4.06972478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.20, Y:-0.57, Z:-0.41 [[ 9.91107534e-01 1.33062597e-01 4.48736236e-04 1.59198882e+02] [-1.33062591e-01 9.91107635e-01 -4.35642517e-05 -5.70821114e-01] [-4.50542683e-04 -1.65331481e-05 9.99999898e-01 -4.06614855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.23, Y:-0.58, Z:-0.41 [[ 9.91096941e-01 1.33142220e-01 5.17414150e-05 1.59230410e+02] [-1.33142220e-01 9.91096942e-01 -4.71982246e-06 -5.75148601e-01] [-5.19091660e-05 -2.21116525e-06 9.99999999e-01 -4.07183376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.26, Y:-0.58, Z:-0.41 [[ 9.91234679e-01 1.32102535e-01 -1.65279589e-03 1.59261911e+02] [-1.32102451e-01 9.91236055e-01 1.60280658e-04 -5.79604534e-01] [ 1.65948436e-03 5.94626423e-05 9.99998621e-01 -4.08697613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.29, Y:-0.58, Z:-0.41 [[ 9.91443654e-01 1.30533216e-01 -7.48928759e-04 1.59292988e+02] [-1.30533198e-01 9.91443936e-01 7.28094265e-05 -5.84174973e-01] [ 7.52024926e-04 2.55736222e-05 9.99999717e-01 -4.09770897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.32, Y:-0.59, Z:-0.41 [[ 9.91549785e-01 1.29724999e-01 -6.70020729e-04 1.59323618e+02] [-1.29724984e-01 9.91550011e-01 6.51860714e-05 -5.89545728e-01] [ 6.72815324e-04 2.22831936e-05 9.99999773e-01 -4.09721051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.36, Y:-0.60, Z:-0.41 [[ 9.91724213e-01 1.28374921e-01 -1.72206971e-03 1.59355420e+02] [-1.28374822e-01 9.91725706e-01 1.68459428e-04 -5.97925740e-01] [ 1.72944677e-03 5.40050996e-05 9.99998503e-01 -4.09552017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.39, Y:-0.60, Z:-0.41 [[ 9.91813730e-01 1.27679005e-01 -1.89624190e-03 1.59386719e+02] [-1.27678882e-01 9.91815542e-01 1.86054157e-04 -6.02055373e-01] [ 1.90447740e-03 5.75789792e-05 9.99998185e-01 -4.09311851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.42, Y:-0.61, Z:-0.41 [[ 9.91984971e-01 1.26350422e-01 -1.17818645e-03 1.59419030e+02] [-1.26350372e-01 9.91985670e-01 1.16642660e-04 -6.06962706e-01] [ 1.18348192e-03 3.31565309e-05 9.99999299e-01 -4.09989130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.45, Y:-0.61, Z:-0.41 [[ 9.91961716e-01 1.26536146e-01 -7.46734443e-04 1.59449781e+02] [-1.26536126e-01 9.91961997e-01 7.38399738e-05 -6.09820469e-01] [ 7.50075615e-04 2.12424564e-05 9.99999718e-01 -4.10324256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.48, Y:-0.61, Z:-0.41 [[ 9.91920665e-01 1.26856584e-01 -8.94795313e-04 1.59481386e+02] [-1.26856555e-01 9.91921069e-01 8.93646031e-05 -6.13545269e-01] [ 8.98902811e-04 2.48680540e-05 9.99999596e-01 -4.11288974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.51, Y:-0.62, Z:-0.41 [[ 9.91847570e-01 1.27395398e-01 -2.96827724e-03 1.59512601e+02] [-1.27395096e-01 9.91852007e-01 2.91379447e-04 -6.22455449e-01] [ 2.98121214e-03 8.91399691e-05 9.99995552e-01 -4.13020178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.54, Y:-0.63, Z:-0.41 [[ 9.91718317e-01 1.28393780e-01 -3.13322585e-03 1.59544572e+02] [-1.28393445e-01 9.91723262e-01 3.08619854e-04 -6.28048441e-01] [ 3.14691783e-03 9.62216971e-05 9.99995044e-01 -4.12994209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.58, Y:-0.63, Z:-0.41 [[ 9.91408330e-01 1.30800550e-01 -8.59344219e-04 1.59575217e+02] [-1.30800524e-01 9.91408703e-01 8.61282534e-05 -6.31867461e-01] [ 8.63226960e-04 2.70144063e-05 9.99999627e-01 -4.11863033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.61, Y:-0.64, Z:-0.41 [[ 9.91076033e-01 1.33296382e-01 -6.08784771e-04 1.59607307e+02] [-1.33296369e-01 9.91076220e-01 6.19524081e-05 -6.35772474e-01] [ 6.11610141e-04 1.97492529e-05 9.99999813e-01 -4.11736801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.64, Y:-0.64, Z:-0.41 [[ 9.90914517e-01 1.34489398e-01 -1.01109451e-03 1.59639622e+02] [-1.34489364e-01 9.90915032e-01 1.01455518e-04 -6.38143937e-01] [ 1.01555344e-03 3.54477123e-05 9.99999484e-01 -4.12115694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.67, Y:-0.64, Z:-0.41 [[ 9.90622145e-01 1.36614877e-01 -2.03477567e-03 1.59671008e+02] [-1.36614750e-01 9.90624232e-01 2.02272530e-04 -6.39529353e-01] [ 2.04333153e-03 7.76047222e-05 9.99997909e-01 -4.14638975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.70, Y:-0.64, Z:-0.42 [[ 9.90482185e-01 1.37627536e-01 -1.92412129e-03 1.59703376e+02] [-1.37627422e-01 9.90484051e-01 1.91827329e-04 -6.43427200e-01] [ 1.93221218e-03 7.48103018e-05 9.99998130e-01 -4.15751863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.74, Y:-0.65, Z:-0.42 [[ 9.90428919e-01 1.38007041e-01 -2.14798583e-03 1.59735098e+02] [-1.38006900e-01 9.90431244e-01 2.14268171e-04 -6.50052988e-01] [ 2.15700280e-03 8.42194738e-05 9.99997670e-01 -4.16010309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.77, Y:-0.65, Z:-0.42 [[ 9.90536889e-01 1.37206395e-01 -3.32814286e-03 1.59768014e+02] [-1.37206053e-01 9.90542472e-01 3.31938750e-04 -6.54496551e-01] [ 3.34221097e-03 1.27843770e-04 9.99994407e-01 -4.16313870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.80, Y:-0.65, Z:-0.42 [[ 9.90925418e-01 1.34337288e-01 -4.50654015e-03 1.59799554e+02] [-1.34336635e-01 9.90935652e-01 4.48858335e-04 -6.53445690e-01] [ 4.52598971e-03 1.60608304e-04 9.99989745e-01 -4.16785665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.83, Y:-0.65, Z:-0.42 [[ 9.91064170e-01 1.33304756e-01 -4.65335125e-03 1.59830461e+02] [-1.33304055e-01 9.91075081e-01 4.61866803e-04 -6.54601619e-01] [ 4.67338951e-03 1.62570954e-04 9.99989066e-01 -4.17804513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.86, Y:-0.66, Z:-0.42 [[ 9.91313417e-01 1.31436955e-01 -4.69415208e-03 1.59860731e+02] [-1.31436210e-01 9.91324520e-01 4.68230259e-04 -6.60201519e-01] [ 4.71497082e-03 1.52818622e-04 9.99988873e-01 -4.18868276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.89, Y:-0.67, Z:-0.42 [[ 9.91470517e-01 1.30261815e-01 -4.25119889e-03 1.59891670e+02] [-1.30261198e-01 9.91479622e-01 4.22710480e-04 -6.66916989e-01] [ 4.27004011e-03 1.34661284e-04 9.99990874e-01 -4.18788360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.92, Y:-0.67, Z:-0.42 [[ 9.91833681e-01 1.27468366e-01 -4.21481208e-03 1.59922863e+02] [-1.27467732e-01 9.91842629e-01 4.19777835e-04 -6.74781246e-01] [ 4.23393869e-03 1.20902742e-04 9.99991030e-01 -4.17815117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.96, Y:-0.68, Z:-0.42 [[ 9.91972541e-01 1.26398966e-01 -3.71194550e-03 1.59955002e+02] [-1.26398460e-01 9.91979481e-01 3.71682812e-04 -6.77416079e-01] [ 3.72915410e-03 1.00485050e-04 9.99993042e-01 -4.17948335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.99, Y:-0.68, Z:-0.42 [[ 9.92145921e-01 1.25048879e-01 -3.04141452e-03 1.59986240e+02] [-1.25048530e-01 9.92150579e-01 3.05204601e-04 -6.76831771e-01] [ 3.05570667e-03 7.75169152e-05 9.99995328e-01 -4.18482415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.02, Y:-0.68, Z:-0.42 [[ 9.92181322e-01 1.24768392e-01 -3.01196924e-03 1.60018181e+02] [-1.24768047e-01 9.92185891e-01 3.02967543e-04 -6.80685251e-01] [ 3.02623416e-03 7.51987826e-05 9.99995418e-01 -4.18672632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.05, Y:-0.69, Z:-0.42 [[ 9.92141163e-01 1.25105168e-01 -2.14708254e-03 1.60050125e+02] [-1.25104991e-01 9.92143485e-01 2.17303007e-04 -6.88486700e-01] [ 2.15739968e-03 5.30154835e-05 9.99997671e-01 -4.18521967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.08, Y:-0.69, Z:-0.42 [[ 9.91897307e-01 1.27038719e-01 -9.46649511e-04 1.60081736e+02] [-1.27038684e-01 9.91897759e-01 9.71468627e-05 -6.94445289e-01] [ 9.51320941e-04 2.39013964e-05 9.99999547e-01 -4.17412359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.12, Y:-0.70, Z:-0.42 [[ 9.91732646e-01 1.28318707e-01 -8.17510626e-04 1.60115080e+02] [-1.28318681e-01 9.91732983e-01 8.44255647e-05 -6.97210299e-01] [ 8.21585630e-04 2.11742967e-05 9.99999662e-01 -4.17782537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.15, Y:-0.70, Z:-0.42 [[ 9.91545405e-01 1.29757790e-01 -7.91521891e-04 1.60146804e+02] [-1.29757767e-01 9.91545720e-01 8.10406378e-05 -7.01440597e-01] [ 7.95345797e-04 2.23506410e-05 9.99999683e-01 -4.19002636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.18, Y:-0.71, Z:-0.42 [[ 9.91532585e-01 1.29853383e-01 -1.10958297e-03 1.60179742e+02] [-1.29853337e-01 9.91533206e-01 1.14085043e-04 -7.06468083e-01] [ 1.11500269e-03 3.09640139e-05 9.99999378e-01 -4.19308642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.21, Y:-0.71, Z:-0.42 [[ 9.91541688e-01 1.29779487e-01 -1.53802516e-03 1.60213031e+02] [-1.29779398e-01 9.91542880e-01 1.57623922e-04 -7.08715865e-01] [ 1.54547425e-03 4.33132902e-05 9.99998805e-01 -4.19759257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.25, Y:-0.71, Z:-0.42 [[ 9.91662471e-01 1.28850990e-01 -1.72244958e-03 1.60245099e+02] [-1.28850878e-01 9.91663965e-01 1.76388971e-04 -7.11055160e-01] [ 1.73081908e-03 4.70208178e-05 9.99998501e-01 -4.20024731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.28, Y:-0.71, Z:-0.42 [[ 9.91645834e-01 1.28978964e-01 -1.72248538e-03 1.60278408e+02] [-1.28978853e-01 9.91647329e-01 1.76033837e-04 -7.14585131e-01] [ 1.73080269e-03 4.76009673e-05 9.99998501e-01 -4.20439759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.31, Y:-0.72, Z:-0.42 [[ 9.91824792e-01 1.27594591e-01 -1.78955452e-03 1.60310753e+02] [-1.27594467e-01 9.91826405e-01 1.83864616e-04 -7.21143818e-01] [ 1.79838756e-03 4.59757708e-05 9.99998382e-01 -4.20645278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.34, Y:-0.73, Z:-0.42 [[ 9.91879454e-01 1.27163158e-01 -2.16324247e-03 1.60343691e+02] [-1.27162976e-01 9.91881812e-01 2.22273437e-04 -7.25923154e-01] [ 2.17394585e-03 5.46158941e-05 9.99997635e-01 -4.20397470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.38, Y:-0.73, Z:-0.42 [[ 9.91926254e-01 1.26806645e-01 -1.54349763e-03 1.60376158e+02] [-1.26806550e-01 9.91927454e-01 1.59588074e-04 -7.28826835e-01] [ 1.55127451e-03 3.74260092e-05 9.99998796e-01 -4.20848400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.41, Y:-0.73, Z:-0.42 [[ 9.91942780e-01 1.26679790e-01 -1.32396245e-03 1.60407683e+02] [-1.26679720e-01 9.91943663e-01 1.37304254e-04 -7.32016069e-01] [ 1.33068983e-03 3.15212282e-05 9.99999114e-01 -4.21667344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.44, Y:-0.74, Z:-0.42 [[ 9.91919258e-01 1.26854336e-01 -2.04044415e-03 1.60440326e+02] [-1.26854170e-01 9.91921355e-01 2.10965887e-04 -7.36312542e-01] [ 2.05072206e-03 4.95777243e-05 9.99997896e-01 -4.22144664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.47, Y:-0.74, Z:-0.42 [[ 9.91817673e-01 1.27644821e-01 -2.12206630e-03 1.60471854e+02] [-1.27644645e-01 9.91819942e-01 2.18666886e-04 -7.39621252e-01] [ 2.13261937e-03 5.39927182e-05 9.99997725e-01 -4.22615577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.50, Y:-0.75, Z:-0.42 [[ 9.91697383e-01 1.28562140e-01 -2.84196773e-03 1.60504042e+02] [-1.28561826e-01 9.91701452e-01 2.93695339e-04 -7.46121766e-01] [ 2.85614163e-03 7.41116624e-05 9.99995918e-01 -4.23537944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.54, Y:-0.75, Z:-0.42 [[ 9.91656092e-01 1.28869465e-01 -3.29487417e-03 1.60537211e+02] [-1.28869044e-01 9.91661562e-01 3.40746856e-04 -7.49849764e-01] [ 3.31131193e-03 8.67035875e-05 9.99994514e-01 -4.23730187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.57, Y:-0.75, Z:-0.42 [[ 9.91380123e-01 1.30990559e-01 -2.63172495e-03 1.60569777e+02] [-1.30990295e-01 9.91383613e-01 2.73131483e-04 -7.51614899e-01] [ 2.64482663e-03 7.39533055e-05 9.99996500e-01 -4.23784900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.60, Y:-0.76, Z:-0.42 [[ 9.91179089e-01 1.32511462e-01 -2.17397840e-03 1.60602079e+02] [-1.32511283e-01 9.91181471e-01 2.26526591e-04 -7.55841709e-01] [ 2.18482448e-03 6.35482477e-05 9.99997611e-01 -4.23973907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.63, Y:-0.76, Z:-0.42 [[ 9.90775482e-01 1.35500195e-01 -1.90840882e-03 1.60633602e+02] [-1.35500063e-01 9.90777318e-01 1.99336141e-04 -7.61261209e-01] [ 1.91781826e-03 6.10921536e-05 9.99998159e-01 -4.23735144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.67, Y:-0.76, Z:-0.42 [[ 9.90534373e-01 1.37240568e-01 -2.58500664e-03 1.60666839e+02] [-1.37240331e-01 9.90537742e-01 2.69642324e-04 -7.63945359e-01] [ 2.59755251e-03 8.76771767e-05 9.99996623e-01 -4.24105145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.70, Y:-0.76, Z:-0.43 [[ 9.90086289e-01 1.40429435e-01 -2.95203943e-03 1.60698772e+02] [-1.40429140e-01 9.90090684e-01 3.07867539e-04 -7.63076727e-01] [ 2.96602040e-03 1.09736930e-04 9.99995595e-01 -4.26089266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.73, Y:-0.76, Z:-0.43 [[ 9.89916455e-01 1.41621303e-01 -2.96955592e-03 1.60731231e+02] [-1.41621009e-01 9.89920903e-01 3.10202968e-04 -7.64406770e-01] [ 2.98355683e-03 1.13476483e-04 9.99995543e-01 -4.26929106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.76, Y:-0.77, Z:-0.43 [[ 9.89628034e-01 1.43612639e-01 -3.42984629e-03 1.60762357e+02] [-1.43612258e-01 9.89633968e-01 3.58338147e-04 -7.67674378e-01] [ 3.44575428e-03 1.37946495e-04 9.99994054e-01 -4.26451827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.79, Y:-0.77, Z:-0.43 [[ 9.89624988e-01 1.43614943e-01 -4.13898125e-03 1.60794139e+02] [-1.43614387e-01 9.89633629e-01 4.32888247e-04 -7.71707414e-01] [ 4.15824426e-03 1.66020229e-04 9.99991341e-01 -4.25985135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.83, Y:-0.77, Z:-0.43 [[ 9.89676833e-01 1.43236053e-01 -4.81661716e-03 1.60826582e+02] [-1.43235292e-01 9.89688535e-01 5.04309924e-04 -7.73836118e-01] [ 4.83918615e-03 1.90805719e-04 9.99988273e-01 -4.26715707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.86, Y:-0.77, Z:-0.43 [[ 9.89907968e-01 1.41588530e-01 -5.90782627e-03 1.60857533e+02] [-1.41587355e-01 9.89925572e-01 6.18851165e-04 -7.73547657e-01] [ 5.93593053e-03 2.23867795e-04 9.99982357e-01 -4.28423498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.89, Y:-0.78, Z:-0.43 [[ 9.90002110e-01 1.40974504e-01 -4.69170975e-03 1.60888078e+02] [-1.40973763e-01 9.90013211e-01 4.89930116e-04 -7.75628865e-01] [ 4.71392229e-03 1.76376129e-04 9.99988874e-01 -4.28614540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.92, Y:-0.77, Z:-0.43 [[ 9.90175935e-01 1.39819851e-01 -1.42381759e-03 1.60919203e+02] [-1.39819781e-01 9.90176957e-01 1.49001222e-04 -7.74986886e-01] [ 1.43066470e-03 5.15404396e-05 9.99998975e-01 -4.27424550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.95, Y:-0.78, Z:-0.43 [[ 9.90311993e-01 1.38848822e-01 -1.77815066e-03 1.60949961e+02] [-1.38848708e-01 9.90313587e-01 1.87846560e-04 -7.77555978e-01] [ 1.78700903e-03 6.08672212e-05 9.99998401e-01 -4.27635047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.98, Y:-0.78, Z:-0.43 [[ 9.90546350e-01 1.37132380e-01 -3.55516996e-03 1.60981999e+02] [-1.37131918e-01 9.90552723e-01 3.74544490e-04 -7.80629559e-01] [ 3.57294546e-03 1.16523599e-04 9.99993610e-01 -4.28044654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.01, Y:-0.78, Z:-0.43 [[ 9.90643776e-01 1.36448818e-01 -2.57488447e-03 1.61014191e+02] [-1.36448571e-01 9.90647119e-01 2.72297767e-04 -7.80703005e-01] [ 2.58795659e-03 8.15892180e-05 9.99996648e-01 -4.28378612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.05, Y:-0.78, Z:-0.43 [[ 9.90768414e-01 1.35544097e-01 -2.39761431e-03 1.61046278e+02] [-1.35543878e-01 9.90771312e-01 2.54107053e-04 -7.82346899e-01] [ 2.40993018e-03 7.32207000e-05 9.99997093e-01 -4.28343979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.08, Y:-0.78, Z:-0.43 [[ 9.90992275e-01 1.33894997e-01 -2.53795224e-03 1.61077972e+02] [-1.33894749e-01 9.90995522e-01 2.68169740e-04 -7.80880248e-01] [ 2.55100589e-03 7.40643372e-05 9.99996743e-01 -4.28910928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.11, Y:-0.78, Z:-0.43 [[ 9.91166731e-01 1.32569460e-01 -3.72143345e-03 1.61109170e+02] [-1.32568922e-01 9.91173712e-01 3.91896485e-04 -7.79490283e-01] [ 3.74054052e-03 1.04911664e-04 9.99992999e-01 -4.29805966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.14, Y:-0.78, Z:-0.43 [[ 9.91259358e-01 1.31869940e-01 -3.89912280e-03 1.61140736e+02] [-1.31869344e-01 9.91267021e-01 4.10695402e-04 -7.81381986e-01] [ 3.91923022e-03 1.07069107e-04 9.99992314e-01 -4.30183900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.17, Y:-0.78, Z:-0.43 [[ 9.91458152e-01 1.30407977e-01 -2.11943506e-03 1.61171354e+02] [-1.30407797e-01 9.91460416e-01 2.23252188e-04 -7.83810780e-01] [ 2.13044984e-03 5.50456564e-05 9.99997729e-01 -4.29752941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.20, Y:-0.79, Z:-0.43 [[ 9.91550220e-01 1.29705250e-01 -2.17009011e-03 1.61201620e+02] [-1.29705060e-01 9.91552593e-01 2.28609115e-04 -7.86530846e-01] [ 2.18141028e-03 5.47942503e-05 9.99997619e-01 -4.30383798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.23, Y:-0.79, Z:-0.43 [[ 9.91751503e-01 1.28118439e-01 -3.82391406e-03 1.61232498e+02] [-1.28117839e-01 9.91758871e-01 4.02568280e-04 -7.85373232e-01] [ 3.84397711e-03 9.06639075e-05 9.99992608e-01 -4.31090652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.26, Y:-0.79, Z:-0.43 [[ 9.91995044e-01 1.26264479e-01 -1.76491709e-03 1.61262461e+02] [-1.26264348e-01 9.91996613e-01 1.85637735e-04 -7.86846119e-01] [ 1.77423123e-03 3.86943939e-05 9.99998425e-01 -4.31006816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.29, Y:-0.79, Z:-0.43 [[ 9.92116192e-01 1.25312250e-01 -1.51712016e-03 1.61293740e+02] [-1.25312152e-01 9.92117351e-01 1.60026798e-04 -7.90769733e-01] [ 1.52521455e-03 3.13484145e-05 9.99998836e-01 -4.30867199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.32, Y:-0.80, Z:-0.43 [[ 9.92318037e-01 1.23689121e-01 -2.43211238e-03 1.61324303e+02] [-1.23688859e-01 9.92321016e-01 2.58336948e-04 -7.95917909e-01] [ 2.44538970e-03 4.44727929e-05 9.99997009e-01 -4.31450347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.36, Y:-0.80, Z:-0.43 [[ 9.92449038e-01 1.22623584e-01 -2.89204168e-03 1.61355536e+02] [-1.22623215e-01 9.92453250e-01 3.05301686e-04 -8.01353012e-01] [ 2.90765335e-03 5.16350841e-05 9.99995771e-01 -4.32181038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.39, Y:-0.81, Z:-0.43 [[ 9.92693432e-01 1.20621793e-01 -3.18325988e-03 1.61386129e+02] [-1.20621329e-01 9.92698535e-01 3.38097317e-04 -8.08738194e-01] [ 3.20079932e-03 4.83420522e-05 9.99994876e-01 -4.32706615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.42, Y:-0.81, Z:-0.43 [[ 9.92737503e-01 1.20253852e-01 -3.35578582e-03 1.61417493e+02] [-1.20253340e-01 9.92743173e-01 3.54816241e-04 -8.12353906e-01] [ 3.37410148e-03 5.13050629e-05 9.99994306e-01 -4.32819321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.45, Y:-0.82, Z:-0.43 [[ 9.92659347e-01 1.20917077e-01 -2.54593165e-03 1.61447162e+02] [-1.20916784e-01 9.92662611e-01 2.69140698e-04 -8.18955650e-01] [ 2.55979487e-03 4.06808385e-05 9.99996723e-01 -4.33166218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.48, Y:-0.83, Z:-0.43 [[ 9.92546503e-01 1.21847376e-01 -2.15797807e-03 1.61477832e+02] [-1.21847166e-01 9.92548848e-01 2.29345944e-04 -8.25284200e-01] [ 2.16984385e-03 3.53069967e-05 9.99997645e-01 -4.32985359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.51, Y:-0.83, Z:-0.43 [[ 9.92191752e-01 1.24698292e-01 -2.42123566e-03 1.61509043e+02] [-1.24698037e-01 9.92194706e-01 2.56391689e-04 -8.31562307e-01] [ 2.43430881e-03 4.75336158e-05 9.99997036e-01 -4.33301148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.54, Y:-0.84, Z:-0.43 [[ 9.91992455e-01 1.26255557e-01 -3.24085521e-03 1.61539551e+02] [-1.26255110e-01 9.91997747e-01 3.43160533e-04 -8.36558861e-01] [ 3.25824699e-03 6.87618705e-05 9.99994690e-01 -4.34236173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.57, Y:-0.85, Z:-0.43 [[ 9.91592266e-01 1.29366490e-01 -3.01476535e-03 1.61569560e+02] [-1.29366110e-01 9.91596847e-01 3.21305565e-04 -8.45193012e-01] [ 3.03099799e-03 7.14043535e-05 9.99995404e-01 -4.34001872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.60, Y:-0.85, Z:-0.43 [[ 9.91402026e-01 1.30838086e-01 -1.84882851e-03 1.61601910e+02] [-1.30837944e-01 9.91403749e-01 1.98221426e-04 -8.49434186e-01] [ 1.85887043e-03 4.53797977e-05 9.99998271e-01 -4.33613116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.64, Y:-0.85, Z:-0.43 [[ 9.91137205e-01 1.32842124e-01 1.00273697e-04 1.61635094e+02] [-1.32842124e-01 9.91137211e-01 -8.25130559e-06 -8.54189805e-01] [-1.00481113e-04 -5.14239486e-06 9.99999995e-01 -4.33574835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.67, Y:-0.86, Z:-0.43 [[ 9.90947616e-01 1.34247193e-01 -7.16708030e-04 1.61666737e+02] [-1.34247172e-01 9.90947875e-01 7.77733037e-05 -8.62182704e-01] [ 7.20661147e-04 1.91467565e-05 9.99999740e-01 -4.33632336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.70, Y:-0.87, Z:-0.43 [[ 9.90563393e-01 1.37052479e-01 -8.85093751e-04 1.61699476e+02] [-1.37052447e-01 9.90563788e-01 9.67351563e-05 -8.70112731e-01] [ 8.89999612e-04 2.54819598e-05 9.99999604e-01 -4.34654381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.73, Y:-0.88, Z:-0.44 [[ 9.90283954e-01 1.39052048e-01 -1.48939599e-03 1.61730992e+02] [-1.39051963e-01 9.90285073e-01 1.61271463e-04 -8.76731232e-01] [ 1.49735175e-03 4.73988944e-05 9.99998878e-01 -4.35717538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.76, Y:-0.88, Z:-0.44 [[ 9.89962126e-01 1.41311929e-01 -2.43488301e-03 1.61762929e+02] [-1.41311710e-01 9.89965116e-01 2.62628397e-04 -8.82830150e-01] [ 2.44756177e-03 8.40853148e-05 9.99997001e-01 -4.35673458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.80, Y:-0.89, Z:-0.44 [[ 9.89304223e-01 1.45860609e-01 -1.35521762e-03 1.61795173e+02] [-1.45860544e-01 9.89305150e-01 1.47216034e-04 -8.85566488e-01] [ 1.36219679e-03 5.20313351e-05 9.99999071e-01 -4.35419062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.83, Y:-0.89, Z:-0.44 [[ 9.88842212e-01 1.48966707e-01 -3.02405209e-06 1.61826877e+02] [-1.48966707e-01 9.88842212e-01 2.47663697e-06 -8.86959390e-01] [ 3.35924661e-06 -1.99852010e-06 1.00000000e+00 -4.36884589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.86, Y:-0.89, Z:-0.44 [[ 9.88674467e-01 1.50057950e-01 -2.32576102e-03 1.61859259e+02] [-1.50057771e-01 9.88677198e-01 2.52379920e-04 -8.94839058e-01] [ 2.33729850e-03 9.94769319e-05 9.99997264e-01 -4.37961040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.89, Y:-0.90, Z:-0.44 [[ 9.88682626e-01 1.50004649e-01 -2.29578050e-03 1.61890674e+02] [-1.50004473e-01 9.88685287e-01 2.49409463e-04 -9.00391907e-01] [ 2.30721698e-03 9.77905426e-05 9.99997334e-01 -4.38717134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.92, Y:-0.91, Z:-0.44 [[ 9.88916814e-01 1.48466866e-01 -1.06071354e-03 1.61923110e+02] [-1.48466826e-01 9.88917382e-01 1.16719247e-04 -9.05876004e-01] [ 1.06628700e-03 4.20551466e-05 9.99999431e-01 -4.39518807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.95, Y:-0.91, Z:-0.44 [[ 9.89156129e-01 1.46861195e-01 -1.39352529e-03 1.61954823e+02] [-1.46861126e-01 9.89157109e-01 1.51920100e-04 -9.09982957e-01] [ 1.40072662e-03 5.43819958e-05 9.99999018e-01 -4.39536524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.99, Y:-0.92, Z:-0.44 [[ 9.89668181e-01 1.43360395e-01 -2.16543175e-03 1.61987026e+02] [-1.43360220e-01 9.89670547e-01 2.36551636e-04 -9.15212752e-01] [ 2.17697616e-03 7.63291442e-05 9.99997627e-01 -4.39666387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.02, Y:-0.92, Z:-0.44 [[ 9.90086743e-01 1.40443958e-01 -1.93269958e-03 1.62018803e+02] [-1.40443813e-01 9.90088628e-01 2.11559878e-04 -9.22965438e-01] [ 1.94325618e-03 6.19730666e-05 9.99998110e-01 -4.39520833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.05, Y:-0.93, Z:-0.44 [[ 9.90229760e-01 1.39419067e-01 -2.71040664e-03 1.62051792e+02] [-1.39418777e-01 9.90233466e-01 2.96509098e-04 -9.29283931e-01] [ 2.72527438e-03 8.42694458e-05 9.99996283e-01 -4.39746262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.08, Y:-0.94, Z:-0.44 [[ 9.90519146e-01 1.37364343e-01 -1.69098193e-03 1.62084463e+02] [-1.37364225e-01 9.90520588e-01 1.86177319e-04 -9.36391075e-01] [ 1.70052654e-03 4.78682223e-05 9.99998553e-01 -4.39349795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.12, Y:-0.94, Z:-0.44 [[ 9.90581592e-01 1.36923734e-01 -5.48868253e-06 1.62116957e+02] [-1.36923734e-01 9.90581592e-01 2.96614107e-06 -9.40429168e-01] [ 5.84312279e-06 -2.18667384e-06 1.00000000e+00 -4.39254852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.15, Y:-0.95, Z:-0.44 [[ 9.90748274e-01 1.35710453e-01 7.29086321e-04 1.62149045e+02] [-1.35710432e-01 9.90748542e-01 -7.73390552e-05 -9.45878522e-01] [-7.32836928e-04 -2.23210844e-05 9.99999731e-01 -4.39504771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.18, Y:-0.96, Z:-0.44 [[ 9.90887810e-01 1.34684685e-01 1.17605386e-03 1.62181327e+02] [-1.34684630e-01 9.90888508e-01 -1.26171877e-04 -9.55222142e-01] [-1.18233167e-03 -3.33742048e-05 9.99999300e-01 -4.40038295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.21, Y:-0.96, Z:-0.44 [[ 9.90805349e-01 1.35293546e-01 6.45218742e-04 1.62213266e+02] [-1.35293530e-01 9.90805559e-01 -6.82294143e-05 -9.62750418e-01] [-6.48517316e-04 -1.96918527e-05 9.99999790e-01 -4.40620624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.24, Y:-0.97, Z:-0.44 [[ 9.90671559e-01 1.36268672e-01 -8.42956774e-04 1.62244946e+02] [-1.36268641e-01 9.90671918e-01 9.47027082e-05 -9.68946756e-01] [ 8.47998616e-04 2.10492942e-05 9.99999640e-01 -4.41693392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.28, Y:-0.98, Z:-0.44 [[ 9.90420278e-01 1.38060793e-01 -2.62510277e-03 1.62276412e+02] [-1.38060507e-01 9.90423754e-01 2.90463464e-04 -9.77881110e-01] [ 2.64006575e-03 7.47421151e-05 9.99996512e-01 -4.42552239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.31, Y:-0.98, Z:-0.44 [[ 9.90402988e-01 1.38184768e-01 -2.62512717e-03 1.62309684e+02] [-1.38184483e-01 9.90406464e-01 2.90240248e-04 -9.81698162e-01] [ 2.64004970e-03 7.52970330e-05 9.99996512e-01 -4.42967288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.34, Y:-0.99, Z:-0.44 [[ 9.90169264e-01 1.39856036e-01 -2.26220326e-03 1.62342417e+02] [-1.39855826e-01 9.90171846e-01 2.51537699e-04 -9.85572512e-01] [ 2.27514904e-03 6.73174084e-05 9.99997410e-01 -4.43131688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.38, Y:-0.99, Z:-0.44 [[ 9.90055813e-01 1.40666335e-01 -1.57164550e-03 1.62375481e+02] [-1.40666233e-01 9.90057059e-01 1.75783682e-04 -9.89097985e-01] [ 1.58074557e-03 4.70417965e-05 9.99998750e-01 -4.43813336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.41, Y:-0.99, Z:-0.44 [[ 9.89933426e-01 1.41531118e-01 -8.68853017e-04 1.62407436e+02] [-1.41531087e-01 9.89933807e-01 9.82194705e-05 -9.93804951e-01] [ 8.74008086e-04 2.57389747e-05 9.99999618e-01 -4.43827775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.44, Y:-1.00, Z:-0.44 [[ 9.89919508e-01 1.41625887e-01 -1.21459710e-03 1.62438648e+02] [-1.41625826e-01 9.89920253e-01 1.36623306e-04 -9.98383751e-01] [ 1.22170367e-03 3.67722422e-05 9.99999253e-01 -4.44313145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.47, Y:-1.00, Z:-0.44 [[ 9.89988730e-01 1.41132391e-01 -1.99047966e-03 1.62471266e+02] [-1.41132227e-01 9.89990730e-01 2.23026942e-04 -1.00440588e+00] [ 2.00203274e-03 6.01266682e-05 9.99997994e-01 -4.44634064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.50, Y:-1.01, Z:-0.44 [[ 9.89924377e-01 1.41582299e-01 -2.04465336e-03 1.62504122e+02] [-1.41582127e-01 9.89926487e-01 2.29415113e-04 -1.00891575e+00] [ 2.05653764e-03 6.23827574e-05 9.99997883e-01 -4.44730920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.54, Y:-1.01, Z:-0.45 [[ 9.89696789e-01 1.43158973e-01 -2.40303836e-03 1.62536984e+02] [-1.43158739e-01 9.89699703e-01 2.69723606e-04 -1.01269813e+00] [ 2.41689971e-03 7.70713552e-05 9.99997076e-01 -4.45631523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.57, Y:-1.02, Z:-0.45 [[ 9.89421415e-01 1.45050489e-01 -2.37044767e-03 1.62570172e+02] [-1.45050266e-01 9.89424251e-01 2.66556796e-04 -1.01671031e+00] [ 2.38404261e-03 8.00970642e-05 9.99997155e-01 -4.46325683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.60, Y:-1.02, Z:-0.45 [[ 9.89241381e-01 1.46285760e-01 -1.40212509e-03 1.62602238e+02] [-1.46285681e-01 9.89242374e-01 1.58716259e-04 -1.02146175e+00] [ 1.41025948e-03 4.81021333e-05 9.99999004e-01 -4.47078265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.64, Y:-1.03, Z:-0.45 [[ 9.89144300e-01 1.46939337e-01 -1.54432727e-03 1.62635241e+02] [-1.46939243e-01 9.89145504e-01 1.75011323e-04 -1.02563321e+00] [ 1.55328043e-03 5.38108280e-05 9.99998792e-01 -4.47573186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.67, Y:-1.03, Z:-0.45 [[ 9.89000543e-01 1.47879114e-01 -3.11329652e-03 1.62668651e+02] [-1.47878740e-01 9.89005437e-01 3.51128178e-04 -1.02776256e+00] [ 3.13099171e-03 1.13124409e-04 9.99995092e-01 -4.48362792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.70, Y:-1.03, Z:-0.45 [[ 9.88943859e-01 1.48257351e-01 -3.13075667e-03 1.62700097e+02] [-1.48256977e-01 9.88948808e-01 3.52562401e-04 -1.03037833e+00] [ 3.14842804e-03 1.15492098e-04 9.99995037e-01 -4.49068178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.73, Y:-1.03, Z:-0.45 [[ 9.88872221e-01 1.48734685e-01 -3.11830182e-03 1.62732909e+02] [-1.48734312e-01 9.88877131e-01 3.52579081e-04 -1.03499940e+00] [ 3.13605809e-03 1.15142815e-04 9.99995076e-01 -4.49554156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.77, Y:-1.04, Z:-0.45 [[ 9.88861632e-01 1.48805652e-01 -3.09039362e-03 1.62765624e+02] [-1.48805283e-01 9.88866455e-01 3.50083837e-04 -1.03844712e+00] [ 3.10808103e-03 1.13682422e-04 9.99995163e-01 -4.49380628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.80, Y:-1.04, Z:-0.45 [[ 9.88942303e-01 1.48274151e-01 -2.81026570e-03 1.62798174e+02] [-1.48273843e-01 9.88946291e-01 3.18911331e-04 -1.03842536e+00] [ 2.82648815e-03 1.01303988e-04 9.99996000e-01 -4.50351906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.83, Y:-1.04, Z:-0.45 [[ 9.89251171e-01 1.46208633e-01 -2.27073153e-03 1.62830400e+02] [-1.46208425e-01 9.89253774e-01 2.58485116e-04 -1.04241492e+00] [ 2.28412249e-03 7.62933760e-05 9.99997388e-01 -4.51104439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.86, Y:-1.05, Z:-0.45 [[ 9.89444846e-01 1.44880357e-01 -2.92899833e-03 1.62863475e+02] [-1.44880004e-01 9.89449177e-01 3.33531319e-04 -1.04681989e+00] [ 2.94641712e-03 9.43424445e-05 9.99995655e-01 -4.52379184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.90, Y:-1.05, Z:-0.45 [[ 9.89674539e-01 1.43263442e-01 -4.46007769e-03 1.62896595e+02] [-1.43262609e-01 9.89684580e-01 5.07494606e-04 -1.05072494e+00] [ 4.48677554e-03 1.36707875e-04 9.99989925e-01 -4.53044388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.93, Y:-1.05, Z:-0.45 [[ 9.89626832e-01 1.43593348e-01 -4.43656950e-03 1.62927950e+02] [-1.43592522e-01 9.89636768e-01 5.05670987e-04 -1.05471254e+00] [ 4.46320329e-03 1.36632628e-04 9.99990031e-01 -4.52742945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.96, Y:-1.06, Z:-0.45 [[ 9.89529785e-01 1.44235481e-01 -5.18941018e-03 1.62961086e+02] [-1.44234358e-01 9.89543379e-01 5.92073394e-04 -1.05890638e+00] [ 5.22054448e-03 1.62616986e-04 9.99986360e-01 -4.53398517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.99, Y:-1.06, Z:-0.45 [[ 9.89359476e-01 1.45342229e-01 -6.59266787e-03 1.62993501e+02] [-1.45340436e-01 9.89381418e-01 7.52806236e-04 -1.06353839e+00] [ 6.63207762e-03 2.13385237e-04 9.99977985e-01 -4.53829299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.03, Y:-1.06, Z:-0.45 [[ 9.89193714e-01 1.46498390e-01 -5.83250842e-03 1.63025589e+02] [-1.46497000e-01 9.89210889e-01 6.67157806e-04 -1.06238777e+00] [ 5.86731838e-03 1.94496680e-04 9.99982768e-01 -4.54434103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.06, Y:-1.06, Z:-0.46 [[ 9.89032337e-01 1.47613825e-01 -5.01946120e-03 1.63058644e+02] [-1.47612803e-01 9.89045059e-01 5.75566818e-04 -1.06351046e+00] [ 5.04943492e-03 1.71682542e-04 9.99987237e-01 -4.55130782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.09, Y:-1.07, Z:-0.45 [[ 9.88821018e-01 1.49054857e-01 -3.95513167e-03 1.63090119e+02] [-1.49054230e-01 9.88828918e-01 4.54558698e-04 -1.06777030e+00] [ 3.97870275e-03 1.40051910e-04 9.99992075e-01 -4.54379674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.12, Y:-1.07, Z:-0.45 [[ 9.88751098e-01 1.49530647e-01 -3.44261674e-03 1.63122901e+02] [-1.49530171e-01 9.88757084e-01 3.96737668e-04 -1.07262302e+00] [ 3.46323613e-03 1.22500263e-04 9.99993995e-01 -4.54457585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.16, Y:-1.08, Z:-0.45 [[ 9.88508468e-01 1.51127415e-01 -3.39321313e-03 1.63156122e+02] [-1.51126959e-01 9.88514283e-01 3.91746753e-04 -1.07636764e+00] [ 3.41344332e-03 1.25561001e-04 9.99994166e-01 -4.54281952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.19, Y:-1.08, Z:-0.46 [[ 9.88315524e-01 1.52373887e-01 -3.82418273e-03 1.63187967e+02] [-1.52373317e-01 9.88322911e-01 4.41720776e-04 -1.07548028e+00] [ 3.84683412e-03 1.46143906e-04 9.99992590e-01 -4.55256759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.22, Y:-1.07, Z:-0.46 [[ 9.88198159e-01 1.53124545e-01 -4.15600696e-03 1.63221202e+02] [-1.53123876e-01 9.88206885e-01 4.80739136e-04 -1.07489247e+00] [ 4.18060766e-03 1.61318365e-04 9.99991248e-01 -4.56355083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.25, Y:-1.08, Z:-0.46 [[ 9.88214753e-01 1.53010077e-01 -4.41794538e-03 1.63252987e+02] [-1.53009317e-01 9.88224614e-01 5.11509406e-04 -1.07817669e+00] [ 4.44418846e-03 1.70505665e-04 9.99990110e-01 -4.56850361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.29, Y:-1.08, Z:-0.46 [[ 9.88341946e-01 1.52151885e-01 -5.47735692e-03 1.63285835e+02] [-1.52150700e-01 9.88357102e-01 6.34922028e-04 -1.08037154e+00] [ 5.51018920e-03 2.05863615e-04 9.99984798e-01 -4.56424219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.32, Y:-1.08, Z:-0.46 [[ 9.88398735e-01 1.51789331e-01 -5.28577201e-03 1.63317513e+02] [-1.51788223e-01 9.88412849e-01 6.12539893e-04 -1.08239191e+00] [ 5.31750199e-03 1.96884284e-04 9.99985843e-01 -4.56999226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.35, Y:-1.09, Z:-0.46 [[ 9.88460737e-01 1.51454930e-01 -2.60301451e-03 1.63350100e+02] [-1.51454655e-01 9.88464160e-01 3.03660297e-04 -1.08569536e+00] [ 2.61897740e-03 9.40823844e-05 9.99996566e-01 -4.56900118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.38, Y:-1.09, Z:-0.46 [[ 9.88440198e-01 1.51605322e-01 -1.34229732e-03 1.63382466e+02] [-1.51605247e-01 9.88441108e-01 1.58035211e-04 -1.08916716e+00] [ 1.35074083e-03 4.72909617e-05 9.99999087e-01 -4.56443417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.41, Y:-1.09, Z:-0.46 [[ 9.88548712e-01 1.50882810e-01 -2.41276040e-03 1.63414151e+02] [-1.50882569e-01 9.88551653e-01 2.82455941e-04 -1.09015194e+00] [ 2.42775603e-03 8.48220324e-05 9.99997049e-01 -4.58169963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.45, Y:-1.09, Z:-0.46 [[ 9.88628635e-01 1.50348128e-01 -2.97708125e-03 1.63446715e+02] [-1.50347760e-01 9.88633112e-01 3.48574997e-04 -1.09332820e+00] [ 2.99564869e-03 1.02986272e-04 9.99995508e-01 -4.59006346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.48, Y:-1.10, Z:-0.46 [[ 9.88607879e-01 1.50477610e-01 -3.30901833e-03 1.63479445e+02] [-1.50477154e-01 9.88613411e-01 3.87863047e-04 -1.09655435e+00] [ 3.32970460e-03 1.14487196e-04 9.99994450e-01 -4.59554641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.51, Y:-1.10, Z:-0.46 [[ 9.88637691e-01 1.50287310e-01 -3.03972083e-03 1.63511679e+02] [-1.50286922e-01 9.88642359e-01 3.57119244e-04 -1.10180313e+00] [ 3.05886726e-03 1.03768742e-04 9.99995316e-01 -4.59701373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.54, Y:-1.11, Z:-0.46 [[ 9.88607451e-01 1.50497191e-01 -2.42962279e-03 1.63543522e+02] [-1.50496942e-01 9.88610433e-01 2.86181297e-04 -1.10670266e+00] [ 2.44501992e-03 8.27298366e-05 9.99997008e-01 -4.59643007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.58, Y:-1.11, Z:-0.46 [[ 9.88486953e-01 1.51297127e-01 -1.65041128e-03 1.63576936e+02] [-1.51297012e-01 9.88488329e-01 1.95566430e-04 -1.10901187e+00] [ 1.66100092e-03 5.63874296e-05 9.99998619e-01 -4.59231050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.61, Y:-1.11, Z:-0.46 [[ 9.88301351e-01 1.52499214e-01 -2.10456193e-03 1.63610074e+02] [-1.52499029e-01 9.88303589e-01 2.49211302e-04 -1.10933700e+00] [ 2.11795064e-03 7.46477848e-05 9.99997754e-01 -4.59972712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.64, Y:-1.11, Z:-0.46 [[ 9.88180252e-01 1.53283563e-01 -1.98456388e-03 1.63642232e+02] [-1.53283399e-01 9.88182242e-01 2.35346088e-04 -1.11297502e+00] [ 1.99718547e-03 7.16363391e-05 9.99998003e-01 -4.60563061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.67, Y:-1.12, Z:-0.46 [[ 9.88077015e-01 1.53952043e-01 -1.60661403e-03 1.63673596e+02] [-1.53951936e-01 9.88078319e-01 1.90381755e-04 -1.11727192e+00] [ 1.61677015e-03 5.92295045e-05 9.99998691e-01 -4.60598279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.71, Y:-1.12, Z:-0.46 [[ 9.87950097e-01 1.54755756e-01 -2.29388037e-03 1.63705436e+02] [-1.54755542e-01 9.87952756e-01 2.71432915e-04 -1.11936521e+00] [ 2.30825124e-03 8.68285267e-05 9.99997332e-01 -4.60508229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.74, Y:-1.12, Z:-0.46 [[ 9.87871786e-01 1.55243019e-01 -2.98983823e-03 1.63737540e+02] [-1.55242656e-01 9.87876304e-01 3.54556699e-04 -1.12382704e+00] [ 3.00863280e-03 1.13893870e-04 9.99995468e-01 -4.61721301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.77, Y:-1.13, Z:-0.46 [[ 9.87804373e-01 1.55628831e-01 -4.71037594e-03 1.63770660e+02] [-1.55627934e-01 9.87815587e-01 5.58534157e-04 -1.12778480e+00] [ 4.73990679e-03 1.81343592e-04 9.99988750e-01 -4.61618704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.80, Y:-1.13, Z:-0.46 [[ 9.87663473e-01 1.56514114e-01 -4.91891471e-03 1.63802444e+02] [-1.56513144e-01 9.87675703e-01 5.83887334e-04 -1.12721861e+00] [ 4.94967915e-03 1.93190612e-04 9.99987732e-01 -4.62497211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.83, Y:-1.13, Z:-0.46 [[ 9.87651965e-01 1.56601376e-01 -4.42767640e-03 1.63834600e+02] [-1.56600586e-01 9.87661875e-01 5.26553007e-04 -1.13061828e+00] [ 4.45550610e-03 1.73325608e-04 9.99990059e-01 -4.63122366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.87, Y:-1.13, Z:-0.46 [[ 9.87679198e-01 1.56461823e-01 -3.08229490e-03 1.63867012e+02] [-1.56461437e-01 9.87684000e-01 3.67551233e-04 -1.13315706e+00] [ 3.10184109e-03 1.19237581e-04 9.99995182e-01 -4.62977759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.90, Y:-1.13, Z:-0.46 [[ 9.87824537e-01 1.55562628e-01 -1.71861769e-03 1.63900130e+02] [-1.55562504e-01 9.87826030e-01 2.06558348e-04 -1.13387905e+00] [ 1.72982805e-03 6.33090660e-05 9.99998502e-01 -4.63163540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.93, Y:-1.14, Z:-0.46 [[ 9.88170506e-01 1.53346432e-01 -1.98053925e-03 1.63932171e+02] [-1.53346263e-01 9.88172489e-01 2.37874064e-04 -1.13635970e+00] [ 1.99359154e-03 6.86481589e-05 9.99998010e-01 -4.63965055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.96, Y:-1.14, Z:-0.46 [[ 9.88340835e-01 1.52230189e-01 -2.89209245e-03 1.63964658e+02] [-1.52229825e-01 9.88345061e-01 3.47019307e-04 -1.13926389e+00] [ 2.91121211e-03 9.72893768e-05 9.99995758e-01 -4.64256550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.00, Y:-1.14, Z:-0.46 [[ 9.88671208e-01 1.50085768e-01 -1.87215040e-03 1.63996731e+02] [-1.50085609e-01 9.88672979e-01 2.25664632e-04 -1.14192077e+00] [ 1.88481356e-03 5.78747088e-05 9.99998222e-01 -4.64037182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.03, Y:-1.14, Z:-0.46 [[ 9.88928986e-01 1.48389539e-01 7.37515587e-05 1.64029554e+02] [-1.48389539e-01 9.88928989e-01 -6.54377331e-06 -1.14442857e+00] [-7.39060821e-05 -4.47263268e-06 9.99999997e-01 -4.63522972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.06, Y:-1.15, Z:-0.46 [[ 9.88992767e-01 1.47963629e-01 2.65833428e-04 1.64062346e+02] [-1.47963627e-01 9.88992803e-01 -2.94677746e-05 -1.14783003e+00] [-2.67267506e-04 -1.01902621e-05 9.99999964e-01 -4.63899021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.09, Y:-1.15, Z:-0.46 [[ 9.89034979e-01 1.47678051e-01 -1.00200053e-03 1.64093921e+02] [-1.47678003e-01 9.89035486e-01 1.22347347e-04 -1.15089114e+00] [ 1.00908210e-03 2.69676305e-05 9.99999491e-01 -4.64451653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.13, Y:-1.15, Z:-0.47 [[ 9.88854030e-01 1.48864388e-01 -2.66495067e-03 1.64126162e+02] [-1.48864060e-01 9.88857618e-01 3.22160531e-04 -1.15296237e+00] [ 2.68321500e-03 7.81456375e-05 9.99996397e-01 -4.66870799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.16, Y:-1.16, Z:-0.47 [[ 9.88682897e-01 1.49906665e-01 -5.84138010e-03 1.64158124e+02] [-1.49905116e-01 9.88700136e-01 7.04490792e-04 -1.15948424e+00] [ 5.88098117e-03 1.79134767e-04 9.99982691e-01 -4.67293961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.19, Y:-1.16, Z:-0.47 [[ 9.88572626e-01 1.50611719e-01 -6.34604811e-03 1.64188039e+02] [-1.50609914e-01 9.88592975e-01 7.64135598e-04 -1.16352324e+00] [ 6.38874635e-03 2.00374225e-04 9.99979572e-01 -4.67596495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.22, Y:-1.16, Z:-0.47 [[ 9.88293963e-01 1.52489617e-01 -4.68611395e-03 1.64218934e+02] [-1.52488656e-01 9.88305060e-01 5.63752572e-04 -1.16486561e+00] [ 4.71727654e-03 1.57425953e-04 9.99988861e-01 -4.67437847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.25, Y:-1.17, Z:-0.47 [[ 9.88034759e-01 1.54208078e-01 -2.68008613e-03 1.64249777e+02] [-1.54207769e-01 9.88038390e-01 3.22784216e-04 -1.16742629e+00] [ 2.69780391e-03 9.43680758e-05 9.99996356e-01 -4.66479809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.28, Y:-1.17, Z:-0.47 [[ 9.87877952e-01 1.55227477e-01 -1.25834406e-03 1.64281644e+02] [-1.55227407e-01 9.87878752e-01 1.53709860e-04 -1.17148594e+00] [ 1.26695136e-03 4.34829040e-05 9.99999196e-01 -4.66187306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.31, Y:-1.18, Z:-0.47 [[ 9.87561765e-01 1.57231467e-01 -1.62710861e-04 1.64311979e+02] [-1.57231466e-01 9.87561778e-01 2.15508869e-05 -1.17616049e+00] [ 1.64075504e-04 4.30043521e-06 9.99999987e-01 -4.66286838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.35, Y:-1.18, Z:-0.47 [[ 9.87548742e-01 1.57313240e-01 -1.62814656e-04 1.64345217e+02] [-1.57313238e-01 9.87548756e-01 2.06902425e-05 -1.18030477e+00] [ 1.64042260e-04 5.18027786e-06 9.99999987e-01 -4.66701842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.38, Y:-1.18, Z:-0.47 [[ 9.87258695e-01 1.59108193e-01 -2.20259611e-03 1.64376780e+02] [-1.59107989e-01 9.87261149e-01 2.68523879e-04 -1.18360375e+00] [ 2.21726192e-03 8.53481039e-05 9.99997538e-01 -4.69025177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.41, Y:-1.19, Z:-0.47 [[ 9.87105666e-01 1.60050695e-01 -2.48571483e-03 1.64407525e+02] [-1.60050443e-01 9.87108791e-01 3.00907931e-04 -1.18616097e+00] [ 2.50183148e-03 1.00811836e-04 9.99996865e-01 -4.70298581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.44, Y:-1.19, Z:-0.47 [[ 9.86842663e-01 1.61662424e-01 -2.61148083e-03 1.64437476e+02] [-1.61662152e-01 9.86846112e-01 3.16003098e-04 -1.18839900e+00] [ 2.62821553e-03 1.10332273e-04 9.99996540e-01 -4.70689003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.47, Y:-1.19, Z:-0.47 [[ 9.86708421e-01 1.62401069e-01 -5.69080190e-03 1.64467364e+02] [-1.62399796e-01 9.86724801e-01 6.88305064e-04 -1.19328640e+00] [ 5.72703685e-03 2.45028663e-04 9.99983570e-01 -4.71802836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.50, Y:-1.20, Z:-0.47 [[ 9.86684619e-01 1.62509159e-01 -6.65094592e-03 1.64497462e+02] [-1.62507421e-01 9.86706993e-01 8.04434917e-04 -1.19761592e+00] [ 6.69326289e-03 2.87104511e-04 9.99977559e-01 -4.72230274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.53, Y:-1.20, Z:-0.47 [[ 9.86714962e-01 1.62318437e-01 -6.80502784e-03 1.64526926e+02] [-1.62316615e-01 9.86738385e-01 8.22845094e-04 -1.20183691e+00] [ 6.84834511e-03 2.92655516e-04 9.99976507e-01 -4.72291276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.56, Y:-1.20, Z:-0.47 [[ 9.87012217e-01 1.60541153e-01 -5.78121355e-03 1.64557795e+02] [-1.60539807e-01 9.87029119e-01 6.99171942e-04 -1.20312924e+00] [ 5.81847198e-03 2.38023657e-04 9.99983044e-01 -4.72300167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.59, Y:-1.21, Z:-0.47 [[ 9.87164312e-01 1.59613771e-01 -5.48323732e-03 1.64587634e+02] [-1.59612547e-01 9.87179515e-01 6.62922055e-04 -1.20544429e+00] [ 5.51875105e-03 2.20780480e-04 9.99984747e-01 -4.72788251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.62, Y:-1.21, Z:-0.47 [[ 9.87569924e-01 1.57111087e-01 -4.66382000e-03 1.64616719e+02] [-1.57110174e-01 9.87580921e-01 5.63783015e-04 -1.21023831e+00] [ 4.69447622e-03 1.75958421e-04 9.99988965e-01 -4.73183652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.65, Y:-1.22, Z:-0.47 [[ 9.88046558e-01 1.54143198e-01 -1.96836695e-03 1.64646861e+02] [-1.54143029e-01 9.88048516e-01 2.38346866e-04 -1.21991061e+00] [ 1.98158159e-03 6.79122425e-05 9.99998034e-01 -4.70911964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.68, Y:-1.22, Z:-0.47 [[ 9.88294375e-01 1.52547561e-01 -1.86297018e-03 1.64679661e+02] [-1.52547402e-01 9.88296129e-01 2.28033289e-04 -1.22409342e+00] [ 1.87595214e-03 5.88272443e-05 9.99998239e-01 -4.70943365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.71, Y:-1.23, Z:-0.47 [[ 9.88357685e-01 1.52127845e-01 -2.49107547e-03 1.64711148e+02] [-1.52127563e-01 9.88360821e-01 3.03523898e-04 -1.22721545e+00] [ 2.50825583e-03 7.89710634e-05 9.99996851e-01 -4.71835509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.74, Y:-1.23, Z:-0.47 [[ 9.88436762e-01 1.51613652e-01 -2.46322763e-03 1.64742429e+02] [-1.51613372e-01 9.88439829e-01 3.01306101e-04 -1.23182401e+00] [ 2.48043441e-03 7.56362181e-05 9.99996921e-01 -4.72571172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.77, Y:-1.24, Z:-0.47 [[ 9.88257997e-01 1.52779127e-01 -2.16106364e-03 1.64774542e+02] [-1.52778913e-01 9.88260357e-01 2.64856344e-04 -1.23655799e+00] [ 2.17615804e-03 6.84185532e-05 9.99997630e-01 -4.72721690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.81, Y:-1.24, Z:-0.47 [[ 9.88120176e-01 1.53638168e-01 -3.71908560e-03 1.64805633e+02] [-1.53637547e-01 9.88127167e-01 4.53732492e-04 -1.24197494e+00] [ 3.74464015e-03 1.23048960e-04 9.99992981e-01 -4.73049090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.84, Y:-1.25, Z:-0.47 [[ 9.87904146e-01 1.54945399e-01 -6.10914628e-03 1.64836676e+02] [-1.54943742e-01 9.87923013e-01 7.46568822e-04 -1.25064818e+00] [ 6.15104360e-03 2.09035549e-04 9.99981060e-01 -4.73025944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.87, Y:-1.25, Z:-0.47 [[ 9.87635165e-01 1.56688423e-01 -5.05165113e-03 1.64866900e+02] [-1.56687320e-01 9.87648067e-01 6.15816343e-04 -1.25119165e+00] [ 5.08574477e-03 1.83327804e-04 9.99987051e-01 -4.73058640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.90, Y:-1.25, Z:-0.47 [[ 9.87469122e-01 1.57751152e-01 -4.39400535e-03 1.64898494e+02] [-1.57750327e-01 9.87478884e-01 5.35925656e-04 -1.25245436e+00] [ 4.42353039e-03 1.63945742e-04 9.99990203e-01 -4.73109109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.93, Y:-1.26, Z:-0.47 [[ 9.87182412e-01 1.59555861e-01 -3.57937975e-03 1.64929223e+02] [-1.59555317e-01 9.87188892e-01 4.38829173e-04 -1.25574755e+00] [ 3.60354170e-03 1.37904631e-04 9.99993498e-01 -4.73915792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.96, Y:-1.26, Z:-0.47 [[ 9.87158313e-01 1.59709782e-01 -3.35414833e-03 1.64960551e+02] [-1.59709303e-01 9.87164003e-01 4.12028791e-04 -1.26260336e+00] [ 3.37689952e-03 1.28951044e-04 9.99994290e-01 -4.73293954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.99, Y:-1.27, Z:-0.47 [[ 9.87199502e-01 1.59451543e-01 -3.51418942e-03 1.64993361e+02] [-1.59451012e-01 9.87205747e-01 4.32583324e-04 -1.26676075e+00] [ 3.53820407e-03 1.33295017e-04 9.99993732e-01 -4.72997846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.03, Y:-1.27, Z:-0.47 [[ 9.87334016e-01 1.58632173e-01 -2.71547104e-03 1.65025696e+02] [-1.58631851e-01 9.87337746e-01 3.34976021e-04 -1.26966677e+00] [ 2.73422503e-03 1.00026976e-04 9.99996257e-01 -4.73507558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.06, Y:-1.27, Z:-0.47 [[ 9.87449124e-01 1.57916238e-01 -2.58634019e-03 1.65058551e+02] [-1.57915941e-01 9.87452507e-01 3.19949322e-04 -1.27472124e+00] [ 2.60441330e-03 9.24906660e-05 9.99996604e-01 -4.73446952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.09, Y:-1.28, Z:-0.47 [[ 9.87417501e-01 1.58118725e-01 -2.26892715e-03 1.65090553e+02] [-1.58118496e-01 9.87420104e-01 2.81233218e-04 -1.27818396e+00] [ 2.28485252e-03 8.10647462e-05 9.99997386e-01 -4.73643976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.12, Y:-1.28, Z:-0.47 [[ 9.87177976e-01 1.59594509e-01 -3.03900240e-03 1.65122607e+02] [-1.59594105e-01 9.87182648e-01 3.76441026e-04 -1.28195231e+00] [ 3.06012836e-03 1.13392579e-04 9.99995311e-01 -4.74968989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.15, Y:-1.29, Z:-0.48 [[ 9.87048998e-01 1.60364432e-01 -4.18617392e-03 1.65153761e+02] [-1.60363685e-01 9.87057862e-01 5.15892497e-04 -1.28550333e+00] [ 4.21472668e-03 1.62099102e-04 9.99991105e-01 -4.75316945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.19, Y:-1.29, Z:-0.48 [[ 9.86764889e-01 1.62090038e-01 -4.67680378e-03 1.65185392e+02] [-1.62089123e-01 9.86775954e-01 5.76440491e-04 -1.28535837e+00] [ 4.70839277e-03 1.89247787e-04 9.99988898e-01 -4.75776471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.22, Y:-1.29, Z:-0.48 [[ 9.86608018e-01 1.63040968e-01 -4.71819446e-03 1.65216833e+02] [-1.63040047e-01 9.86619281e-01 5.81653684e-04 -1.28773834e+00] [ 4.74989500e-03 1.95390458e-04 9.99988700e-01 -4.76253006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.25, Y:-1.29, Z:-0.48 [[ 9.86460543e-01 1.63912779e-01 -5.31026832e-03 1.65246189e+02] [-1.63911626e-01 9.86474810e-01 6.54521024e-04 -1.28779678e+00] [ 5.34573029e-03 2.24755553e-04 9.99985686e-01 -4.75733010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.28, Y:-1.29, Z:-0.48 [[ 9.86462079e-01 1.63903991e-01 -5.29614585e-03 1.65276870e+02] [-1.63902845e-01 9.86476270e-01 6.52634123e-04 -1.28921487e+00] [ 5.33149154e-03 2.24254559e-04 9.99985762e-01 -4.76239744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.31, Y:-1.29, Z:-0.48 [[ 9.86618303e-01 1.63003677e-01 -3.75847950e-03 1.65306348e+02] [-1.63003094e-01 9.86625449e-01 4.62956896e-04 -1.29192023e+00] [ 3.78367520e-03 1.55882039e-04 9.99992830e-01 -4.75671136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.34, Y:-1.30, Z:-0.48 [[ 9.86742437e-01 1.62259538e-01 -3.34749736e-03 1.65335481e+02] [-1.62259072e-01 9.86748105e-01 4.12279958e-04 -1.29510805e+00] [ 3.37003303e-03 1.36347683e-04 9.99994312e-01 -4.75376349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.37, Y:-1.29, Z:-0.48 [[ 9.86967414e-01 1.60870840e-01 -3.98710549e-03 1.65366132e+02] [-1.60870166e-01 9.86975455e-01 4.91228155e-04 -1.29230602e+00] [ 4.01419954e-03 1.56580141e-04 9.99991931e-01 -4.76301037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.40, Y:-1.29, Z:-0.48 [[ 9.87196575e-01 1.59433011e-01 -4.90270910e-03 1.65396940e+02] [-1.59431974e-01 9.87208732e-01 6.04034369e-04 -1.29111210e+00] [ 4.93630026e-03 1.85347932e-04 9.99987799e-01 -4.77902690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.43, Y:-1.29, Z:-0.48 [[ 9.87400353e-01 1.58184848e-01 -4.25404951e-03 1.65426290e+02] [-1.58184059e-01 9.87409504e-01 5.23520030e-04 -1.29087594e+00] [ 4.28330186e-03 1.55998956e-04 9.99990814e-01 -4.77829573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.46, Y:-1.29, Z:-0.48 [[ 9.87567779e-01 1.57149763e-01 -3.71942703e-03 1.65455339e+02] [-1.57149153e-01 9.87574774e-01 4.57550829e-04 -1.29246052e+00] [ 3.74511631e-03 1.32642352e-04 9.99992978e-01 -4.77949968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.48, Y:-1.29, Z:-0.48 [[ 9.87995434e-01 1.54456214e-01 -2.88093276e-03 1.65484685e+02] [-1.54455837e-01 9.87999630e-01 3.54379790e-04 -1.29407251e+00] [ 2.90109666e-03 9.48512653e-05 9.99995787e-01 -4.77195120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.52, Y:-1.29, Z:-0.48 [[ 9.88312006e-01 1.52441657e-01 -9.58804324e-04 1.65515723e+02] [-1.52441614e-01 9.88312471e-01 1.18037735e-04 -1.29306629e+00] [ 9.65592138e-04 2.95035679e-05 9.99999533e-01 -4.76263448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.55, Y:-1.29, Z:-0.48 [[ 9.88703532e-01 1.49870824e-01 -2.01522403e-03 1.65545475e+02] [-1.49870630e-01 9.88705584e-01 2.47918626e-04 -1.29301370e+00] [ 2.02961902e-03 5.69048732e-05 9.99997939e-01 -4.78491045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.57, Y:-1.30, Z:-0.48 [[ 9.88906730e-01 1.48514680e-01 -2.62082893e-03 1.65574677e+02] [-1.48514348e-01 9.88910201e-01 3.22265358e-04 -1.29625084e+00] [ 2.63962560e-03 7.05403172e-05 9.99996514e-01 -4.79196796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.60, Y:-1.30, Z:-0.48 [[ 9.89171516e-01 1.46759167e-01 -1.20737667e-03 1.65604001e+02] [-1.46759096e-01 9.89172253e-01 1.48271092e-04 -1.29676888e+00] [ 1.21606364e-03 3.05279675e-05 9.99999260e-01 -4.79316661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.63, Y:-1.30, Z:-0.48 [[ 9.89237709e-01 1.46292800e-01 -2.67798896e-03 1.65633465e+02] [-1.46292443e-01 9.89241332e-01 3.29699210e-04 -1.30015945e+00] [ 2.69740999e-03 6.56186573e-05 9.99996360e-01 -4.79517998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.66, Y:-1.30, Z:-0.48 [[ 9.89240183e-01 1.46231963e-01 -4.48028604e-03 1.65663542e+02] [-1.46230967e-01 9.89250323e-01 5.50943647e-04 -1.30249674e+00] [ 4.51268998e-03 1.10140963e-04 9.99989812e-01 -4.79809156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.69, Y:-1.30, Z:-0.48 [[ 9.89202586e-01 1.46470010e-01 -4.97785683e-03 1.65691407e+02] [-1.46468787e-01 9.89215103e-01 6.11337665e-04 -1.30233233e+00] [ 5.01371379e-03 1.24363854e-04 9.99987424e-01 -4.80318462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.72, Y:-1.30, Z:-0.48 [[ 9.89081766e-01 1.47296017e-01 -4.59827336e-03 1.65719719e+02] [-1.47294984e-01 9.89092447e-01 5.64451119e-04 -1.30103805e+00] [ 4.63125885e-03 1.19014291e-04 9.99989269e-01 -4.80355537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.75, Y:-1.30, Z:-0.48 [[ 9.88922884e-01 1.48383810e-01 -3.71143166e-03 1.65748066e+02] [-1.48383145e-01 9.88929843e-01 4.55416018e-04 -1.30468208e+00] [ 3.73792189e-03 1.00342579e-04 9.99993009e-01 -4.80727030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.78, Y:-1.31, Z:-0.48 [[ 9.88825585e-01 1.49021747e-01 -4.05977430e-03 1.65776699e+02] [-1.49020957e-01 9.88833912e-01 4.98010268e-04 -1.30726313e+00] [ 4.08865687e-03 1.12546159e-04 9.99991635e-01 -4.81436066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.80, Y:-1.31, Z:-0.48 [[ 9.88768657e-01 1.49394369e-01 -4.22664231e-03 1.65804995e+02] [-1.49393518e-01 9.88777684e-01 5.18102679e-04 -1.30821415e+00] [ 4.25661122e-03 1.19149276e-04 9.99990933e-01 -4.82264631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.83, Y:-1.31, Z:-0.48 [[ 9.88939202e-01 1.48296732e-01 -2.70817317e-03 1.65833443e+02] [-1.48296379e-01 9.88942907e-01 3.31728199e-04 -1.30910841e+00] [ 2.72742286e-03 7.35532553e-05 9.99996278e-01 -4.82210658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.86, Y:-1.31, Z:-0.48 [[ 9.88985012e-01 1.47979249e-01 -3.28452481e-03 1.65861653e+02] [-1.47978729e-01 9.88990462e-01 4.02111487e-04 -1.31123936e+00] [ 3.30786786e-03 8.83575737e-05 9.99994525e-01 -4.82461720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.89, Y:-1.31, Z:-0.48 [[ 9.89031572e-01 1.47645320e-01 -4.17243336e-03 1.65889237e+02] [-1.47644478e-01 9.89040367e-01 5.10776483e-04 -1.31464709e+00] [ 4.20211878e-03 1.10862676e-04 9.99991165e-01 -4.83046315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.92, Y:-1.32, Z:-0.48 [[ 9.88989782e-01 1.47930867e-01 -3.95838971e-03 1.65917966e+02] [-1.47930112e-01 9.88997698e-01 4.84464975e-04 -1.31940260e+00] [ 3.98650564e-03 1.06434123e-04 9.99992048e-01 -4.83098912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.95, Y:-1.32, Z:-0.48 [[ 9.88828315e-01 1.49028163e-01 -3.02827784e-03 1.65945836e+02] [-1.49027728e-01 9.88832948e-01 3.70158890e-04 -1.32335911e+00] [ 3.04962500e-03 8.52737735e-05 9.99995346e-01 -4.83408612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.97, Y:-1.32, Z:-0.48 [[ 9.88469833e-01 1.51358408e-01 -4.24511074e-03 1.65973538e+02] [-1.51357574e-01 9.88478940e-01 5.18956024e-04 -1.32339224e+00] [ 4.27475093e-03 1.29557287e-04 9.99990855e-01 -4.83943888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.00, Y:-1.32, Z:-0.49 [[ 9.87957386e-01 1.54656264e-01 -4.65215345e-03 1.66001111e+02] [-1.54655300e-01 9.87968327e-01 5.68426592e-04 -1.32389174e+00] [ 4.68409099e-03 1.57898938e-04 9.99989017e-01 -4.85090577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.03, Y:-1.33, Z:-0.49 [[ 9.87707110e-01 1.56249527e-01 -4.55523796e-03 1.66030178e+02] [-1.56248620e-01 9.87717601e-01 5.56534564e-04 -1.32740676e+00] [ 4.58624698e-03 1.62056500e-04 9.99989470e-01 -4.85541296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.06, Y:-1.33, Z:-0.49 [[ 9.87180413e-01 1.59537849e-01 -4.74407298e-03 1.66057853e+02] [-1.59536905e-01 9.87191795e-01 5.79191109e-04 -1.33286848e+00] [ 4.77571283e-03 1.85088599e-04 9.99988579e-01 -4.85442012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.09, Y:-1.33, Z:-0.48 [[ 9.86790364e-01 1.61954992e-01 -3.91904783e-03 1.66086472e+02] [-1.61954368e-01 9.86798132e-01 4.78295749e-04 -1.33425828e+00] [ 3.94477147e-03 1.62729278e-04 9.99992206e-01 -4.84873113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.11, Y:-1.33, Z:-0.49 [[ 9.86584230e-01 1.63195272e-01 -4.34288527e-03 1.66114956e+02] [-1.63194519e-01 9.86593771e-01 5.29675572e-04 -1.33449071e+00] [ 4.37110411e-03 1.86165505e-04 9.99990429e-01 -4.85125655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.14, Y:-1.33, Z:-0.49 [[ 9.86053988e-01 1.66323256e-01 -5.84010118e-03 1.66143834e+02] [-1.66321950e-01 9.86071246e-01 7.12005772e-04 -1.33269608e+00] [ 5.87717896e-03 2.69260886e-04 9.99982693e-01 -4.86796131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.17, Y:-1.33, Z:-0.49 [[ 9.85915059e-01 1.67201841e-01 -3.87811961e-03 1.66171706e+02] [-1.67201275e-01 9.85922670e-01 4.72215118e-04 -1.33492851e+00] [ 3.90248128e-03 1.82862545e-04 9.99992369e-01 -4.87259401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.20, Y:-1.34, Z:-0.49 [[ 9.85993599e-01 1.66754212e-01 -3.10732412e-03 1.66200019e+02] [-1.66753845e-01 9.85998485e-01 3.78511887e-04 -1.33801885e+00] [ 3.12693533e-03 1.44947947e-04 9.99995101e-01 -4.87102903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.23, Y:-1.34, Z:-0.49 [[ 9.86223749e-01 1.65384313e-01 -3.27825797e-03 1.66228971e+02] [-1.65383898e-01 9.86229186e-01 3.99039499e-04 -1.34223633e+00] [ 3.29910856e-03 1.48628851e-04 9.99994547e-01 -4.87125010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.26, Y:-1.35, Z:-0.49 [[ 9.86229768e-01 1.65348412e-01 -3.27825439e-03 1.66258095e+02] [-1.65347997e-01 9.86235206e-01 3.99068793e-04 -1.34570535e+00] [ 3.29911528e-03 1.48479273e-04 9.99994547e-01 -4.87488193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.29, Y:-1.34, Z:-0.49 [[ 9.86416661e-01 1.64232361e-01 -3.14672642e-03 1.66285820e+02] [-1.64231975e-01 9.86421670e-01 3.82547850e-04 -1.34475416e+00] [ 3.16682587e-03 1.39441522e-04 9.99994976e-01 -4.88075199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.31, Y:-1.34, Z:-0.49 [[ 9.86450175e-01 1.64032035e-01 -3.08944606e-03 1.66314571e+02] [-1.64031663e-01 9.86455003e-01 3.75228903e-04 -1.34354634e+00] [ 3.10914908e-03 1.36622357e-04 9.99995157e-01 -4.88931678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.34, Y:-1.34, Z:-0.49 [[ 9.86459850e-01 1.63941713e-01 -4.48097172e-03 1.66343263e+02] [-1.63940927e-01 9.86470008e-01 5.44690555e-04 -1.34244599e+00] [ 4.50964171e-03 1.97299292e-04 9.99989812e-01 -4.90503894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.37, Y:-1.35, Z:-0.49 [[ 9.86719212e-01 1.62382333e-01 -4.14432005e-03 1.66371516e+02] [-1.62381648e-01 9.86727899e-01 5.03505066e-04 -1.34503735e+00] [ 4.17107655e-03 1.76143397e-04 9.99991286e-01 -4.90532665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.40, Y:-1.35, Z:-0.49 [[ 9.86837434e-01 1.61661002e-01 -4.19504458e-03 1.66398984e+02] [-1.61660295e-01 9.86846335e-01 5.09265970e-04 -1.34605654e+00] [ 4.22219282e-03 1.75609423e-04 9.99991071e-01 -4.90345902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.43, Y:-1.35, Z:-0.49 [[ 9.87002258e-01 1.60606470e-01 -5.66606985e-03 1.66426261e+02] [-1.60605166e-01 9.87018494e-01 6.87345569e-04 -1.34697588e+00] [ 5.70290787e-03 2.31588458e-04 9.99983711e-01 -4.91463256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.45, Y:-1.35, Z:-0.49 [[ 9.87355412e-01 1.58436241e-01 -5.21994706e-03 1.66454968e+02] [-1.58435105e-01 9.87369190e-01 6.32900149e-04 -1.34579594e+00] [ 5.25428922e-03 2.02125475e-04 9.99986176e-01 -4.91602808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.48, Y:-1.34, Z:-0.49 [[ 9.87588383e-01 1.57000554e-01 -4.47350630e-03 1.66482342e+02] [-1.56999710e-01 9.87598500e-01 5.41478969e-04 -1.34469990e+00] [ 4.50304061e-03 1.67580853e-04 9.99989847e-01 -4.92423302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.51, Y:-1.35, Z:-0.49 [[ 9.88137784e-01 1.53507823e-01 -4.36669589e-03 1.66510464e+02] [-1.53506984e-01 9.88147421e-01 5.28573753e-04 -1.34525197e+00] [ 4.39607949e-03 1.48014618e-04 9.99990326e-01 -4.92895896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.54, Y:-1.35, Z:-0.49 [[ 9.88822344e-01 1.49040693e-01 -4.15264491e-03 1.66538472e+02] [-1.49039895e-01 9.88831056e-01 5.02679377e-04 -1.34961777e+00] [ 4.18118393e-03 1.21849163e-04 9.99991251e-01 -4.93196892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.57, Y:-1.35, Z:-0.49 [[ 9.89553340e-01 1.44103417e-01 -4.28854763e-03 1.66566600e+02] [-1.44102522e-01 9.89562628e-01 5.18641669e-04 -1.35267044e+00] [ 4.31852450e-03 1.04766933e-04 9.99990670e-01 -4.93177549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.59, Y:-1.36, Z:-0.49 [[ 9.89880139e-01 1.41819819e-01 -4.94459721e-03 1.66594542e+02] [-1.41818601e-01 9.89892483e-01 5.97884470e-04 -1.35539558e+00] [ 4.97941148e-03 1.09401895e-04 9.99987597e-01 -4.93277526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.62, Y:-1.36, Z:-0.49 [[ 9.90330370e-01 1.38651308e-01 -4.64460716e-03 1.66622142e+02] [-1.38650200e-01 9.90341258e-01 5.61304082e-04 -1.35760495e+00] [ 4.67757164e-03 8.80992296e-05 9.99989056e-01 -4.93178240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.65, Y:-1.36, Z:-0.49 [[ 9.90515537e-01 1.37353325e-01 -3.61046543e-03 1.66649190e+02] [-1.37352648e-01 9.90522115e-01 4.35951056e-04 -1.36171525e+00] [ 3.63612518e-03 6.40906927e-05 9.99993387e-01 -4.93347094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.68, Y:-1.37, Z:-0.49 [[ 9.90732799e-01 1.35806291e-01 -2.27425365e-03 1.66677314e+02] [-1.35806018e-01 9.90735409e-01 2.74382661e-04 -1.37104097e+00] [ 2.29044651e-03 3.70174317e-05 9.99997376e-01 -4.93017789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.71, Y:-1.38, Z:-0.49 [[ 9.90487280e-01 1.37598114e-01 -1.30643270e-03 1.66705220e+02] [-1.37598026e-01 9.90488141e-01 1.57279117e-04 -1.37685852e+00] [ 1.31564741e-03 2.39795961e-05 9.99999134e-01 -4.92331203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.73, Y:-1.38, Z:-0.49 [[ 9.90188587e-01 1.39725139e-01 -1.85701828e-03 1.66732430e+02] [-1.39724966e-01 9.90190327e-01 2.23481734e-04 -1.37995201e+00] [ 1.87002756e-03 3.81827538e-05 9.99998251e-01 -4.93155945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.76, Y:-1.39, Z:-0.49 [[ 9.89438376e-01 1.44914812e-01 -3.37597348e-03 1.66761117e+02] [-1.44914266e-01 9.89444132e-01 4.07020578e-04 -1.38589572e+00] [ 3.39932046e-03 8.65049402e-05 9.99994219e-01 -4.94509255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.79, Y:-1.39, Z:-0.49 [[ 9.88400462e-01 1.51837999e-01 -3.12229098e-03 1.66789587e+02] [-1.51837568e-01 9.88405388e-01 3.76227600e-04 -1.38853465e+00] [ 3.14321487e-03 1.02217533e-04 9.99995055e-01 -4.94035130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.82, Y:-1.39, Z:-0.49 [[ 9.87824020e-01 1.55533823e-01 -3.59644315e-03 1.66817470e+02] [-1.55533276e-01 9.87830559e-01 4.33090446e-04 -1.39026335e+00] [ 3.62003666e-03 1.31549440e-04 9.99993439e-01 -4.94861906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.84, Y:-1.39, Z:-0.50 [[ 9.86650390e-01 1.62763207e-01 -5.39865706e-03 1.66843878e+02] [-1.62762084e-01 9.86665132e-01 6.49795227e-04 -1.39339333e+00] [ 5.43242943e-03 2.37575958e-04 9.99985216e-01 -4.95049386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.87, Y:-1.40, Z:-0.50 [[ 9.85672456e-01 1.68586552e-01 -5.32764609e-03 1.66871527e+02] [-1.68585544e-01 9.85686818e-01 6.41039885e-04 -1.39550332e+00] [ 5.35946123e-03 2.66308756e-04 9.99985603e-01 -4.95692266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.90, Y:-1.40, Z:-0.50 [[ 9.85289282e-01 1.70820990e-01 -5.02197046e-03 1.66899396e+02] [-1.70820125e-01 9.85302045e-01 6.03800711e-04 -1.39793229e+00] [ 5.05129960e-03 2.62935255e-04 9.99987208e-01 -4.96035633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.93, Y:-1.40, Z:-0.50 [[ 9.84705891e-01 1.74177077e-01 -4.08091479e-03 1.66926698e+02] [-1.74176537e-01 9.84714321e-01 4.90004596e-04 -1.39829467e+00] [ 4.10388280e-03 2.28289193e-04 9.99991553e-01 -4.95674177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.96, Y:-1.39, Z:-0.49 [[ 9.84448034e-01 1.75665860e-01 -1.89045249e-03 1.66955517e+02] [-1.75665748e-01 9.84449843e-01 2.26473614e-04 -1.39418096e+00] [ 1.90083934e-03 1.09136247e-04 9.99998187e-01 -4.94882149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.98, Y:-1.39, Z:-0.50 [[ 9.84562015e-01 1.75030983e-01 -1.33962129e-03 1.66983530e+02] [-1.75030926e-01 9.84562923e-01 1.60108487e-04 -1.39466604e+00] [ 1.34696540e-03 7.68384206e-05 9.99999090e-01 -4.95594163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.01, Y:-1.40, Z:-0.50 [[ 9.85201161e-01 1.71383344e-01 -2.53402494e-03 1.67010724e+02] [-1.71383129e-01 9.85204411e-01 3.03294078e-04 -1.39638783e+00] [ 2.54851210e-03 1.35483446e-04 9.99996743e-01 -4.96471128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.04, Y:-1.40, Z:-0.50 [[ 9.85662027e-01 1.68703062e-01 -3.10585772e-03 1.67038930e+02] [-1.68702725e-01 9.85666907e-01 3.71933342e-04 -1.39850601e+00] [ 3.12408747e-03 1.57366089e-04 9.99995108e-01 -4.97264476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.07, Y:-1.40, Z:-0.50 [[ 9.86841517e-01 1.61665781e-01 -2.82747814e-03 1.67066699e+02] [-1.61665476e-01 9.86845560e-01 3.37665424e-04 -1.39892540e+00] [ 2.84487319e-03 1.23883339e-04 9.99995946e-01 -4.97797507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.09, Y:-1.40, Z:-0.50 [[ 9.87889979e-01 1.55137647e-01 -2.38727664e-03 1.67094495e+02] [-1.55137410e-01 9.87892860e-01 2.85239436e-04 -1.40100186e+00] [ 2.40262492e-03 8.85707335e-05 9.99997110e-01 -4.98197777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.12, Y:-1.40, Z:-0.50 [[ 9.88372513e-01 1.52026394e-01 -2.78411709e-03 1.67122154e+02] [-1.52026060e-01 9.88376430e-01 3.32553171e-04 -1.40373661e+00] [ 2.80231257e-03 9.45719389e-05 9.99996069e-01 -4.98410471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:-1.41, Z:-0.50 [[ 9.89233963e-01 1.46296102e-01 -3.69017636e-03 1.67148905e+02] [-1.46295475e-01 9.89240840e-01 4.40612123e-04 -1.40642166e+00] [ 3.71493300e-03 1.03987628e-04 9.99993094e-01 -4.98683658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.18, Y:-1.41, Z:-0.50 [[ 9.89888523e-01 1.41810136e-01 -3.25533447e-03 1.67176174e+02] [-1.41809625e-01 9.89893873e-01 3.88469353e-04 -1.41052591e+00] [ 3.27752454e-03 7.70964075e-05 9.99994626e-01 -4.98758675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.20, Y:-1.41, Z:-0.50 [[ 9.90187712e-01 1.39713518e-01 -2.90295564e-03 1.67203495e+02] [-1.39713104e-01 9.90191966e-01 3.46107113e-04 -1.41387462e+00] [ 2.92283919e-03 6.28699311e-05 9.99995727e-01 -4.98504842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.23, Y:-1.42, Z:-0.50 [[ 9.90557157e-01 1.37084828e-01 -2.06589055e-03 1.67232195e+02] [-1.37084612e-01 9.90559311e-01 2.46242206e-04 -1.41642793e+00] [ 2.08014319e-03 3.92848257e-05 9.99997836e-01 -4.97772701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.26, Y:-1.42, Z:-0.50 [[ 9.90765514e-01 1.35572147e-01 -1.97217713e-03 1.67260296e+02] [-1.35571948e-01 9.90767476e-01 2.34940970e-04 -1.42041756e+00] [ 1.98582041e-03 3.46004838e-05 9.99998028e-01 -4.98231137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.29, Y:-1.42, Z:-0.50 [[ 9.90778840e-01 1.35468189e-01 -2.37887665e-03 1.67287813e+02] [-1.35467900e-01 9.90781695e-01 2.83220675e-04 -1.42444073e+00] [ 2.39531483e-03 4.16523703e-05 9.99997130e-01 -4.98907923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.31, Y:-1.43, Z:-0.50 [[ 9.90512156e-01 1.37387122e-01 -3.23239870e-03 1.67314714e+02] [-1.37386597e-01 9.90517428e-01 3.84934667e-04 -1.43053738e+00] [ 3.25463231e-03 6.28057919e-05 9.99994702e-01 -4.99567393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.34, Y:-1.43, Z:-0.50 [[ 9.89982162e-01 1.41161657e-01 -2.95034421e-03 1.67342474e+02] [-1.41161238e-01 9.89986556e-01 3.50918373e-04 -1.43433751e+00] [ 2.97033733e-03 6.90713121e-05 9.99995586e-01 -4.98389901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.37, Y:-1.43, Z:-0.50 [[ 9.89185249e-01 1.46636632e-01 -3.20022885e-03 1.67370230e+02] [-1.46636168e-01 9.89190421e-01 3.80451779e-04 -1.43422053e+00] [ 3.22142389e-03 9.29320065e-05 9.99994807e-01 -4.98577159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.40, Y:-1.44, Z:-0.50 [[ 9.88742858e-01 1.49572158e-01 -3.96616883e-03 1.67398294e+02] [-1.49571469e-01 9.88750804e-01 4.71431747e-04 -1.43586597e+00] [ 3.99206569e-03 1.27100928e-04 9.99992024e-01 -4.99014770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.42, Y:-1.44, Z:-0.50 [[ 9.87877003e-01 1.55188632e-01 -3.93886103e-03 1.67424967e+02] [-1.55187999e-01 9.87884845e-01 4.67697666e-04 -1.43882204e+00] [ 3.96372248e-03 1.49236193e-04 9.99992133e-01 -4.99484232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.45, Y:-1.44, Z:-0.50 [[ 9.87528416e-01 1.57411375e-01 -3.04741021e-03 1.67453199e+02] [-1.57411008e-01 9.87533110e-01 3.61545215e-04 -1.44268160e+00] [ 3.06632981e-03 1.22659739e-04 9.99995291e-01 -4.99448989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.48, Y:-1.44, Z:-0.50 [[ 9.87049052e-01 1.60412975e-01 -1.35846126e-03 1.67479825e+02] [-1.60412906e-01 9.87049985e-01 1.60415874e-04 -1.44447994e+00] [ 1.36660195e-03 5.95763818e-05 9.99999064e-01 -4.99649453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.51, Y:-1.44, Z:-0.50 [[ 9.86990569e-01 1.60768711e-01 -1.74327447e-03 1.67508606e+02] [-1.60768597e-01 9.86992105e-01 2.06191567e-04 -1.44300446e+00] [ 1.75374729e-03 7.67546590e-05 9.99998459e-01 -5.00248585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.54, Y:-1.44, Z:-0.50 [[ 9.87042306e-01 1.60444698e-01 -2.23293963e-03 1.67536526e+02] [-1.60444510e-01 9.87044826e-01 2.64202376e-04 -1.44466388e+00] [ 2.24640137e-03 9.74839816e-05 9.99997472e-01 -5.00970114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.56, Y:-1.45, Z:-0.50 [[ 9.87213220e-01 1.59392041e-01 -2.05803632e-03 1.67563150e+02] [-1.59391880e-01 9.87215361e-01 2.43126383e-04 -1.44960084e+00] [ 2.07047748e-03 8.80166999e-05 9.99997853e-01 -5.01939749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.59, Y:-1.45, Z:-0.50 [[ 9.87467702e-01 1.57792586e-01 -3.00624448e-03 1.67590880e+02] [-1.57792234e-01 9.87472270e-01 3.55528220e-04 -1.45441074e+00] [ 3.02468277e-03 1.23289396e-04 9.99995418e-01 -5.02558855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.62, Y:-1.46, Z:-0.50 [[ 9.87557164e-01 1.57234934e-01 -2.83236920e-03 1.67618478e+02] [-1.57234620e-01 9.87561220e-01 3.34685957e-04 -1.45721260e+00] [ 2.84976230e-03 1.14824980e-04 9.99995933e-01 -5.02668158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.65, Y:-1.46, Z:-0.50 [[ 9.87665802e-01 1.56569817e-01 -1.46832629e-03 1.67645883e+02] [-1.56569733e-01 9.87666892e-01 1.72798404e-04 -1.45898415e+00] [ 1.47727228e-03 5.92283814e-05 9.99998907e-01 -5.02347669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.67, Y:-1.46, Z:-0.50 [[ 9.87920599e-01 1.54931207e-01 -3.03492606e-03 1.67672662e+02] [-1.54930837e-01 9.87925254e-01 3.58067643e-04 -1.46126312e+00] [ 3.05375595e-03 1.16461232e-04 9.99995330e-01 -5.03235304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.70, Y:-1.47, Z:-0.50 [[ 9.88050232e-01 1.54092084e-01 -3.51698397e-03 1.67700102e+02] [-1.54091582e-01 9.88056482e-01 4.14995133e-04 -1.46543045e+00] [ 3.53892627e-03 1.31901586e-04 9.99993729e-01 -5.04062779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.73, Y:-1.47, Z:-0.50 [[ 9.88317722e-01 1.52353169e-01 -4.07335683e-03 1.67726609e+02] [-1.52352481e-01 9.88326105e-01 4.80306747e-04 -1.47024091e+00] [ 4.09898114e-03 1.45890349e-04 9.99991588e-01 -5.04504263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.75, Y:-1.47, Z:-0.50 [[ 9.88743904e-01 1.49578923e-01 -3.41156746e-03 1.67754556e+02] [-1.49578426e-01 9.88749783e-01 4.01963310e-04 -1.47202564e+00] [ 3.43331183e-03 1.12858118e-04 9.99994100e-01 -5.04274040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.78, Y:-1.47, Z:-0.50 [[ 9.88903971e-01 1.48524750e-01 -3.05537811e-03 1.67781542e+02] [-1.48524349e-01 9.88908686e-01 3.59080975e-04 -1.47468749e+00] [ 3.07482237e-03 9.87014435e-05 9.99995268e-01 -5.04955731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.81, Y:-1.48, Z:-0.51 [[ 9.89076937e-01 1.47355289e-01 -3.63759842e-03 1.67808132e+02] [-1.47354712e-01 9.89083619e-01 4.27801887e-04 -1.48005492e+00] [ 3.66092788e-03 1.12888286e-04 9.99993292e-01 -5.05885086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.84, Y:-1.49, Z:-0.51 [[ 9.89094044e-01 1.47225426e-01 -4.20061895e-03 1.67835704e+02] [-1.47224655e-01 9.89102956e-01 4.93992735e-04 -1.48531572e+00] [ 4.22757291e-03 1.29829402e-04 9.99991055e-01 -5.06215371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.86, Y:-1.49, Z:-0.51 [[ 9.89017544e-01 1.47735763e-01 -4.29451217e-03 1.67861860e+02] [-1.47734963e-01 9.89026858e-01 5.04542047e-04 -1.49068289e+00] [ 4.32192679e-03 1.35448663e-04 9.99990651e-01 -5.06963398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.89, Y:-1.49, Z:-0.51 [[ 9.88963157e-01 1.48092410e-01 -4.52895517e-03 1.67889272e+02] [-1.48091525e-01 9.88973517e-01 5.31956916e-04 -1.49351048e+00] [ 4.55779551e-03 1.44614087e-04 9.99989603e-01 -5.06719996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.92, Y:-1.50, Z:-0.51 [[ 9.88961217e-01 1.48109934e-01 -4.37716638e-03 1.67916210e+02] [-1.48109111e-01 9.88970893e-01 5.13276213e-04 -1.49536299e+00] [ 4.40491145e-03 1.40687955e-04 9.99990288e-01 -5.06679660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.94, Y:-1.50, Z:-0.51 [[ 9.88967742e-01 1.48081859e-01 -3.81685235e-03 1.67943845e+02] [-1.48081233e-01 9.88975100e-01 4.47587862e-04 -1.49766909e+00] [ 3.84105158e-03 1.22554246e-04 9.99992616e-01 -5.07026435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.97, Y:-1.50, Z:-0.51 [[ 9.88842389e-01 1.48932309e-01 -3.14600126e-03 1.67971675e+02] [-1.48931889e-01 9.88847388e-01 3.68519929e-04 -1.50394795e+00] [ 3.16579966e-03 1.04131785e-04 9.99994983e-01 -5.07087569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.00, Y:-1.51, Z:-0.51 [[ 9.88851034e-01 1.48874901e-01 -3.14600597e-03 1.67999989e+02] [-1.48874481e-01 9.88856033e-01 3.68479602e-04 -1.50714266e+00] [ 3.16580435e-03 1.03988571e-04 9.99994983e-01 -5.07440414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.03, Y:-1.51, Z:-0.51 [[ 9.88781221e-01 1.49355716e-01 -2.13699167e-03 1.68027111e+02] [-1.49355525e-01 9.88783528e-01 2.49605794e-04 -1.51099835e+00] [ 2.15030222e-03 7.23659914e-05 9.99997685e-01 -5.06906326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.05, Y:-1.51, Z:-0.51 [[ 9.88673111e-01 1.50082786e-01 -7.98467558e-04 1.68054823e+02] [-1.50082760e-01 9.88673433e-01 9.27221266e-05 -1.51443720e+00] [ 8.03339656e-04 2.81643416e-05 9.99999677e-01 -5.06570272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.08, Y:-1.51, Z:-0.51 [[ 9.88616608e-01 1.50452261e-01 -1.14878404e-03 1.68083090e+02] [-1.50452207e-01 9.88617275e-01 1.33674653e-04 -1.51484924e+00] [ 1.15581940e-03 4.06841115e-05 9.99999331e-01 -5.07522495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.11, Y:-1.52, Z:-0.51 [[ 9.88581819e-01 1.50681356e-01 -1.05653240e-03 1.68111362e+02] [-1.50681310e-01 9.88582383e-01 1.22763453e-04 -1.51672416e+00] [ 1.06296748e-03 3.78379697e-05 9.99999434e-01 -5.07668503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.14, Y:-1.52, Z:-0.51 [[ 9.88453129e-01 1.51512534e-01 -2.08904596e-03 1.68138488e+02] [-1.51512358e-01 9.88455333e-01 2.43039402e-04 -1.52111624e+00] [ 2.10175214e-03 7.62832236e-05 9.99997788e-01 -5.08840368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.17, Y:-1.52, Z:-0.51 [[ 9.88542630e-01 1.50893655e-01 -3.81754778e-03 1.68166555e+02] [-1.50893059e-01 9.88549992e-01 4.45346526e-04 -1.52452178e+00] [ 3.84103679e-03 1.35797437e-04 9.99992614e-01 -5.09556746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.19, Y:-1.53, Z:-0.51 [[ 9.88691530e-01 1.49923301e-01 -3.47306859e-03 1.68194361e+02] [-1.49922803e-01 9.88697623e-01 4.04783069e-04 -1.52728057e+00] [ 3.49450107e-03 1.20486587e-04 9.99993887e-01 -5.09728929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.22, Y:-1.53, Z:-0.51 [[ 9.88941683e-01 1.48289110e-01 -2.16495710e-03 1.68220954e+02] [-1.48288914e-01 9.88944050e-01 2.51651670e-04 -1.53083510e+00] [ 2.17833864e-03 7.21703102e-05 9.99997625e-01 -5.08853387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.25, Y:-1.53, Z:-0.51 [[ 9.89181029e-01 1.46693921e-01 -1.33614173e-03 1.68248650e+02] [-1.46693845e-01 9.89181931e-01 1.54961301e-04 -1.53468714e+00] [ 1.34441914e-03 4.27189885e-05 9.99999095e-01 -5.08076599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.28, Y:-1.54, Z:-0.51 [[ 9.89299317e-01 1.45899069e-01 -5.69134711e-04 1.68275753e+02] [-1.45899056e-01 9.89299480e-01 6.55122086e-05 -1.53889919e+00] [ 5.72602843e-04 1.82250337e-05 9.99999836e-01 -5.08772718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.30, Y:-1.54, Z:-0.51 [[ 9.89505791e-01 1.44486835e-01 1.35763693e-03 1.68304531e+02] [-1.44486753e-01 9.89506722e-01 -1.58803974e-04 -1.54288215e+00] [-1.36633595e-03 -3.90231003e-05 9.99999066e-01 -5.08384353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:-1.55, Z:-0.51 [[ 9.89494579e-01 1.44554016e-01 2.14815213e-03 1.68332380e+02] [-1.44553812e-01 9.89496909e-01 -2.50996435e-04 -1.54555112e+00] [-2.16187243e-03 -6.21639661e-05 9.99997661e-01 -5.08463530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.36, Y:-1.55, Z:-0.51 [[ 9.89373861e-01 1.45390950e-01 9.13947788e-04 1.68360554e+02] [-1.45390913e-01 9.89374283e-01 -1.06986674e-04 -1.55049646e+00] [-9.19791331e-04 -2.70298841e-05 9.99999577e-01 -5.10099317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.39, Y:-1.56, Z:-0.51 [[ 9.89111020e-01 1.47171182e-01 -1.82902893e-04 1.68388770e+02] [-1.47171181e-01 9.89111037e-01 2.06842210e-05 -1.55552211e+00] [ 1.83955392e-04 6.45904397e-06 9.99999983e-01 -5.10775732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.42, Y:-1.56, Z:-0.51 [[ 9.88887534e-01 1.48626754e-01 -3.39590920e-03 1.68416299e+02] [-1.48626276e-01 9.88893359e-01 3.94242511e-04 -1.55873916e+00] [ 3.41678704e-03 1.14859832e-04 9.99994156e-01 -5.11855921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.44, Y:-1.56, Z:-0.51 [[ 9.88810704e-01 1.49133870e-01 -3.53283930e-03 1.68443171e+02] [-1.49133357e-01 9.88817007e-01 4.09616986e-04 -1.56245296e+00] [ 3.55441935e-03 1.21830525e-04 9.99993676e-01 -5.12607335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.47, Y:-1.56, Z:-0.51 [[ 9.88622825e-01 1.50402373e-01 -2.00900202e-03 1.68471411e+02] [-1.50402210e-01 9.88624864e-01 2.32470683e-04 -1.56409762e+00] [ 2.02111349e-03 7.23325221e-05 9.99997955e-01 -5.11658817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.50, Y:-1.56, Z:-0.51 [[ 9.88431817e-01 1.51655637e-01 -1.76375747e-03 1.68499024e+02] [-1.51655514e-01 9.88433388e-01 2.03846559e-04 -1.56492553e+00] [ 1.77427126e-03 6.59951225e-05 9.99998424e-01 -5.12063513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.53, Y:-1.57, Z:-0.51 [[ 9.88412376e-01 1.51785348e-01 -1.47764096e-03 1.68525448e+02] [-1.51785263e-01 9.88413479e-01 1.70363148e-04 -1.56792986e+00] [ 1.48637887e-03 5.58950774e-05 9.99998894e-01 -5.13123151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.55, Y:-1.57, Z:-0.51 [[ 9.88378483e-01 1.52005660e-01 -1.50095617e-03 1.68553160e+02] [-1.52005572e-01 9.88379622e-01 1.73141114e-04 -1.57250158e+00] [ 1.50983292e-03 5.70247481e-05 9.99998859e-01 -5.14156608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.58, Y:-1.58, Z:-0.51 [[ 9.88455746e-01 1.51498330e-01 -1.86931128e-03 1.68580785e+02] [-1.51498193e-01 9.88457511e-01 2.15713920e-04 -1.57602542e+00] [ 1.88041508e-03 6.99736171e-05 9.99998230e-01 -5.14428768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.61, Y:-1.58, Z:-0.52 [[ 9.88691094e-01 1.49934432e-01 -3.09621697e-03 1.68608486e+02] [-1.49934047e-01 9.88695936e-01 3.57604177e-04 -1.57827439e+00] [ 3.11483431e-03 1.10668274e-04 9.99995143e-01 -5.15635329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.64, Y:-1.58, Z:-0.52 [[ 9.89023906e-01 1.47696733e-01 -4.16984207e-03 1.68636709e+02] [-1.47696014e-01 9.89032687e-01 4.81609115e-04 -1.58041856e+00] [ 4.19524220e-03 1.39546125e-04 9.99991190e-01 -5.16382756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.66, Y:-1.58, Z:-0.52 [[ 9.89175073e-01 1.46682688e-01 -4.10653526e-03 1.68663192e+02] [-1.46681985e-01 9.89183588e-01 4.73512639e-04 -1.58299037e+00] [ 4.13157339e-03 1.33967844e-04 9.99991456e-01 -5.16739167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.69, Y:-1.59, Z:-0.52 [[ 9.89398506e-01 1.45190745e-01 -3.20047854e-03 1.68690772e+02] [-1.45190311e-01 9.89403678e-01 3.68873773e-04 -1.58510445e+00] [ 3.22012230e-03 9.97153137e-05 9.99994810e-01 -5.15697306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.72, Y:-1.59, Z:-0.52 [[ 9.89589798e-01 1.43905477e-01 -1.80155242e-03 1.68718216e+02] [-1.43905338e-01 9.89591436e-01 2.07285734e-04 -1.58957490e+00] [ 1.81263040e-03 5.41251627e-05 9.99998356e-01 -5.15887563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.75, Y:-1.59, Z:-0.52 [[ 9.89708175e-01 1.43094782e-01 -1.26946892e-03 1.68746265e+02] [-1.43094713e-01 9.89708989e-01 1.45626281e-04 -1.59214387e+00] [ 1.27724316e-03 3.75267685e-05 9.99999184e-01 -5.16317997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.77, Y:-1.60, Z:-0.52 [[ 9.89757732e-01 1.42753586e-01 -1.02255205e-03 1.68774650e+02] [-1.42753541e-01 9.89758260e-01 1.17354680e-04 -1.59510379e+00] [ 1.02883213e-03 2.98202228e-05 9.99999470e-01 -5.17353326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.80, Y:-1.60, Z:-0.52 [[ 9.89823417e-01 1.42293893e-01 -1.43204870e-03 1.68803287e+02] [-1.42293804e-01 9.89824452e-01 1.64520075e-04 -1.59985344e+00] [ 1.44088702e-03 4.09258353e-05 9.99998961e-01 -5.17605257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.83, Y:-1.60, Z:-0.52 [[ 9.89869570e-01 1.41963970e-01 -2.11314896e-03 1.68830638e+02] [-1.41963775e-01 9.89871824e-01 2.42780157e-04 -1.60418845e+00] [ 2.12621265e-03 5.96699137e-05 9.99997738e-01 -5.17817919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.86, Y:-1.61, Z:-0.52 [[ 9.89900827e-01 1.41748435e-01 -1.93216432e-03 1.68857548e+02] [-1.41748272e-01 9.89902711e-01 2.21732781e-04 -1.60976773e+00] [ 1.94408498e-03 5.43874907e-05 9.99998109e-01 -5.17954287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.89, Y:-1.61, Z:-0.52 [[ 9.89877641e-01 1.41913776e-01 -1.65399919e-03 1.68886503e+02] [-1.41913657e-01 9.89879022e-01 1.89821967e-04 -1.61335723e+00] [ 1.66419745e-03 4.68245520e-05 9.99998614e-01 -5.17961746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.92, Y:-1.62, Z:-0.52 [[ 9.89693775e-01 1.43186739e-01 -1.94672736e-03 1.68915531e+02] [-1.43186576e-01 9.89695688e-01 2.23424908e-04 -1.61541870e+00] [ 1.95865916e-03 5.76229851e-05 9.99998080e-01 -5.18429251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.94, Y:-1.62, Z:-0.52 [[ 9.89454405e-01 1.44823165e-01 -2.49612846e-03 1.68944230e+02] [-1.44822903e-01 9.89457551e-01 2.86520224e-04 -1.61935188e+00] [ 2.51130792e-03 7.79978721e-05 9.99996844e-01 -5.20270486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.97, Y:-1.62, Z:-0.52 [[ 9.89251442e-01 1.46199288e-01 -2.71148593e-03 1.68971428e+02] [-1.46198984e-01 9.89255154e-01 3.10976455e-04 -1.62340755e+00] [ 2.72781597e-03 8.87825830e-05 9.99996276e-01 -5.20325141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.00, Y:-1.63, Z:-0.52 [[ 9.88964459e-01 1.48123710e-01 -2.94368898e-03 1.68998605e+02] [-1.48123361e-01 9.88968835e-01 3.37170328e-04 -1.62730861e+00] [ 2.96115958e-03 1.02579636e-04 9.99995610e-01 -5.20739796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.03, Y:-1.63, Z:-0.52 [[ 9.88835086e-01 1.48961530e-01 -3.95415937e-03 1.69027708e+02] [-1.48960906e-01 9.88842982e-01 4.53486607e-04 -1.63019691e+00] [ 3.97759480e-03 1.40591693e-04 9.99992079e-01 -5.20837078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.06, Y:-1.63, Z:-0.52 [[ 9.88554000e-01 1.50790168e-01 -4.82853905e-03 1.69055077e+02] [-1.50789263e-01 9.88565775e-01 5.53042674e-04 -1.63157954e+00] [ 4.85672185e-03 1.81379297e-04 9.99988190e-01 -5.22234165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.08, Y:-1.64, Z:-0.52 [[ 9.88556603e-01 1.50802419e-01 -3.80423259e-03 1.69082685e+02] [-1.50801859e-01 9.88563913e-01 4.35399666e-04 -1.63627778e+00] [ 3.82638638e-03 1.43268131e-04 9.99992669e-01 -5.22155459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.11, Y:-1.64, Z:-0.52 [[ 9.88598130e-01 1.50530046e-01 -3.80026482e-03 1.69110977e+02] [-1.50529486e-01 9.88605424e-01 4.34652774e-04 -1.63962482e+00] [ 3.82239072e-03 1.42354989e-04 9.99992685e-01 -5.21690056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.14, Y:-1.64, Z:-0.52 [[ 9.88618129e-01 1.50397181e-01 -3.85782757e-03 1.69138601e+02] [-1.50396604e-01 9.88625646e-01 4.40965554e-04 -1.64134543e+00] [ 3.88026725e-03 1.44257625e-04 9.99992461e-01 -5.22237133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.17, Y:-1.65, Z:-0.52 [[ 9.88687020e-01 1.49965002e-01 -2.91125895e-03 1.69165423e+02] [-1.49964673e-01 9.88691300e-01 3.32156399e-04 -1.64527371e+00] [ 2.92814823e-03 1.08187274e-04 9.99995707e-01 -5.23796069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.19, Y:-1.65, Z:-0.52 [[ 9.88970980e-01 1.48088919e-01 -2.46412580e-03 1.69192589e+02] [-1.48088678e-01 9.88974046e-01 2.80980779e-04 -1.65112800e+00] [ 2.47856661e-03 8.70272968e-05 9.99996925e-01 -5.23496207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.22, Y:-1.66, Z:-0.52 [[ 9.89094223e-01 1.47263906e-01 -2.44145894e-03 1.69221401e+02] [-1.47263666e-01 9.89097232e-01 2.78546474e-04 -1.65526074e+00] [ 2.45586012e-03 8.40294861e-05 9.99996981e-01 -5.23649219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.25, Y:-1.66, Z:-0.52 [[ 9.89320033e-01 1.45719687e-01 -3.41246500e-03 1.69250274e+02] [-1.45719210e-01 9.89325912e-01 3.89379825e-04 -1.65814960e+00] [ 3.43278036e-03 1.12040444e-04 9.99994102e-01 -5.24066149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.28, Y:-1.66, Z:-0.52 [[ 9.89411792e-01 1.45090479e-01 -3.61369776e-03 1.69277755e+02] [-1.45089941e-01 9.89418384e-01 4.12003755e-04 -1.66042333e+00] [ 3.63523682e-03 1.16669822e-04 9.99993386e-01 -5.24795475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.31, Y:-1.66, Z:-0.52 [[ 9.89505431e-01 1.44470210e-01 -2.71285499e-03 1.69306363e+02] [-1.44469905e-01 9.89509147e-01 3.09125463e-04 -1.66322989e+00] [ 2.72905424e-03 8.60445773e-05 9.99996272e-01 -5.24803444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.34, Y:-1.67, Z:-0.53 [[ 9.89360439e-01 1.45441125e-01 -3.57778140e-03 1.69335335e+02] [-1.45440601e-01 9.89366901e-01 4.07693049e-04 -1.66613724e+00] [ 3.59903383e-03 1.16999301e-04 9.99993517e-01 -5.25389487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.36, Y:-1.67, Z:-0.53 [[ 9.89238633e-01 1.46229778e-01 -4.87638814e-03 1.69362438e+02] [-1.46228815e-01 9.89250638e-01 5.55421067e-04 -1.67010163e+00] [ 4.90518918e-03 1.63624482e-04 9.99987956e-01 -5.26671651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.39, Y:-1.68, Z:-0.53 [[ 9.89011924e-01 1.47746394e-01 -5.13982224e-03 1.69389886e+02] [-1.47745346e-01 9.89025263e-01 5.85181526e-04 -1.67522117e+00] [ 5.16987250e-03 1.80633308e-04 9.99986620e-01 -5.26572436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.42, Y:-1.68, Z:-0.53 [[ 9.88825534e-01 1.49037086e-01 -3.46572079e-03 1.69417634e+02] [-1.49036619e-01 9.88831599e-01 3.93962706e-04 -1.67607220e+00] [ 3.48572929e-03 1.26958927e-04 9.99993917e-01 -5.26147755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.44, Y:-1.68, Z:-0.53 [[ 9.88776345e-01 1.49375826e-01 -2.86408773e-03 1.69444845e+02] [-1.49375510e-01 9.88780487e-01 3.25041527e-04 -1.67808554e+00] [ 2.88050741e-03 1.06431193e-04 9.99995846e-01 -5.25900016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.47, Y:-1.68, Z:-0.53 [[ 9.88773479e-01 1.49411814e-01 -1.76559834e-03 1.69472856e+02] [-1.49411694e-01 9.88775053e-01 2.00017575e-04 -1.68138201e+00] [ 1.77566458e-03 6.60289660e-05 9.99998421e-01 -5.26641660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.50, Y:-1.69, Z:-0.53 [[ 9.88973779e-01 1.48086719e-01 -1.09040297e-03 1.69500785e+02] [-1.48086673e-01 9.88974379e-01 1.23421438e-04 -1.68673513e+00] [ 1.09665767e-03 3.94135809e-05 9.99999398e-01 -5.27698457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.53, Y:-1.69, Z:-0.53 [[ 9.89086203e-01 1.47332312e-01 -1.29318761e-03 1.69528607e+02] [-1.47332246e-01 9.89087048e-01 1.46260273e-04 -1.69223950e+00] [ 1.30062398e-03 4.58642169e-05 9.99999153e-01 -5.27969620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.56, Y:-1.70, Z:-0.53 [[ 9.89209484e-01 1.46488425e-01 -2.39550097e-03 1.69557159e+02] [-1.46488196e-01 9.89212381e-01 2.71587476e-04 -1.69986631e+00] [ 2.40944364e-03 8.22557086e-05 9.99997094e-01 -5.28073568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.58, Y:-1.70, Z:-0.53 [[ 9.89109348e-01 1.47165144e-01 -2.26232885e-03 1.69584162e+02] [-1.47164942e-01 9.89111932e-01 2.56177720e-04 -1.70459700e+00] [ 2.27539689e-03 7.95477178e-05 9.99997408e-01 -5.28170685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.61, Y:-1.71, Z:-0.53 [[ 9.88998368e-01 1.47913515e-01 -1.95447336e-03 1.69612576e+02] [-1.47913366e-01 9.89000297e-01 2.21277096e-04 -1.70787067e+00] [ 1.96570460e-03 7.02500467e-05 9.99998066e-01 -5.28365451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.64, Y:-1.71, Z:-0.53 [[ 9.88663743e-01 1.50126880e-01 -2.43363976e-03 1.69639687e+02] [-1.50126657e-01 9.88666734e-01 2.75387360e-04 -1.71258356e+00] [ 2.44740172e-03 9.30887039e-05 9.99997001e-01 -5.28771354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.67, Y:-1.72, Z:-0.53 [[ 9.88456514e-01 1.51479860e-01 -2.75178069e-03 1.69667847e+02] [-1.51479579e-01 9.88460338e-01 3.11473670e-04 -1.71663966e+00] [ 2.76720806e-03 1.08960404e-04 9.99996165e-01 -5.28840222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.69, Y:-1.72, Z:-0.53 [[ 9.88002944e-01 1.54422039e-01 -2.00420465e-03 1.69694985e+02] [-1.54421897e-01 9.88004973e-01 2.26354300e-04 -1.72215313e+00] [ 2.01511825e-03 8.58543688e-05 9.99997966e-01 -5.29811849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.72, Y:-1.73, Z:-0.53 [[ 9.87559540e-01 1.57237029e-01 -1.63451147e-03 1.69723233e+02] [-1.57236938e-01 9.87560890e-01 1.84587191e-04 -1.72725285e+00] [ 1.64320355e-03 7.47147380e-05 9.99998647e-01 -5.29920728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.75, Y:-1.73, Z:-0.53 [[ 9.87394014e-01 1.58272660e-01 -1.68095099e-03 1.69750921e+02] [-1.58272566e-01 9.87395442e-01 1.89536172e-04 -1.72935554e+00] [ 1.68976174e-03 7.89015463e-05 9.99998569e-01 -5.30637437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.78, Y:-1.73, Z:-0.53 [[ 9.87405927e-01 1.58198323e-01 -1.68098134e-03 1.69780073e+02] [-1.58198230e-01 9.87407355e-01 1.89267784e-04 -1.73255323e+00] [ 1.68975519e-03 7.90441409e-05 9.99998569e-01 -5.31000582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.81, Y:-1.73, Z:-0.53 [[ 9.87019244e-01 1.60593820e-01 -1.62404853e-03 1.69809308e+02] [-1.60593735e-01 9.87020577e-01 1.83106448e-04 -1.73429227e+00] [ 1.63237508e-03 8.00824313e-05 9.99998664e-01 -5.31622958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.84, Y:-1.74, Z:-0.53 [[ 9.86749807e-01 1.62243883e-01 -1.31943124e-03 1.69837223e+02] [-1.62243829e-01 9.86750687e-01 1.48341103e-04 -1.73804227e+00] [ 1.32601712e-03 6.76940221e-05 9.99999119e-01 -5.31071024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.87, Y:-1.74, Z:-0.53 [[ 9.86657166e-01 1.62793747e-01 -2.41502418e-03 1.69866242e+02] [-1.62793567e-01 9.86660114e-01 2.72310261e-04 -1.74136939e+00] [ 2.42713844e-03 1.24473531e-04 9.99997047e-01 -5.32101943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.89, Y:-1.74, Z:-0.53 [[ 9.86632267e-01 1.62889088e-01 -4.89026349e-03 1.69894869e+02] [-1.62888349e-01 9.86644354e-01 5.51767974e-04 -1.74494557e+00] [ 4.91482784e-03 2.52174857e-04 9.99987890e-01 -5.34144040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.92, Y:-1.74, Z:-0.53 [[ 9.86726436e-01 1.62374509e-01 -2.33665746e-03 1.69923054e+02] [-1.62374341e-01 9.86729195e-01 2.62852895e-04 -1.74409662e+00] [ 2.34832874e-03 1.20049314e-04 9.99997235e-01 -5.34125592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.95, Y:-1.74, Z:-0.53 [[ 9.86780853e-01 1.62049814e-01 -1.84562438e-03 1.69951426e+02] [-1.62049709e-01 9.86782574e-01 2.07467275e-04 -1.74455768e+00] [ 1.85485001e-03 9.43581592e-05 9.99998275e-01 -5.34670705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.98, Y:-1.75, Z:-0.54 [[ 9.87112679e-01 1.59975690e-01 -4.04191295e-03 1.69980373e+02] [-1.59975164e-01 9.87120935e-01 4.55230319e-04 -1.74821209e+00] [ 4.06268268e-03 1.97242068e-04 9.99991728e-01 -5.36636957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:-1.75, Z:-0.54 [[ 9.87700356e-01 1.56309998e-01 -3.89772033e-03 1.70007654e+02] [-1.56309483e-01 9.87708030e-01 4.38409720e-04 -1.75249493e+00] [ 3.91833749e-03 1.76233212e-04 9.99992308e-01 -5.36533043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.04, Y:-1.75, Z:-0.54 [[ 9.88072279e-01 1.53945049e-01 -3.75405333e-03 1.70036948e+02] [-1.53944554e-01 9.88079398e-01 4.22297509e-04 -1.75436015e+00] [ 3.77431336e-03 1.60655602e-04 9.99992864e-01 -5.36618450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.07, Y:-1.75, Z:-0.54 [[ 9.88840877e-01 1.48912846e-01 -4.32251963e-03 1.70065031e+02] [-1.48912142e-01 9.88850311e-01 4.85926071e-04 -1.75451396e+00] [ 4.34668552e-03 1.63172096e-04 9.99990540e-01 -5.36678333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.09, Y:-1.76, Z:-0.54 [[ 9.89184280e-01 1.46630307e-01 -3.74346463e-03 1.70092995e+02] [-1.46629764e-01 9.89191354e-01 4.20542135e-04 -1.75734892e+00] [ 3.76466707e-03 1.32909667e-04 9.99992905e-01 -5.36701441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.12, Y:-1.76, Z:-0.54 [[ 9.89721320e-01 1.42992275e-01 -2.21776189e-03 1.70121236e+02] [-1.42992076e-01 9.89723802e-01 2.48891371e-04 -1.76199299e+00] [ 2.23056127e-03 7.07892811e-05 9.99997510e-01 -5.36438094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.15, Y:-1.77, Z:-0.54 [[ 9.90156509e-01 1.39960794e-01 -1.03158534e-03 1.70149273e+02] [-1.39960750e-01 9.90157046e-01 1.15414125e-04 -1.76768985e+00] [ 1.03758494e-03 3.01034100e-05 9.99999461e-01 -5.36733930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.18, Y:-1.77, Z:-0.54 [[ 9.90394464e-01 1.38270668e-01 -1.65608313e-04 1.70178104e+02] [-1.38270667e-01 9.90394478e-01 1.80259240e-05 -1.76856260e+00] [ 1.66510015e-04 5.04599651e-06 9.99999986e-01 -5.37375491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.21, Y:-1.77, Z:-0.54 [[ 9.90401020e-01 1.38223698e-01 -1.67152383e-04 1.70206658e+02] [-1.38223697e-01 9.90401035e-01 1.81787565e-05 -1.77040559e+00] [ 1.68060628e-04 5.10016145e-06 9.99999986e-01 -5.37530156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.23, Y:-1.78, Z:-0.54 [[ 9.90350163e-01 1.38580191e-01 -1.44436855e-03 1.70234109e+02] [-1.38580103e-01 9.90351215e-01 1.61430314e-04 -1.77644426e+00] [ 1.45280319e-03 4.02882041e-05 9.99998944e-01 -5.38898524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.26, Y:-1.78, Z:-0.54 [[ 9.90296350e-01 1.38945290e-01 -2.71014218e-03 1.70261627e+02] [-1.38944979e-01 9.90300056e-01 3.03418673e-04 -1.78200551e+00] [ 2.72601255e-03 7.60862446e-05 9.99996282e-01 -5.39270912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.29, Y:-1.79, Z:-0.54 [[ 9.90055035e-01 1.40632847e-01 -3.66467789e-03 1.70289606e+02] [-1.40632290e-01 9.90061811e-01 4.10510771e-04 -1.78711931e+00] [ 3.68598893e-03 1.08943790e-04 9.99993201e-01 -5.39634533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.32, Y:-1.79, Z:-0.54 [[ 9.89914587e-01 1.41615402e-01 -3.76672993e-03 1.70317807e+02] [-1.41614822e-01 9.89921747e-01 4.21776955e-04 -1.79020244e+00] [ 3.78849799e-03 1.15901627e-04 9.99992817e-01 -5.39876334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.35, Y:-1.79, Z:-0.54 [[ 9.89632170e-01 1.43543618e-01 -4.83712419e-03 1.70346928e+02] [-1.43542684e-01 9.89643979e-01 5.41539192e-04 -1.79254390e+00] [ 4.86476532e-03 1.58409184e-04 9.99988154e-01 -5.39866186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.37, Y:-1.80, Z:-0.54 [[ 9.89304094e-01 1.45830558e-01 -3.29505638e-03 1.70374669e+02] [-1.45830139e-01 9.89309575e-01 3.68357160e-04 -1.79585123e+00] [ 3.31354855e-03 1.16101283e-04 9.99994503e-01 -5.40182522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.40, Y:-1.80, Z:-0.54 [[ 9.89150055e-01 1.46890837e-01 -2.29147091e-03 1.70402975e+02] [-1.46890638e-01 9.89152706e-01 2.55983733e-04 -1.80097928e+00] [ 2.30421631e-03 8.33892985e-05 9.99997342e-01 -5.40611005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.43, Y:-1.81, Z:-0.54 [[ 9.88880512e-01 1.48707071e-01 -1.24120122e-03 1.70431217e+02] [-1.48707015e-01 9.88881289e-01 1.38320646e-04 -1.80688569e+00] [ 1.24796992e-03 4.77927375e-05 9.99999220e-01 -5.40777873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.46, Y:-1.81, Z:-0.54 [[ 9.88524957e-01 1.51056648e-01 -5.45730476e-04 1.70459001e+02] [-1.51056638e-01 9.88525108e-01 6.03056838e-05 -1.80694717e+00] [ 5.48577851e-04 2.28225374e-05 9.99999849e-01 -5.41652464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.49, Y:-1.81, Z:-0.54 [[ 9.88209673e-01 1.53091124e-01 -2.17927617e-03 1.70486975e+02] [-1.53090960e-01 9.88212072e-01 2.42942609e-04 -1.80940273e+00] [ 2.19077937e-03 9.35492451e-05 9.99997596e-01 -5.42573561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.52, Y:-1.81, Z:-0.54 [[ 9.88089384e-01 1.53846974e-01 -3.23701681e-03 1.70515133e+02] [-1.53846615e-01 9.88094676e-01 3.61177589e-04 -1.81420234e+00] [ 3.25404515e-03 1.41128337e-04 9.99994696e-01 -5.43055452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.54, Y:-1.82, Z:-0.54 [[ 9.87812535e-01 1.55585373e-01 -4.42580502e-03 1.70542100e+02] [-1.55584720e-01 9.87822429e-01 4.93630728e-04 -1.81959258e+00] [ 4.44871119e-03 2.00973013e-04 9.99990084e-01 -5.43971048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.57, Y:-1.82, Z:-0.54 [[ 9.87732272e-01 1.56078529e-01 -4.94486825e-03 1.70569694e+02] [-1.56077721e-01 9.87744623e-01 5.51329790e-04 -1.82273589e+00] [ 4.97031777e-03 2.27217541e-04 9.99987622e-01 -5.44261356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:-1.83, Z:-0.54 [[ 9.87685427e-01 1.56405285e-01 -3.85813006e-03 1.70596257e+02] [-1.56404798e-01 9.87692946e-01 4.29409451e-04 -1.82520509e+00] [ 3.87780975e-03 1.79308595e-04 9.99992465e-01 -5.44017951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:-1.83, Z:-0.54 [[ 9.87754653e-01 1.55987010e-01 -2.96624171e-03 1.70624870e+02] [-1.55986722e-01 9.87759097e-01 3.29846876e-04 -1.82552502e+00] [ 2.98138407e-03 1.36886534e-04 9.99995546e-01 -5.44104381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:-1.83, Z:-0.54 [[ 9.87866669e-01 1.55264401e-01 -3.52277275e-03 1.70653320e+02] [-1.55263988e-01 9.87872937e-01 3.92010083e-04 -1.82785825e+00] [ 3.54091708e-03 1.59706051e-04 9.99993718e-01 -5.44516178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:-1.83, Z:-0.55 [[ 9.88123226e-01 1.53625137e-01 -3.43611622e-03 1.70681349e+02] [-1.53624735e-01 9.88129189e-01 3.82011112e-04 -1.83181620e+00] [ 3.45401324e-03 1.50398392e-04 9.99994024e-01 -5.45046091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.71, Y:-1.83, Z:-0.55 [[ 9.88286784e-01 1.52585407e-01 -2.63191682e-03 1.70709340e+02] [-1.52585169e-01 9.88290282e-01 2.92228579e-04 -1.83478878e+00] [ 2.64568764e-03 1.12785832e-04 9.99996494e-01 -5.45248436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.74, Y:-1.84, Z:-0.55 [[ 9.88614490e-01 1.50449210e-01 -2.53467388e-03 1.70738642e+02] [-1.50448982e-01 9.88617734e-01 2.81474783e-04 -1.83644853e+00] [ 2.54817120e-03 1.03069055e-04 9.99996748e-01 -5.45365383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:-1.84, Z:-0.55 [[ 9.88936268e-01 1.48321852e-01 -2.38473883e-03 1.70767865e+02] [-1.48321644e-01 9.88939139e-01 2.64673110e-04 -1.83804085e+00] [ 2.39761837e-03 9.19635458e-05 9.99997121e-01 -5.45872404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.80, Y:-1.84, Z:-0.55 [[ 9.89091267e-01 1.47289740e-01 -2.04891396e-03 1.70796949e+02] [-1.47289585e-01 9.89093386e-01 2.27200874e-04 -1.84132428e+00] [ 2.06003160e-03 7.70612869e-05 9.99997875e-01 -5.46055686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.82, Y:-1.85, Z:-0.55 [[ 9.89425649e-01 1.45027392e-01 -1.98506479e-03 1.70824237e+02] [-1.45027243e-01 9.89427638e-01 2.19835161e-04 -1.84586384e+00] [ 1.99596008e-03 7.03779262e-05 9.99998006e-01 -5.46235450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.85, Y:-1.85, Z:-0.55 [[ 9.89677388e-01 1.43305193e-01 -1.51329491e-03 1.70852690e+02] [-1.43305104e-01 9.89678543e-01 1.67483439e-04 -1.84693301e+00] [ 1.52167675e-03 5.11083115e-05 9.99998841e-01 -5.45919503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.88, Y:-1.85, Z:-0.55 [[ 9.89790808e-01 1.42511028e-01 -2.18240207e-03 1.70880763e+02] [-1.42510842e-01 9.89793212e-01 2.41521354e-04 -1.84917873e+00] [ 2.19454621e-03 7.19603394e-05 9.99997589e-01 -5.46383194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.91, Y:-1.85, Z:-0.55 [[ 9.89800604e-01 1.42432711e-01 -2.77258733e-03 1.70909794e+02] [-1.42432409e-01 9.89804483e-01 3.07052485e-04 -1.85274664e+00] [ 2.78805368e-03 9.09855582e-05 9.99996109e-01 -5.46750691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.94, Y:-1.86, Z:-0.55 [[ 9.89754032e-01 1.42760230e-01 -2.54431146e-03 1.70938438e+02] [-1.42759977e-01 9.89757298e-01 2.81597226e-04 -1.85689170e+00] [ 2.55845172e-03 8.45138559e-05 9.99996724e-01 -5.47021334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.97, Y:-1.86, Z:-0.55 [[ 9.89584500e-01 1.43947030e-01 -1.33035134e-03 1.70965884e+02] [-1.43946963e-01 9.89585393e-01 1.46730952e-04 -1.86176630e+00] [ 1.33761774e-03 4.62973595e-05 9.99999104e-01 -5.46732981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.99, Y:-1.87, Z:-0.55 [[ 9.89504949e-01 1.44497204e-01 -7.17470986e-04 1.70994452e+02] [-1.44497185e-01 9.89505208e-01 7.89091802e-05 -1.86620199e+00] [ 7.21343434e-04 2.55915134e-05 9.99999740e-01 -5.46163789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.02, Y:-1.87, Z:-0.55 [[ 9.89443759e-01 1.44917127e-01 -2.73161138e-04 1.71022049e+02] [-1.44917124e-01 9.89443796e-01 2.95164536e-05 -1.87021340e+00] [ 2.74555033e-04 1.03808558e-05 9.99999962e-01 -5.46309324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.05, Y:-1.87, Z:-0.55 [[ 9.89390989e-01 1.45274894e-01 -8.22290095e-04 1.71050777e+02] [-1.45274869e-01 9.89391330e-01 9.04225678e-05 -1.87467631e+00] [ 8.26702820e-04 2.99948121e-05 9.99999658e-01 -5.46825367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.08, Y:-1.88, Z:-0.55 [[ 9.89185172e-01 1.46659915e-01 -1.88801942e-03 1.71077969e+02] [-1.46659785e-01 9.89186971e-01 2.08131348e-04 -1.88017184e+00] [ 1.89812874e-03 7.10160785e-05 9.99998196e-01 -5.48373839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.11, Y:-1.88, Z:-0.55 [[ 9.88926213e-01 1.48385261e-01 -2.59995750e-03 1.71106209e+02] [-1.48385019e-01 9.88929625e-01 2.86943651e-04 -1.88274925e+00] [ 2.61375320e-03 1.02028644e-04 9.99996579e-01 -5.48875691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.14, Y:-1.89, Z:-0.55 [[ 9.88155437e-01 1.53404484e-01 -3.98708077e-03 1.71135061e+02] [-1.53403955e-01 9.88163465e-01 4.40130512e-04 -1.88507977e+00] [ 4.00740554e-03 1.76716600e-04 9.99991955e-01 -5.49792571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:-1.89, Z:-0.55 [[ 9.87385004e-01 1.58267447e-01 -4.71907111e-03 1.71162626e+02] [-1.58266761e-01 9.87396253e-01 5.20619268e-04 -1.88730067e+00] [ 4.74199022e-03 2.32820444e-04 9.99988730e-01 -5.50126724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.19, Y:-1.89, Z:-0.55 [[ 9.87099840e-01 1.60037498e-01 -4.68024561e-03 1.71190170e+02] [-1.60036846e-01 9.87110907e-01 5.15908520e-04 -1.88885022e+00] [ 4.70248619e-03 2.39758526e-04 9.99988915e-01 -5.50682182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.22, Y:-1.89, Z:-0.55 [[ 9.86659105e-01 1.62720811e-01 -5.07430773e-03 1.71218028e+02] [-1.62720082e-01 9.86672115e-01 5.59063207e-04 -1.89044493e+00] [ 5.09764916e-03 2.74086965e-04 9.99986969e-01 -5.50919905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.25, Y:-1.89, Z:-0.55 [[ 9.86753695e-01 1.62182449e-01 -3.74139963e-03 1.71245706e+02] [-1.62182050e-01 9.86760768e-01 4.11691900e-04 -1.89428044e+00] [ 3.75863557e-03 2.00549359e-04 9.99992916e-01 -5.50221235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.27, Y:-1.90, Z:-0.55 [[ 9.86986700e-01 1.60784555e-01 -2.36247369e-03 1.71273742e+02] [-1.60784393e-01 9.86989520e-01 2.59645735e-04 -1.89632121e+00] [ 2.37348379e-03 1.23582010e-04 9.99997176e-01 -5.50443445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:-1.90, Z:-0.55 [[ 9.87593178e-01 1.57024170e-01 -1.76747857e-03 1.71302732e+02] [-1.57024073e-01 9.87594756e-01 1.94149267e-04 -1.89732562e+00] [ 1.77603870e-03 8.57961936e-05 9.99998419e-01 -5.51741825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.33, Y:-1.90, Z:-0.55 [[ 9.87974776e-01 1.54601457e-01 -2.05720486e-03 1.71331755e+02] [-1.54601321e-01 9.87976913e-01 2.25965918e-04 -1.90059223e+00] [ 2.06740556e-03 9.47979611e-05 9.99997858e-01 -5.52622670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.36, Y:-1.91, Z:-0.55 [[ 9.88645336e-01 1.50251340e-01 -2.22114542e-03 1.71358855e+02] [-1.50251171e-01 9.88647827e-01 2.43748074e-04 -1.90699951e+00] [ 2.23255406e-03 9.27493036e-05 9.99997504e-01 -5.53283423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.39, Y:-1.91, Z:-0.55 [[ 9.88878731e-01 1.48700257e-01 -2.66257057e-03 1.71387415e+02] [-1.48700008e-01 9.88882310e-01 2.92346645e-04 -1.91199677e+00] [ 2.67644096e-03 1.06828886e-04 9.99996413e-01 -5.53271990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.42, Y:-1.92, Z:-0.55 [[ 9.89197973e-01 1.46560434e-01 -2.72199330e-03 1.71415440e+02] [-1.46560167e-01 9.89201713e-01 2.98518046e-04 -1.91554160e+00] [ 2.73635137e-03 1.03642345e-04 9.99996251e-01 -5.53512219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:-1.92, Z:-0.55 [[ 9.89378361e-01 1.45354023e-01 -1.63291766e-03 1.71444113e+02] [-1.45353925e-01 9.89379707e-01 1.78891514e-04 -1.91679330e+00] [ 1.64157820e-03 6.03595991e-05 9.99998651e-01 -5.53728406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.47, Y:-1.92, Z:-0.55 [[ 9.89414095e-01 1.45104974e-01 -2.07234612e-03 1.71472140e+02] [-1.45104817e-01 9.89416263e-01 2.26924031e-04 -1.92079082e+00] [ 2.08334076e-03 7.61855684e-05 9.99997827e-01 -5.54070459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:-1.93, Z:-0.56 [[ 9.89344201e-01 1.45576372e-01 -2.36028299e-03 1.71500409e+02] [-1.45576169e-01 9.89347013e-01 2.58579372e-04 -1.92902260e+00] [ 2.37278197e-03 8.77769522e-05 9.99997181e-01 -5.55362625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:-1.93, Z:-0.56 [[ 9.89289523e-01 1.45949378e-01 -2.24017991e-03 1.71527485e+02] [-1.45949197e-01 9.89292056e-01 2.45121614e-04 -1.93357368e+00] [ 2.25196753e-03 8.44562129e-05 9.99997461e-01 -5.56083810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.56, Y:-1.94, Z:-0.56 [[ 9.89087374e-01 1.47314296e-01 -2.15981918e-03 1.71556373e+02] [-1.47314131e-01 9.89089729e-01 2.36323040e-04 -1.93699749e+00] [ 2.17106873e-03 8.44277495e-05 9.99997640e-01 -5.56385728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:-1.94, Z:-0.56 [[ 9.89092656e-01 1.47278827e-01 -2.15981164e-03 1.71585536e+02] [-1.47278662e-01 9.89095011e-01 2.36391642e-04 -1.94011447e+00] [ 2.17107440e-03 8.42809312e-05 9.99997640e-01 -5.56748910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.61, Y:-1.94, Z:-0.56 [[ 9.88958751e-01 1.48183265e-01 -1.51968229e-03 1.71613649e+02] [-1.48183185e-01 9.88959916e-01 1.65811571e-04 -1.94319959e+00] [ 1.52747537e-03 6.12105583e-05 9.99998832e-01 -5.57016050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:-1.95, Z:-0.56 [[ 9.88717675e-01 1.49791048e-01 4.55879536e-06 1.71641390e+02] [-1.49791048e-01 9.88717675e-01 -1.27430240e-06 -1.94738688e+00] [-4.69824085e-06 5.77058570e-07 1.00000000e+00 -5.56769536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:-1.95, Z:-0.56 [[ 9.88578547e-01 1.50703233e-01 -9.95554467e-04 1.71669762e+02] [-1.50703200e-01 9.88579048e-01 1.08416515e-04 -1.95131925e+00] [ 1.00052301e-03 4.28550027e-05 9.99999499e-01 -5.57461365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:-1.96, Z:-0.56 [[ 9.88548765e-01 1.50880676e-01 -2.52203757e-03 1.71697417e+02] [-1.50880463e-01 9.88551976e-01 2.75255688e-04 -1.95561209e+00] [ 2.53469599e-03 1.08422527e-04 9.99996782e-01 -5.58669781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:-1.96, Z:-0.56 [[ 9.88514321e-01 1.51071351e-01 -4.10907664e-03 1.71725482e+02] [-1.51070788e-01 9.88522845e-01 4.48847823e-04 -1.96118125e+00] [ 4.12972418e-03 1.77068944e-04 9.99991457e-01 -5.60405121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.75, Y:-1.96, Z:-0.56 [[ 9.88525391e-01 1.51014734e-01 -3.47859927e-03 1.71753153e+02] [-1.51014332e-01 9.88531501e-01 3.79530476e-04 -1.96455453e+00] [ 3.49601965e-03 1.50142831e-04 9.99993878e-01 -5.60907117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:-1.97, Z:-0.56 [[ 9.88557689e-01 1.50824179e-01 -2.40062963e-03 1.71781691e+02] [-1.50823988e-01 9.88560598e-01 2.61714751e-04 -1.96502715e+00] [ 2.41264077e-03 1.03352404e-04 9.99997084e-01 -5.60824063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:-1.97, Z:-0.56 [[ 9.88562359e-01 1.50790777e-01 -2.56983694e-03 1.71809944e+02] [-1.50790558e-01 9.88565693e-01 2.79903196e-04 -1.96641324e+00] [ 2.58265945e-03 1.10805382e-04 9.99996659e-01 -5.61808887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.84, Y:-1.97, Z:-0.56 [[ 9.88439353e-01 1.51587890e-01 -2.95935673e-03 1.71838215e+02] [-1.51587603e-01 9.88443774e-01 3.22481390e-04 -1.97110778e+00] [ 2.97404201e-03 1.29848497e-04 9.99995569e-01 -5.63277867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.87, Y:-1.98, Z:-0.56 [[ 9.88367100e-01 1.52061183e-01 -2.80578247e-03 1.71866062e+02] [-1.52060927e-01 9.88371075e-01 3.05575531e-04 -1.97723284e+00] [ 2.81962041e-03 1.24629083e-04 9.99996017e-01 -5.64101677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.89, Y:-1.98, Z:-0.56 [[ 9.88220849e-01 1.53007398e-01 -2.87927573e-03 1.71894356e+02] [-1.53007133e-01 9.88225035e-01 3.13423377e-04 -1.98496290e+00] [ 2.89332845e-03 1.30818209e-04 9.99995806e-01 -5.63867506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.965336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:-1.99, Z:-0.56 [[ 9.87944626e-01 1.54766531e-01 -3.56887180e-03 1.71921825e+02] [-1.54766137e-01 9.87951058e-01 3.88195457e-04 -1.98583585e+00] [ 3.58595033e-03 1.68824885e-04 9.99993556e-01 -5.64825923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:-1.99, Z:-0.57 [[ 9.87758440e-01 1.55946051e-01 -3.75418366e-03 1.71951106e+02] [-1.55945622e-01 9.87765557e-01 4.08432219e-04 -1.98686134e+00] [ 3.77194670e-03 1.82016135e-04 9.99992870e-01 -5.66156536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.98, Y:-1.99, Z:-0.57 [[ 9.87651282e-01 1.56633485e-01 -3.30103668e-03 1.71980274e+02] [-1.56633159e-01 9.87656785e-01 3.58897865e-04 -1.98982561e+00] [ 3.31650670e-03 1.62585866e-04 9.99994487e-01 -5.67042256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:-1.99, Z:-0.57 [[ 9.87726705e-01 1.56168095e-01 -2.73549865e-03 1.72008084e+02] [-1.56167870e-01 9.87730484e-01 2.96998007e-04 -1.99439371e+00] [ 2.74831701e-03 1.33844135e-04 9.99996214e-01 -5.67214794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.04, Y:-2.00, Z:-0.57 [[ 9.87727171e-01 1.56169285e-01 -2.48784153e-03 1.72035966e+02] [-1.56169099e-01 9.87730297e-01 2.69833077e-04 -1.99797479e+00] [ 2.49945610e-03 1.22002510e-04 9.99996869e-01 -5.67836700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.07, Y:-2.00, Z:-0.57 [[ 9.87706455e-01 1.56283492e-01 -3.38053902e-03 1.72065022e+02] [-1.56283149e-01 9.87712227e-01 3.67010192e-04 -1.99949072e+00] [ 3.39635736e-03 1.65822948e-04 9.99994219e-01 -5.68621490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.09, Y:-2.00, Z:-0.57 [[ 9.87750750e-01 1.55995743e-01 -3.71266576e-03 1.72093730e+02] [-1.55995328e-01 9.87757711e-01 4.02950114e-04 -2.00237435e+00] [ 3.73007274e-03 1.81144234e-04 9.99993027e-01 -5.70135341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.12, Y:-2.01, Z:-0.57 [[ 9.87775791e-01 1.55858031e-01 -2.69460443e-03 1.72121938e+02] [-1.55857812e-01 9.87779458e-01 2.92167851e-04 -2.00609300e+00] [ 2.70721161e-03 1.31378821e-04 9.99996327e-01 -5.70217960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.15, Y:-2.01, Z:-0.57 [[ 9.87798201e-01 1.55718398e-01 -2.54843838e-03 1.72149496e+02] [-1.55718203e-01 9.87801481e-01 2.75998889e-04 -2.00797745e+00] [ 2.56032931e-03 1.24207040e-04 9.99996715e-01 -5.70320219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.18, Y:-2.01, Z:-0.57 [[ 9.87957314e-01 1.54682363e-01 -3.70291429e-03 1.72177802e+02] [-1.54681943e-01 9.87964238e-01 4.01323376e-04 -2.00973904e+00] [ 3.72042454e-03 1.76283610e-04 9.99993064e-01 -5.71004169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.21, Y:-2.01, Z:-0.57 [[ 9.88121938e-01 1.53639216e-01 -3.16660047e-03 1.72205718e+02] [-1.53638905e-01 9.88127001e-01 3.42715848e-04 -2.01169318e+00] [ 3.18165802e-03 1.47867981e-04 9.99994928e-01 -5.71629719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:-2.01, Z:-0.57 [[ 9.88536696e-01 1.50957861e-01 -2.63158446e-03 1.72234448e+02] [-1.50957637e-01 9.88540192e-01 2.84749710e-04 -2.01406477e+00] [ 2.64441221e-03 1.15772234e-04 9.99996497e-01 -5.72344727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:-2.02, Z:-0.57 [[ 9.88889357e-01 1.48613343e-01 -3.45166460e-03 1.72262274e+02] [-1.48612944e-01 9.88895370e-01 3.73321943e-04 -2.01797217e+00] [ 3.46881577e-03 1.43787941e-04 9.99993973e-01 -5.73388624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.29, Y:-2.02, Z:-0.57 [[ 9.89561508e-01 1.44043913e-01 -4.40147005e-03 1.72289441e+02] [-1.44043219e-01 9.89571283e-01 4.76005192e-04 -2.02159595e+00] [ 4.42413402e-03 1.62965499e-04 9.99990200e-01 -5.74300354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.32, Y:-2.02, Z:-0.57 [[ 9.89782979e-01 1.42522749e-01 -4.11349060e-03 1.72318001e+02] [-1.42522129e-01 9.89791516e-01 4.44979942e-04 -2.02341428e+00] [ 4.13491786e-03 1.45829865e-04 9.99991441e-01 -5.74623028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.35, Y:-2.02, Z:-0.58 [[ 9.90096549e-01 1.40309875e-01 -4.68652471e-03 1.72347302e+02] [-1.40309047e-01 9.90107628e-01 5.06640629e-04 -2.02300728e+00] [ 4.71125054e-03 1.55938676e-04 9.99988890e-01 -5.75530912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.38, Y:-2.03, Z:-0.58 [[ 9.90215401e-01 1.39411625e-01 -6.15288791e-03 1.72375448e+02] [-1.39410183e-01 9.90234497e-01 6.64763416e-04 -2.02509944e+00] [ 6.18547761e-03 1.99516256e-04 9.99980850e-01 -5.77067612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.40, Y:-2.03, Z:-0.58 [[ 9.90265050e-01 1.39068606e-01 -5.92065766e-03 1.72402839e+02] [-1.39067266e-01 9.90282731e-01 6.39375495e-04 -2.02838884e+00] [ 5.95204209e-03 1.90218466e-04 9.99982268e-01 -5.77107834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.43, Y:-2.03, Z:-0.58 [[ 9.90242473e-01 1.39236967e-01 -5.73692240e-03 1.72432089e+02] [-1.39235713e-01 9.90259074e-01 6.19371041e-04 -2.03065003e+00] [ 5.76727880e-03 1.85456967e-04 9.99983352e-01 -5.76636586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.46, Y:-2.03, Z:-0.58 [[ 9.90224486e-01 1.39323646e-01 -6.66251283e-03 1.72460924e+02] [-1.39321958e-01 9.90246876e-01 7.19067852e-04 -2.03266624e+00] [ 6.69771567e-03 2.16195739e-04 9.99977547e-01 -5.77472413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.49, Y:-2.03, Z:-0.58 [[ 9.90163820e-01 1.39678642e-01 -8.09231825e-03 1.72488704e+02] [-1.39676168e-01 9.90196852e-01 8.72888257e-04 -2.03387630e+00] [ 8.13491190e-03 2.66001634e-04 9.99966876e-01 -5.78298478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:-2.04, Z:-0.58 [[ 9.90158903e-01 1.39713036e-01 -8.10027469e-03 1.72517753e+02] [-1.39710560e-01 9.90192000e-01 8.73511841e-04 -2.03560220e+00] [ 8.14286819e-03 2.66778389e-04 9.99966811e-01 -5.78598854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.55, Y:-2.04, Z:-0.58 [[ 9.90156121e-01 1.39733261e-01 -8.09152202e-03 1.72545742e+02] [-1.39730796e-01 9.90189146e-01 8.71950496e-04 -2.03581128e+00] [ 8.13397776e-03 2.67267690e-04 9.99966883e-01 -5.79187249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:-2.04, Z:-0.58 [[ 9.90136944e-01 1.39841946e-01 -8.54769620e-03 1.72574474e+02] [-1.39839201e-01 9.90173798e-01 9.20875903e-04 -2.03851746e+00] [ 8.59248188e-03 2.83509755e-04 9.99963044e-01 -5.79535813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.60, Y:-2.04, Z:-0.58 [[ 9.89982926e-01 1.40927425e-01 -8.55960748e-03 1.72602031e+02] [-1.40924719e-01 9.90019886e-01 9.21509951e-04 -2.04181208e+00] [ 8.60404765e-03 2.93981157e-04 9.99962941e-01 -5.79477009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.715336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.63, Y:-2.04, Z:-0.58 [[ 9.89876003e-01 1.41683192e-01 -8.44812483e-03 1.72630629e+02] [-1.41680586e-01 9.89912009e-01 9.09226421e-04 -2.04364216e+00] [ 8.49172232e-03 2.96913861e-04 9.99963901e-01 -5.79276646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.66, Y:-2.05, Z:-0.58 [[ 9.89838705e-01 1.41965861e-01 -8.06424763e-03 1.72658379e+02] [-1.41963502e-01 9.89871513e-01 8.67139324e-04 -2.04542713e+00] [ 8.10567318e-03 2.86500765e-04 9.99967107e-01 -5.79617585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.69, Y:-2.05, Z:-0.58 [[ 9.89852149e-01 1.41980221e-01 -5.85996899e-03 1.72686792e+02] [-1.41978977e-01 9.89869473e-01 6.29840068e-04 -2.04869486e+00] [ 5.89002924e-03 2.08543859e-04 9.99982632e-01 -5.79419222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.71, Y:-2.05, Z:-0.58 [[ 9.89913437e-01 1.41581762e-01 -5.09832992e-03 1.72713767e+02] [-1.41580818e-01 9.89926549e-01 5.47457242e-04 -2.05380621e+00] [ 5.12448211e-03 1.79890439e-04 9.99986854e-01 -5.79181943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:-2.06, Z:-0.58 [[ 9.90159728e-01 1.39868243e-01 -4.53726934e-03 1.72741283e+02] [-1.39867479e-01 9.90170112e-01 4.86869906e-04 -2.06112977e+00] [ 4.56076613e-03 1.52537449e-04 9.99989588e-01 -5.78592534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.77, Y:-2.07, Z:-0.58 [[ 9.90410225e-01 1.38044653e-01 -5.59108194e-03 1.72770134e+02] [-1.38043464e-01 9.90425990e-01 5.99991933e-04 -2.06502645e+00] [ 5.62037855e-03 1.77574171e-04 9.99984190e-01 -5.78746608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.80, Y:-2.07, Z:-0.58 [[ 9.90441307e-01 1.37791085e-01 -6.29552055e-03 1.72798652e+02] [-1.37789573e-01 9.90461295e-01 6.75326241e-04 -2.06783962e+00] [ 6.32852338e-03 1.98586082e-04 9.99979955e-01 -5.79178066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.83, Y:-2.07, Z:-0.58 [[ 9.90275995e-01 1.38948306e-01 -6.84262717e-03 1.72825824e+02] [-1.38946551e-01 9.90299610e-01 7.33496377e-04 -2.07162965e+00] [ 6.87816910e-03 2.24395591e-04 9.99976320e-01 -5.79873390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:-2.08, Z:-0.58 [[ 9.90092061e-01 1.40280656e-01 -6.24888444e-03 1.72854125e+02] [-1.40279220e-01 9.90111757e-01 6.69661588e-04 -2.07617337e+00] [ 6.28103452e-03 2.13562016e-04 9.99980251e-01 -5.79509569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.985336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:172.88, Y:-2.08, Z:-0.58 [[ 9.89542750e-01 1.44130515e-01 -5.61617641e-03 1.72881469e+02] [-1.44129420e-01 9.89558664e-01 6.01325427e-04 -2.08126107e+00] [ 5.64420537e-03 2.14419035e-04 9.99984048e-01 -5.78872261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.91, Y:-2.08, Z:-0.58 [[ 9.89193188e-01 1.46481574e-01 -6.32334743e-03 1.72910329e+02] [-1.46480234e-01 9.89213366e-01 6.76975824e-04 -2.08450151e+00] [ 6.35430428e-03 2.56585540e-04 9.99979778e-01 -5.79461598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.045336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.94, Y:-2.09, Z:-0.58 [[ 9.88507069e-01 1.50969098e-01 -7.88079486e-03 1.72938680e+02] [-1.50967161e-01 9.88538418e-01 8.43491760e-04 -2.08649004e+00] [ 7.91780968e-03 3.55943662e-04 9.99968590e-01 -5.80775971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.075336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:172.97, Y:-2.09, Z:-0.58 [[ 9.88195323e-01 1.52982583e-01 -8.14455826e-03 1.72966450e+02] [-1.52980587e-01 9.88228810e-01 8.71125583e-04 -2.08786593e+00] [ 8.18195416e-03 3.85117078e-04 9.99966453e-01 -5.81095634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:-2.09, Z:-0.58 [[ 9.87764881e-01 1.55734316e-01 -8.20752997e-03 1.72994894e+02] [-1.55732390e-01 9.87798893e-01 8.77110660e-04 -2.08688131e+00] [ 8.24398525e-03 4.11799151e-04 9.99965933e-01 -5.82125214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:-2.09, Z:-0.58 [[ 9.87555448e-01 1.57063016e-01 -8.08985252e-03 1.73021978e+02] [-1.57061196e-01 9.87588495e-01 8.63707443e-04 -2.08672998e+00] [ 8.12510177e-03 4.17642923e-04 9.99966904e-01 -5.82462778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.165336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:173.05, Y:-2.09, Z:-0.58 [[ 9.87530611e-01 1.57229888e-01 -7.87742374e-03 1.73049870e+02] [-1.57228172e-01 9.87561945e-01 8.40548799e-04 -2.08870017e+00] [ 7.91160330e-03 4.08485261e-04 9.99968619e-01 -5.82707095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.195336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.08, Y:-2.09, Z:-0.58 [[ 9.87621190e-01 1.56702933e-01 -6.96963449e-03 1.73077583e+02] [-1.56701579e-01 9.87645717e-01 7.43314560e-04 -2.09176448e+00] [ 7.00000923e-03 3.58039517e-04 9.99975436e-01 -5.82845609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.225336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:173.11, Y:-2.10, Z:-0.58 [[ 9.87752878e-01 1.55887937e-01 -6.57291726e-03 1.73106560e+02] [-1.55886716e-01 9.87774691e-01 7.00790248e-04 -2.09520777e+00] [ 6.60180606e-03 3.32422903e-04 9.99978153e-01 -5.82610613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.13, Y:-2.10, Z:-0.58 [[ 9.88072900e-01 1.53859410e-01 -6.26302680e-03 1.73134325e+02] [-1.53858265e-01 9.88092703e-01 6.67105939e-04 -2.09634357e+00] [ 6.29109161e-03 3.04469138e-04 9.99980165e-01 -5.82889748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.285336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.16, Y:-2.10, Z:-0.58 [[ 9.88250070e-01 1.52716885e-01 -6.27320827e-03 1.73163383e+02] [-1.52715714e-01 9.88269935e-01 6.68131033e-04 -2.09858926e+00] [ 6.30165802e-03 2.97736939e-04 9.99980100e-01 -5.83642005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31533619500001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:173.19, Y:-2.10, Z:-0.58 [[ 9.88654595e-01 1.50070002e-01 -6.40983730e-03 1.73190709e+02] [-1.50068727e-01 9.88675332e-01 6.82183462e-04 -2.10239248e+00] [ 6.43962329e-03 2.87472308e-04 9.99979224e-01 -5.84529403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34533619500002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:173.22, Y:-2.10, Z:-0.58 [[ 9.89191208e-01 1.46514661e-01 -5.84884467e-03 1.73219552e+02] [-1.46513538e-01 9.89208469e-01 6.22281525e-04 -2.10438440e+00] [ 5.87690005e-03 2.41379511e-04 9.99982702e-01 -5.84207945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37533619500002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:173.25, Y:-2.11, Z:-0.58 [[ 9.89476203e-01 1.44603600e-01 -5.16172826e-03 1.73248542e+02] [-1.44602702e-01 9.89489645e-01 5.48851584e-04 -2.10683106e+00] [ 5.18684257e-03 2.03324270e-04 9.99986528e-01 -5.83934034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40533619500002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:173.28, Y:-2.11, Z:-0.58 [[ 9.90072831e-01 1.40504073e-01 -3.79404706e-03 1.73276334e+02] [-1.40503559e-01 9.90080091e-01 4.02900555e-04 -2.10960513e+00] [ 3.81301963e-03 1.34176223e-04 9.99992721e-01 -5.83544644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43533619500002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.30, Y:-2.11, Z:-0.58 [[ 9.90548069e-01 1.37088154e-01 -4.62178119e-03 1.73304351e+02] [-1.37087354e-01 9.90558840e-01 4.90868597e-04 -2.11423243e+00] [ 4.64543849e-03 1.47358814e-04 9.99989199e-01 -5.84531460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.465336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.33, Y:-2.12, Z:-0.58 [[ 9.90558691e-01 1.37011380e-01 -4.62185796e-03 1.73333524e+02] [-1.37010583e-01 9.90569462e-01 4.90146237e-04 -2.11723400e+00] [ 4.64542696e-03 1.47724839e-04 9.99989199e-01 -5.84894616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.495336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.36, Y:-2.12, Z:-0.59 [[ 9.90763967e-01 1.35518223e-01 -4.64460863e-03 1.73360584e+02] [-1.35517403e-01 9.90774844e-01 4.92423820e-04 -2.12216367e+00] [ 4.66849379e-03 1.41549521e-04 9.99989093e-01 -5.85696039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.525336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.39, Y:-2.13, Z:-0.59 [[ 9.90960983e-01 1.34106913e-01 -3.41547946e-03 1.73389118e+02] [-1.34106462e-01 9.90966864e-01 3.61954060e-04 -2.12743586e+00] [ 3.43316751e-03 9.93555141e-05 9.99994102e-01 -5.85565269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.555336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:173.42, Y:-2.13, Z:-0.59 [[ 9.90951233e-01 1.34180145e-01 -3.36771286e-03 1.73417409e+02] [-1.34179707e-01 9.90956951e-01 3.56698380e-04 -2.12993334e+00] [ 3.38512031e-03 9.84080260e-05 9.99994266e-01 -5.85569585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.585336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:173.45, Y:-2.13, Z:-0.59 [[ 9.90603276e-01 1.36718186e-01 -3.64520312e-03 1.73445571e+02] [-1.36717691e-01 9.90609976e-01 3.85689913e-04 -2.13159178e+00] [ 3.66370540e-03 1.16298063e-04 9.99993282e-01 -5.85444480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.615336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:173.47, Y:-2.14, Z:-0.59 [[ 9.90338798e-01 1.38620424e-01 -3.66659186e-03 1.73474190e+02] [-1.38619937e-01 9.90345577e-01 3.87998558e-04 -2.13519280e+00] [ 3.68497756e-03 1.24012707e-04 9.99993203e-01 -5.86918876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.645336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:173.50, Y:-2.14, Z:-0.59 [[ 9.89807154e-01 1.42333245e-01 -4.80045671e-03 1.73501270e+02] [-1.42332454e-01 9.89818779e-01 5.07733722e-04 -2.14081264e+00] [ 4.82384959e-03 1.80702314e-04 9.99988349e-01 -5.87683664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.675336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.53, Y:-2.14, Z:-0.59 [[ 9.89502990e-01 1.44438279e-01 -4.62776802e-03 1.73529833e+02] [-1.44437567e-01 9.89513795e-01 4.89390669e-04 -2.14333071e+00] [ 4.64992704e-03 1.84170023e-04 9.99989172e-01 -5.88409924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.705336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:173.56, Y:-2.15, Z:-0.59 [[ 9.89442648e-01 1.44856635e-01 -4.44991011e-03 1.73558607e+02] [-1.44855982e-01 9.89452638e-01 4.70338139e-04 -2.14535660e+00] [ 4.47110689e-03 1.79223484e-04 9.99989988e-01 -5.88583283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.735336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:173.59, Y:-2.15, Z:-0.59 [[ 9.89445595e-01 1.44811806e-01 -5.19184344e-03 1.73586030e+02] [-1.44810919e-01 9.89459194e-01 5.48405920e-04 -2.14937033e+00] [ 5.21653288e-03 2.09217799e-04 9.99986372e-01 -5.89722604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.765336195 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:173.61, Y:-2.15, Z:-0.59 [[ 9.89445305e-01 1.44808030e-01 -5.35007438e-03 1.73614176e+02] [-1.44807088e-01 9.89459746e-01 5.65044832e-04 -2.15364554e+00] [ 5.37550626e-03 2.15647734e-04 9.99985529e-01 -5.90131947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.795336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:173.64, Y:-2.16, Z:-0.59 [[ 9.89559536e-01 1.44042699e-01 -4.86068928e-03 1.73642712e+02] [-1.44041914e-01 9.89571455e-01 5.13071902e-04 -2.15830795e+00] [ 4.88390362e-03 1.92427793e-04 9.99988055e-01 -5.91368996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.825336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:173.67, Y:-2.16, Z:-0.59 [[ 9.89638664e-01 1.43499262e-01 -4.82457744e-03 1.73670965e+02] [-1.43498483e-01 9.89650406e-01 5.09014056e-04 -2.16217511e+00] [ 4.84768817e-03 1.88579555e-04 9.99988232e-01 -5.91676362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.855336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.70, Y:-2.17, Z:-0.59 [[ 9.89658898e-01 1.43362002e-01 -4.75423957e-03 1.73698873e+02] [-1.43361246e-01 9.89670300e-01 5.01080433e-04 -2.16639937e+00] [ 4.77696559e-03 1.85675000e-04 9.99988573e-01 -5.91845976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.885336195 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:173.73, Y:-2.17, Z:-0.59 [[ 9.89638212e-01 1.43488474e-01 -5.22182858e-03 1.73727395e+02] [-1.43487564e-01 9.89651967e-01 5.50405183e-04 -2.17069356e+00] [ 5.24676973e-03 2.04565463e-04 9.99986215e-01 -5.92642779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.915336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:173.76, Y:-2.18, Z:-0.59 [[ 9.89548363e-01 1.44095626e-01 -5.52153989e-03 1.73756025e+02] [-1.44094620e-01 9.89563743e-01 5.81772675e-04 -2.17806506e+00] [ 5.54774659e-03 2.19931993e-04 9.99984587e-01 -5.93277974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.945336195 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:173.78, Y:-2.18, Z:-0.59 [[ 9.89378310e-01 1.45237299e-01 -6.05699705e-03 1.73784926e+02] [-1.45236110e-01 9.89396819e-01 6.37963982e-04 -2.18067786e+00] [ 6.08542978e-03 2.48506964e-04 9.99981453e-01 -5.93981640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.975336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:173.81, Y:-2.18, Z:-0.59 [[ 9.89265671e-01 1.45971011e-01 -6.77464100e-03 1.73813925e+02] [-1.45969543e-01 9.89288827e-01 7.13297284e-04 -2.18287343e+00] [ 6.80619737e-03 2.83250733e-04 9.99976797e-01 -5.94973192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.005336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:173.84, Y:-2.19, Z:-0.60 [[ 9.88992365e-01 1.47833789e-01 -6.26679684e-03 1.73841301e+02] [-1.47832575e-01 9.89012182e-01 6.59175471e-04 -2.18851170e+00] [ 6.29538682e-03 2.74517203e-04 9.99980146e-01 -5.96282303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.035336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:173.87, Y:-2.19, Z:-0.60 [[ 9.88886016e-01 1.48556177e-01 -5.95905961e-03 1.73869888e+02] [-1.48555092e-01 9.88903935e-01 6.26707515e-04 -2.19391979e+00] [ 5.98603876e-03 2.65506351e-04 9.99982048e-01 -5.96616929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06533619500001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:173.90, Y:-2.20, Z:-0.60 [[ 9.88823433e-01 1.48997137e-01 -5.29821324e-03 1.73898309e+02] [-1.48996287e-01 9.88837599e-01 5.56888587e-04 -2.19889789e+00] [ 5.32204726e-03 2.38749617e-04 9.99985809e-01 -5.96451375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09533619500002 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:173.93, Y:-2.20, Z:-0.60 [[ 9.88911073e-01 1.48430217e-01 -4.83317060e-03 1.73925931e+02] [-1.48429506e-01 9.88922861e-01 5.07452659e-04 -2.20072797e+00] [ 4.85495420e-03 2.15559570e-04 9.99988191e-01 -5.96818097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12533619500002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:173.95, Y:-2.20, Z:-0.60 [[ 9.89228104e-01 1.46274714e-01 -5.60957489e-03 1.73954508e+02] [-1.46273721e-01 9.89243980e-01 5.89007419e-04 -2.20068330e+00] [ 5.63539508e-03 2.37870701e-04 9.99984093e-01 -5.98302948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15533619500002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:173.98, Y:-2.20, Z:-0.60 [[ 9.89435811e-01 1.44850835e-01 -5.91709368e-03 1.73981839e+02] [-1.44849708e-01 9.89453474e-01 6.20827254e-04 -2.20367092e+00] [ 5.94461624e-03 2.42820577e-04 9.99982301e-01 -5.99161858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18533619500002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:174.01, Y:-2.21, Z:-0.60 [[ 9.89848399e-01 1.42012647e-01 -5.70568049e-03 1.74010034e+02] [-1.42011552e-01 9.89864819e-01 5.98534271e-04 -2.21049793e+00] [ 5.73285183e-03 2.17814354e-04 9.99983543e-01 -5.99618126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.215336195 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:174.04, Y:-2.22, Z:-0.60 [[ 9.90128019e-01 1.39994335e-01 -6.93487239e-03 1.74037907e+02] [-1.39992672e-01 9.90152273e-01 7.27066006e-04 -2.21582508e+00] [ 6.96836478e-03 2.50942893e-04 9.99975689e-01 -5.99897070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.245336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:174.07, Y:-2.22, Z:-0.60 [[ 9.90174604e-01 1.39653208e-01 -7.15782473e-03 1.74066245e+02] [-1.39651428e-01 9.90200442e-01 7.50293770e-04 -2.21764178e+00] [ 7.19246215e-03 2.56678609e-04 9.99974101e-01 -6.00532524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.275336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:174.10, Y:-2.22, Z:-0.60 [[ 9.90236559e-01 1.39267632e-01 -6.00699448e-03 1.74095078e+02] [-1.39266374e-01 9.90254756e-01 6.29229373e-04 -2.21577714e+00] [ 6.03608613e-03 2.13486410e-04 9.99981760e-01 -6.00821442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.305336195 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:174.12, Y:-2.22, Z:-0.60 [[ 9.90301155e-01 1.38831831e-01 -5.41710463e-03 1.74123119e+02] [-1.38830805e-01 9.90315953e-01 5.66905803e-04 -2.21719645e+00] [ 5.44334970e-03 1.90653524e-04 9.99985167e-01 -6.01558727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.335336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:174.15, Y:-2.22, Z:-0.60 [[ 9.90355684e-01 1.38401220e-01 -6.38130948e-03 1.74151782e+02] [-1.38399787e-01 9.90376218e-01 6.67822126e-04 -2.22072053e+00] [ 6.41232455e-03 2.21790431e-04 9.99979416e-01 -6.02439972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.365336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:174.18, Y:-2.22, Z:-0.60 [[ 9.90327458e-01 1.38603359e-01 -6.37459402e-03 1.74179209e+02] [-1.38601936e-01 9.90347948e-01 6.66612281e-04 -2.22484309e+00] [ 6.40546081e-03 2.23366629e-04 9.99979460e-01 -6.02717793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.395336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:174.21, Y:-2.23, Z:-0.60 [[ 9.90274344e-01 1.38984434e-01 -6.32857750e-03 1.74207976e+02] [-1.38983040e-01 9.90294540e-01 6.61638968e-04 -2.22806420e+00] [ 6.35911327e-03 2.24360846e-04 9.99979755e-01 -6.02342985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.425336195 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:174.24, Y:-2.23, Z:-0.60 [[ 9.90277550e-01 1.38954546e-01 -6.48130102e-03 1.74236706e+02] [-1.38953086e-01 9.90298733e-01 6.77318343e-04 -2.22859809e+00] [ 6.51254066e-03 2.29863628e-04 9.99978767e-01 -6.03209633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.455336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:174.27, Y:-2.22, Z:-0.60 [[ 9.90211375e-01 1.39351282e-01 -7.91537889e-03 1.74266288e+02] [-1.39349118e-01 9.90242970e-01 8.26895982e-04 -2.22362869e+00] [ 7.95337731e-03 2.84199259e-04 9.99968331e-01 -6.04753723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.485336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:174.29, Y:-2.22, Z:-0.61 [[ 9.90063273e-01 1.40300318e-01 -9.51500049e-03 1.74294316e+02] [-1.40297243e-01 9.90108932e-01 9.93253767e-04 -2.22291244e+00] [ 9.56024080e-03 3.51544260e-04 9.99954238e-01 -6.06407586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.515336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:174.32, Y:-2.23, Z:-0.61 [[ 9.90031616e-01 1.40563176e-01 -8.91025679e-03 1.74322520e+02] [-1.40560492e-01 9.90071656e-01 9.29881402e-04 -2.22697796e+00] [ 8.95249977e-03 3.31818089e-04 9.99959871e-01 -6.06859671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.545336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:174.35, Y:-2.23, Z:-0.61 [[ 9.90132884e-01 1.39871194e-01 -8.53940862e-03 1.74349441e+02] [-1.39868709e-01 9.90169658e-01 8.90500702e-04 -2.23367384e+00] [ 8.58001871e-03 3.12682029e-04 9.99963142e-01 -6.05708473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.575336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:174.38, Y:-2.24, Z:-0.61 [[ 9.90280496e-01 1.38821711e-01 -8.54822804e-03 1.74377785e+02] [-1.38819184e-01 9.90317343e-01 8.91151628e-04 -2.23541884e+00] [ 8.58916967e-03 3.04167963e-04 9.99963066e-01 -6.05684288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.605336195 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:174.41, Y:-2.23, Z:-0.61 [[ 9.90714923e-01 1.35777939e-01 -6.94928451e-03 1.74406708e+02] [-1.35776200e-01 9.90739269e-01 7.23689052e-04 -2.23066609e+00] [ 6.98319007e-03 2.26577898e-04 9.99975592e-01 -6.06306792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.635336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:174.44, Y:-2.23, Z:-0.61 [[ 9.91044708e-01 1.33370674e-01 -6.53070218e-03 1.74435921e+02] [-1.33369087e-01 9.91066206e-01 6.79937131e-04 -2.23089741e+00] [ 6.56304190e-03 1.97145691e-04 9.99978444e-01 -6.07349964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.665336195 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:174.46, Y:-2.24, Z:-0.61 [[ 9.91254738e-01 1.31794238e-01 -6.65761475e-03 1.74463218e+02] [-1.31792557e-01 9.91277076e-01 6.92615197e-04 -2.23534299e+00] [ 6.69082358e-03 1.90865973e-04 9.99977598e-01 -6.08304226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.695336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:174.49, Y:-2.24, Z:-0.61 [[ 9.91709421e-01 1.28298387e-01 -7.20750248e-03 1.74490312e+02] [-1.28296326e-01 9.91735595e-01 7.49465323e-04 -2.24007589e+00] [ 7.24409196e-03 1.81444270e-04 9.99973745e-01 -6.08206398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.725336195 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:174.52, Y:-2.24, Z:-0.61 [[ 9.92054956e-01 1.25504703e-01 -8.69095916e-03 1.74519130e+02] [-1.25501601e-01 9.92093006e-01 9.03612579e-04 -2.24145433e+00] [ 8.73564742e-03 1.94295949e-04 9.99961825e-01 -6.08663734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.755336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:174.55, Y:-2.24, Z:-0.61 [[ 9.92193674e-01 1.24406864e-01 -8.63973150e-03 1.74547288e+02] [-1.24403762e-01 9.92231273e-01 8.97629695e-04 -2.24333085e+00] [ 8.68428308e-03 1.84192593e-04 9.99962274e-01 -6.08980045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.785336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:174.58, Y:-2.24, Z:-0.61 [[ 9.92440105e-01 1.22519192e-01 -7.18926193e-03 1.74576683e+02] [-1.22516997e-01 9.92466134e-01 7.46619474e-04 -2.24361630e+00] [ 7.22657421e-03 1.39831674e-04 9.99973878e-01 -6.09044607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81533619500001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:174.60, Y:-2.25, Z:-0.61 [[ 9.92547656e-01 1.21699447e-01 -6.19640247e-03 1.74604552e+02] [-1.21697804e-01 9.92566991e-01 6.42926105e-04 -2.24657989e+00] [ 6.22858830e-03 1.15953775e-04 9.99980595e-01 -6.09107772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84533619500002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:174.63, Y:-2.25, Z:-0.61 [[ 9.92744575e-01 1.20180187e-01 -3.86413271e-03 1.74633104e+02] [-1.20179538e-01 9.92752093e-01 4.00628309e-04 -2.25480852e+00] [ 3.88427342e-03 6.66681035e-05 9.99992454e-01 -6.08049825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87533619500002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:174.66, Y:-2.26, Z:-0.61 [[ 9.92843879e-01 1.19371525e-01 -3.38685023e-03 1.74661508e+02] [-1.19371022e-01 9.92849654e-01 3.50882157e-04 -2.25847692e+00] [ 3.40451841e-03 5.59205717e-05 9.99994203e-01 -6.07440128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90533619500002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:174.69, Y:-2.26, Z:-0.61 [[ 9.92920564e-01 1.18714012e-01 -3.96692096e-03 1.74690504e+02] [-1.18713317e-01 9.92928487e-01 4.10871459e-04 -2.25911076e+00] [ 3.98764503e-03 6.29636266e-05 9.99992047e-01 -6.08357433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93533619500002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:174.72, Y:-2.26, Z:-0.61 [[ 9.92865559e-01 1.19164012e-01 -4.23311512e-03 1.74718193e+02] [-1.19163227e-01 9.92874581e-01 4.38073256e-04 -2.26348924e+00] [ 4.25515497e-03 6.94838121e-05 9.99990944e-01 -6.09767787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.965336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:174.75, Y:-2.27, Z:-0.61 [[ 9.92700399e-01 1.20448896e-01 -6.16292633e-03 1.74745773e+02] [-1.20447257e-01 9.92719523e-01 6.37804716e-04 -2.27149835e+00] [ 6.19488016e-03 1.09158573e-04 9.99980806e-01 -6.10590662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.995336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:174.77, Y:-2.28, Z:-0.61 [[ 9.92418876e-01 1.22712720e-01 -6.80907105e-03 1.74774714e+02] [-1.22710773e-01 9.92442225e-01 7.04574417e-04 -2.27513802e+00] [ 6.84406986e-03 1.36313423e-04 9.99976570e-01 -6.11128497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.025336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:174.80, Y:-2.28, Z:-0.61 [[ 9.92315717e-01 1.23544737e-01 -6.79817948e-03 1.74803644e+02] [-1.23542819e-01 9.92338993e-01 7.03096365e-04 -2.27955618e+00] [ 6.83296243e-03 1.42172680e-04 9.99976645e-01 -6.11558006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.055336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:174.83, Y:-2.28, Z:-0.61 [[ 9.92056534e-01 1.25563262e-01 -7.59608171e-03 1.74830804e+02] [-1.25560930e-01 9.92085599e-01 7.85082471e-04 -2.28469527e+00] [ 7.63454080e-03 1.74924887e-04 9.99970841e-01 -6.11519203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.085336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:174.86, Y:-2.29, Z:-0.61 [[ 9.91719940e-01 1.28194539e-01 -7.59740658e-03 1.74859056e+02] [-1.28192285e-01 9.91749022e-01 7.85012809e-04 -2.28854706e+00] [ 7.63535490e-03 1.95416050e-04 9.99970831e-01 -6.12907014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.115336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:174.89, Y:-2.29, Z:-0.61 [[ 9.91555488e-01 1.29451829e-01 -7.74193077e-03 1.74887950e+02] [-1.29449529e-01 9.91585690e-01 7.99566740e-04 -2.29283524e+00] [ 7.78029314e-03 2.09374500e-04 9.99969711e-01 -6.13096988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.145336195 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:174.92, Y:-2.30, Z:-0.61 [[ 9.91211637e-01 1.32041298e-01 -8.03651786e-03 1.74915607e+02] [-1.32038910e-01 9.91244187e-01 8.29377653e-04 -2.29594733e+00] [ 8.07566372e-03 2.39044274e-04 9.99967363e-01 -6.13903450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.175336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:174.94, Y:-2.30, Z:-0.61 [[ 9.91058256e-01 1.33204671e-01 -7.74907527e-03 1.74943426e+02] [-1.33202489e-01 9.91088522e-01 7.99251867e-04 -2.29765917e+00] [ 7.78648364e-03 2.40090953e-04 9.99969656e-01 -6.14400609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.205336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:174.97, Y:-2.30, Z:-0.61 [[ 9.90874809e-01 1.34587082e-01 -7.30956329e-03 1.74972440e+02] [-1.34585180e-01 9.90901741e-01 7.53679605e-04 -2.30021827e+00] [ 7.34449453e-03 2.36956759e-04 9.99973001e-01 -6.14180813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.235336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:175.00, Y:-2.30, Z:-0.61 [[ 9.90797649e-01 1.35115423e-01 -7.99002066e-03 1.74999733e+02] [-1.35113172e-01 9.90829830e-01 8.23287686e-04 -2.30253477e+00] [ 8.02798968e-03 2.63845535e-04 9.99967740e-01 -6.14676591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.265336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:175.03, Y:-2.30, Z:-0.62 [[ 9.90787887e-01 1.35183197e-01 -8.05401577e-03 1.75028414e+02] [-1.35180914e-01 9.90820585e-01 8.29655526e-04 -2.30447047e+00] [ 8.09224011e-03 2.66736569e-04 9.99967222e-01 -6.15344097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.295336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:175.06, Y:-2.31, Z:-0.62 [[ 9.90911466e-01 1.34264967e-01 -8.20878539e-03 1.75057361e+02] [-1.34262568e-01 9.90945432e-01 8.45188204e-04 -2.30739422e+00] [ 8.24793755e-03 2.64625924e-04 9.99965950e-01 -6.15748317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.325336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:175.09, Y:-2.31, Z:-0.62 [[ 9.91078791e-01 1.33038041e-01 -7.98183475e-03 1.75085110e+02] [-1.33035738e-01 9.91110901e-01 8.21175698e-04 -2.31090847e+00] [ 8.02013104e-03 2.48019456e-04 9.99967807e-01 -6.15613218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.355336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:175.11, Y:-2.31, Z:-0.62 [[ 9.91408623e-01 1.30603574e-01 -7.18676491e-03 1.75113353e+02] [-1.30601644e-01 9.91434649e-01 7.39130247e-04 -2.31359253e+00] [ 7.22174080e-03 2.05823216e-04 9.99973902e-01 -6.15477939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.385336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:175.14, Y:-2.31, Z:-0.62 [[ 9.91605889e-01 1.29123838e-01 -6.69300226e-03 1.75141432e+02] [-1.29122135e-01 9.91628459e-01 6.87772448e-04 -2.31472490e+00] [ 6.72577934e-03 1.82215531e-04 9.99977365e-01 -6.15560522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.415336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:175.17, Y:-2.32, Z:-0.62 [[ 9.91615528e-01 1.29049783e-01 -6.69307461e-03 1.75170617e+02] [-1.29048083e-01 9.91638099e-01 6.87068665e-04 -2.31762208e+00] [ 6.72577384e-03 1.82420492e-04 9.99977365e-01 -6.15923675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.445336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:175.20, Y:-2.32, Z:-0.62 [[ 9.91982241e-01 1.26298877e-01 -4.45271234e-03 1.75199011e+02] [-1.26298098e-01 9.91992229e-01 4.56651425e-04 -2.31825989e+00] [ 4.47473059e-03 1.09378996e-04 9.99989982e-01 -6.15732863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.475336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:175.23, Y:-2.32, Z:-0.62 [[ 9.92503279e-01 1.22166507e-01 -3.54775490e-03 1.75227520e+02] [-1.22165987e-01 9.92509617e-01 3.63709185e-04 -2.32177831e+00] [ 3.56561394e-03 7.24324223e-05 9.99993641e-01 -6.15899253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.505336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:175.26, Y:-2.33, Z:-0.62 [[ 9.92777554e-01 1.19904897e-01 -3.94266043e-03 1.75256480e+02] [-1.19904237e-01 9.92785380e-01 4.04077286e-04 -2.32556640e+00] [ 3.96266648e-03 7.15828325e-05 9.99992146e-01 -6.16395396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.535336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:175.29, Y:-2.33, Z:-0.62 [[ 9.93184505e-01 1.16435581e-01 -5.22447704e-03 1.75285951e+02] [-1.16434373e-01 9.93198243e-01 5.35783735e-04 -2.33070793e+00] [ 5.25132570e-03 7.61766041e-05 9.99986209e-01 -6.16902533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56533619500001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:175.31, Y:-2.33, Z:-0.62 [[ 9.93325850e-01 1.15203640e-01 -5.64599606e-03 1.75314666e+02] [-1.15202211e-01 9.93341893e-01 5.78675581e-04 -2.33222234e+00] [ 5.67506994e-03 7.56178179e-05 9.99983894e-01 -6.17086347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59533619500002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:175.34, Y:-2.33, Z:-0.62 [[ 9.93477074e-01 1.13916815e-01 -5.12473697e-03 1.75343644e+02] [-1.13915623e-01 9.93490290e-01 5.24806126e-04 -2.33182342e+00] [ 5.15116066e-03 6.24047495e-05 9.99986731e-01 -6.17073626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62533619500002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:175.37, Y:-2.34, Z:-0.62 [[ 9.93504649e-01 1.13724688e-01 -3.89965567e-03 1.75371839e+02] [-1.13723997e-01 9.93512301e-01 3.99214741e-04 -2.33942660e+00] [ 3.91975645e-03 4.68627274e-05 9.99992317e-01 -6.17671844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65533619500002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:175.40, Y:-2.35, Z:-0.62 [[ 9.93523688e-01 1.13553482e-01 -4.03577521e-03 1.75400666e+02] [-1.13552740e-01 9.93531884e-01 4.13230645e-04 -2.34578647e+00] [ 4.05659512e-03 4.77188985e-05 9.99991771e-01 -6.18078984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68533619500002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:175.43, Y:-2.35, Z:-0.62 [[ 9.93489167e-01 1.13836065e-01 -4.54149880e-03 1.75430021e+02] [-1.13835129e-01 9.93499546e-01 4.64937396e-04 -2.34966359e+00] [ 4.56490364e-03 5.50718366e-05 9.99989579e-01 -6.18302018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.715336195 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:175.46, Y:-2.35, Z:-0.62 [[ 9.93484373e-01 1.13887634e-01 -4.29028310e-03 1.75458595e+02] [-1.13886800e-01 9.93493636e-01 4.38902821e-04 -2.34979586e+00] [ 4.31235456e-03 5.25635202e-05 9.99990700e-01 -6.19223632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.745336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:175.49, Y:-2.35, Z:-0.62 [[ 9.93406071e-01 1.14569765e-01 -4.25997253e-03 1.75488802e+02] [-1.14568949e-01 9.93415203e-01 4.35832724e-04 -2.35034334e+00] [ 4.28185473e-03 5.51017019e-05 9.99990831e-01 -6.20817792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.775336195 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:175.52, Y:-2.36, Z:-0.62 [[ 9.93349423e-01 1.15011489e-01 -5.41128492e-03 1.75516970e+02] [-1.15010180e-01 9.93364159e-01 5.53543585e-04 -2.35522242e+00] [ 5.43904037e-03 7.24906508e-05 9.99985206e-01 -6.21543853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.805336195 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:175.54, Y:-2.37, Z:-0.62 [[ 9.93155169e-01 1.16619253e-01 -6.53912224e-03 1.75544819e+02] [-1.16617379e-01 9.93176691e-01 6.68412089e-04 -2.36518273e+00] [ 6.57245351e-03 9.87383751e-05 9.99978396e-01 -6.21350007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.835336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:175.57, Y:-2.37, Z:-0.62 [[ 9.92894154e-01 1.18900983e-01 -4.87383783e-03 1.75573282e+02] [-1.18899971e-01 9.92906113e-01 4.97788912e-04 -2.36950258e+00] [ 4.89845096e-03 8.52474772e-05 9.99987999e-01 -6.20569706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.865336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:175.60, Y:-2.37, Z:-0.62 [[ 9.92756852e-01 1.20036160e-01 -5.01530019e-03 1.75603208e+02] [-1.20035102e-01 9.92769516e-01 5.12434819e-04 -2.37140867e+00] [ 5.04054785e-03 9.32888921e-05 9.99987292e-01 -6.20900873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.895336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:175.63, Y:-2.37, Z:-0.62 [[ 9.92456213e-01 1.22442867e-01 -6.19759245e-03 1.75631503e+02] [-1.22441300e-01 9.92475555e-01 6.32933048e-04 -2.37336535e+00] [ 6.22845714e-03 1.30682943e-04 9.99980594e-01 -6.21880294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.925336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:175.66, Y:-2.38, Z:-0.62 [[ 9.92292504e-01 1.23771025e-01 -6.02661777e-03 1.75659871e+02] [-1.23769571e-01 9.92310796e-01 6.15044428e-04 -2.37718744e+00] [ 6.05640255e-03 1.35607918e-04 9.99981651e-01 -6.22354872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.955336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:175.69, Y:-2.38, Z:-0.62 [[ 9.92001485e-01 1.26131666e-01 -4.88425569e-03 1.75688192e+02] [-1.26130741e-01 9.92013502e-01 4.98102255e-04 -2.38418882e+00] [ 4.90807406e-03 1.21936614e-04 9.99987948e-01 -6.22462573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.985336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:175.72, Y:-2.39, Z:-0.62 [[ 9.91881370e-01 1.27076645e-01 -4.78275383e-03 1.75717046e+02] [-1.27075768e-01 9.91892893e-01 4.87914625e-04 -2.38924987e+00] [ 4.80598209e-03 1.23818692e-04 9.99988444e-01 -6.22452661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.015336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:175.75, Y:-2.39, Z:-0.62 [[ 9.91687769e-01 1.28582556e-01 -4.67914381e-03 1.75746271e+02] [-1.28581734e-01 9.91698800e-01 4.77224638e-04 -2.39261707e+00] [ 4.70166406e-03 1.28394589e-04 9.99988939e-01 -6.22962453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.045336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:175.77, Y:-2.40, Z:-0.62 [[ 9.91570034e-01 1.29536086e-01 -3.04477891e-03 1.75774811e+02] [-1.29535744e-01 9.91574705e-01 3.10171503e-04 -2.39502398e+00] [ 3.05930415e-03 8.68509340e-05 9.99995317e-01 -6.23930672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.075336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:175.80, Y:-2.40, Z:-0.62 [[ 9.91607252e-01 1.29271438e-01 -1.98835498e-03 1.75804760e+02] [-1.29271291e-01 9.91609244e-01 2.02846712e-04 -2.39968726e+00] [ 1.99789346e-03 5.58929442e-05 9.99998003e-01 -6.24102057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.105336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:175.83, Y:-2.41, Z:-0.62 [[ 9.91716469e-01 1.28426254e-01 -2.26767534e-03 1.75833925e+02] [-1.28426061e-01 9.91719060e-01 2.31171072e-04 -2.40648525e+00] [ 2.27858529e-03 6.19724520e-05 9.99997402e-01 -6.24293413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.135336195 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:175.86, Y:-2.41, Z:-0.62 [[ 9.91860965e-01 1.27299399e-01 -2.58651541e-03 1.75862762e+02] [-1.27299144e-01 9.91864335e-01 2.63668687e-04 -2.41131440e+00] [ 2.59903726e-03 6.77385204e-05 9.99996620e-01 -6.24660763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.165336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:175.89, Y:-2.41, Z:-0.63 [[ 9.91952492e-01 1.26573957e-01 -3.04742390e-03 1.75893539e+02] [-1.26573599e-01 9.91957170e-01 3.10819511e-04 -2.41484227e+00] [ 3.06225564e-03 7.74052222e-05 9.99995308e-01 -6.25583462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.195336195 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:175.92, Y:-2.42, Z:-0.63 [[ 9.91991742e-01 1.26181975e-01 -5.52201517e-03 1.75922526e+02] [-1.26180793e-01 9.92007102e-01 5.63396207e-04 -2.41936975e+00] [ 5.54896871e-03 1.37887867e-04 9.99984595e-01 -6.27098423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.225336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:175.95, Y:-2.42, Z:-0.63 [[ 9.91954275e-01 1.26449744e-01 -6.09735142e-03 1.75953261e+02] [-1.26448309e-01 9.91973003e-01 6.21956852e-04 -2.42257783e+00] [ 6.12705428e-03 1.54047014e-04 9.99981218e-01 -6.27556877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.255336195 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:175.98, Y:-2.43, Z:-0.63 [[ 9.91912240e-01 1.26821149e-01 -5.14830649e-03 1.75982704e+02] [-1.26820132e-01 9.91925591e-01 5.24712351e-04 -2.42566946e+00] [ 5.17328159e-03 1.32440308e-04 9.99986610e-01 -6.28409989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.285336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:176.01, Y:-2.43, Z:-0.63 [[ 9.91920240e-01 1.26790413e-01 -4.29281098e-03 1.76011920e+02] [-1.26789704e-01 9.91929523e-01 4.38009041e-04 -2.42966129e+00] [ 4.31370130e-03 1.09814202e-04 9.99990690e-01 -6.28180897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31533619500001 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:176.04, Y:-2.43, Z:-0.63 [[ 9.91957504e-01 1.26493932e-01 -4.42674867e-03 1.76040889e+02] [-1.26493178e-01 9.91967375e-01 4.50890224e-04 -2.43094726e+00] [ 4.44822514e-03 1.12689568e-04 9.99990100e-01 -6.27918313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34533619500002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:176.07, Y:-2.43, Z:-0.63 [[ 9.92013054e-01 1.26033239e-01 -5.07172983e-03 1.76071255e+02] [-1.26032242e-01 9.92026011e-01 5.17098033e-04 -2.43132499e+00] [ 5.09645945e-03 1.26233482e-04 9.99987005e-01 -6.29335803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37533619500002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:176.10, Y:-2.43, Z:-0.63 [[ 9.92036437e-01 1.25864792e-01 -4.66494459e-03 1.76100671e+02] [-1.25863947e-01 9.92047398e-01 4.75425918e-04 -2.43358040e+00] [ 4.68768553e-03 1.15508507e-04 9.99989006e-01 -6.29620952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40533619500002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:176.13, Y:-2.44, Z:-0.63 [[ 9.92061697e-01 1.25644420e-01 -5.20286073e-03 1.76130532e+02] [-1.25643367e-01 9.92075332e-01 5.30000726e-04 -2.43506018e+00] [ 5.22822142e-03 1.27911521e-04 9.99986325e-01 -6.30745578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43533619500002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:176.16, Y:-2.44, Z:-0.63 [[ 9.92134896e-01 1.24967312e-01 -7.17769107e-03 1.76160408e+02] [-1.24965291e-01 9.92160845e-01 7.31108530e-04 -2.43709541e+00] [ 7.21278870e-03 1.71603971e-04 9.99973973e-01 -6.31620053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.465336195 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:176.19, Y:-2.44, Z:-0.63 [[ 9.92208700e-01 1.24394945e-01 -6.91332318e-03 1.76188382e+02] [-1.24393062e-01 9.92232771e-01 7.03337404e-04 -2.43859154e+00] [ 6.94711743e-03 1.62111950e-04 9.99975855e-01 -6.31574720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.495336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:176.22, Y:-2.44, Z:-0.63 [[ 9.92346583e-01 1.23314597e-01 -6.46294704e-03 1.76217419e+02] [-1.23312930e-01 9.92367618e-01 6.57263399e-04 -2.43584876e+00] [ 6.49466953e-03 1.44731850e-04 9.99978899e-01 -6.31697617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.525336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:176.25, Y:-2.44, Z:-0.63 [[ 9.92470029e-01 1.22328093e-01 -6.25141036e-03 1.76246015e+02] [-1.22326515e-01 9.92489708e-01 6.35654260e-04 -2.43729143e+00] [ 6.28221882e-03 1.33845440e-04 9.99980258e-01 -6.32871948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.555336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:176.27, Y:-2.44, Z:-0.63 [[ 9.92915713e-01 1.18730705e-01 -4.62673688e-03 1.76274675e+02] [-1.18729803e-01 9.92926489e-01 4.69991652e-04 -2.43880824e+00] [ 4.64981204e-03 8.26694629e-05 9.99989186e-01 -6.33116601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.585336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:176.30, Y:-2.44, Z:-0.63 [[ 9.93138143e-01 1.16882779e-01 -3.87875145e-03 1.76302998e+02] [-1.16882132e-01 9.93145715e-01 3.93926580e-04 -2.44064201e+00] [ 3.89820862e-03 6.21332255e-05 9.99992400e-01 -6.33184728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.615336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:176.33, Y:-2.44, Z:-0.63 [[ 9.93475642e-01 1.13957689e-01 -4.44911734e-03 1.76332167e+02] [-1.13956808e-01 9.93485602e-01 4.51951380e-04 -2.44207417e+00] [ 4.47163736e-03 5.80045229e-05 9.99990000e-01 -6.33799073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.645336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:176.36, Y:-2.45, Z:-0.64 [[ 9.93746058e-01 1.11533647e-01 -5.38679908e-03 1.76360834e+02] [-1.11532320e-01 9.93760657e-01 5.46928154e-04 -2.44591249e+00] [ 5.41418988e-03 5.72945033e-05 9.99985342e-01 -6.35467559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.675336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:176.39, Y:-2.45, Z:-0.63 [[ 9.93936692e-01 1.09879742e-01 -4.03668843e-03 1.76390307e+02] [-1.09878984e-01 9.93944888e-01 4.09789155e-04 -2.45110325e+00] [ 4.05727336e-03 3.62427468e-05 9.99991769e-01 -6.34626980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.705336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:176.42, Y:-2.45, Z:-0.63 [[ 9.93978474e-01 1.09492411e-01 -4.26670568e-03 1.76420323e+02] [-1.09491561e-01 9.93987631e-01 4.33042226e-04 -2.45382391e+00] [ 4.28846751e-03 3.67336142e-05 9.99990804e-01 -6.34868665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.735336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:176.45, Y:-2.45, Z:-0.64 [[ 9.93890402e-01 1.10251015e-01 -5.15588230e-03 1.76449347e+02] [-1.10249785e-01 9.93903774e-01 5.23011901e-04 -2.45429587e+00] [ 5.18211347e-03 4.86184064e-05 9.99986572e-01 -6.35350381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.765336195 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:176.48, Y:-2.46, Z:-0.64 [[ 9.93770916e-01 1.11344248e-01 -4.67167556e-03 1.76479306e+02] [-1.11343251e-01 9.93781896e-01 4.73898826e-04 -2.45563756e+00] [ 4.69539250e-03 4.92126719e-05 9.99988975e-01 -6.35834742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.795336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:176.51, Y:-2.46, Z:-0.64 [[ 9.93398589e-01 1.14615997e-01 -4.73463648e-03 1.76508355e+02] [-1.14615012e-01 9.93409870e-01 4.79746343e-04 -2.45709030e+00] [ 4.75842122e-03 6.60810771e-05 9.99988676e-01 -6.36995081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.825336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:176.54, Y:-2.46, Z:-0.64 [[ 9.92999398e-01 1.18045080e-01 -4.18989017e-03 1.76536546e+02] [-1.18044339e-01 9.93008235e-01 4.24480160e-04 -2.46211179e+00] [ 4.21070324e-03 7.30842731e-05 9.99991132e-01 -6.36943676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.855336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:176.57, Y:-2.47, Z:-0.64 [[ 9.92801283e-01 1.19730473e-01 -3.19782127e-03 1.76565573e+02] [-1.19730050e-01 9.92806431e-01 3.23951523e-04 -2.46578584e+00] [ 3.21360439e-03 6.12558137e-05 9.99994834e-01 -6.36719228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.885336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:176.60, Y:-2.47, Z:-0.64 [[ 9.92443938e-01 1.22673379e-01 -2.50449675e-03 1.76595388e+02] [-1.22673130e-01 9.92447096e-01 2.53579593e-04 -2.46659128e+00] [ 2.51668799e-03 5.55709239e-05 9.99996832e-01 -6.37535901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.915336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:176.62, Y:-2.47, Z:-0.64 [[ 9.92337157e-01 1.23534541e-01 -2.48656458e-03 1.76623689e+02] [-1.23534299e-01 9.92340271e-01 2.51520538e-04 -2.46826041e+00] [ 2.49858965e-03 5.75828369e-05 9.99996877e-01 -6.37961619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.945336195 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:176.65, Y:-2.47, Z:-0.64 [[ 9.92199359e-01 1.24646745e-01 -1.90266986e-03 1.76651890e+02] [-1.24646605e-01 9.92201183e-01 1.92293750e-04 -2.47012832e+00] [ 1.91180008e-03 4.63676036e-05 9.99998171e-01 -6.38755120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.975336195 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:176.68, Y:-2.47, Z:-0.64 [[ 9.92216145e-01 1.24518166e-01 -1.53209623e-03 1.76681209e+02] [-1.24518075e-01 9.92217327e-01 1.54871766e-04 -2.47137765e+00] [ 1.53945678e-03 3.71074079e-05 9.99998814e-01 -6.39900616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.005336195 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:176.71, Y:-2.47, Z:-0.64 [[ 9.92293688e-01 1.23890615e-01 -2.08604335e-03 1.76710104e+02] [-1.23890445e-01 9.92295880e-01 2.10755790e-04 -2.47397395e+00] [ 2.09608288e-03 4.93091992e-05 9.99997802e-01 -6.40415164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.035336195 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:176.74, Y:-2.48, Z:-0.64 [[ 9.92477179e-01 1.22425972e-01 -9.64947973e-04 1.76739648e+02] [-1.22425935e-01 9.92477648e-01 9.75372250e-05 -2.47854047e+00] [ 9.69630384e-04 2.13311879e-05 9.99999530e-01 -6.40940762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06533619500001 meters Centerline goodness : 0.998073 Centerline is valid? [True, True] Translation: X:176.77, Y:-2.48, Z:-0.64 [[ 9.92632006e-01 1.21165491e-01 7.89583751e-04 1.76769769e+02] [-1.21165466e-01 9.92632320e-01 -7.99274616e-05 -2.48160583e+00] [-7.93450802e-04 -1.63317268e-05 9.99999685e-01 -6.40863169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09533619500002 meters Centerline goodness : 0.997379 Centerline is valid? [True, True] Translation: X:176.80, Y:-2.48, Z:-0.64 [[ 9.92688704e-01 1.20699316e-01 9.01483892e-04 1.76798997e+02] [-1.20699283e-01 9.92689113e-01 -9.13839282e-05 -2.48089186e+00] [-9.05923223e-04 -1.80926660e-05 9.99999589e-01 -6.41845714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12533619500002 meters Centerline goodness : 0.997229 Centerline is valid? [True, True] Translation: X:176.83, Y:-2.47, Z:-0.65 [[ 9.92673237e-01 1.20805973e-01 -2.40028846e-03 1.76832279e+02] [-1.20828755e-01 9.92385389e-01 -2.39092405e-02 -2.46818158e+00] [-5.06367863e-04 2.40240870e-02 9.99711252e-01 -6.52419494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15533619500002 meters Centerline goodness : 0.996312 Centerline is valid? [True, True] Translation: X:176.86, Y:-2.50, Z:-0.64 [[ 9.92735326e-01 1.20313525e-01 1.10844955e-03 1.76857182e+02] [-1.20305134e-01 9.92443851e-01 2.41221335e-02 -2.50052547e+00] [ 1.80214497e-03 -2.40802462e-02 9.99708404e-01 -6.43346484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18533619500002 meters Centerline goodness : 0.995954 Centerline is valid? [True, True] Translation: X:176.89, Y:-2.47, Z:-0.66 [[ 9.92581284e-01 1.21562892e-01 -2.20420349e-03 1.76893933e+02] [-1.21566120e-01 9.91980446e-01 -3.45900656e-02 -2.46627800e+00] [-2.01834165e-03 3.46014081e-02 9.99399154e-01 -6.62841256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.215336195 meters Centerline goodness : 0.995591 Centerline is valid? [True, True] Translation: X:176.93, Y:-2.45, Z:-0.67 [[ 9.92502683e-01 1.22222534e-01 2.75495421e-04 1.76927918e+02] [-1.22016999e-01 9.90959377e-01 -5.57796062e-02 -2.45017773e+00] [-7.09052959e-03 5.53277937e-02 9.98443068e-01 -6.71569211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.245336195 meters Centerline goodness : 0.992252 Centerline is valid? [True, True] Translation: X:176.94, Y:-2.53, Z:-0.67 [[ 9.92652774e-01 1.20428885e-01 1.17198279e-02 1.76940129e+02] [-1.20950190e-01 9.90313772e-01 6.81885885e-02 -2.52798656e+00] [-3.39443132e-03 -6.91051070e-02 9.97603610e-01 -6.65342647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.275336195 meters Centerline goodness : 0.992252 Centerline is valid? [True, True] Translation: X:176.98, Y:-2.49, Z:-0.67 [[ 9.92493033e-01 1.22211274e-01 4.68878021e-03 1.76975286e+02] [-1.22210230e-01 9.92504106e-01 -5.09763983e-04 -2.48783591e+00] [-4.71593252e-03 -6.70797052e-05 9.99988878e-01 -6.70013387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.305336195 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:177.00, Y:-2.49, Z:-0.72 [[ 9.92211523e-01 1.20448337e-01 3.17567515e-02 1.77003525e+02] [-1.20773721e-01 9.92643430e-01 8.52819724e-03 -2.49311906e+00] [-3.04959236e-02 -1.22971566e-02 9.99459243e-01 -7.15178843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.335336195 meters Centerline goodness : 0.990561 Centerline is valid? [True, True] Translation: X:177.06, Y:-2.32, Z:-0.70 [[ 9.92832196e-01 1.19509986e-01 -1.26212617e-03 1.77056229e+02] [-1.16156987e-01 9.62383179e-01 -2.45613867e-01 -2.32045228e+00] [-2.81386609e-02 2.43999960e-01 9.69366925e-01 -6.96967480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.365336195 meters Centerline goodness : 0.992369 Centerline is valid? [True, True] Translation: X:177.08, Y:-2.51, Z:-0.73 [[ 9.92313550e-01 1.17269085e-01 3.95193602e-02 1.77080342e+02] [-1.18316358e-01 9.92653934e-01 2.52865084e-02 -2.50578810e+00] [-3.62637227e-02 -2.97679317e-02 9.98898800e-01 -7.31494018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.395336195 meters Centerline goodness : 0.986067 Centerline is valid? [True, True] Translation: X:177.08, Y:-2.56, Z:-0.75 [[ 9.92374315e-01 1.08963427e-01 5.76210951e-02 1.77075371e+02] [-1.15202778e-01 9.86164068e-01 1.19200469e-01 -2.56410416e+00] [-4.38353620e-02 -1.24929594e-01 9.91196780e-01 -7.54339606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.425336195 meters Centerline goodness : 0.984684 Centerline is valid? [True, True] Translation: X:177.11, Y:-2.49, Z:-0.77 [[ 9.92365784e-01 1.14615687e-01 4.55345534e-02 1.77113338e+02] [-1.14543518e-01 9.93409355e-01 -4.19960385e-03 -2.49196379e+00] [-4.57157918e-02 -1.04814478e-03 9.98953937e-01 -7.65911651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.455336195 meters Centerline goodness : 0.090391 Centerline is valid? [True, False] Translation: X:177.11, Y:-2.49, Z:-0.77 [[ 9.92339899e-01 1.14728077e-01 4.58147809e-02 1.77112287e+02] [-1.14675182e-01 9.93395812e-01 -3.78987538e-03 -2.49404040e+00] [-4.59470166e-02 -1.49297380e-03 9.98942762e-01 -7.65660413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.485336195 meters Centerline goodness : 0.980547 Centerline is valid? [False, True] Translation: X:177.13, Y:-2.50, Z:-0.77 [[ 9.92523972e-01 1.10726949e-01 5.13391543e-02 1.77133698e+02] [-1.10992213e-01 9.93818530e-01 2.33619060e-03 -2.50018570e+00] [-5.07631236e-02 -8.01697151e-03 9.98678544e-01 -7.72158462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.515336195 meters Centerline goodness : 0.977484 Centerline is valid? [True, True] Translation: X:177.17, Y:-2.50, Z:-0.77 [[ 9.92795764e-01 1.08809965e-01 5.01693355e-02 1.77165258e+02] [-1.08752302e-01 9.94061284e-01 -3.88581747e-03 -2.49947723e+00] [-5.02942098e-02 -1.59820760e-03 9.98733167e-01 -7.74833544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.545336195 meters Centerline goodness : 0.976044 Centerline is valid? [True, True] Translation: X:177.20, Y:-2.50, Z:-0.78 [[ 9.92921105e-01 1.08423019e-01 4.84987388e-02 1.77198863e+02] [-1.08164614e-01 9.94101377e-01 -7.92896622e-03 -2.50079305e+00] [-4.90723455e-02 2.62699056e-03 9.98791772e-01 -7.76638886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.575336195 meters Centerline goodness : 0.976375 Centerline is valid? [True, True] Translation: X:177.23, Y:-2.51, Z:-0.78 [[ 9.92978291e-01 1.07462302e-01 4.94567189e-02 1.77229271e+02] [-1.07425679e-01 9.94207284e-01 -3.40573506e-03 -2.51160353e+00] [-4.95362183e-02 -1.93110064e-03 9.98770461e-01 -7.79299498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.605336195 meters Centerline goodness : 0.973215 Centerline is valid? [True, True] Translation: X:177.26, Y:-2.52, Z:-0.78 [[ 9.92945547e-01 1.07324221e-01 5.04048848e-02 1.77261449e+02] [-1.07198297e-01 9.94224047e-01 -5.20287381e-03 -2.51825413e+00] [-5.06721429e-02 -2.37147416e-04 9.98715314e-01 -7.81886920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.635336195 meters Centerline goodness : 0.971931 Centerline is valid? [True, True] Translation: X:177.29, Y:-2.52, Z:-0.78 [[ 9.92937641e-01 1.08009229e-01 4.90800093e-02 1.77294146e+02] [-1.07676804e-01 9.94141747e-01 -9.37513637e-03 -2.52087123e+00] [-4.98050875e-02 4.02414723e-03 9.98750850e-01 -7.82977252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.665336195 meters Centerline goodness : 0.112670 Centerline is valid? [True, False] Translation: X:177.30, Y:-2.52, Z:-0.78 [[ 9.93330693e-01 1.04769453e-01 4.81403689e-02 1.77296744e+02] [-1.04196350e-01 9.94454354e-01 -1.42708860e-02 -2.51615286e+00] [-4.93685524e-02 9.15965831e-03 9.98738628e-01 -7.83845136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.695336195 meters Centerline goodness : 0.967057 Centerline is valid? [False, True] Translation: X:177.28, Y:-2.51, Z:-0.79 [[ 9.93058606e-01 1.05213860e-01 5.25799299e-02 1.77279928e+02] [-1.04200244e-01 9.94320265e-01 -2.16684107e-02 -2.50919791e+00] [-5.45611069e-02 1.60391602e-02 9.98381606e-01 -7.90377781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.725336195 meters Centerline goodness : 0.963999 Centerline is valid? [True, True] Translation: X:177.31, Y:-2.53, Z:-0.79 [[ 9.92543982e-01 1.08512360e-01 5.55113577e-02 1.77309622e+02] [-1.08563881e-01 9.94087266e-01 -2.09557358e-03 -2.52753315e+00] [-5.54105294e-02 -3.94657951e-03 9.98455857e-01 -7.92818946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.755336195 meters Centerline goodness : 0.962232 Centerline is valid? [True, True] Translation: X:177.34, Y:-2.53, Z:-0.80 [[ 9.92248617e-01 1.11152848e-01 5.55673216e-02 1.77340397e+02] [-1.11241381e-01 9.93792274e-01 -1.50691294e-03 -2.53433284e+00] [-5.53898725e-02 -4.68615334e-03 9.98453806e-01 -7.95575680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.785336195 meters Centerline goodness : 0.110292 Centerline is valid? [True, False] Translation: X:177.34, Y:-2.54, Z:-0.80 [[ 9.91693129e-01 1.15726332e-01 5.61440402e-02 1.77340368e+02] [-1.16126610e-01 9.93226726e-01 3.90915237e-03 -2.53984272e+00] [-5.53113694e-02 -1.03964966e-02 9.98415027e-01 -7.96011792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81533619500001 meters Centerline goodness : 0.956262 Centerline is valid? [False, True] Translation: X:177.32, Y:-2.53, Z:-0.80 [[ 9.91090592e-01 1.21447886e-01 5.46795159e-02 1.77321157e+02] [-1.21496291e-01 9.92588861e-01 -2.45041777e-03 -2.53234288e+00] [-5.45718764e-02 -4.21477240e-03 9.98500949e-01 -7.96567767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84533619500002 meters Centerline goodness : 0.113430 Centerline is valid? [True, False] Translation: X:177.33, Y:-2.54, Z:-0.80 [[ 9.90764554e-01 1.24235211e-01 5.43250460e-02 1.77326503e+02] [-1.24451140e-01 9.92225558e-01 5.96900714e-04 -2.53569887e+00] [-5.38285429e-02 -7.35220199e-03 9.98523126e-01 -8.00602981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87533619500002 meters Centerline goodness : 0.948276 Centerline is valid? [False, False] Translation: X:177.37, Y:-2.54, Z:-0.80 [[ 9.90952850e-01 1.22374070e-01 5.51093102e-02 1.77368299e+02] [-1.22328917e-01 9.92480709e-01 -4.20465458e-03 -2.53568563e+00] [-5.52094679e-02 -2.57484777e-03 9.98471474e-01 -8.02590432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90533619500002 meters Centerline goodness : 0.108929 Centerline is valid? [False, False] Translation: X:177.35, Y:-2.53, Z:-0.81 [[ 9.90775069e-01 1.21802209e-01 5.94052559e-02 1.77352527e+02] [-1.21370647e-01 9.92548140e-01 -1.08331315e-02 -2.53334907e+00] [-6.02820756e-02 3.52314233e-03 9.98175164e-01 -8.09445561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93533619500002 meters Centerline goodness : 0.110274 Centerline is valid? [False, False] Translation: X:177.35, Y:-2.54, Z:-0.81 [[ 9.90731574e-01 1.22025303e-01 5.96722211e-02 1.77351845e+02] [-1.21632719e-01 9.92522959e-01 -1.01812766e-02 -2.53652006e+00] [-6.04684228e-02 2.82881764e-03 9.98166102e-01 -8.09886664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.965336195 meters Centerline goodness : 0.114412 Centerline is valid? [False, False] Translation: X:177.35, Y:-2.53, Z:-0.81 [[ 9.91245148e-01 1.17770633e-01 5.96920045e-02 1.77350534e+02] [-1.17060896e-01 9.93007448e-01 -1.52628613e-02 -2.53219569e+00] [-6.10721219e-02 8.14163764e-03 9.98100150e-01 -8.09946789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.995336195 meters Centerline goodness : 0.112648 Centerline is valid? [False, False] Translation: X:177.35, Y:-2.53, Z:-0.81 [[ 9.91741572e-01 1.13679402e-01 5.93771720e-02 1.77350363e+02] [-1.12642086e-01 9.93423201e-01 -2.05451978e-02 -2.52664061e+00] [-6.13222260e-02 1.36871583e-02 9.98024171e-01 -8.09985851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.025336195 meters Centerline goodness : 0.109357 Centerline is valid? [False, False] Translation: X:177.39, Y:-2.55, Z:-0.81 [[ 9.91916747e-01 1.11942290e-01 5.97502440e-02 1.77390813e+02] [-1.12133488e-01 9.93693140e-01 -1.53993750e-04 -2.55152864e+00] [-5.93906460e-02 -6.54725430e-03 9.98213346e-01 -8.11285671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.055336195 meters Centerline goodness : 0.111038 Centerline is valid? [False, False] Translation: X:177.39, Y:-2.55, Z:-0.81 [[ 9.92350070e-01 1.08261462e-01 5.93362854e-02 1.77391829e+02] [-1.08206374e-01 9.94119790e-01 -4.15023055e-03 -2.55298491e+00] [-5.94366856e-02 -2.30208271e-03 9.98229423e-01 -8.13262064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.085336195 meters Centerline goodness : 0.114295 Centerline is valid? [False, False] Translation: X:177.38, Y:-2.55, Z:-0.82 [[ 9.92250747e-01 1.06884769e-01 6.33569435e-02 1.77379018e+02] [-1.06385191e-01 9.94261726e-01 -1.12165993e-02 -2.54682344e+00] [-6.41922676e-02 4.38943849e-03 9.97927896e-01 -8.21092867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.115336195 meters Centerline goodness : 0.112875 Centerline is valid? [False, False] Translation: X:177.38, Y:-2.54, Z:-0.82 [[ 9.92668924e-01 1.03197686e-01 6.29177650e-02 1.77379929e+02] [-1.02381311e-01 9.94615371e-01 -1.60727040e-02 -2.54288347e+00] [-6.42376420e-02 9.51327053e-03 9.97889284e-01 -8.22350429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.145336195 meters Centerline goodness : 0.115497 Centerline is valid? [False, False] Translation: X:177.38, Y:-2.54, Z:-0.82 [[ 9.93039097e-01 9.97580582e-02 6.26233389e-02 1.77380975e+02] [-9.86195897e-02 9.94903128e-01 -2.10224472e-02 -2.53721305e+00] [-6.44013142e-02 1.47002240e-02 9.97815802e-01 -8.24186342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.175336195 meters Centerline goodness : 0.118529 Centerline is valid? [False, False] Translation: X:177.38, Y:-2.54, Z:-0.83 [[ 9.93027242e-01 9.98094994e-02 6.27292680e-02 1.77381449e+02] [-9.86667239e-02 9.94897525e-01 -2.10663909e-02 -2.53692245e+00] [-6.45118194e-02 1.47302087e-02 9.97808221e-01 -8.25384718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.205336195 meters Centerline goodness : 0.118316 Centerline is valid? [False, False] Translation: X:177.38, Y:-2.54, Z:-0.83 [[ 9.92992930e-01 1.00065626e-01 6.28642344e-02 1.77381519e+02] [-9.89601749e-02 9.94880896e-01 -2.04667409e-02 -2.54018220e+00] [-6.45904431e-02 1.41022734e-02 9.97812207e-01 -8.26375436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.235336195 meters Centerline goodness : 0.120666 Centerline is valid? [False, False] Translation: X:177.38, Y:-2.54, Z:-0.83 [[ 9.93293953e-01 9.75206998e-02 6.21034350e-02 1.77384441e+02] [-9.62102775e-02 9.95077414e-01 -2.37596984e-02 -2.54203650e+00] [-6.41147879e-02 1.76253760e-02 9.97786871e-01 -8.28928967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.265336195 meters Centerline goodness : 0.119320 Centerline is valid? [False, False] Translation: X:177.38, Y:-2.54, Z:-0.83 [[ 9.93278266e-01 9.75713902e-02 6.22744741e-02 1.77384282e+02] [-9.62618962e-02 9.95073851e-01 -2.36997521e-02 -2.54232586e+00] [-6.42801186e-02 1.75457897e-02 9.97777636e-01 -8.29616174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.295336195 meters Centerline goodness : 0.126330 Centerline is valid? [False, False] Translation: X:177.38, Y:-2.54, Z:-0.83 [[ 9.93282511e-01 9.74186342e-02 6.24456868e-02 1.77384555e+02] [-9.60789586e-02 9.95081533e-01 -2.41159115e-02 -2.54002424e+00] [-6.44878889e-02 1.79541966e-02 9.97756964e-01 -8.30744123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.325336195 meters Centerline goodness : 0.121809 Centerline is valid? [False, False] Translation: X:177.38, Y:-2.54, Z:-0.83 [[ 9.93238016e-01 9.76527991e-02 6.27867340e-02 1.77384171e+02] [-9.63363382e-02 9.95067341e-01 -2.36705692e-02 -2.54231799e+00] [-6.47885259e-02 1.74618651e-02 9.97746225e-01 -8.31567731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.355336195 meters Centerline goodness : 0.135075 Centerline is valid? [False, False] Translation: X:177.38, Y:-2.54, Z:-0.83 [[ 9.93207275e-01 9.78234347e-02 6.30070232e-02 1.77383680e+02] [-9.65250365e-02 9.95056890e-01 -2.33388937e-02 -2.54401922e+00] [-6.49786633e-02 1.70986038e-02 9.97740152e-01 -8.32092370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.385336195 meters Centerline goodness : 0.070722 Centerline is valid? [False, False] Translation: X:177.38, Y:-2.55, Z:-0.83 [[ 9.93133408e-01 9.82800654e-02 6.34591437e-02 1.77383041e+02] [-9.70262826e-02 9.95026259e-01 -2.25531436e-02 -2.54838593e+00] [-6.53600388e-02 1.62410756e-02 9.97729569e-01 -8.32930413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.415336195 meters SLAMing on 175.445336195 meters Centerline goodness : 0.073515 Centerline is valid? [False, False] Translation: X:177.38, Y:-2.55, Z:-0.83 [[ 9.93093726e-01 9.83391185e-02 6.39864709e-02 1.77382398e+02] [-9.70816969e-02 9.95022510e-01 -2.24799469e-02 -2.54843707e+00] [-6.58786370e-02 1.61127791e-02 9.97697541e-01 -8.33951504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.475336195 meters Centerline goodness : 0.071695 Centerline is valid? [False, False] Translation: X:177.38, Y:-2.55, Z:-0.84 [[ 9.93067758e-01 9.85192401e-02 6.41122967e-02 1.77383115e+02] [-9.72762434e-02 9.95008982e-01 -2.22364180e-02 -2.55003703e+00] [-6.59830261e-02 1.58456664e-02 9.97694921e-01 -8.35595716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.505336195 meters Centerline goodness : 0.073821 Centerline is valid? [False, False] Translation: X:177.38, Y:-2.55, Z:-0.84 [[ 9.93439981e-01 9.50296995e-02 6.36110070e-02 1.77384424e+02] [-9.34827760e-02 9.95258107e-01 -2.68750910e-02 -2.54671650e+00] [-6.58633023e-02 2.07522564e-02 9.97612835e-01 -8.37109015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.535336195 meters SLAMing on 175.56533619500001 meters Centerline goodness : 0.274793 Centerline is valid? [False, False] Translation: X:177.43, Y:-2.55, Z:-0.85 [[ 9.93299041e-01 9.56067786e-02 6.49334973e-02 1.77432698e+02] [-9.40358120e-02 9.95206940e-01 -2.68405033e-02 -2.55183675e+00] [-6.71884012e-02 2.05545720e-02 9.97528560e-01 -8.46551056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59533619500002 meters Centerline goodness : 0.260388 Centerline is valid? [False, False] Translation: X:177.43, Y:-2.55, Z:-0.85 [[ 9.93287447e-01 9.56403619e-02 6.50612623e-02 1.77432722e+02] [-9.40724033e-02 9.95205709e-01 -2.67578092e-02 -2.55226330e+00] [-6.73084662e-02 2.04577267e-02 9.97522457e-01 -8.47403058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62533619500002 meters Centerline goodness : 0.051349 Centerline is valid? [False, False] Translation: X:177.43, Y:-2.55, Z:-0.85 [[ 9.93287243e-01 9.55987051e-02 6.51255705e-02 1.77434150e+02] [-9.40196858e-02 9.95206836e-01 -2.69008038e-02 -2.55127508e+00] [-6.73850949e-02 2.05971396e-02 9.97514414e-01 -8.49136316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65533619500002 meters Centerline goodness : 0.834950 Centerline is valid? [False, False] Translation: X:177.43, Y:-2.55, Z:-0.85 [[ 9.93242431e-01 9.59353701e-02 6.53136935e-02 1.77434607e+02] [-9.43816446e-02 9.95183871e-01 -2.64795760e-02 -2.55449275e+00] [-6.75394623e-02 2.01362247e-02 9.97513385e-01 -8.50453880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68533619500002 meters Centerline goodness : 0.834935 Centerline is valid? [False, False] Translation: X:177.44, Y:-2.55, Z:-0.85 [[ 9.93598424e-01 9.24134349e-02 6.49763721e-02 1.77435151e+02] [-9.05327284e-02 9.95400783e-01 -3.13226055e-02 -2.54961323e+00] [-6.75721613e-02 2.52396032e-02 9.97395090e-01 -8.51412994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.715336195 meters Centerline goodness : 0.826323 Centerline is valid? [False, False] Translation: X:177.44, Y:-2.55, Z:-0.86 [[ 9.93425959e-01 9.45191750e-02 6.45832053e-02 1.77441687e+02] [-9.28418502e-02 9.95272792e-01 -2.85036822e-02 -2.54954849e+00] [-6.69720516e-02 2.23202736e-02 9.97505163e-01 -8.56643100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.745336195 meters Centerline goodness : 0.838763 Centerline is valid? [False, False] Translation: X:177.44, Y:-2.55, Z:-0.86 [[ 9.93436932e-01 9.43943475e-02 6.45969781e-02 1.77442267e+02] [-9.26989242e-02 9.95278593e-01 -2.87651000e-02 -2.54787462e+00] [-6.70072524e-02 2.25882423e-02 9.97496767e-01 -8.57492492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.775336195 meters Centerline goodness : 0.817038 Centerline is valid? [False, False] Translation: X:177.44, Y:-2.55, Z:-0.86 [[ 9.93373995e-01 9.47288006e-02 6.50734991e-02 1.77441235e+02] [-9.30503221e-02 9.95257307e-01 -2.83642459e-02 -2.55115372e+00] [-6.74517865e-02 2.21211942e-02 9.97477273e-01 -8.57583949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.805336195 meters SLAMing on 175.835336195 meters Centerline goodness : 0.823881 Centerline is valid? [False, False] Translation: X:177.44, Y:-2.55, Z:-0.86 [[ 9.93335881e-01 9.47863104e-02 6.55696823e-02 1.77440815e+02] [-9.31260082e-02 9.95262306e-01 -2.79372475e-02 -2.55366875e+00] [-6.79071018e-02 2.16448276e-02 9.97456830e-01 -8.58767314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.865336195 meters Centerline goodness : 0.815856 Centerline is valid? [False, False] Translation: X:177.44, Y:-2.55, Z:-0.86 [[ 9.93337352e-01 9.46732011e-02 6.57106614e-02 1.77441252e+02] [-9.30256045e-02 9.95278248e-01 -2.77028133e-02 -2.55454914e+00] [-6.80231059e-02 2.14054652e-02 9.97454091e-01 -8.59302832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.895336195 meters Centerline goodness : 0.617612 Centerline is valid? [False, False] Translation: X:177.44, Y:-2.55, Z:-0.86 [[ 9.93726608e-01 9.07700621e-02 6.53316566e-02 1.77442350e+02] [-8.88351193e-02 9.95534023e-01 -3.19426069e-02 -2.55450301e+00] [-6.79393194e-02 2.59384728e-02 9.97352217e-01 -8.60301304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.925336195 meters Centerline goodness : 0.826820 Centerline is valid? [False, False] Translation: X:177.44, Y:-2.56, Z:-0.86 [[ 9.93706830e-01 9.09535101e-02 6.53773295e-02 1.77442670e+02] [-8.90586554e-02 9.95533149e-01 -3.13417536e-02 -2.55814207e+00] [-6.79359412e-02 2.53220976e-02 9.97368287e-01 -8.61329064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.955336195 meters Centerline goodness : 0.815616 Centerline is valid? [False, False] Translation: X:177.45, Y:-2.56, Z:-0.87 [[ 9.93876558e-01 8.96312333e-02 6.46191147e-02 1.77449460e+02] [-8.76978051e-02 9.95627661e-01 -3.21660629e-02 -2.56072211e+00] [-6.72196619e-02 2.63021413e-02 9.97391455e-01 -8.66934689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.985336195 meters Centerline goodness : 0.563621 Centerline is valid? [False, False] Translation: X:177.45, Y:-2.56, Z:-0.87 [[ 9.93879913e-01 8.96565107e-02 6.45323799e-02 1.77451543e+02] [-8.77305117e-02 9.95627221e-01 -3.20903903e-02 -2.56089214e+00] [-6.71273065e-02 2.62325357e-02 9.97399508e-01 -8.68852195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.015336195 meters Centerline goodness : 0.816464 Centerline is valid? [False, False] Translation: X:177.45, Y:-2.56, Z:-0.87 [[ 9.93893573e-01 8.95032417e-02 6.45347562e-02 1.77452458e+02] [-8.75553967e-02 9.95632284e-01 -3.24099915e-02 -2.55822001e+00] [-6.71536860e-02 2.65617161e-02 9.97389020e-01 -8.70027010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.045336195 meters Centerline goodness : 0.806167 Centerline is valid? [False, False] Translation: X:177.45, Y:-2.56, Z:-0.87 [[ 9.93862723e-01 8.98245975e-02 6.45633709e-02 1.77453754e+02] [-8.78924512e-02 9.95610242e-01 -3.21739453e-02 -2.55960025e+00] [-6.71699650e-02 2.63018520e-02 9.97394811e-01 -8.70870942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.075336195 meters Centerline goodness : 0.701439 Centerline is valid? [False, False] Translation: X:177.45, Y:-2.56, Z:-0.87 [[ 9.93823177e-01 9.01430666e-02 6.47280483e-02 1.77453663e+02] [-8.82327794e-02 9.95592344e-01 -3.17940360e-02 -2.56248856e+00] [-6.73087612e-02 2.58865143e-02 9.97396320e-01 -8.71817293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.105336195 meters Centerline goodness : 0.783423 Centerline is valid? [False, False] Translation: X:177.46, Y:-2.57, Z:-0.88 [[ 9.93695749e-01 9.19871295e-02 6.40868725e-02 1.77460027e+02] [-9.01896945e-02 9.95460435e-01 -3.04029811e-02 -2.56584197e+00] [-6.65926290e-02 2.44313376e-02 9.97481093e-01 -8.76212238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.135336195 meters Centerline goodness : 0.777497 Centerline is valid? [False, False] Translation: X:177.47, Y:-2.57, Z:-0.88 [[ 9.93525297e-01 9.41581132e-02 6.35746378e-02 1.77466352e+02] [-9.24672414e-02 9.95292126e-01 -2.90412232e-02 -2.56744667e+00] [-6.60098032e-02 2.29746185e-02 9.97554446e-01 -8.80640661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.165336195 meters Centerline goodness : 0.786815 Centerline is valid? [False, False] Translation: X:177.47, Y:-2.57, Z:-0.88 [[ 9.93504019e-01 9.43040703e-02 6.36907118e-02 1.77466577e+02] [-9.26027307e-02 9.95275979e-01 -2.91626615e-02 -2.56701222e+00] [-6.61399931e-02 2.30752876e-02 9.97543499e-01 -8.81585253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.195336195 meters Centerline goodness : 0.772705 Centerline is valid? [False, False] Translation: X:177.47, Y:-2.57, Z:-0.88 [[ 9.93078900e-01 9.84114555e-02 6.41052531e-02 1.77468431e+02] [-9.70070401e-02 9.94977864e-01 -2.46715350e-02 -2.56878050e+00] [-6.62112695e-02 1.82821200e-02 9.97638127e-01 -8.83061174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.225336195 meters Centerline goodness : 0.772705 Centerline is valid? [False, False] Translation: X:177.47, Y:-2.57, Z:-0.88 [[ 9.93078900e-01 9.84114555e-02 6.41052531e-02 1.77468431e+02] [-9.70070401e-02 9.94977864e-01 -2.46715350e-02 -2.56878050e+00] [-6.62112695e-02 1.82821200e-02 9.97638127e-01 -8.83061174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.255336195 meters Centerline goodness : 0.767097 Centerline is valid? [False, False] Translation: X:177.47, Y:-2.57, Z:-0.88 [[ 9.93071646e-01 9.85331382e-02 6.40306692e-02 1.77470703e+02] [-9.71147173e-02 9.94961495e-01 -2.49069154e-02 -2.56791986e+00] [-6.61622070e-02 1.85160312e-02 9.97637068e-01 -8.84426754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.285336195 meters Centerline goodness : 0.751740 Centerline is valid? [False, False] Translation: X:177.47, Y:-2.57, Z:-0.89 [[ 9.93037377e-01 9.87719742e-02 6.41939645e-02 1.77470745e+02] [-9.73705420e-02 9.94943817e-01 -2.46125544e-02 -2.57036475e+00] [-6.63004186e-02 1.81905853e-02 9.97633879e-01 -8.85566058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31533619500001 meters Centerline goodness : 0.595173 Centerline is valid? [False, False] Translation: X:177.47, Y:-2.57, Z:-0.89 [[ 9.93009219e-01 9.88867986e-02 6.44522453e-02 1.77470869e+02] [-9.74916447e-02 9.94935939e-01 -2.44510928e-02 -2.57218231e+00] [-6.65437456e-02 1.79966052e-02 9.97621197e-01 -8.85457443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34533619500002 meters Centerline goodness : 0.667770 Centerline is valid? [False, False] Translation: X:177.47, Y:-2.57, Z:-0.89 [[ 9.93021780e-01 9.86971796e-02 6.45492861e-02 1.77472001e+02] [-9.72972927e-02 9.94954003e-01 -2.44901725e-02 -2.57209227e+00] [-6.66406816e-02 1.80388039e-02 9.97613964e-01 -8.85760883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37533619500002 meters Centerline goodness : 0.638143 Centerline is valid? [False, False] Translation: X:177.47, Y:-2.57, Z:-0.89 [[ 9.93026559e-01 9.86193974e-02 6.45946366e-02 1.77472310e+02] [-9.72275361e-02 9.94964127e-01 -2.43555357e-02 -2.57255781e+00] [-6.66712745e-02 1.79053165e-02 9.97614325e-01 -8.86353012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40533619500002 meters Centerline goodness : 0.779045 Centerline is valid? [False, False] Translation: X:177.49, Y:-2.57, Z:-0.88 [[ 9.93686299e-01 9.39028890e-02 6.13985866e-02 1.77492172e+02] [-9.26309958e-02 9.95429024e-01 -2.32498802e-02 -2.57141884e+00] [-6.33011661e-02 1.74156752e-02 9.97842501e-01 -8.82194579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43533619500002 meters Centerline goodness : 0.727197 Centerline is valid? [False, False] Translation: X:177.49, Y:-2.57, Z:-0.88 [[ 9.93674169e-01 9.40034052e-02 6.14410669e-02 1.77492569e+02] [-9.27524277e-02 9.95425565e-01 -2.29114050e-02 -2.57355966e+00] [-6.33137588e-02 1.70676632e-02 9.97847715e-01 -8.82932789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.465336195 meters Centerline goodness : 0.672782 Centerline is valid? [False, False] Translation: X:177.49, Y:-2.57, Z:-0.88 [[ 9.94053812e-01 9.01429349e-02 6.10841182e-02 1.77494030e+02] [-8.86112066e-02 9.95690936e-01 -2.73425489e-02 -2.57270292e+00] [-6.32856404e-02 2.17672276e-02 9.97758045e-01 -8.83473630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.495336195 meters Centerline goodness : 0.707833 Centerline is valid? [False, False] Translation: X:177.50, Y:-2.57, Z:-0.88 [[ 9.94048864e-01 9.01629774e-02 6.11350481e-02 1.77496171e+02] [-8.86478629e-02 9.95695289e-01 -2.70637643e-02 -2.57450933e+00] [-6.33120290e-02 2.14832127e-02 9.97762526e-01 -8.84912707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.525336195 meters Centerline goodness : 0.554268 Centerline is valid? [False, False] Translation: X:177.50, Y:-2.58, Z:-0.89 [[ 9.94052744e-01 9.01677799e-02 6.10648291e-02 1.77497335e+02] [-8.86626450e-02 9.95697591e-01 -2.69303241e-02 -2.57518043e+00] [-6.32303507e-02 2.13559933e-02 9.97770437e-01 -8.86394117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.555336195 meters Centerline goodness : 0.692093 Centerline is valid? [False, False] Translation: X:177.50, Y:-2.58, Z:-0.89 [[ 9.94060715e-01 9.01218384e-02 6.10028573e-02 1.77499261e+02] [-8.86478049e-02 9.95711557e-01 -2.64586886e-02 -2.57849125e+00] [-6.31257557e-02 2.08937735e-02 9.97786846e-01 -8.86999626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.585336195 meters Centerline goodness : 0.692777 Centerline is valid? [False, False] Translation: X:177.50, Y:-2.58, Z:-0.89 [[ 9.94052410e-01 9.03238042e-02 6.08392699e-02 1.77501926e+02] [-8.88905066e-02 9.95705321e-01 -2.58726010e-02 -2.58258803e+00] [-6.29148965e-02 2.03106879e-02 9.97812203e-01 -8.88309783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.615336195 meters Centerline goodness : 0.319651 Centerline is valid? [False, False] Translation: X:177.50, Y:-2.58, Z:-0.89 [[ 9.94046762e-01 9.04917360e-02 6.06818046e-02 1.77503573e+02] [-8.90831347e-02 9.95696812e-01 -2.55353549e-02 -2.58481736e+00] [-6.27314180e-02 1.99776115e-02 9.97830479e-01 -8.90151108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.645336195 meters Centerline goodness : 0.304662 Centerline is valid? [False, False] Translation: X:177.51, Y:-2.59, Z:-0.89 [[ 9.94048663e-01 9.05951695e-02 6.04960359e-02 1.77506844e+02] [-8.91982628e-02 9.95689687e-01 -2.54109559e-02 -2.58552096e+00] [-6.25373889e-02 1.98635854e-02 9.97844934e-01 -8.92233608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.675336195 meters Centerline goodness : 0.315982 Centerline is valid? [False, False] Translation: X:177.51, Y:-2.58, Z:-0.89 [[ 9.94059043e-01 9.05736188e-02 6.03575940e-02 1.77508519e+02] [-8.91686307e-02 9.95687916e-01 -2.55837581e-02 -2.58419700e+00] [-6.24145406e-02 2.00497621e-02 9.97848902e-01 -8.93906681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.705336195 meters Centerline goodness : 0.313479 Centerline is valid? [False, False] Translation: X:177.52, Y:-2.58, Z:-0.90 [[ 9.93929335e-01 9.23999908e-02 5.97220049e-02 1.77515911e+02] [-9.10646148e-02 9.95538287e-01 -2.47134450e-02 -2.58470279e+00] [-6.17390646e-02 1.91248566e-02 9.97909078e-01 -8.97961270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.735336195 meters Centerline goodness : 0.738866 Centerline is valid? [False, False] Translation: X:177.52, Y:-2.58, Z:-0.90 [[ 9.93924033e-01 9.24712443e-02 5.96999550e-02 1.77516838e+02] [-9.11238702e-02 9.95527813e-01 -2.49161159e-02 -2.58351697e+00] [-6.17369899e-02 1.93246355e-02 9.97905358e-01 -8.98897489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.765336195 meters Centerline goodness : 0.315786 Centerline is valid? [False, False] Translation: X:177.52, Y:-2.58, Z:-0.90 [[ 9.93878587e-01 9.29464066e-02 5.97186647e-02 1.77518965e+02] [-9.15939649e-02 9.95482456e-01 -2.50045207e-02 -2.58329713e+00] [-6.17729633e-02 1.93815884e-02 9.97902027e-01 -8.99270491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.795336195 meters Centerline goodness : 0.315093 Centerline is valid? [False, False] Translation: X:177.52, Y:-2.58, Z:-0.90 [[ 9.93888406e-01 9.28753820e-02 5.96657403e-02 1.77521822e+02] [-9.14957351e-02 9.95479969e-01 -2.54590344e-02 -2.58032497e+00] [-6.17605668e-02 1.98442783e-02 9.97893700e-01 -9.00631305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.825336195 meters Centerline goodness : 0.240856 Centerline is valid? [False, False] Translation: X:177.52, Y:-2.58, Z:-0.90 [[ 9.93878062e-01 9.26669959e-02 6.01599963e-02 1.77523558e+02] [-9.12566821e-02 9.95493458e-01 -2.57874652e-02 -2.57691740e+00] [-6.22785297e-02 2.01395943e-02 9.97855591e-01 -9.01451079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.855336195 meters Centerline goodness : 0.256261 Centerline is valid? [False, False] Translation: X:177.52, Y:-2.58, Z:-0.90 [[ 9.93862000e-01 9.27583220e-02 6.02844751e-02 1.77523494e+02] [-9.13546993e-02 9.95488209e-01 -2.56426168e-02 -2.57787212e+00] [-6.23910502e-02 1.99779523e-02 9.97851812e-01 -9.01376701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.885336195 meters Centerline goodness : 0.246111 Centerline is valid? [False, False] Translation: X:177.52, Y:-2.58, Z:-0.90 [[ 9.93832002e-01 9.29350649e-02 6.05064132e-02 1.77523684e+02] [-9.15454374e-02 9.95478098e-01 -2.53532855e-02 -2.58027859e+00] [-6.25890183e-02 1.96578205e-02 9.97845772e-01 -9.02085734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.915336195 meters Centerline goodness : 0.639368 Centerline is valid? [False, False] Translation: X:177.53, Y:-2.58, Z:-0.91 [[ 9.94101833e-01 9.06761634e-02 5.94926869e-02 1.77531777e+02] [-8.90896997e-02 9.95607045e-01 -2.88034276e-02 -2.57881920e+00] [-6.18431225e-02 2.33333546e-02 9.97813100e-01 -9.07081646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.945336195 meters Centerline goodness : 0.599108 Centerline is valid? [False, False] Translation: X:177.53, Y:-2.58, Z:-0.91 [[ 9.94115109e-01 9.04997605e-02 5.95394243e-02 1.77533621e+02] [-8.88936352e-02 9.95615992e-01 -2.90984172e-02 -2.57659342e+00] [-6.19118028e-02 2.36345003e-02 9.97801753e-01 -9.07198617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.975336195 meters Centerline goodness : 0.605949 Centerline is valid? [False, False] Translation: X:177.53, Y:-2.58, Z:-0.91 [[ 9.94114363e-01 9.05551819e-02 5.94675789e-02 1.77534580e+02] [-8.89565893e-02 9.95613074e-01 -2.90057204e-02 -2.57732259e+00] [-6.18333173e-02 2.35449702e-02 9.97808737e-01 -9.08319841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.005336195 meters Centerline goodness : 0.270620 Centerline is valid? [False, False] Translation: X:177.54, Y:-2.58, Z:-0.92 [[ 9.94423671e-01 8.79763563e-02 5.81525896e-02 1.77544926e+02] [-8.61787829e-02 9.95741814e-01 -3.27331076e-02 -2.57513609e+00] [-6.07847046e-02 2.75390577e-02 9.97770926e-01 -9.16188075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.035336195 meters Centerline goodness : 0.266299 Centerline is valid? [False, False] Translation: X:177.55, Y:-2.57, Z:-0.92 [[ 9.94434338e-01 8.82354381e-02 5.75747768e-02 1.77553580e+02] [-8.64731991e-02 9.95726601e-01 -3.24179172e-02 -2.57436141e+00] [-6.01891460e-02 2.72588148e-02 9.97814724e-01 -9.23888092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06533619500001 meters Centerline goodness : 0.287393 Centerline is valid? [False, False] Translation: X:177.55, Y:-2.58, Z:-0.93 [[ 9.94437353e-01 8.82924062e-02 5.74351996e-02 1.77554890e+02] [-8.65405517e-02 9.95724256e-01 -3.23100358e-02 -2.57514371e+00] [-6.00423522e-02 2.71598326e-02 9.97826267e-01 -9.25040612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09533619500002 meters Centerline goodness : 0.187822 Centerline is valid? [False, False] Translation: X:177.60, Y:-2.58, Z:-0.89 [[ 9.95324724e-01 8.78775798e-02 4.00777316e-02 1.77597917e+02] [-8.65922461e-02 9.95705212e-01 -3.27553664e-02 -2.57804715e+00] [-4.27840686e-02 2.91318052e-02 9.98659532e-01 -8.91051937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12533619500002 meters Centerline goodness : 0.123858 Centerline is valid? [False, False] Translation: X:177.60, Y:-2.58, Z:-0.89 [[ 9.95322916e-01 8.79282660e-02 4.00114109e-02 1.77599105e+02] [-8.66471218e-02 9.95702155e-01 -3.27031211e-02 -2.57835493e+00] [-4.27149768e-02 2.90832923e-02 9.98663904e-01 -8.92197747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15533619500002 meters Centerline goodness : 0.181898 Centerline is valid? [False, False] Translation: X:177.61, Y:-2.58, Z:-0.90 [[ 9.95362368e-01 8.78898596e-02 3.91040831e-02 1.77609615e+02] [-8.66422518e-02 9.95708121e-01 -3.25339434e-02 -2.57852698e+00] [-4.17956568e-02 2.89949971e-02 9.98705369e-01 -9.01215629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18533619500002 meters Centerline goodness : 0.127958 Centerline is valid? [False, False] Translation: X:177.61, Y:-2.58, Z:-0.90 [[ 9.95383066e-01 8.76553544e-02 3.91035894e-02 1.77612431e+02] [-8.63920545e-02 9.95717594e-01 -3.29072223e-02 -2.57517293e+00] [-4.18206262e-02 2.93770524e-02 9.98693158e-01 -9.02465222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.215336195 meters SLAMing on 177.245336195 meters SLAMing on 177.275336195 meters Centerline goodness : 0.562549 Centerline is valid? [False, False] Translation: X:177.67, Y:-2.58, Z:-0.90 [[ 9.95615020e-01 8.83508536e-02 3.07385397e-02 1.77673564e+02] [-8.73243694e-02 9.95624084e-01 -3.32736670e-02 -2.57850670e+00] [-3.35437873e-02 3.04435391e-02 9.98973476e-01 -8.97783008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.305336195 meters Centerline goodness : 0.597804 Centerline is valid? [False, False] Translation: X:177.67, Y:-2.58, Z:-0.90 [[ 9.95620780e-01 8.83275751e-02 3.06186530e-02 1.77674838e+02] [-8.73016520e-02 9.95622983e-01 -3.33660967e-02 -2.57767062e+00] [-3.34317811e-02 3.05469202e-02 9.98974075e-01 -8.98772414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 4734.31 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%| | 0/5906 [00:00